VR (virtual reality)-based auxiliary method and system for autoblood recovery obstetric surgery

Abstract

The invention belongs to the technical field of augmented reality, and provides a VR-based autoblood recovery obstetric operation assisting method and system, and the method comprises the following steps: collecting the anatomical data of a puerpera, and constructing a three-dimensional virtual model of the puerpera; identifying a blood vessel area of the three-dimensional virtual model of the puerpera and segmenting the three-dimensional virtual model of the puerpera to obtain a blood vessel model; data of the blood recovery amount, the blood flow rate and the blood temperature of recovered blood are monitored in real time through a blood recovery device and a monitoring sensor, and steady-state blood vessels are obtained through blood physiological activity indexes; evaluating the blood recovery condition of the steady-state blood vessel, generating a virtual three-dimensional image according to an evaluation result, and transmitting the virtual three-dimensional image to a medical worker wearing a head-mounted display through a VR system; according to the auxiliary method provided by the embodiment of the invention, the problem of serious distortion of real-time monitoring of the blood flow rate and the temperature of blood recovery caused by coagulation dysfunction of the pregnant woman in the blood recovery process can be avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of augmented reality, and specifically relates to a VR-based autologous blood recovery obstetric surgery auxiliary method and system. Background Art

[0002] During maternal surgery, especially cesarean section or other surgery that may cause heavy bleeding, blood recovery and real-time monitoring are crucial. Heavy bleeding is one of the common complications in maternal surgery, especially cesarean section. Due to the incision, tissue damage, and possible placental detachment during the operation, the amount of bleeding may be far more than expected. If this situation is not identified and treated in time, it may cause severe hypovolemia, hypotension, and even life-threatening for the mother. Therefore, real-time blood recovery and monitoring systems have become the key to ensuring maternal safety and reducing intraoperative risks.

[0003] However, during maternal surgery, especially during cesarean section, soft birth canal injuries such as cervical lacerations and vaginal vault lacerations are prone to occur, which may also affect the large veins in related areas, causing the blood flow rate and temperature near these large veins to be significantly different from those of normal people. In particular, when coagulation dysfunction occurs, the blood flow rate and temperature data of blood recovery will be seriously distorted. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to propose a VR-based autologous blood recovery obstetric surgery auxiliary method, which can avoid the problem of serious distortion of blood flow rate and temperature real-time monitoring of blood recovery when a pregnant woman has coagulation dysfunction during blood recovery;

[0005] The second objective of the present invention is to provide a VR-based autologous blood recovery obstetric surgery auxiliary system.

[0006] To achieve the above-mentioned purpose, the first embodiment of the present invention proposes a VR-based autologous blood recovery obstetric surgery auxiliary method, the method comprising the following steps:

[0007] S100, collecting anatomical data of the parturient and constructing a three-dimensional virtual model of the parturient;

[0008] S200, identifying a blood vessel region of the three-dimensional virtual model of the parturient and segmenting the three-dimensional virtual model of the parturient to obtain a blood vessel model;

[0009] S300, during the operation, the blood recovery volume, blood flow rate and blood temperature of the recovered blood are monitored in real time through the blood recovery device and the monitoring sensor, the blood physiological activity index is calculated, and the steady-state blood vessels in the three-dimensional virtual model are marked by the blood physiological activity index;

[0010] S400, evaluates blood recovery in steady-state blood vessels, generates virtual three-dimensional images of the evaluation results and transmits them to medical staff wearing head-mounted displays through the VR system;

[0011] The auxiliary method according to the embodiment of the present invention can avoid the problem of serious distortion in real-time monitoring of blood flow rate and temperature during blood recovery caused by coagulation dysfunction in pregnant women during the blood recovery process.

[0012] Furthermore, in step S100, collecting the anatomical data of the parturient and constructing the three-dimensional virtual model of the parturient includes:

[0013] First, the anatomical data of the parturient is obtained using a medical imaging device, wherein the medical imaging device includes a CT (computed tomography), an MRI (magnetic resonance imaging) or an ultrasound device;

[0014] Specifically, CT uses X-rays to obtain multiple cross-sectional images of the body, providing high-resolution details of bones and certain soft tissues, which are used to obtain pelvic structure and blood vessel distribution; MRI uses strong magnetic fields and radio frequency pulses to generate high-quality soft tissue images, which are used to obtain the morphology of blood vessels, uterus and other organs, and present the structure of blood vessels and organs in detail; ultrasound equipment uses high-frequency sound waves to capture dynamic images inside the mother's body in real time, which are used to obtain images of the fetus, uterus and.

[0015] Furthermore, the acquired anatomical data of the parturient is three-dimensionally modeled through image reconstruction technology, and the medical modeling software used for three-dimensional modeling is Mimics, 3D Slicer or OsiriX. The data are sliced ​​and processed by the medical modeling software and fused into a complete three-dimensional virtual model. This model can display the spatial distribution of bones, muscles, organs, blood vessels, etc., and can also simulate the blood flow path to display the precise position and status of each organ and blood vessel.

[0016] Furthermore, in step S200, the vascular region of the three-dimensional virtual model of the parturient is identified and the three-dimensional virtual model of the parturient is segmented to obtain the vascular model, including:

[0017] Identify the vascular region of the three-dimensional virtual model of the parturient, determine its boundary using the object of interest detection algorithm, segment the model, and extract the vascular model;

[0018] During the maternal surgery, especially during cesarean section, soft birth canal injuries such as cervical lacerations and vaginal vault lacerations are prone to occur, which may also affect the large veins in the relevant parts, resulting in a large difference in the blood flow rate and temperature near these large veins from those of normal people. Because the parturient may experience hypotension or hemodynamic instability when injured during cesarean section, which in turn affects the blood flow rate, especially when coagulation dysfunction occurs, the real-time monitoring of the blood flow rate and temperature of blood recovery will be seriously distorted. Therefore, this application selects steady-state blood vessels to correct the data of blood recovery volume, blood flow rate and blood temperature in the following way;

[0019] Furthermore, in step S300, during the operation, the blood recovery volume, blood flow rate and blood temperature of the recovered blood are monitored in real time by the blood recovery device and the monitoring sensor, and the blood physiological activity index is calculated. The steady-state blood vessel is obtained by the blood physiological activity index, including:

[0020] S301, obtaining the temperature velocity ratio of the original blood and the blood temperature velocity ratio sequence;

[0021] Obtain the average blood flow velocity vp and the average blood temperature vm of all blood vessels before the operation, and record the ratio of the average blood flow velocity vp to the average blood temperature vm as the original blood temperature velocity ratio VPM;

[0022] During the operation, the blood flow velocity of the j-th blood vessel in each distance interval L is obtained by a blood flow velocity sensor or an ultrasonic Doppler flow velocity probe, where j is the serial number of the blood vessel, j=1, 2, ..., M, M is the number of blood vessels, and the distance interval L is set to [1, 50] mm; VET(j, Li) is the blood flow velocity in the i-th distance interval Li of the j-th blood vessel, and VLT(j, Li) is the blood temperature in the blood vessel in the i-th distance interval Li of the j-th blood vessel, where Li=[(i-1)*L, i*L], i=1, 2, ..., H, H∈[5, 100], where H is the number of distance intervals, i is the serial number of the distance interval, the median of each blood flow velocity in all VET(j, Li) is VEM(j), and the median of each blood temperature in all VLT(j, Li) is VLM(j);

[0023] The blood temperature velocity ratio refers to the ratio between blood flow velocity and blood temperature, which is used to evaluate the flow characteristics of blood in blood vessels. It reflects the relationship between blood flow and its temperature, and can be used to monitor blood flow status, diagnose vascular problems, and evaluate the working status of blood recovery equipment; changes in blood flow velocity and blood temperature are closely related to the health of blood vessels and changes in hemodynamics. Changes in blood flow velocity are usually related to problems such as contraction, expansion, blockage or rupture of blood vessels, while blood temperature is affected by blood flow, tissue metabolism and the external environment; by observing the blood temperature velocity ratio, the health of blood flow can be more comprehensively evaluated. For example: Normal blood flow: In a healthy state, the blood temperature velocity ratio usually remains stable, and the blood flow velocity and temperature are relatively consistent. Abnormal blood flow: Abnormal fluctuations in the blood temperature velocity ratio may indicate problems with blood vessels, such as vascular blockage, arteriosclerosis or other pathological conditions.

[0024] The blood flow velocity is obtained by a blood flow sensor or an ultrasonic Doppler blood flow detector.

[0025] Furthermore, the blood temperature velocity ratio of the jth blood vessel is recorded as VM(j), where VM(j) = VEM(j) / VLM(j); an empty sequence is created and recorded as the blood temperature velocity ratio sequence VMO, all VM(j) are imported into the blood temperature velocity ratio sequence, and the average value of the blood temperature velocity ratio in the blood temperature velocity ratio sequence is recorded as VMM;

[0026] S302, obtaining a first blood temperature velocity ratio range V1, a second blood temperature velocity ratio range V2, and a third blood temperature velocity ratio range V3 through a blood temperature velocity ratio sequence;

[0027] Calculate the absolute value RD of the difference between the original blood temperature velocity ratio VPM and the average value VMM in the blood temperature velocity ratio sequence, and classify the blood temperature velocity ratio sequence internally by the original blood temperature velocity ratio VPM and RD, specifically: record the value of VPM minus RD as TLY, the value of VPM plus RD as TLK, classify the blood temperature velocity ratio in the blood temperature velocity ratio sequence VMO that is less than or equal to TLY into the first blood temperature velocity ratio range V1; classify the blood temperature velocity ratio in the blood temperature velocity ratio sequence VMO that is greater than TLY and less than TLK into the second blood temperature velocity ratio range V2; classify the blood temperature velocity ratio in the blood temperature velocity ratio sequence VMO that is greater than or equal to TLK into the third blood temperature velocity ratio range V3;

[0028] The intervals of the first blood temperature velocity ratio range V1, the second blood temperature velocity ratio range V2, and the third blood temperature velocity ratio range V3 are respectively recorded as [S1, S2], [K1, K2], and [M1, M2], where the interval [S1, S2] represents the first blood temperature velocity ratio range V1, where S1 is the minimum value in the blood temperature velocity ratio sequence VMO, and S2 is the value closest to TLY among all blood temperature velocity ratio deviations less than or equal to TLY in the blood temperature velocity ratio sequence VMO. The interval [K1, K2] represents the second blood temperature velocity ratio range V2, where K1 is the value closest to TLY among all blood temperature velocity ratio deviations greater than TLY in the blood temperature velocity ratio sequence VMO, and K2 is the value closest to TLK among all blood temperature velocity ratio deviations less than TLK in the blood temperature velocity ratio sequence VMO. The interval [M1, M2] represents the third blood temperature speed ratio range V3, where M1 is the value closest to TLK among all blood temperature speed ratio deviations greater than or equal to TLK in the blood temperature speed ratio sequence VMO, and M2 is the maximum value in the blood temperature speed ratio sequence VMO.

[0029] S303, calculating a first blood physiological activity index BLD1 and a second blood physiological activity index BLD2 through the first blood temperature velocity ratio range V1, the second blood temperature velocity ratio range V2, and the third blood temperature velocity ratio range V3;

[0030] The first blood physiological activity index BLD1 is the maximum value S2 in the first blood temperature velocity ratio range V1 minus the blood temperature velocity ratio range difference, wherein the blood temperature velocity ratio range difference is the product of K1 and the blood temperature velocity balance ratio, wherein the blood temperature velocity balance ratio is the ratio of VMM to VPM;

[0031] The second blood physiological activity index BLD2 is the maximum value S2 in the first blood temperature velocity ratio range V1 plus the blood temperature velocity ratio range difference;

[0032] Among them, the first blood physiological activity index BLD1 and the second blood physiological activity index BLD2 respectively represent the boundaries of the reasonable range of the temperature-speed ratio. The blood vessels within this range are blood vessels that do not have coagulation dysfunction during the blood recovery process (ie, "steady-state blood vessels"), and the blood vessels outside this range have coagulation dysfunction, heavy bleeding or other abnormal bleeding problems.

[0033] S304, according to the boundary values ​​of the first blood physiological activity index BLD1 and the second blood physiological activity index BLD2, extract the blood temperature velocity ratio data between the two indexes, record it as the steady-state temperature velocity ratio Vg(h), where h is the blood vessel number whose blood temperature velocity ratio deviation belongs to the range between the first blood physiological activity index BLD1 and the second blood physiological activity index BLD2, and mark the blood vessel corresponding to the steady-state temperature velocity ratio Vg(h) as the steady-state blood vessel;

[0034] The beneficial effect of this step is: using the temperature velocity ratio VPM of the original blood as a benchmark to monitor and evaluate the physiological activity index of the blood in real time, thereby identifying the blood vessels that do not have coagulation dysfunction during the blood recovery process (i.e., "steady-state blood vessels"). Steady-state blood vessels generally refer to those with stable blood flow rate or temperature. Through accurate monitoring of blood flow rate and temperature, combined with the calculation of the temperature velocity ratio and the blood physiological activity index, blood vessels with stable blood flow rate and temperature in the actual state of vascular blood recovery are obtained, avoiding the problem of serious distortion in the real-time monitoring of blood flow rate and temperature of blood recovery when pregnant women have coagulation dysfunction during the blood recovery process.

[0035] Further, in step S400, evaluating the blood recovery of the steady-state blood vessels, generating a virtual three-dimensional image based on the evaluation result and transmitting it to the medical staff wearing the head mounted display through the VR system includes:

[0036] Furthermore, the blood recovery volume of the steady-state blood vessels was analyzed and the blood recovery efficiency was calculated.

[0037] Further, calculating the blood recovery efficiency includes: obtaining the blood recovery amount of the steady-state blood vessel in real time and obtaining the expected recovery amount per unit time through a flow sensor or a monitoring device; calculating the blood recovery efficiency according to the blood recovery amount of the steady-state blood vessel and the expected recovery amount per unit time: blood recovery efficiency of the steady-state blood vessel = blood recovery amount of the steady-state blood vessel / (recovery time × expected recovery amount per unit time);

[0038] Furthermore, when the blood recovery efficiency is less than 50%, it is determined that the recovery efficiency is too low. At this time, the following problems may exist: insufficient blood flow rate, which may be caused by decreased blood flow, blood vessel blockage or improper setting of the recovery device; damaged blood vessels or failure of the recovery device (blood recovery machine); timely adjustment of the recovery device settings, optimization of the recovery path, or drug intervention to promote blood flow.

[0039] Furthermore, when the blood recovery efficiency is greater than 120 percent, the recovery equipment is judged to be over-adjusted, resulting in a too-fast recovery speed, which may cause unnecessary physiological burden on the parturient, and even lead to hypovolemia or hypotension; the blood recovery device may not correctly identify the blood recovery area, causing unnecessary excessive recovery; at this time, it is necessary to reduce the speed of the recovery device, adjust the recovery path or strengthen the monitoring of the parturient.

[0040] Furthermore, the VR system is used to feedback these stable recovery efficiencies: In the VR system, when the blood recovery efficiency is less than 50%, it is displayed in the following ways:

[0041] Furthermore, in the three-dimensional virtual model, if the blood recovery efficiency of the steady-state blood vessels is low, it means that the blood flow in the blood vessels is not smooth or even stagnant. The VR system can highlight these blood vessel areas in red or yellow to help doctors immediately notice the problem.

[0042] Preferably, when the VR system detects that the recovery efficiency is less than 50%, a real-time reminder is sent to the medical staff through an audible or visual alarm. For example, a red warning box pops up on the screen on the steady-state blood vessel with a recovery efficiency less than 50%, indicating "blood recovery efficiency is too low" and displaying the specific recovery efficiency percentage.

[0043] Preferably, the VR system can give potential diagnostic results according to the reasons for low recovery efficiency (such as decreased blood flow, equipment failure, etc.) through pre-set rules. For example, if the system detects that the blood flow rate is obviously insufficient, the VR system prompts "blood flow is too low, check the recovery device settings" or "there may be a blood vessel obstruction, please check the recovery path."

[0044] Furthermore, in the VR system, when the blood recovery efficiency is greater than 120%, it is displayed in the following manner: the steady-state blood vessels with a blood recovery efficiency greater than 120% are displayed in blue or green to alert medical staff.

[0045] Preferably, when the recovery efficiency exceeds 120%, the VR system will prompt a visual or sound warning that "the blood recovery efficiency is too high" and display the specific recovery efficiency percentage. The warning box is highlighted in yellow or orange to remind the doctor that immediate action is needed.

[0046] Preferably, by analyzing the gap between the amount of blood recovered and the expected amount of blood recovered, the VR system displays prompts such as "excessive recovery, reduce the recovery speed" or "improper setting of the blood return path, please adjust the recovery device" to help doctors understand the problem and make adjustments.

[0047] Furthermore, through the VR system, doctors can simulate different recycling paths and equipment settings and observe the effects of adjustments in real time. If it is found that the recycling device does not correctly identify the recycling area or the equipment settings are excessive, the doctor can make adjustments through the virtual interface to ensure that the recycling speed is not too fast.

[0048] Among them, the VR system includes: head-mounted display, sensors and tracking devices, interactive devices, computer hardware and software, and sound and tactile feedback devices.

[0049] The beneficial effects of this step are: by combining real-time blood recovery efficiency monitoring, virtual three-dimensional image display and intelligent diagnosis, the management of blood recovery process during surgery is improved. The VR system evaluates blood recovery efficiency in real time, and highlights stable vascular areas through intuitive three-dimensional virtual models. The system automatically provides potential diagnostic suggestions, reducing the burden of manual judgment and optimizing the operation process. For situations where the recovery efficiency is too low or too high, the VR system can remind doctors in real time through visual and sound alarms to avoid the risks of physiological burden or equipment failure. By simulating the recovery path and adjusting the equipment settings, doctors can quickly optimize the recovery plan to ensure the safety and accuracy of blood recovery.

[0050] The beneficial effects of the present invention are: by integrating medical imaging, three-dimensional modeling, blood monitoring and virtual reality technology, the accuracy and safety of blood recovery management are improved, and the problem of serious distortion in real-time monitoring of blood flow rate and temperature during blood recovery caused by coagulation dysfunction in pregnant women during the blood recovery process is solved.

[0051] To achieve the above-mentioned purpose, the second aspect embodiment of the present invention further proposes a VR-based autologous blood recovery obstetric surgery assistance system, the VR-based autologous blood recovery obstetric surgery assistance system includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor implements the steps in a VR-based autologous blood recovery obstetric surgery assistance method when executing the computer program, the VR autologous blood recovery obstetric surgery assistance system runs on desktop computers, notebooks, PDAs and computing devices in cloud data centers.

[0052] By implementing a VR-based autologous blood recovery obstetric surgery assistance system for autologous blood recovery, the problem of serious distortion in real-time monitoring of blood flow rate and temperature during blood recovery caused by coagulation dysfunction in pregnant women can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 Shown is a flow chart of a VR-based autologous blood recovery obstetric surgery assisted method;

[0054] Figure 2 Shown is the structural diagram of the VR-based autologous blood recovery obstetric surgery assistance system. DETAILED DESCRIPTION

[0055] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0056] Figure 1 Shown is a flow chart of a VR-based method for assisting obstetric surgery with autologous blood recovery.

[0057] Reference Figure 1 The present invention proposes a VR-based autologous blood recovery obstetric surgery auxiliary method, the method comprising the following steps:

[0058] S100, collecting anatomical data of the parturient and constructing a three-dimensional virtual model of the parturient;

[0059] S200, identifying a blood vessel region of the three-dimensional virtual model of the parturient and segmenting the three-dimensional virtual model of the parturient to obtain a blood vessel model;

[0060] S300, during the operation, the blood recovery volume, blood flow rate and blood temperature of the recovered blood are monitored in real time through the blood recovery device and the monitoring sensor, the blood physiological activity index is calculated, and the steady-state blood vessels in the three-dimensional virtual model are marked by the blood physiological activity index;

[0061] S400, evaluates blood recovery in steady-state blood vessels, generates virtual three-dimensional images of the evaluation results and transmits them to medical staff wearing head-mounted displays through the VR system;

[0062] The auxiliary method according to the embodiment of the present invention can avoid the problem of serious distortion in real-time monitoring of blood flow rate and temperature during blood recovery caused by coagulation dysfunction in pregnant women during the blood recovery process.

[0063] Furthermore, in step S100, collecting the anatomical data of the parturient and constructing the three-dimensional virtual model of the parturient includes:

[0064] First, the anatomical data of the parturient is obtained using a medical imaging device, wherein the medical imaging device includes a CT (computed tomography), an MRI (magnetic resonance imaging) or an ultrasound device;

[0065] Specifically, CT uses X-rays to obtain multiple cross-sectional images of the body, providing high-resolution details of bones and certain soft tissues, which are used to obtain pelvic structure and blood vessel distribution; MRI uses strong magnetic fields and radio frequency pulses to generate high-quality soft tissue images, which are used to obtain the morphology of blood vessels, uterus and other organs, and present the structure of blood vessels and organs in detail; ultrasound equipment uses high-frequency sound waves to capture dynamic images inside the mother's body in real time, which are used to obtain images of the fetus, uterus and.

[0066] Furthermore, the acquired anatomical data of the parturient is three-dimensionally modeled through image reconstruction technology. The medical modeling software for three-dimensional modeling is Mimics, 3D Slicer or OsiriX. The data are sliced ​​and processed through the medical modeling software, and the data at all levels are integrated into a complete three-dimensional virtual model. This model can display the spatial distribution of bones, muscles, organs, blood vessels, etc., and can also simulate the blood flow path to display the precise position and status of each organ and blood vessel.

[0067] Furthermore, in step S200, the vascular region of the three-dimensional virtual model of the parturient is identified and the three-dimensional virtual model of the parturient is segmented to obtain the vascular model, including:

[0068] Identify the vascular region of the three-dimensional virtual model of the parturient, determine its boundary using the object of interest detection algorithm, segment the model, and extract the vascular model;

[0069] During the maternal surgery, especially during cesarean section, soft birth canal injuries such as cervical lacerations and vaginal vault lacerations are prone to occur, which may also affect the large veins in the relevant parts, resulting in a large difference in the blood flow rate and temperature near these large veins from those of normal people. In particular, when coagulation dysfunction occurs, the real-time monitoring of the blood flow rate and temperature of blood recovery will be seriously distorted. Therefore, the present application selects steady-state blood vessels to correct the data of blood recovery volume, blood flow rate and blood temperature in the following way;

[0070] Furthermore, in step S300, during the operation, the blood recovery volume, blood flow rate and blood temperature of the recovered blood are monitored in real time by the blood recovery device and the monitoring sensor, and the blood physiological activity index is calculated. The steady-state blood vessel is obtained by the blood physiological activity index, including:

[0071] S301, obtaining the temperature velocity ratio of the original blood and the blood temperature velocity ratio sequence;

[0072] Obtain the average blood flow velocity vp and the average blood temperature vm of all blood vessels before the operation, and record the ratio of the average blood flow velocity vp to the average blood temperature vm as the original blood temperature velocity ratio VPM;

[0073] During the operation, the blood flow velocity of the j-th blood vessel in each distance interval L is obtained by a blood flow velocity sensor or an ultrasonic Doppler flow velocity probe, where j is the serial number of the blood vessel, j=1, 2, ..., M, M is the number of blood vessels, and the distance interval L is set to [1, 50] mm; VET(j, Li) is the blood flow velocity in the i-th distance interval Li of the j-th blood vessel, and VLT(j, Li) is the blood temperature in the blood vessel in the i-th distance interval Li of the j-th blood vessel, where Li=[(i-1)*L, i*L], i=1, 2, ..., H, H∈[5, 100], where H is the number of distance intervals, i is the serial number of the distance interval, the median of each blood flow velocity in all VET(j, Li) is VEM(j), and the median of each blood temperature in all VLT(j, Li) is VLM(j);

[0074] The blood temperature velocity ratio refers to the ratio between blood flow velocity and blood temperature, which is used to evaluate the flow characteristics of blood in blood vessels. It reflects the relationship between blood flow and its temperature, and can be used to monitor blood flow status, diagnose vascular problems, and evaluate the working status of blood recovery equipment; changes in blood flow velocity and blood temperature are closely related to the health of blood vessels and changes in hemodynamics. Changes in blood flow velocity are usually related to problems such as contraction, expansion, blockage or rupture of blood vessels, while blood temperature is affected by blood flow, tissue metabolism and the external environment; by observing the blood temperature velocity ratio, the health of blood flow can be more comprehensively evaluated. For example: Normal blood flow: In a healthy state, the blood temperature velocity ratio usually remains stable, and the blood flow velocity and temperature are relatively consistent. Abnormal blood flow: Abnormal fluctuations in the blood temperature velocity ratio may indicate problems with blood vessels, such as vascular blockage, arteriosclerosis or other pathological conditions.

[0075] The blood flow velocity is obtained by a blood flow sensor or an ultrasonic Doppler blood flow detector.

[0076] Furthermore, the blood temperature velocity ratio of the jth blood vessel is recorded as VM(j), where VM(j) = VEM(j) / VLM(j); an empty sequence is created and recorded as the blood temperature velocity ratio sequence VMO, all VM(j) are imported into the blood temperature velocity ratio sequence, and the average value of the blood temperature velocity ratio in the blood temperature velocity ratio sequence is recorded as VMM;

[0077] S302, obtaining a first blood temperature velocity ratio range V1, a second blood temperature velocity ratio range V2, and a third blood temperature velocity ratio range V3 through a blood temperature velocity ratio sequence;

[0078] Calculate the absolute value RD of the difference between the original blood temperature velocity ratio VPM and the average value VMM in the blood temperature velocity ratio sequence, and classify the blood temperature velocity ratio sequence internally by the original blood temperature velocity ratio VPM and RD, specifically: record the value of VPM minus RD as TLY, the value of VPM plus RD as TLK, classify the blood temperature velocity ratio in the blood temperature velocity ratio sequence VMO that is less than or equal to TLY into the first blood temperature velocity ratio range V1; classify the blood temperature velocity ratio in the blood temperature velocity ratio sequence VMO that is greater than TLY and less than TLK into the second blood temperature velocity ratio range V2; classify the blood temperature velocity ratio in the blood temperature velocity ratio sequence VMO that is greater than or equal to TLK into the third blood temperature velocity ratio range V3;

[0079] The intervals of the first blood temperature velocity ratio range V1, the second blood temperature velocity ratio range V2, and the third blood temperature velocity ratio range V3 are respectively recorded as [S1, S2], [K1, K2], and [M1, M2], where the interval [S1, S2] represents the first blood temperature velocity ratio range V1, where S1 is the minimum value in the blood temperature velocity ratio sequence VMO, and S2 is the value closest to TLY among all blood temperature velocity ratio deviations less than or equal to TLY in the blood temperature velocity ratio sequence VMO. The interval [K1, K2] represents the second blood temperature velocity ratio range V2, where K1 is the value closest to TLY among all blood temperature velocity ratio deviations greater than TLY in the blood temperature velocity ratio sequence VMO, and K2 is the value closest to TLK among all blood temperature velocity ratio deviations less than TLK in the blood temperature velocity ratio sequence VMO. The interval [M1, M2] represents the third blood temperature speed ratio range V3, where M1 is the value closest to TLK among all blood temperature speed ratio deviations greater than or equal to TLK in the blood temperature speed ratio sequence VMO, and M2 is the maximum value in the blood temperature speed ratio sequence VMO.

[0080] S303, calculating a first blood physiological activity index BLD1 and a second blood physiological activity index BLD2 through the first blood temperature velocity ratio range V1, the second blood temperature velocity ratio range V2, and the third blood temperature velocity ratio range V3;

[0081] The first blood physiological activity index BLD1 is the maximum value S2 in the first blood temperature velocity ratio range V1 minus the blood temperature velocity ratio range difference, wherein the blood temperature velocity ratio range difference is the product of K1 and the blood temperature velocity balance ratio, wherein the blood temperature velocity balance ratio is the ratio of VMM to VPM;

[0082] The second blood physiological activity index BLD2 is the maximum value S2 in the first blood temperature velocity ratio range V1 plus the blood temperature velocity ratio range difference;

[0083] Among them, the first blood physiological activity index BLD1 and the second blood physiological activity index BLD2 respectively represent the boundaries of the reasonable range of the temperature-speed ratio. The blood vessels within this range are blood vessels that do not have coagulation dysfunction during the blood recovery process (ie, "steady-state blood vessels"), and the blood vessels outside this range have coagulation dysfunction, heavy bleeding or other abnormal bleeding problems.

[0084] S304, according to the boundary values ​​of the first blood physiological activity index BLD1 and the second blood physiological activity index BLD2, extract the blood temperature velocity ratio data between the two indexes, record it as the steady-state temperature velocity ratio Vg(h), where h is the blood vessel number whose blood temperature velocity ratio deviation belongs to the range between the first blood physiological activity index BLD1 and the second blood physiological activity index BLD2, and mark the blood vessel corresponding to the steady-state temperature velocity ratio Vg(h) as the steady-state blood vessel;

[0085] The beneficial effect of this step is: using the temperature velocity ratio VPM of the original blood as a benchmark to monitor and evaluate the physiological activity index of the blood in real time, thereby identifying the blood vessels that do not have coagulation dysfunction during the blood recovery process (i.e., "steady-state blood vessels"). Steady-state blood vessels generally refer to those with stable blood flow rate or temperature. Through accurate monitoring of blood flow rate and temperature, combined with the calculation of the temperature velocity ratio and the blood physiological activity index, blood vessels with stable blood flow rate and temperature in the actual state of vascular blood recovery are obtained, avoiding the problem of serious distortion in the real-time monitoring of blood flow rate and temperature of blood recovery when pregnant women have coagulation dysfunction during the blood recovery process.

[0086] Further, in step S400, evaluating the blood recovery of the steady-state blood vessels, generating a virtual three-dimensional image based on the evaluation result and transmitting it to the medical staff wearing the head mounted display through the VR system includes:

[0087] Furthermore, the blood recovery volume of the steady-state blood vessels was analyzed and the blood recovery efficiency was calculated.

[0088] Further, calculating the blood recovery efficiency includes: obtaining the blood recovery amount of the steady-state blood vessel in real time and obtaining the expected recovery amount per unit time through a flow sensor or a monitoring device; calculating the blood recovery efficiency according to the blood recovery amount of the steady-state blood vessel and the expected recovery amount per unit time: blood recovery efficiency of the steady-state blood vessel = blood recovery amount of the steady-state blood vessel / (recovery time × expected recovery amount per unit time);

[0089] Furthermore, when the blood recovery efficiency is less than 50%, it is determined that the recovery efficiency is too low. At this time, the following problems may exist: insufficient blood flow rate, which may be caused by decreased blood flow, blood vessel blockage or improper setting of the recovery device; damaged blood vessels or failure of the recovery device (blood recovery machine); timely adjustment of the recovery device settings, optimization of the recovery path, or drug intervention to promote blood flow.

[0090] Furthermore, when the blood recovery efficiency is greater than 120 percent, the recovery equipment is judged to be over-adjusted, resulting in a too-fast recovery speed, which may cause unnecessary physiological burden on the parturient, and even lead to hypovolemia or hypotension; the blood recovery device may not correctly identify the blood recovery area, causing unnecessary excessive recovery; at this time, it is necessary to reduce the speed of the recovery device, adjust the recovery path or strengthen the monitoring of the parturient.

[0091] Furthermore, the VR system is used to feedback these stable recovery efficiencies: In the VR system, when the blood recovery efficiency is less than 50%, it is displayed in the following ways:

[0092] Furthermore, in the three-dimensional virtual model, if the blood recovery efficiency of the steady-state blood vessels is low, it means that the blood flow in the blood vessels is not smooth or even stagnant. The VR system can highlight these blood vessel areas in red or yellow to help doctors immediately notice the problem.

[0093] Preferably, when the VR system detects that the recovery efficiency is less than 50%, a real-time reminder is sent to the medical staff through an audible or visual alarm. For example, a red warning box pops up on the screen on the steady-state blood vessel with a recovery efficiency less than 50%, indicating "blood recovery efficiency is too low" and displaying the specific recovery efficiency percentage.

[0094] Preferably, the VR system can give potential diagnostic results according to the reasons for low recovery efficiency (such as decreased blood flow, equipment failure, etc.) through pre-set rules. For example, if the system detects that the blood flow rate is obviously insufficient, the VR system prompts "blood flow is too low, check the recovery device settings" or "there may be a blood vessel obstruction, please check the recovery path."

[0095] Furthermore, in the VR system, when the blood recovery efficiency is greater than 120%, it is displayed in the following manner: the steady-state blood vessels with a blood recovery efficiency greater than 120% are displayed in blue or green to alert medical staff.

[0096] Preferably, when the recovery efficiency exceeds 120%, the VR system will prompt a visual or sound warning that "the blood recovery efficiency is too high" and display the specific recovery efficiency percentage. The warning box is highlighted in yellow or orange to remind the doctor that immediate action is needed.

[0097] Preferably, by analyzing the gap between the amount of blood recovered and the expected amount of blood recovered, the VR system displays prompts such as "excessive recovery, reduce the recovery speed" or "improper setting of the blood return path, please adjust the recovery device" to help doctors understand the problem and make adjustments.

[0098] Furthermore, through the VR system, doctors can simulate different recycling paths and equipment settings and observe the effects of adjustments in real time. If it is found that the recycling device does not correctly identify the recycling area or the equipment settings are excessive, the doctor can make adjustments through the virtual interface to ensure that the recycling speed is not too fast.

[0099] Among them, the VR system includes: head-mounted display, sensors and tracking devices, interactive devices, computer hardware and software, and sound and tactile feedback devices.

[0100] Figure 2 Shown is the structural diagram of the VR-based autologous blood recovery obstetric surgery assistance system.

[0101] Reference Figure 2 The present invention also proposes a VR-based autologous blood recovery obstetric surgery assistance system 20, the VR-based autologous blood recovery obstetric surgery assistance system 20 includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor implements the steps in a VR-based autologous blood recovery obstetric surgery assistance method when executing the computer program, the VR-based autologous blood recovery obstetric surgery assistance system 20 runs on desktop computers, notebooks, PDAs, and computing devices in cloud data centers.

[0102] The auxiliary system comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to run in the following units of the auxiliary system:

[0103] The acquisition unit 21 is used to acquire the anatomical data of the parturient and construct a three-dimensional virtual model of the parturient;

[0104] The segmentation unit 22 is used to identify the blood vessel region of the three-dimensional virtual model of the parturient and segment the three-dimensional virtual model of the parturient to obtain a blood vessel model;

[0105] The calculation unit 23 is used to monitor the blood recovery volume, blood flow rate and blood temperature of the recovered blood in real time through the blood recovery device and the monitoring sensor during the operation, and calculate the blood physiological activity index to obtain the steady-state blood vessel through the blood physiological activity index;

[0106] The visualization unit 24 is used to evaluate the blood recovery status of the steady-state blood vessels, generate a virtual three-dimensional image based on the evaluation results, and transmit it to the medical staff wearing the head-mounted display through the VR system.

[0107] The VR-based autologous blood recovery obstetric surgery auxiliary system can be run on computing devices such as desktop computers, notebooks, PDAs and cloud servers. The VR-based autologous blood recovery obstetric surgery auxiliary system, the auxiliary system that can be run may include, but is not limited to, processors and memories. Those skilled in the art will understand that the example is only an example of a VR-based autologous blood recovery obstetric surgery auxiliary system 20, and does not constitute a limitation on a VR-based autologous blood recovery obstetric surgery auxiliary system 20, which may include more or fewer components than the example, or a combination of certain components, or different components. For example, the VR-based autologous blood recovery obstetric surgery auxiliary system may also include input and output devices, network access devices, buses, etc.

[0108] By executing the VR-based autologous blood recovery obstetric surgery assistance method through the VR-based autologous blood recovery obstetric surgery assistance system 20, the problem of serious distortion in the real-time monitoring of blood flow rate and temperature of blood recovery caused by coagulation dysfunction in pregnant women during the blood recovery process can be avoided.

[0109] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0110] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0111] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0112] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0113] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0114] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0115] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0116] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A VR-based autologous blood recovery obstetric surgery auxiliary method, characterized in that: The method comprises the following steps: S100, collecting anatomical data of the parturient and constructing a three-dimensional virtual model of the parturient; S200, h identifying a blood vessel region of the three-dimensional virtual model of the parturient and segmenting the three-dimensional virtual model of the parturient to obtain a blood vessel model; S300, during the operation, the blood recovery volume, blood flow rate and blood temperature of the recovered blood are monitored in real time through the blood recovery device and the monitoring sensor, and the blood physiological activity index is calculated to obtain the steady-state blood vessel through the blood physiological activity index; S400 evaluates the blood recovery of steady-state blood vessels, generates a virtual three-dimensional image based on the evaluation results and transmits it to medical staff wearing a head-mounted display through a VR system.

2. The VR-based autologous blood recovery obstetric surgery auxiliary method according to claim 1, characterized in that: S100, a method for collecting anatomical data of a parturient and constructing a three-dimensional virtual model of the parturient includes: using medical imaging equipment to obtain the anatomical data of the parturient, wherein the medical imaging equipment includes CT, MRI or ultrasound equipment; wherein CT obtains multiple cross-sectional images of the body through X-rays; MRI generates high-quality soft tissue images through strong magnetic fields and radio frequency pulses, which are used to obtain the morphology of blood vessels, uterus and other organs, and present the structure of blood vessels and organs; ultrasound equipment captures dynamic images inside the parturient's body in real time through high-frequency sound waves, which are used to obtain images of the fetus and uterus; the obtained anatomical data of the parturient is three-dimensionally modeled through image reconstruction technology, wherein the medical modeling software for three-dimensional modeling is Mimics, 3D Slicer or OsiriX, and these data are sliced ​​and processed through the medical modeling software, and merged into a complete three-dimensional virtual model.

3. The VR-based autologous blood recovery obstetric surgery auxiliary method according to claim 1, characterized in that: In step S200, the blood vessel region of the three-dimensional virtual model of the parturient is identified and the three-dimensional virtual model of the parturient is segmented to obtain the blood vessel model, including: The vascular region of the three-dimensional virtual model of the parturient is identified, its boundary is determined using an algorithm of interest, the model is segmented, and the vascular model is extracted.

4. The VR-based autologous blood recovery obstetric surgery auxiliary method according to claim 1, characterized in that: In step S300, during the operation, the blood recovery volume, blood flow rate and blood temperature of the recovered blood are monitored in real time by the blood recovery device and the monitoring sensor, and the blood physiological activity index is calculated. The steady-state blood vessel is obtained by the blood physiological activity index, including: S301, obtaining the temperature velocity ratio of the original blood and the blood temperature velocity ratio sequence; S302, obtaining a first blood temperature velocity ratio range V1, a second blood temperature velocity ratio range V2, and a third blood temperature velocity ratio range V3 through a blood temperature velocity ratio sequence; S303, calculating a first blood physiological activity index BLD1 and a second blood physiological activity index BLD2 through the first blood temperature velocity ratio range V1, the second blood temperature velocity ratio range V2, and the third blood temperature velocity ratio range V3; S304, according to the first blood physiological activity index BLD1 and the second blood physiological activity index BLD2, blood temperature velocity ratio data between the two indexes is extracted and recorded as steady-state temperature velocity ratio, and the blood vessel corresponding to the steady-state temperature velocity ratio is marked as a steady-state blood vessel.

5. The VR-based autologous blood recovery obstetric surgery auxiliary method according to claim 1, characterized in that: In step S400, the blood recovery situation of the steady-state blood vessels is evaluated, and the evaluation results are generated into a virtual three-dimensional image and transmitted to the medical staff wearing the head-mounted display through the VR system, including: analyzing the blood recovery volume of the steady-state blood vessels and calculating the blood recovery efficiency; wherein the method for calculating the blood recovery efficiency includes: obtaining the blood recovery volume of the steady-state blood vessels and the expected recovery volume per unit time in real time through a flow sensor or a monitoring device, and calculating the blood recovery efficiency based on the blood recovery volume of the steady-state blood vessels and the expected recovery volume per unit time: the blood recovery efficiency of the steady-state blood vessels = the blood recovery volume of the steady-state blood vessels / (recovery time × expected recovery volume per unit time).

6. A VR-based autologous blood recovery obstetric surgery auxiliary system, characterized in that: The VR-based autologous blood recovery obstetric surgery assistance system includes: a processor, a memory, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of the VR-based autologous blood recovery obstetric surgery assistance method described in any one of claims 1 to 5 are implemented.

Images