Visual intraspinal puncture and catheterization system

Abstract

The invention discloses a visual intraspinal puncture and catheterization system, the visual intraspinal puncture and catheterization system comprises a hollow rigid needle tube, an epidural catheter, a flexible needle core and an electronic device, the epidural catheter is slidably connected with the hollow rigid needle tube, and the flexible needle core is slidably connected with the epidural catheter; the flexible needle core comprises a flexible coating and an optical fiber wrapped in the flexible coating, one end of the optical fiber extends to be flush with the first end face of the flexible coating, the other end of the optical fiber is connected with electronic equipment, a plurality of metal wires are arranged in the flexible coating at intervals, and one ends of the metal wires are connected to the adjusting device. The adjusting device is used for stretching part of the metal wires and compressing the other part of the metal wires so as to drive the first end face of the flexible needle core to deflect, and therefore the extending direction of the flexible needle core is adjusted. The intraspinal puncture difficulty can be reduced, and the intraspinal puncture success rate can be increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a visual intraspinal puncture and catheterization system. BACKGROUND

[0002] Intraspinal anesthesia includes epidural anesthesia and subarachnoid anesthesia. Both of them need to first send a puncture needle to the epidural space, and then place an epidural catheter or place an epidural catheter after subarachnoid administration. The intraspinal canal contains the spinal cord, rich spinal nerves and blood vessels, and improper operation can cause serious central nervous system damage to the patient. The current intraspinal puncture operation process is mostly blind, mainly relying on the personal operation experience of the operator, which makes it difficult to complete the intraspinal puncture, and the success rate of intraspinal puncture in obese and elderly patients is low. Medical disputes often occur in clinical practice due to difficult puncture, resulting in unsatisfactory anesthesia effect or adverse complications. SUMMARY

[0003] The embodiment of the present application provides a visual intraspinal puncture and catheterization system, which can reduce the difficulty of intraspinal puncture and improve the success rate of intraspinal puncture and safe catheterization.

[0004] In a first aspect, the visual intraspinal puncture and catheterization system provided by the present application comprises a hollow rigid needle tube, an epidural catheter, a flexible needle core and an electronic device, the epidural catheter is located in the hollow rigid needle tube and is in sliding connection with the hollow rigid needle tube, and the flexible needle core passes through the epidural catheter and is in sliding connection with the epidural catheter; The flexible needle core comprises a flexible envelope and an optical fiber wrapped in the flexible envelope, one end of the optical fiber extends to be flush with a first end face of the flexible envelope, the optical fiber is used for conducting an optical signal, the other end of the optical fiber is connected with the electronic device, the electronic device is used for processing the optical signal conducted by the optical fiber to obtain a first image, a plurality of metal wires are arranged in the flexible envelope, the extension directions of the plurality of metal wires are the same as the extension direction of the flexible needle core, one end of the plurality of metal wires is connected to an adjusting device, the other end of the plurality of metal wires extends to be flush with the first end face of the flexible envelope, and the adjusting device is used for stretching part of the plurality of metal wires and compressing another part of the plurality of metal wires to drive the first end face of the flexible needle core to deflect, so as to adjust the extension direction of the flexible needle core.

[0005] Optionally, the epidural catheter comprises a second catheter segment and a first catheter segment, one end of the second catheter segment is connected to one side of the first catheter segment, and the second catheter segment and the first catheter segment are communicated, the hollow rigid needle tube wraps the first catheter segment, a side wall of the hollow rigid needle tube is provided with a sliding groove, the other end of the second catheter segment extends from the sliding groove, and the epidural catheter slides along the sliding groove.

[0006] Optionally, the plurality of metal wires are arranged at equal intervals around the center of the first end face.

[0007] Optionally, the adjusting device comprises a hollow shell, a steering wheel and an adjusting knob, the adjusting knob is located on the hollow shell, the steering wheel is located in the hollow shell, one side surface of the steering wheel is attached to the second end face of the flexible envelope, the optical fiber passes through the steering wheel and is connected to the electronic device, one end of the plurality of metal wires is connected to one side surface of the steering wheel, and when the adjusting knob rotates, the steering wheel is driven to rotate in a first rotation direction, and a rotation plane of the first rotation direction is perpendicular to a disc surface of the steering wheel.

[0008] Optionally, edges of the steering wheel are provided with two symmetrical rotating shafts, the rotating shafts are rotationally connected to the hollow shell, the rotating shafts are connected to the adjusting knob through a transmission assembly, the adjusting knob rotates, the rotating shafts are driven to rotate, and the steering wheel is further driven to rotate in the first rotation direction.

[0009] Optionally, the visualized intravertebral puncture and catheterization system comprises a fastener, the fastener is located at one end of the hollow rigid needle tube away from the first end face of the flexible envelope, the flexible needle core passes through the fastener, and the fastener is used for fixing or releasing the flexible needle core; when the fastener fixes the flexible needle core, the fastener limits the flexible needle core from sliding relative to the hollow rigid needle tube; and when the fastener releases the flexible needle core, the flexible needle core can slide relative to the hollow rigid needle tube.

[0010] Optionally, the electronic device comprises a processing device, a detector, a light source, an interferometer and a display screen, the detector, the light source and the interferometer are connected to the optical fiber respectively, and the processing device is connected to the detector, the light source, the interferometer and the display screen respectively; the processing device acquires a detection signal detected by the detector, converts the detection signal into a first image and displays the first image on the display screen.

[0011] Optionally, the electronic device comprises a display screen, and the processing device is connected to the display screen; and the processing device displays the first image on the display screen.

[0012] Optionally, the electronic device is configured to: input the first image into a site classification model to obtain a site type of the first image, wherein the site type reflects a position on the flexible needle core forward path, and the site type is one of a subcutaneous fat site type, an interspinous ligament site type, a yellow ligament site type, an epidural space site type, and another site type; when the site type of the first image is not the other site type, input the first image into a target image segmentation model to perform image segmentation on the first image to obtain a plurality of tissue segmentation regions on the first image and region categories of the plurality of tissue segmentation regions, wherein the region categories of the tissue segmentation regions include a puncturable category and an avoidance category; and when the site type of the first image is the other site type, prompt an operator to adjust a needle insertion direction to return to a correct puncture path. if the flexible needle core extends through the avoidance category in the current direction, issue a deflection adjustment instruction to adjust the extension direction of the flexible needle core.

[0013] Optionally, the tissue segmentation region belonging to the puncturable category on the first image includes a fat tissue region, an interspinous ligament region, and a yellow ligament region, and the tissue segmentation region belonging to the avoidance category on the first image includes a spinal cord region, a spinal nerve region, a blood vessel region, and a bony structure region.

[0014] In the present application, compared with the related art, the visual intraspinal puncture and catheterization system includes a hollow rigid needle tube, an epidural catheter, a flexible needle core, and an electronic device. The epidural catheter is located in the hollow rigid needle tube and is in sliding connection with the hollow rigid needle tube. The flexible needle core passes through the epidural catheter and is in sliding connection with the epidural catheter. The flexible needle core includes a flexible envelope and an optical fiber wrapped in the flexible envelope. One end of the optical fiber extends to be flush with a first end surface of the flexible envelope. The optical fiber is used to conduct an optical signal. The other end of the optical fiber is connected to the electronic device. The electronic device is used to process the optical signal conducted by the optical fiber to obtain a first image. A plurality of metal wires are spaced apart in the flexible envelope. The extension directions of the plurality of metal wires are the same as the extension direction of the flexible needle core. One end of the plurality of metal wires is connected to an adjustment device. The other end of the plurality of metal wires extends to be flush with the first end surface of the flexible envelope. The adjustment device is used to stretch part of the plurality of metal wires and compress another part of the plurality of metal wires to drive the first end surface of the flexible needle core to deflect, thereby adjusting the extension direction of the flexible needle core. The present application can reduce the difficulty of intraspinal puncture and improve the success rate of intraspinal puncture. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0016] Figure 1 is a schematic structural diagram of an embodiment of the visualized intravertebral puncture and catheterization system provided by the present application; Figure 2 is a schematic structural diagram of a side of an embodiment of the visualized intravertebral puncture and catheterization system provided by the present application; Figure 3 is a schematic structural diagram of another side of an embodiment of the visualized intravertebral puncture and catheterization system provided by the present application; Figure 4 is a schematic structural diagram of a part of Figure 2 ; Figure 5 is a schematic structural diagram of a part of Figure 4 ; Figure 6 is a schematic structural diagram of an AA cross-section of Figure 3 ; Figure 7 is a schematic diagram of steering wheel adjusting flexible needle core. DETAILED DESCRIPTION

[0017] It should be noted that the principles of the present application are exemplified by being implemented in a suitable operating environment. The following description is based on the exemplified embodiments of the present application, which should not be regarded as limiting other embodiments of the present application not described in detail.

[0018] In the following description of the present application, "some embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0019] In the following description of the present application, the terms "first\second\third" are only to distinguish similar objects, and do not represent a specific order of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0021] Although the description of the application has been introduced with reference to some embodiments, it does not mean that the features of the application are limited to the embodiments. On the contrary, the purpose of introducing the application with reference to the embodiments is to cover other options or modifications that can be extended based on the claims of the application. In order to provide a deep understanding of the application, many specific details will be included in the following description. The application can also be implemented without using these details. In addition, in order to avoid confusion or obscure the focus of the application, some specific details will be omitted in the description. It should be noted that the embodiments and features in the embodiments in the application can be combined with each other without conflict.

[0022] In the embodiments of the application, the description of "one embodiment" or "some embodiments" means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in other some embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized.

[0023] In the embodiments of the application, the terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized.

[0024] In the embodiments of the application, unless otherwise specifically defined and limited, the terms "mount", "connect" should be understood in a broad sense, for example, "connect" can be detachably connected, or can be non-detachably connected; can be directly connected, or indirectly connected through an intermediate medium.

[0025] In the embodiments of the application, "and / or" is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0026] In the embodiments of this application, the directional terms mentioned, such as "up", "down", "left", "right", "inner", and "outer", are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0027] like Figures 1-7 As shown in the embodiments of this application, the visualized spinal canal puncture and catheter placement system includes a hollow rigid needle tube 11, an epidural catheter 12, a flexible needle core 13, and an electronic device 15. The epidural catheter 12 is located inside the hollow rigid needle tube 11 and is slidably connected to the hollow rigid needle tube 11. The flexible needle core 13 passes through the epidural catheter 12 and is slidably connected to the epidural catheter 12.

[0028] The hollow rigid needle tube 11 can be made of stainless steel, titanium alloy, etc., depending on the specific requirements. Stainless steel has good strength, hardness, and corrosion resistance, can maintain its sharpness for a long time, is easy to sterilize, and is relatively inexpensive, making it the most commonly used material for medical needles. Titanium alloy has high strength, low density, and better biocompatibility.

[0029] Among them, the epidural catheter 12 can be made of medical-grade polyurethane (PU). It has good flexibility, biocompatibility, is not likely to cause tissue irritation or allergic reactions, and is resistant to disinfection.

[0030] In this embodiment, the flexible needle core 13 includes a flexible cladding 131 and an optical fiber 133 encased within the flexible cladding 131. One end of the optical fiber 133 extends to be flush with the first end face 123 of the flexible cladding 131. The optical fiber 133 is used to transmit optical signals, and the other end of the optical fiber 133 is connected to an electronic device 15. The electronic device 15 is used to process the optical signals transmitted by the optical fiber 133 to obtain a first image. A plurality of metal wires 132 are spaced apart within the flexible cladding 131. The extension direction of the plurality of metal wires 132 is the same as the extension direction of the flexible needle core 13. One end of each of the plurality of metal wires 132 is connected to an adjustment device 14, and the other end of each of the plurality of metal wires 132 extends to be flush with the first end face 123 of the flexible cladding 131. The adjustment device 14 is used to stretch some of the plurality of metal wires 132 and compress others to change their position, thereby causing the first end face 123 of the flexible needle core 13 to deflect, thus adjusting the extension direction of the flexible needle core 13. The first end face 123 is oriented towards human tissue.

[0031] In the embodiment of the present application, the flexible envelope 131 can be a high polymer material such as epoxy resin or silicone rubber. The flexible envelope 131 is a hollow cylinder, can be deformed, and can rotate in the epidural catheter 12. The optical fiber 133 includes a core and a cladding. The core is made of high-purity silica and is the core channel for optical signal transmission. The cladding wraps the core and has a slightly lower refractive index than the core, and the optical signal is transmitted in the core through the total reflection principle.

[0032] In the embodiment of the present application, the epidural catheter 12 includes a second catheter segment 122 and a first catheter segment 121, one end of the second catheter segment 122 is connected to one side of the first catheter segment 121, and the second catheter segment 122 and the first catheter segment 121 are communicated, the hollow rigid needle tube 11 wraps the first catheter segment 121, the side wall of the hollow rigid needle tube 11 is provided with a sliding groove 111, the other end of the second catheter segment 122 extends from the sliding groove 111, and the epidural catheter 12 slides along the sliding groove 111.

[0033] The epidural catheter 12 is designed in a Y shape, the shorter first catheter segment 121 is used to place the flexible needle core 13, and the longer second catheter segment 122 is used to forward the epidural catheter 12 and is used for subsequent epidural drug delivery. The drug enters the first catheter segment 121 through the second catheter segment 122 and is output from the first end face 123.

[0034] In one embodiment, the communication position of the second catheter segment 122 and the first catheter segment 121 is provided with a blocking plate and a driving device, and the driving device drives the blocking plate to rotate. When the driving device drives the blocking plate to block the second catheter segment 122, at this time, the flexible needle core can slide in the first catheter segment 121 on the epidural catheter 12, so as to adjust the direction. When the flexible needle core exits the first catheter segment 121 on the epidural catheter 12, the control driving device drives the blocking plate to rotate to block the end of the first catheter segment 121 away from the first end face 123, so as to unblock the second catheter segment 122, at this time, the second catheter segment 122 and the first catheter segment 121 are communicated, and the drug can enter the first catheter segment 121 through the second catheter segment 122 and reach the first end face 123. The end of the first catheter segment 121 away from the first end face 123 is blocked, and the drug cannot flow out.

[0035] In the embodiment, the plurality of metal wires 132 are arranged at equal intervals around the center of the first end surface 123, the adjusting device 14 comprises a hollow shell 141, a steering wheel 144 and an adjusting knob 142, the adjusting knob 142 is located on the hollow shell 141, the steering wheel 144 is located in the hollow shell 141, one side surface of the steering wheel 144 is attached to the second end surface 124 of the flexible envelope 131, the optical fiber 133 passes through the steering wheel 144 and is connected to the electronic device 15, one end of the plurality of metal wires 132 is connected to the one side surface of the steering wheel 144, when the adjusting knob 142 rotates, the steering wheel 144 is driven to rotate along a first rotation direction, and a rotation plane where the first rotation direction is located is perpendicular to the disc surface of the steering wheel 144.

[0036] In the embodiment, the adjusting device 14 comprises a second adjusting knob 143, the second adjusting knob 143 is located on the hollow shell 141, when the second adjusting knob 143 rotates, the steering wheel 144 is driven to rotate along a second rotation direction, a rotation plane where the second rotation direction is located is perpendicular to the disc surface of the steering wheel 144, and the rotation plane where the first rotation direction is located and the rotation plane where the second rotation direction is located are perpendicular.

[0037] In combination Figure 7 The steering wheel 144 is a circular steering wheel, a hole is arranged in the middle of the steering wheel 144, and the optical fiber 133 passes through the hole. The edge of the steering wheel 144 extends and is provided with two symmetrical rotating shafts 146, and the two rotating shafts 146 are respectively rotationally connected to the hollow shell 141. A gear can be arranged on the rotating shaft 146, and the second adjusting knob 143 can be connected to the gear on the rotating shaft 146 through a transmission assembly, so that when the adjusting knob 142 rotates, the rotating shaft 146 is driven to rotate, and the steering wheel 144 is further driven to rotate. The transmission assembly can be a plurality of gears fixed on the hollow shell 141.

[0038] For example, when the adjusting knob 142 rotates, the rotating shaft 146 is driven to rotate, and the steering wheel 144 is further driven to rotate, the metal wires 132 on one side are stretched, the metal wires 132 on the other side are compressed, and the first end surface 123 is further driven to deflect, so as to adjust the extension direction of the flexible needle core 13.

[0039] In other embodiments, the rotating shaft 146 can be connected with a servo motor, a plurality of servo motors are respectively used to control the rotation of the two rotating shafts 146, the plurality of servo motors are connected with the electronic device 15, the electronic device 15 controls the rotation of the rotating shaft 146 through the servo motor, and the first end surface 123 is further driven to deflect, so as to adjust the extension direction of the flexible needle core 13.

[0040] In the embodiment of the present application, the visualized intravertebral puncture and catheterization system comprises a fastener 16 located at one end of the hollow rigid needle tube 11 away from the first end surface of the flexible envelope 131, the flexible needle core 13 passes through the fastener 16, and the fastener 16 is used for fixing or releasing the flexible needle core 13. When the fastener 16 fixes the flexible needle core 13, the fastener 16 limits the sliding of the flexible needle core 13 relative to the hollow rigid needle tube 11. When the fastener 16 releases the flexible needle core 13, the flexible needle core 13 can slide relative to the epidural catheter 12.

[0041] The hollow rigid needle tube 11 is designed as a steel needle structure with a sliding groove 111. The front end of the epidural catheter 12 is flush with the flexible needle core 13 when the epidural catheter 12 is not catheterized, and the epidural catheter 12 is flush with the short bevel of the bevel of the hollow rigid needle tube 11. The hollow rigid needle tube 11, the epidural catheter 12 and the flexible needle core 13 all have scale displays. The tail end of the flexible needle core 13 and the tail end of the hollow rigid needle tube 11 are fixed by a fixing device. This fixing is adjustable, and the fixing can be released after the hollow rigid needle tube 11 reaches the epidural space.

[0042] Specifically, the end of the hollow rigid needle tube 11 away from the first end surface 123 is provided with a fixed plate 112, the side of the fixed plate 112 close to the first end surface 123 is provided with a first fixing sleeve 113, the first fixing sleeve 113 is sleeved on the hollow rigid needle tube 11 to reinforce the hollow rigid needle tube 11, the side of the fixed plate 112 away from the first end surface 123 is provided with a second fixing sleeve 114, the flexible needle core 13 passes through the second fixing sleeve 114 and is in sliding connection with the second fixing sleeve 114, and the fastener 16 is a clamp. When the fastener 16 clamps the flexible needle core 13, the flexible needle core 13 cannot slide relative to the second fixing sleeve 114. When the fastener 16 releases the flexible needle core 13, the flexible needle core 13 can slide relative to the second fixing sleeve 114.

[0043] In the embodiment of the present application, the electronic device 15 comprises a processing device, a detector, a light source, an interferometer and a display screen. The detector, the interferometer and the light source are connected with the optical fiber 133 respectively, and the processing device is connected with the detector, the light source, the interferometer and the display screen respectively. The processing device acquires the detection signal detected by the detector, converts the detection signal into a first image and displays the first image on the display screen.

[0044] The electronic device 15 and the optical fiber 133 generate the first image by optical coherence tomography (OCT). Optical coherence tomography is a new tomographic imaging technology with the most promising development in recent years. OCT is an optical analog of ultrasound, and the imaging of the ultrasound probe needs to be close to the tissue to be scanned, which limits its application in the process of intraspinal puncture. OCT is non-contact, which uses the basic principle of a weak coherent light interferometer to detect the backscattering or multiple scattering signals of different depth layers of biological tissues. Through scanning, a two-dimensional or three-dimensional structure image of the biological tissue can be obtained. OCT is based on Michelson's interferometry, and uses a superluminescent diode as a light source. The light is transmitted into a fiber coupler through an optical fiber, and the light beam is shot onto the tissue to be imaged. The light is reflected by the microscopic structures at different distances, and the time delay of the emitted light is measured. Continuous longitudinal distance measurement is performed at different lateral positions, and then the obtained information is displayed as a two-dimensional cross-sectional image.

[0045] Specifically, near-infrared light (wavelength about 800-1300nm) is used as a light source. The interferometer divides the light emitted by the light source into two beams: one enters the sample arm (illuminates the sample to be measured to produce backscattering light), and the other enters the reference arm (the mirror reflects to form reference light). The two beams of light return after transmission through the optical fiber 133 and interfere. The intensity and phase of the interference signal are detected by a detector, and the structure information of different depths inside the sample is reconstructed. When the light propagates in the sample, scattering occurs when it encounters interfaces with different refractive indices. The intensity of the interference signal of the scattered light and the reference light reflects the tissue structure characteristics at that depth.

[0046] In the embodiment of the application, the electronic device 15 includes a display screen, and a processing device is connected to the display screen. The processing device displays the first image on the display screen. The first image is displayed on the display screen, so that the epidural puncture and catheter placement process are performed under the vision. The puncture accuracy is maximized, the puncture time is shortened, the anesthetic efficiency is improved, and the adverse reactions are reduced.

[0047] In the embodiment of the application, the electronic device 15 is configured to perform the following steps: S1, inputting the first image into a site classification model to obtain a site type of the first image.

[0048] The site type reflects a position on a forward path of the flexible needle core. The site type is one of a subcutaneous fat site type, an interspinous ligament site type, a yellow ligament site type, an epidural space site type, and other site types.

[0049] Specifically, the fastener 16 fixes the flexible needle core 13, the operator operates the hollow rigid needle tube 11, the epidural catheter 12 and the flexible needle core 13 so that the hollow rigid needle tube 11, the epidural catheter 12 and the flexible needle core 13 are flush at the first end surface 123. The fixation of the fastener 16 can be released after the hollow rigid needle tube 11 reaches the epidural space. The flexible needle core is continuously pushed forward by the operator, and the first image is continuously acquired during this process. The first image is imaged in real time during the entire puncture process, and the image is displayed on the display screen to tell the operator in real time where the puncture site is, so that he can judge the position of the needle tip and adjust the next operation.

[0050] Specifically, the site classification model is a YOLOv8 model. The preset classification model is trained based on a plurality of labeled OCT images and site types of the labeled OCT images by using a cross-entropy loss function, to obtain the site classification model.

[0051] The YOLOv8 classification model is built, and the network structure of YOLOv8 mainly consists of the following three parts: Backbone: a series of convolution and deconvolution layers are used to extract features, and residual connections and bottleneck structures are also used to reduce the size of the network and improve performance.

[0052] Neck: the Neck part adopts a Feature Pyramid Network (FPN) structure, and a multi-scale feature fusion technology is used to fuse the feature maps from different stages of the Backbone, so as to better capture the information of targets of different scales.

[0053] Head: responsible for the final target detection and classification task, including a detection head and a classification head, the detection head includes a series of convolution and deconvolution layers for generating classification results; the classification head uses global average pooling to classify each feature map. The labeled data is input into the classification network for training, and the trained model is used for site identification task, and the site type to which the current image belongs is output, guiding the doctor to quickly and accurately send the flexible needle core to the target area. The loss function used by the classification model is cross-entropy loss:

[0054] wherein, represents the number of classes for classification; represents the true class of the sample ; represents the predicted probability of the sample .

[0055] S2, when the site type of the first image is not the other site type, inputting the first image into a target image segmentation model to perform image segmentation on the first image, to obtain a plurality of tissue segmentation regions on the first image and region categories of the plurality of tissue segmentation regions, the region categories of the tissue segmentation regions including a puncturable category and an avoidance category; when the site type of the first image is the other site type, prompting an operator to adjust a needle insertion direction to return to a correct puncture path.

[0056] The tissue segmentation region belonging to the puncturable category on the first image includes a fat tissue region, an interspinous ligament region and a yellow ligament region, and the tissue segmentation region belonging to the avoidance category on the first image includes a spinal cord region, a spinal nerve region, a blood vessel region and a bony structure region.

[0057] In the embodiment of the present application, specifically, a UNet++ segmentation model is built. The UNet++ model is an encoder-decoder architecture. The encoder adopts a context-aware feature encoder with convolution blocks and residual blocks to extract multi-scale feature maps, i.e., image shallow features. The decoder adopts a feature decoder with convolution and deconvolution to adjust the size of the multi-scale feature maps, i.e., image deep features, to realize end-to-end segmentation. The labeled data is input into the segmentation network for training to identify the regions where the spinal cord, spinal nerve root, blood vessel and bony structure are located and the important tissue structures around them, and output the contour lines of the boundaries of each tissue.

[0058] In a specific embodiment, an OCT image is obtained and labeled to obtain a labeled OCT image and each labeled region on the labeled OCT image. Each labeled region on the labeled OCT image can be a fat tissue region, an interspinous ligament region, a yellow ligament region, a spinal cord region, a spinal nerve region, a blood vessel region and a bony structure region. A preset segmentation model is trained based on a plurality of labeled OCT images to obtain a target image segmentation model. The OCT image is input into the target image segmentation model to perform image segmentation on the OCT image to obtain region categories of a plurality of tissue segmentation regions, the region categories of the tissue segmentation regions including a puncturable category and an avoidance category.

[0059] In the embodiment of the present application, the preset segmentation model is trained based on a plurality of labeled OCT images to obtain a target image segmentation model, which includes: (1) inputting the labeled OCT image into the preset segmentation model to obtain a predicted pixel category of each pixel point on the labeled OCT image, wherein the predicted pixel category is a puncturable category and an avoidance category.

[0060] In the embodiment of the present application, the predicted pixel category is a puncturable category and an avoidance category. Further, the puncturable category is subdivided into a fat tissue category, an interspinous ligament category and a yellow ligament category, and the avoidance category is subdivided into a spinal cord category, a spinal nerve category, a blood vessel category and a bony structure category.

[0061] (2) determining a prediction region corresponding to the labeled region on the labeled OCT image based on the predicted pixel category of each pixel point on the labeled OCT image, wherein the predicted pixel categories in the same prediction region belong to the same category.

[0062] For example, the pixel points in the spinal cord region are all of the spinal cord category.

[0063] (3) obtaining an intersection region and a region area sum between the labeled region and the corresponding prediction region.

[0064] (4) determining a first loss based on the ratio of the intersection region and the region area sum.

[0065] In the embodiment of the application, the first loss is calculated according to the following formula,

[0066] wherein, represents a prediction region composed of a pixel set of a prediction result, represents a labeled region of a pixel set of a label.

[0067] (5) determining a second loss based on the labeled pixel category and the predicted pixel category of each pixel point on the labeled OCT image by using a cross-entropy loss function, wherein the labeled pixel categories in the labeled region of the same category belong to the same category.

[0068] wherein the labeled pixel category of each pixel point is determined according to the category of each labeled region.

[0069] Specifically, the calculation formula of the second loss is as follows,

[0070] wherein, represents the total number of pixel points, represents the true label of a pixel point, represents the prediction result of a pixel point.

[0071] (6) determining a total loss based on the first loss and the second loss.

[0072] In one specific embodiment, the first loss and the second loss are added to obtain the total loss.

[0073] In another specific embodiment, the total loss is determined based on the first loss and the second loss; the preset segmentation model is iteratively updated until the total loss is less than a preset loss value, to obtain a target image segmentation model.

[0074] (7) iteratively updating the preset segmentation model until the total loss is less than a preset loss value, to obtain a target image segmentation model.

[0075] The preset loss value can be set according to specific conditions.

[0076] S3, if the flexible needle core extends through the avoidance category along the current direction, a deflection adjustment instruction for adjusting the extension direction of the flexible needle core is issued.

[0077] If the flexible needle core extends through the avoidance category along the current direction, it indicates that the flexible needle core extending along the current direction will pass through the preset tissue segmentation region, i.e. the spinal cord, spinal nerve, blood vessel or bony structure in front needs to be adjusted, and the needle core cannot be directly elongated, and the extension direction of the flexible needle core needs to be adjusted. A deflection adjustment instruction for adjusting the extension direction of the flexible needle core is issued, and the flexible needle core is manually rotated to change the extension direction of the flexible needle core.

[0078] Further, when the deflection adjustment is completed, the detection signal obtained by the detector is processed again, and the detection signal is converted into a first image.

[0079] When the staff adjusts it, the deflection adjustment completion instruction can be obtained, and when the deflection adjustment completion instruction is obtained, the detection signal obtained by the detector is processed again, and the detection signal is converted into a first image.

[0080] When it is determined according to the first image obtained again that the flexible needle core extends through the avoidance category along the current direction, a deflection adjustment instruction for adjusting the extension direction of the flexible needle core is issued.

[0081] When it is determined according to the first image obtained again that the flexible needle core does not extend through the avoidance category along the current direction, it indicates that the flexible needle core extending along the current direction will not pass through the region of the avoidance category, i.e. there is no spinal cord, spinal nerve, blood vessel or bony structure in front, and the needle core does not need to be adjusted and can be directly elongated, and an elongation instruction for controlling the elongation of the flexible needle core relative to the epidural catheter is issued. The staff places the flexible needle core into the central region of the epidural space. After the flexible needle core enters the epidural space to a suitable distance, the elongation length of the flexible needle core is detected, and whether the elongation length of the flexible needle core reaches a preset elongation length is judged.

[0082] When the elongation length of the flexible needle core reaches the preset elongation length, an operation prompt information for withdrawing the flexible needle core after the epidural catheter is placed forward to reach a specified position is issued, so that the staff operates according to the operation prompt information.

[0083] When the elongation length of the flexible needle core reaches the preset elongation length, the epidural catheter 12 is pushed forward to reach the corresponding position. At this time, an operation prompt information for withdrawing the flexible needle core is issued to enable the staff to operate according to the operation prompt information. The staff withdraws the flexible needle core and slowly withdraws the hollow rigid needle tube. The epidural catheter Y-shaped short side branch, that is, the shorter first catheter segment 121, is closed, and the epidural administration is performed through the Y-shaped long side branch, that is, the longer second catheter segment 122.

[0084] Further, if the flexible needle core extends through the avoidance category along the current direction, a deflection adjustment instruction for adjusting the extension direction of the flexible needle core is issued, including: if the flexible needle core extends through the avoidance category along the current direction, the first image is equally divided into two image regions by a straight line perpendicular to the first rotation direction and passing through the image center of the first image; the area ratio of each image region belonging to the preset tissue segmentation region and the image region is calculated; the image region with a larger area is determined as a target region, and a deflection adjustment instruction for adjusting the extension direction of the flexible needle core is issued, the deflection adjustment instruction is used to indicate that the first end face and the half region corresponding to the target region are deflected along the direction close to the target region. The flexible needle core can be deflected to the side away from the target region, so as to more quickly avoid the combined region of the spinal cord segmentation region, the spinal nerve segmentation region, the blood vessel segmentation region and the bony structure segmentation region.

[0085] Compared with the related art, the visualized intravertebral puncture and catheterization system includes a hollow rigid needle tube, an epidural catheter, a flexible needle core, and an electronic device. The epidural catheter is located in the hollow rigid needle tube and is in sliding connection with the hollow rigid needle tube. The flexible needle core passes through the epidural catheter and is in sliding connection with the epidural catheter. The flexible needle core includes a flexible envelope and an optical fiber wrapped in the flexible envelope. One end of the optical fiber extends to be flush with the first end face of the flexible envelope. The optical fiber is used to conduct an optical signal. The other end of the optical fiber is connected with the electronic device. The electronic device is used to process the optical signal conducted by the optical fiber to obtain a first image. A plurality of metal wires are spaced apart in the flexible envelope. The extension directions of the plurality of metal wires are the same as the extension direction of the flexible needle core. One end of the plurality of metal wires is connected to an adjustment device. The other end of the plurality of metal wires extends to be flush with the first end face of the flexible envelope. The adjustment device is used to stretch part of the plurality of metal wires and compress another part of the plurality of metal wires to drive the first end face of the flexible needle core to deflect, so as to adjust the extension direction of the flexible needle core. The application can reduce the difficulty of intravertebral puncture and improve the success rate of intravertebral puncture.

[0086] The above describes in detail the visual intravertebral puncture and catheterization system provided by the present application, and the principles and implementation manners of the present application are described by using specific examples. The above description of the examples is only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

[0087] It should be noted that when the above embodiments of the present application are applied to specific products or technologies, related data of users need to be obtained with the permission or consent of the users, and the collection, use and processing of the related data need to comply with relevant laws, regulations and standards of countries and regions.

Claims

1. A visualized intravertebral puncture and catheterization system, comprising: The visualized intravertebral puncture and catheterization system comprises a hollow rigid needle tube, an epidural catheter, a flexible needle core, and an electronic device, the epidural catheter is located in the hollow rigid needle tube and is in sliding connection with the hollow rigid needle tube, and the flexible needle core passes through and is in sliding connection with the epidural catheter. The flexible needle core comprises a flexible envelope and an optical fiber wrapped in the flexible envelope, one end of the optical fiber extends to be flush with a first end surface of the flexible envelope, the optical fiber is used for conducting an optical signal, the other end of the optical fiber is connected with the electronic device, the electronic device is used for processing the optical signal conducted by the optical fiber to obtain a first image, a plurality of metal wires are arranged in the flexible envelope at intervals, the extension directions of the plurality of metal wires are the same as the extension direction of the flexible needle core, one end of the plurality of metal wires is connected to an adjusting device, the other end of the plurality of metal wires extends to be flush with the first end surface of the flexible envelope, and the adjusting device is used for stretching part of the plurality of metal wires and compressing another part of the plurality of metal wires to drive the first end surface of the flexible needle core to deflect, so as to adjust the extension direction of the flexible needle core.

2. The visualizing intraverteal needle and catheter system according to claim 1, wherein, The epidural catheter comprises a second catheter segment and a first catheter segment, one end of the second catheter segment is connected to one side of the first catheter segment, and the second catheter segment and the first catheter segment are communicated, the hollow rigid needle tube wraps the first catheter segment, a side wall of the hollow rigid needle tube is provided with a sliding groove, the other end of the second catheter segment extends out of the sliding groove, and the epidural catheter slides along the sliding groove.

3. The visualized spinal needle and catheter system of claim 2, wherein, The plurality of metal wires are arranged at equal intervals around the center of the first end surface.

4. The visualized spinal needle and catheter system of claim 3, wherein, The adjusting device comprises a hollow shell, a steering wheel, and an adjusting knob, the adjusting knob is located on the hollow shell, the steering wheel is located in the hollow shell, one side surface of the steering wheel is attached to a second end surface of the flexible envelope, the optical fiber passes through the steering wheel and is connected to the electronic device, one end of the plurality of metal wires is connected to one side surface of the steering wheel, and when the adjusting knob rotates, the steering wheel is driven to rotate along a first rotation direction, and a rotation plane of the first rotation direction is perpendicular to a disc plane of the steering wheel.

5. The visualized spinal needle and catheter system of claim 4, wherein, Edges of the steering wheel are provided with two symmetrical rotating shafts, the rotating shafts are rotationally connected to the hollow shell, the rotating shafts are connected to the adjusting knob through a transmission assembly, the adjusting knob rotates to drive the rotating shafts to rotate, and then the steering wheel is driven to rotate along the first rotation direction.

6. The visualized spinal needle and catheter system of claim 5, wherein, The visualized intravertebral puncture and catheterization system comprises a fastener, the fastener is located at one end of the hollow rigid needle tube away from the first end surface of the flexible envelope, the flexible needle core passes through the fastener, and the fastener is used for fixing or releasing the flexible needle core, when the fastener fixes the flexible needle core, the fastener limits the flexible needle core from sliding relative to the hollow rigid needle tube, and when the fastener releases the flexible needle core, the flexible needle core can slide relative to the hollow rigid needle tube.

7. The visualized spinal needle placement system of claim 1, wherein, The electronic device comprises a processing device, a detector, a light source, an interferometer and a display screen, the detector, the light source and the interferometer are connected with the optical fiber respectively, the processing device is connected with the detector, the light source, the interferometer and the display screen respectively, the processing device acquires the detection signal detected by the detector, converts the detection signal into a first image and displays the first image on the display screen.

8. The visualized spinal needle and catheter system of claim 7, wherein, The electronic device comprises a display screen, and the processing device is connected with the display screen, and the processing device displays the first image on the display screen.

9. The visualized spinal needle and catheter system of claim 8, wherein, The electronic device is used for: inputting the first image into a site classification model to obtain a site type of the first image, wherein the site type reflects a position on the forward path of the flexible needle core, and the site type is one of a subcutaneous fat site type, an interspinous ligament site type, a yellow ligament site type, an epidural space site type and other site types; when the site type of the first image is not the other site type, inputting the first image into a target image segmentation model to perform image segmentation on the first image to obtain a plurality of tissue segmentation regions on the first image and region categories of the plurality of tissue segmentation regions, wherein the region categories of the tissue segmentation regions include a penetrable category and an avoidance category; and when the site type of the first image is the other site type, prompting an operator to adjust a needle insertion direction to return to a correct puncture path. if the flexible needle core extends through the avoidance category in a current direction, a deflection adjustment instruction for adjusting an extension direction of the flexible needle core is issued.

10. The visualized intravertebral puncture and catheterization system according to claim 9, wherein the tissue segmentation region belonging to the penetrable category on the first image includes a fat tissue region, an interspinous ligament region and a yellow ligament region, and the tissue segmentation region belonging to the avoidance category on the first image includes a spinal cord region, a spinal nerve region, a blood vessel region and a bony structure region.

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