Real-time and accurate bronchoscope positioning method for children pneumology department

Abstract

The invention discloses a real-time and accurate bronchoscope positioning method for the child pneumology department, and relates to the technical field of accurate positioning. During system operation, a clear respiratory tract structure image is obtained by adopting a high-resolution camera and ultrasonic imaging equipment; navigation performance data, real-time airway structure data and patient state data are collected through an instrument, a first data set, a second data set and a third data set are obtained, combined calculation is carried out, a real-time respiratory tract state index Sszt is obtained, the real-time respiratory tract state index Sszt is compared with a preset state threshold value Z and a preset state threshold value X, and the real-time respiratory tract state index Sszt is obtained. Respiratory tract states are divided into different grades, a real-time user interface is provided, and medical staff monitor the real-time states of the respiratory tracts of children through the user interface, make decisions, provide control and control functions for bronchoscope equipment and are used for immediately adjusting emergencies of patients.

Description

Technical Field

[0001] The present invention relates to the field of precise positioning technology, and in particular to a real-time and precise positioning method for a bronchoscope used in children's respiratory department. Background Art

[0002] Pediatric respiratory medicine has always been one of the most important research directions in the medical field. Due to the unique physiological structure and dynamic physiological development of children, the monitoring and treatment of the respiratory system is particularly complex and sensitive. Bronchoscopy, as a commonly used examination tool, is widely used in the field of pediatric respiratory medicine.

[0003] However, traditional bronchoscope positioning methods have a series of challenges, including image clarity, navigation accuracy, real-time performance, and comprehensive monitoring of the patient's physiological status. To overcome these challenges, a more advanced method is needed to provide real-time and accurate bronchoscope positioning, enabling medical staff to better monitor the status of children's airways and make timely decisions. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a real-time and accurate bronchoscope positioning method for children's respiratory department, which solves the problems mentioned in the background technology.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a real-time and accurate bronchoscope positioning method for children's respiratory department, comprising the following steps:

[0008] Step 1: By capturing images of the inside of the child's airway, a high-resolution camera and ultrasound imaging device are used to provide real-time and radiation-free images to obtain clear images of the respiratory tract structure;

[0009] Step 2: Obtain navigation performance data as the first data group through positioning sensors, measuring navigators and high-precision timers, collect the patient's real-time airway structure data, including diameter, curvature, depth and visibility, as the second data group, and obtain the patient's status data as the third data group through electrocardiogram equipment, respiratory monitoring equipment and skin electrical measurement equipment;

[0010] Step 3: Processing the acquired image and the provided first data group, second data group and third data group, including image processing, pattern recognition and three-dimensional reconstruction, real-time positioning of the child's respiratory tract and combined calculation to obtain: real-time respiratory state index Sszt;

[0011] The real-time respiratory state index Sszt is calculated by the following formula:

[0012] Sszt=[(Dhxn*q)+(Sscl*w)+(Hzzt*e)]+R;

[0013] Wherein, Dhxn represents the navigation performance coefficient, Sscl represents the real-time measurement coefficient, Hzzt represents the patient status coefficient, q, w and e represent the proportional coefficients of the navigation performance coefficient Dhxn, the real-time measurement coefficient Sscl and the patient status coefficient Hzzt respectively;

[0014] Wherein, 0.22≤q≤0.35, 0.21≤w≤0.25, 0.32≤e≤0.40, and q+w+e≤1.0, R represents the first correction constant;

[0015] The navigation performance coefficient Dhxn is obtained by calculating the first data group;

[0016] The real-time measurement coefficient Sscl is obtained by calculation through the second data set;

[0017] The patient status coefficient Hzzt is obtained by calculation through the third data set;

[0018] Step 4: By comparing the real-time respiratory state index Sszt with the preset state threshold Z and the preset state threshold X, the respiratory state is divided into different levels to obtain a respiratory state assessment plan;

[0019] Step 5: Provide a real-time user interface to display the image captured in step 1 and the positioning information processed in step 3. Medical staff can monitor the real-time status of the child's airway through the user interface and make decisions.

[0020] Step 6: Provide control and manipulation functions for the bronchoscope equipment. Medical staff control the direction, depth and positioning of the bronchoscope to make immediate adjustments to the patient's emergency conditions.

[0021] Preferably, a high-resolution camera is used to capture real-time images of the inside of the child's respiratory tract, an ultrasonic imaging device is used to provide radiation-free and real-time images, and an ultrasonic sensor is used to obtain high-resolution and depth detection information of the respiratory tract structure.

[0022] Preferably, the navigation performance data including the positioning error value Dwwc, the update frequency value Gxpl and the signal strength average value Xhqd are obtained by the positioning sensor, the measuring navigator and the high-precision timer as the first data group;

[0023] By collecting the patient's real-time airway structure data, including airway diameter value Qdzj, airway curvature Qdwq, airway depth value Qdsd and microscopic visibility Jxkj, as the second data set;

[0024] The patient's status data, including the heart rate variability value Xlby, the skin resistance value Pfdz and the respiratory frequency value Hxpl, are obtained through an electrocardiogram instrument, a respiratory monitoring instrument and a skin conductivity measuring instrument as the third data group.

[0025] Preferably, by processing the acquired images and the provided first data group, second data group and third data group, including image processing, pattern recognition and three-dimensional reconstruction, the child's respiratory tract is located in real time and combined calculations are performed to obtain: navigation performance coefficient Dhxn, real-time measurement coefficient Sscl and patient status coefficient Hzzt.

[0026] Preferably, the navigation performance coefficient Dhxn is calculated and obtained by the following formula:

[0027] Dhxn=[(Dwwc*t)+(Gxpl*y)+(Xhqd*u)]+O;

[0028] Where Dwwc represents the positioning error value, Gxpl represents the update frequency value, Xhqd represents the average signal strength value, t, y and u represent the proportional coefficients of the positioning error value Dwwc, the update frequency value Gxpl and the average signal strength value Xhqd respectively;

[0029] Among them, 0.16≤t≤0.32, 0.13≤y≤0.22, 0.27≤u≤0.46, and t+y+u≤1.0, O represents the second correction constant.

[0030] Preferably, the real-time measurement coefficient Sscl is calculated by the following formula:

[0031] Sscl=[(Qdzj*p)+(Qdwq*a)+(Qdsd*s)+(Jxkj*d)]+F;

[0032] Where, Qdzj represents the airway diameter value, Qdwq represents the airway curvature, Qdsd represents the airway depth value, Jxkj represents the visibility under the microscope, and p, a, s, and d represent the proportional coefficients of the airway diameter value Qdzj, the airway curvature Qdwq, the airway depth value Qdsd, and the visibility under the microscope Jxkj, respectively;

[0033] Among them, 0.17≤p≤0.25, 0.22≤a≤0.35, 0.12≤s≤0.20, 0.15≤d≤0.20, and p+a+s+d≤1.0, and F represents the third correction constant.

[0034] Preferably, the patient status coefficient Hzzt is calculated by the following formula:

[0035] Hzzt=[(Xlby*g)+(Pfdz*h)+(Hxpl*j)]+K;

[0036] Wherein, Xlby represents the heart rate variability value, Pfdz represents the skin resistance value, Hxpl represents the respiratory rate value, g, h and j represent the proportional coefficients of the heart rate variability value Xlby, the skin resistance value Pfdz and the respiratory rate value Hxpl respectively;

[0037] Wherein, 0.27≤g≤0.45, 0.22≤h≤0.35, 0.12≤j≤0.20, and g+h+j≤1.0, and K represents the fourth correction constant.

[0038] Preferably, the respiratory state is divided into different levels by comparing the real-time respiratory state index Sszt with the preset state threshold Z and the preset state threshold X, and a respiratory state assessment scheme is obtained;

[0039] If the real-time respiratory status index Sszt is greater than the preset status threshold Z, it is judged as a normal state, and regular observation and monitoring are required to pay attention to the patient's respiratory condition. The patient does not need to take special treatment or drug intervention;

[0040] If the preset state threshold X is less than the real-time respiratory state index Sszt ≤ the preset state threshold Z, it is determined as the first state abnormal evaluation, the monitoring frequency is increased, and supportive treatment is provided, including posture adjustment, oxygen therapy and drug therapy;

[0041] If the preset state threshold X is less than or equal to the real-time respiratory state index Sszt, it is judged as the second state abnormal evaluation, and medical professionals are notified immediately to initiate emergency treatment measures, including airway management, ventilator support and emergency drugs, conduct a comprehensive assessment, check the cause of the abnormal respiratory state, and formulate a treatment plan and transfer to the intensive care unit for monitoring and treatment.

[0042] Preferably, an intuitive and clear image display and positioning information display are provided to enable medical staff to quickly understand the real-time status of the child's respiratory tract. The image and positioning information are presented in a visual split-screen manner, and the captured image and corresponding positioning information can be viewed at the same time. The image of the inside of the child's respiratory tract captured in step one is displayed, including the bronchial position, direction, depth and posture, and color labels are used to indicate different real-time status.

[0043] Preferably, wireless technology is used to enable medical staff to remotely control the bronchoscope at the patient's bedside or at a location away from the device. The direction of the bronchoscope can be adjusted in real time through the control handle and touch screen, and fine-tuning, one-touch or quick adjustment functions are provided, allowing medical staff to make quick adjustments in emergency situations.

[0044] (III) Beneficial effects

[0045] The present invention provides a real-time and accurate bronchoscope positioning method for children's respiratory department, which has the following beneficial effects:

[0046] (1) When the system is in operation, a clear image of the respiratory structure is obtained by using a high-resolution camera and ultrasonic imaging equipment. The navigation performance data, real-time airway structure data and patient status data are collected by the instrument to obtain a first data group, a second data group and a third data group, and a combined calculation is performed to obtain: a real-time respiratory state index Sszt; by comparing the real-time respiratory state index Sszt with a preset state threshold Z and a preset state threshold X, the respiratory state is divided into different levels; a real-time user interface is provided to display the image captured in step one and the positioning information processed in step three; medical staff monitor the real-time state of the child's respiratory tract through the user interface and make decisions; the control and manipulation function of the bronchoscope device is provided; the medical staff controls the direction, depth and positioning of the bronchoscope to make immediate adjustments to the patient's emergency situation.

[0047] (2) Through the combined use of high-resolution cameras and ultrasonic imaging equipment, high-definition capture of real-time images of the inside of children's respiratory tracts is achieved. The ultrasonic sensor provides high resolution and depth detection of the respiratory tract structure, providing more detailed information for a comprehensive assessment of the patient's condition. The use of ultrasonic imaging equipment to provide radiation-free real-time images avoids radiation exposure to patients. It is especially suitable for pediatric patients to protect their sensitivity to radiation during their growth and development.

[0048] (3) Providing real-time images of children's respiratory tract structures helps medical staff accurately identify lesions and abnormalities. The radiation-free imaging method reduces the potential impact of radiation on children and enhances the safety of the system. The high-resolution imaging capability provides a detailed and clear display of the respiratory tract microstructure, which helps improve diagnostic accuracy.

[0049] (4) In the method of the present invention, by using a high-resolution camera and ultrasonic imaging equipment, clear, real-time, radiation-free images of the inside of the child's respiratory tract are captured, providing medical staff with more accurate respiratory structure information. By combining navigation performance data, real-time airway structure data and patient status data, three data groups are formed to fully understand the condition of the child's respiratory tract, including diameter, curvature, depth and visibility. By processing the image and the three data groups, the real-time respiratory state index Sszt is comprehensively calculated to objectively reflect the patient's respiratory condition, and the navigation performance, real-time measurement and patient status are weighed. By comparing the real-time respiratory state index Sszt with the preset state threshold Z and the preset state threshold X, the respiratory state is divided into different levels, providing medical staff with a scientific respiratory state evaluation scheme, providing a real-time user interface, displaying the captured image and processed positioning information in a split-screen form, allowing medical staff to intuitively monitor the real-time state of the child's respiratory tract, which is helpful for making decisions quickly. By providing control and manipulation functions for the bronchoscope device, medical staff adjust the direction, depth and positioning of the bronchoscope to respond to the patient's emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The present invention is a schematic diagram of the steps of a real-time and accurate bronchoscope positioning method for children's respiratory department. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] Pediatric respiratory medicine has always been one of the most important research directions in the medical field. Due to the unique physiological structure and dynamic physiological development of children, the monitoring and treatment of the respiratory system is particularly complex and sensitive. Bronchoscopy, as a commonly used examination tool, is widely used in the field of pediatric respiratory medicine.

[0053] However, traditional bronchoscope positioning methods have a series of challenges, including image clarity, navigation accuracy, real-time performance, and comprehensive monitoring of the patient's physiological status. To overcome these challenges, a more advanced method is needed to provide real-time and accurate bronchoscope positioning, enabling medical staff to better monitor the status of children's airways and make timely decisions.

[0054] Example 1

[0055] The present invention provides a real-time and accurate bronchoscope positioning method for children's respiratory department. Figure 1 , including the following steps:

[0056] Step 1: By capturing images of the inside of the child's airway, a high-resolution camera and ultrasound imaging device are used to provide real-time and radiation-free images to obtain clear images of the respiratory tract structure;

[0057] Step 2: Obtain navigation performance data as the first data group through positioning sensors, measuring navigators and high-precision timers, collect the patient's real-time airway structure data, including diameter, curvature, depth and visibility, as the second data group, and obtain the patient's status data as the third data group through electrocardiogram equipment, respiratory monitoring equipment and skin electrical measurement equipment;

[0058] Step 3: Processing the acquired image and the provided first data group, second data group and third data group, including image processing, pattern recognition and three-dimensional reconstruction, real-time positioning of the child's respiratory tract and combined calculation to obtain: real-time respiratory state index Sszt;

[0059] The real-time respiratory state index Sszt is calculated by the following formula:

[0060] Sszt=[(Dhxn*q)+(Sscl*w)+(Hzzt*e)]+R;

[0061] Wherein, Dhxn represents the navigation performance coefficient, Sscl represents the real-time measurement coefficient, Hzzt represents the patient status coefficient, q, w and e represent the proportional coefficients of the navigation performance coefficient Dhxn, the real-time measurement coefficient Sscl and the patient status coefficient Hzzt respectively;

[0062] Wherein, 0.22≤q≤0.35, 0.21≤w≤0.25, 0.32≤e≤0.40, and q+w+e≤1.0, R represents the first correction constant;

[0063] The navigation performance coefficient Dhxn is obtained by calculating the first data group;

[0064] The real-time measurement coefficient Sscl is obtained by calculation through the second data set;

[0065] The patient status coefficient Hzzt is obtained by calculation through the third data set;

[0066] Step 4: By comparing the real-time respiratory state index Sszt with the preset state threshold Z and the preset state threshold X, the respiratory state is divided into different levels to obtain a respiratory state assessment plan;

[0067] Step 5: Provide a real-time user interface to display the image captured in step 1 and the positioning information processed in step 3. Medical staff can monitor the real-time status of the child's airway through the user interface and make decisions.

[0068] Step 6: Provide control and manipulation functions for the bronchoscope equipment. Medical staff control the direction, depth and positioning of the bronchoscope to make immediate adjustments to the patient's emergency conditions.

[0069] In this embodiment, a clear respiratory structure image is obtained by using a high-resolution camera and an ultrasonic imaging device. The navigation performance data, real-time airway structure data and patient status data are collected by the instrument to obtain a first data group, a second data group and a third data group, and a combined calculation is performed to obtain: a real-time respiratory state index Sszt. The respiratory state is divided into different levels by comparing the real-time respiratory state index Sszt with a preset state threshold Z and a preset state threshold X. A real-time user interface is provided to display the image captured in step one and the positioning information processed in step three. Medical staff monitor the real-time state of the child's respiratory tract through the user interface and make decisions. The control and manipulation function of the bronchoscope device is provided. The medical staff controls the direction, depth and positioning of the bronchoscope to make immediate adjustments to the patient's emergency situation.

[0070] Example 2

[0071] This embodiment is explained in Example 1, please refer to Figure 1 Specifically: a high-resolution camera is used to capture real-time images of the inside of a child's respiratory tract, an ultrasonic imaging device is used to provide radiation-free and real-time images, and an ultrasonic sensor is used to obtain high-resolution and deep detection information of the respiratory tract structure.

[0072] Obtain navigation performance data, including a positioning error value Dwwc, an update frequency value Gxpl, and a signal strength average value Xhqd, as a first data group through a positioning sensor, a measuring navigator, and a high-precision timer;

[0073] By collecting the patient's real-time airway structure data, including airway diameter value Qdzj, airway curvature Qdwq, airway depth value Qdsd and microscopic visibility Jxkj, as the second data set;

[0074] The patient's status data, including the heart rate variability value Xlby, the skin resistance value Pfdz and the respiratory frequency value Hxpl, are obtained through an electrocardiogram instrument, a respiratory monitoring instrument and a skin conductivity measuring instrument as the third data group.

[0075] By processing the acquired images and the provided first data group, second data group and third data group, including image processing, pattern recognition and three-dimensional reconstruction, the child's respiratory tract is positioned in real time and combined calculations are performed to obtain: navigation performance coefficient Dhxn, real-time measurement coefficient Sscl and patient status coefficient Hzzt.

[0076] The navigation performance coefficient Dhxn is calculated by the following formula:

[0077] Dhxn=[(Dwwc*t)+(Gxpl*y)+(Xhqd*u)]+O;

[0078] Where Dwwc represents the positioning error value, Gxpl represents the update frequency value, Xhqd represents the average signal strength value, t, y and u represent the proportional coefficients of the positioning error value Dwwc, the update frequency value Gxpl and the average signal strength value Xhqd respectively;

[0079] Among them, 0.16≤t≤0.32, 0.13≤y≤0.22, 0.27≤u≤0.46, and t+y+u≤1.0, O represents the second correction constant.

[0080] The real-time measurement coefficient Sscl is calculated by the following formula:

[0081] Sscl=[(Qdzj*p)+(Qdwq*a)+(Qdsd*s)+(Jxkj*d)]+F;

[0082] Where, Qdzj represents the airway diameter value, Qdwq represents the airway curvature, Qdsd represents the airway depth value, Jxkj represents the visibility under the microscope, and p, a, s, and d represent the proportional coefficients of the airway diameter value Qdzj, the airway curvature Qdwq, the airway depth value Qdsd, and the visibility under the microscope Jxkj, respectively;

[0083] Among them, 0.17≤p≤0.25, 0.22≤a≤0.35, 0.12≤s≤0.20, 0.15≤d≤0.20, and p+a+s+d≤1.0, and F represents the third correction constant.

[0084] The patient status coefficient Hzzt is calculated by the following formula:

[0085] Hzzt=[(Xlby*g)+(Pfdz*h)+(Hxpl*j)]+K;

[0086] Wherein, Xlby represents the heart rate variability value, Pfdz represents the skin resistance value, Hxpl represents the respiratory rate value, g, h and j represent the proportional coefficients of the heart rate variability value Xlby, the skin resistance value Pfdz and the respiratory rate value Hxpl respectively;

[0087] Wherein, 0.27≤g≤0.45, 0.22≤h≤0.35, 0.12≤j≤0.20, and g+h+j≤1.0, and K represents the fourth correction constant.

[0088] In this embodiment, the navigation performance coefficient Dhxn is calculated by processing the navigation performance data, which comprehensively considers the positioning error, update frequency and signal strength, and provides a quantitative indicator for the accurate positioning of the bronchoscope. The real-time measurement coefficient Sscl is calculated by processing the real-time airway structure data, which considers the airway diameter, curvature, depth and visibility under the mirror, and provides a quantitative indicator for the accurate assessment of the real-time respiratory status. The patient status coefficient Hzzt is calculated by processing the patient status data, which comprehensively considers the heart rate variability, skin resistance and respiratory rate, and provides important information for medical staff to understand the overall status of the patient.

[0089] Example 3

[0090] This embodiment is explained in Example 1, please refer to Figure 1 ,Specifically: by comparing the real-time respiratory state index Sszt with the preset state threshold Z and the preset state threshold X, the respiratory state is divided into different levels, and a respiratory state evaluation scheme is obtained;

[0091] If the real-time respiratory status index Sszt is greater than the preset status threshold Z, it is judged as a normal state and regular observation and monitoring are required. Attention should be paid to the patient's respiratory condition. The patient does not need special treatment or drug intervention, but needs to be closely monitored and prepared to take measures to respond to potential changes at any time. The patient should be given the necessary drug treatment to maintain his respiratory function within an acceptable range.

[0092] If the preset state threshold X is less than the real-time respiratory state index Sszt ≤ the preset state threshold Z, it is determined as the first state abnormal evaluation, the monitoring frequency is increased, and supportive treatment is provided, including posture adjustment, oxygen therapy and drug therapy;

[0093] If the preset state threshold X is less than or equal to the real-time respiratory state index Sszt, it is judged as the second state abnormal evaluation, and medical professionals are notified immediately to initiate emergency treatment measures, including airway management, ventilator support and emergency drugs, conduct a comprehensive assessment, check the cause of the abnormal respiratory state, and formulate a treatment plan and transfer to the intensive care unit for monitoring and treatment.

[0094] In this embodiment, by comparing the real-time respiratory state index Sszt with the preset state threshold Z and the preset state threshold X, the system performs personalized classification of the respiratory state. For the normal state, a strategy of regular observation and monitoring is adopted without excessive intervention. In the abnormal state, the system provides a corresponding treatment plan and adopts different supportive treatments and drug interventions according to the specific situation, ensuring personalized medical services. When the real-time respiratory state index Sszt indicates that the respiratory state is abnormal, the system quickly makes a judgment and takes corresponding measures. When the first state is abnormally evaluated, the monitoring frequency is increased and supportive treatment is provided, which helps to detect the patient's abnormal condition early. When the second state is abnormally evaluated, the system immediately notifies medical professionals and initiates emergency treatment measures, improving the medical team's immediate response capabilities to patients, providing a real-time user interface, displaying captured images and processed positioning information, so that medical staff can intuitively and clearly monitor the real-time state of children's respiratory tract, which helps medical staff to have a more comprehensive understanding of the patient's condition and make more informed decisions.

[0095] Example 4

[0096] This embodiment is explained in Example 1, please refer to Figure 1 Specifically: It provides intuitive and clear image display and positioning information display, so that medical staff can quickly understand the real-time status of the child's respiratory tract. The image and positioning information are presented in a visual split-screen manner, and the captured image and corresponding positioning information can be viewed at the same time. The image of the inside of the child's respiratory tract captured in step one is displayed, including the bronchial position, direction, depth and posture, and color labels are used to indicate different real-time status.

[0097] Wireless technology enables medical staff to remotely control the bronchoscope at the patient's bedside or away from the device. The direction of the bronchoscope can be adjusted in real time through the joystick and touch screen. Fine-tuning, one-touch or quick adjustment functions are provided, allowing medical staff to make quick adjustments in emergency situations.

[0098] In this embodiment, intuitive and clear image display and positioning information display are provided in a visual split-screen manner, so that medical staff can quickly understand the real-time status of the child's respiratory tract, including the position, direction, depth and posture of the bronchi. Color labels are used to indicate different real-time statuses, which helps medical staff to more easily identify abnormal conditions and improve the efficiency and accuracy of monitoring. Through wireless technology, medical staff can remotely control the bronchoscope without direct contact with the patient, allowing them to control it at the patient's bedside or away from the device. The direction of the bronchoscope can be adjusted in real time through the joystick and touch screen, providing fine-tuning, one-touch or quick adjustment functions, which is particularly beneficial in emergency situations and allows medical staff to make adjustments quickly and accurately.

[0099] Specific example:

[0100] Assuming that the pediatric respiratory department of a certain hospital uses this system, the following are some example values ​​of specific parameters:

[0101] First data set:

[0102] Positioning error value Dwwc=0.5, update frequency value Gxpl=10, signal strength average value Xhqd=-40;

[0103] Second data set:

[0104] Airway diameter value Qdzj=8, airway curvature dwq=30, airway depth value Qdsd=40, and microscopic visibility Jxkj=70;

[0105] The third data set:

[0106] Heart rate variability value Xlby=20, skin resistance value Pfdz=150, respiratory rate value Hxpl=18;

[0107] Corresponding proportional coefficients: q = 0.3, w = 0.25, e = 0.38, t = 0.2, y = 0.15, u = 0.3, p = 0.2, a = 0.25, d = 0.18, g = 0.3, h = 0.28, j = 0.15;

[0108] The first correction constant: R = 0.17, the second correction constant: O = 0.6, the third correction constant: F = 0.6, the fourth correction constant: K = 0.4;

[0109] Navigation performance coefficient Dhxn = (0.5*0.2) + (10*0.15) + (-40*0.3) + 0.6 = -33;

[0110] Real-time measurement coefficient Sscl = (8*0.2) + (30*0.25) + (40*0.2) + (70*0.18) + 0.6 = 69;

[0111] Patient status coefficient Hzzt = (20*0.3) + (150*0.28) + (18*0.15) + 0.4 = 96;

[0112] Real-time respiratory status index Sszt = (-33*0.3) + (69*0.25) + (96*0.38) + 0.17 = 45;

[0113] Set the preset state threshold Z to 60, the preset state threshold X to 30, the preset state threshold X<real-time respiratory state index Sszt≤preset state threshold Z, determine it as the first state abnormal evaluation, increase the monitoring frequency, and provide supportive treatment, including adjusting posture, giving oxygen therapy and drug treatment.

[0114] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A real-time and accurate bronchoscope positioning method for children's respiratory department, characterized by: The following steps are involved: Step 1: By capturing images of the inside of the child's airway, a high-resolution camera and ultrasound imaging device are used to provide real-time and radiation-free images to obtain clear images of the respiratory tract structure; Step 2: Obtain navigation performance data as the first data group through positioning sensors, measuring navigators and high-precision timers, collect the patient's real-time airway structure data, including diameter, curvature, depth and visibility, as the second data group, and obtain the patient's status data as the third data group through electrocardiogram equipment, respiratory monitoring equipment and skin electrical measurement equipment; Step 3: Processing the acquired image and the provided first data group, second data group and third data group, including image processing, pattern recognition and three-dimensional reconstruction, real-time positioning of the child's respiratory tract and combined calculation to obtain: real-time respiratory state index Sszt; The real-time respiratory status index Sszt is calculated by the following formula: Sszt=[(Dhxn*q)+(Sscl*w)+(Hzzt*e)]+R; Wherein, Dhxn represents the navigation performance coefficient, Sscl represents the real-time measurement coefficient, Hzzt represents the patient status coefficient, q, w and e represent the proportional coefficients of the navigation performance coefficient Dhxn, the real-time measurement coefficient Sscl and the patient status coefficient Hzzt respectively; Wherein, 0.22≤q≤0.35, 0.21≤w≤0.25, 0.32≤e≤0.40, and q+w+e≤1.0, R represents the first correction constant; The navigation performance coefficient Dhxn is obtained by calculating the first data group; The real-time measurement coefficient Sscl is obtained by calculation through the second data set; The patient status coefficient Hzzt is obtained by calculation through the third data set; Step 4: By comparing the real-time respiratory state index Sszt with the preset state threshold Z and the preset state threshold X, the respiratory state is divided into different levels to obtain a respiratory state assessment plan; Step 5: Provide a real-time user interface to display the image captured in step 1 and the positioning information processed in step 3. Medical staff can monitor the real-time status of the child's airway through the user interface and make decisions. Step 6: Provide control and manipulation functions for the bronchoscope equipment. Medical staff control the direction, depth and positioning of the bronchoscope to make immediate adjustments to the patient's emergency conditions.

2. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 1, characterized in that: A high-resolution camera is used to capture real-time images of the inside of a child's respiratory tract, an ultrasound imaging device is used to provide radiation-free and real-time images, and an ultrasonic sensor is used to obtain high-resolution and depth detection information of the respiratory tract structure.

3. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 1, characterized in that: Obtain navigation performance data, including a positioning error value Dwwc, an update frequency value Gxpl, and a signal strength average value Xhqd, as a first data group through a positioning sensor, a measuring navigator, and a high-precision timer; By collecting the patient's real-time airway structure data, including airway diameter value Qdzj, airway curvature Qdwq, airway depth value Qdsd and microscopic visibility Jxkj, as the second data set; The patient's status data, including the heart rate variability value Xlby, the skin resistance value Pfdz and the respiratory frequency value Hxpl, are obtained through an electrocardiogram instrument, a respiratory monitoring instrument and a skin conductivity measuring instrument as the third data group.

4. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 1, characterized in that: By processing the acquired images and the provided first data group, second data group and third data group, including image processing, pattern recognition and three-dimensional reconstruction, the child's respiratory tract is positioned in real time and combined calculations are performed to obtain: navigation performance coefficient Dhxn, real-time measurement coefficient Sscl and patient status coefficient Hzzt.

5. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 3, characterized in that: The navigation performance coefficient Dhxn is calculated by the following formula: Dhxn=[(Dwwc*t)+(Gxpl*y)+(Xhqd*u)]+O; Where Dwwc represents the positioning error value, Gxpl represents the update frequency value, Xhqd represents the average signal strength value, t, y and u represent the proportional coefficients of the positioning error value Dwwc, the update frequency value Gxpl and the average signal strength value Xhqd respectively; Among them, 0.16≤t≤0.32, 0.13≤y≤0.22, 0.27≤u≤0.46, and t+y+u≤1.0, O represents the second correction constant.

6. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 3, characterized in that: The real-time measurement coefficient Sscl is calculated by the following formula: Sscl=[(Qdzj*p)+(Qdwq*a)+(Qdsd*s)+(Jxkj*d)]+F; Where, Qdzj represents the airway diameter value, Qdwq represents the airway curvature, Qdsd represents the airway depth value, Jxkj represents the visibility under the microscope, and p, a, s, and d represent the proportional coefficients of the airway diameter value Qdzj, the airway curvature Qdwq, the airway depth value Qdsd, and the visibility under the microscope Jxkj, respectively; Among them, 0.17≤p≤0.25, 0.22≤a≤0.35, 0.12≤s≤0.20, 0.15≤d≤0.20, and p+a+s+d≤1.0, and F represents the third correction constant.

7. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 3, characterized in that: The patient status coefficient Hzzt is calculated by the following formula: Hzzt=[(Xlby*g)+(Pfdz*h)+(Hxpl*j)]+K; Wherein, Xlby represents the heart rate variability value, Pfdz represents the skin resistance value, Hxpl represents the respiratory rate value, g, h and j represent the proportional coefficients of the heart rate variability value Xlby, the skin resistance value Pfdz and the respiratory rate value Hxpl respectively; Wherein, 0.27≤g≤0.45, 0.22≤h≤0.35, 0.12≤j≤0.20, and g+h+j≤1.0, and K represents the fourth correction constant.

8. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 1, characterized in that: By comparing the real-time respiratory state index Sszt with the preset state threshold Z and the preset state threshold X, the respiratory state is divided into different levels to obtain a respiratory state assessment plan; If the real-time respiratory status index Sszt is greater than the preset status threshold Z, it is judged as a normal state, and regular observation and monitoring are required to pay attention to the patient's respiratory condition. The patient does not need to take special treatment or drug intervention; If the preset state threshold X is less than the real-time respiratory state index Sszt ≤ the preset state threshold Z, it is determined as the first state abnormal evaluation, the monitoring frequency is increased, and supportive treatment is provided, including posture adjustment, oxygen therapy and drug therapy; If the preset state threshold X is less than or equal to the real-time respiratory state index Sszt, it is judged as the second state abnormal evaluation, and medical professionals are notified immediately to initiate emergency treatment measures, including airway management, ventilator support and emergency drugs, conduct a comprehensive assessment, check the cause of the abnormal respiratory state, and formulate a treatment plan and transfer to the intensive care unit for monitoring and treatment.

9. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 1, characterized in that: It provides intuitive and clear image display and positioning information display, so that medical staff can quickly understand the real-time status of the child's respiratory tract. The image and positioning information are presented in a visual split-screen manner, and the captured image and corresponding positioning information can be viewed at the same time. The image of the inside of the child's respiratory tract captured in step one is displayed, including the bronchial position, direction, depth and posture, and color labels are used to indicate different real-time status.

10. A real-time and accurate bronchoscope positioning method for children's respiratory department according to claim 1, characterized in that: Wireless technology enables medical staff to remotely control the bronchoscope at the patient's bedside or away from the device. The direction of the bronchoscope can be adjusted in real time through the joystick and touch screen. Fine-tuning, one-touch or quick adjustment functions are provided, allowing medical staff to make quick adjustments in emergency situations.

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