Clinical injection type medicine applying equipment for obstetrics and gynecology department and medicine applying compensation injection method
By acquiring spray density distribution maps and identifying coverage blind spots through real-time monitoring images, and correcting the spray angle range, the problem of uneven drug coverage in obstetrics and gynecology clinical practice was solved, achieving comprehensive drug delivery to target tissues.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HUZHOU MATERNAL & CHILD HEALTH HOSPITAL (HUZHOU WOMEN & CHILDRENS HOSPITAL HUZHOU FAMILY PLANNING TECH SERVICE CENT)
- Filing Date
- 2026-03-02
- Publication Date
- 2026-05-12
AI Technical Summary
In obstetric and gynecological clinical procedures, the complex three-dimensional morphology of target tissue areas such as the vagina and cervix makes it difficult for traditional spray medication equipment to achieve precise and uniform coverage of the medication. In particular, when there are physiological folds and lesion depressions on the surface of the target tissue, the medication is prone to forming blind spots.
By acquiring the spray density distribution map of the target tissue area, controlling the nozzle to perform the initial spray, real-time monitoring of the image to identify the coverage blind area, and correcting the spray angle range according to the characteristics of the blind area, the compensation spray of the drug solution is achieved.
It enables precise compensation spraying of the drug solution under the complex three-dimensional morphology of the target tissue, avoiding drug waste and insufficient local coverage, and ensuring full coverage of the target tissue.
Smart Images
Figure CN122006087A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of drug application spray compensation technology, and more specifically, to a spray-type drug application device and a drug application compensation spray method for obstetrics and gynecology clinical use. Background Technology
[0002] Medication spray compensation primarily addresses issues related to drug dosage and spray obstruction during local drug administration, caused by operational distance, angle deviations, or irregular skin surfaces. Traditional manual spraying struggles to guarantee the accuracy and consistency of each administration, especially for wounds or lesions requiring quantitative and targeted drug delivery. This medication spray compensation technology integrates sensors to monitor spray parameters in real time and utilizes a closed-loop control system to dynamically adjust spray power or angle, thereby compensating for errors caused by human error or physiological surface undulations. Even in complex usage scenarios, it can still ensure that the preset drug dosage is accurately and evenly delivered to the target tissue, improving drug administration safety.
[0003] In existing drug application spray compensation methods, sensors integrated into the spray device (such as laser rangefinders, vision sensors, or pressure sensors) are used to sense key spray parameters in real time, primarily the distance from the nozzle to the target surface, and sometimes angle information. The collected real-time data is compared with preset ideal values (such as standard distance and pressure) to calculate the deviation, and then drug application spray compensation is performed based on the deviation. However, in obstetric and gynecological clinical operations, target tissue areas such as the vagina and cervix are not planar structures. Their surfaces often have complex three-dimensional morphologies such as physiological folds, fornixes, or lesion depressions. Traditional spray drug application is mostly based on preset spray patterns or relies on manual adjustments by doctors based on experience. However, the patient's position will cause the liquid to flow to lower areas due to gravity, while higher areas or sidewall areas are prone to forming spray coverage blind spots, resulting in insufficient liquid coverage when the nozzle controls the drug application to the target tissue area. Therefore, how to achieve compensatory spraying of the liquid under the influence of the complex three-dimensional morphology of the target tissue has become a challenge for the industry. Summary of the Invention
[0004] This application provides a spray-type drug delivery device and a drug delivery compensation spray method for clinical use in obstetrics and gynecology, which can achieve compensation spraying of drug solution under the influence of the complex three-dimensional morphology of target tissue.
[0005] In a first aspect, this application provides a method for compensating spraying of medication using a spray-type medication application device for obstetrics and gynecology clinical use, comprising the following steps: Obtain the spray density distribution map for the initial spraying of the target tissue area of the target patient; The nozzle of the spray-type drug delivery device is controlled to perform the first round of spraying according to the spray density distribution map. After the first round of spraying is completed, a real-time monitoring image of the target tissue area is acquired. Based on the real-time monitoring image, the first and second spray coverage blind zones of the target patient in the current position are identified. Then, the spray angle range corresponding to the spray density distribution map is corrected according to the regional characteristics of the first and second spray coverage blind zones to obtain the corrected spray angle range. The nozzle of the spray-type drug delivery device is controlled to perform drug delivery compensation spray to cover blind areas according to the corrected spray angle range.
[0006] In some embodiments, controlling the nozzle of the spraying device to perform the first round of spraying according to the spray density distribution map specifically includes: The spray density distribution map is analyzed to extract the spray density parameters and spatial coordinate information of each location point within the target tissue area; Based on the extracted spray density parameters and spatial coordinate information, the spatial motion path and spray timing parameters of the nozzle of the spray-type drug delivery equipment are planned. Based on the spatial motion path and the injection timing parameters, the linkage parameters of the nozzle displacement drive module and the liquid injection module are configured. The nozzle is driven by the displacement drive module to move along the spatial movement path to the corresponding position point. The liquid spraying module of the nozzle is controlled according to the spraying timing parameters to spray according to the spraying density parameters, thus completing the first round of liquid spraying.
[0007] In some embodiments, identifying the first and second jet coverage blind zones of the target patient in the current position based on the real-time monitoring images specifically includes: Based on the real-time monitoring images, extract the drug coverage characteristics of the target tissue region; Based on the characteristics of the drug liquid coverage, a feature threshold range for blind zone identification is set; Based on the feature threshold range, the real-time monitoring image is traversed and filtered to obtain a set of candidate blind zone pixels for the target tissue region; Spatial clustering and topological analysis are performed on the candidate blind zone pixel set to distinguish between the spatial occlusion type blind zone pixel group caused by body position and the penetration resistance type blind zone pixel group caused by the difference in drug wettability in the target tissue region. The spatial occlusion type blind zone pixel group is mapped to the first spray coverage blind zone under the current body position, and the penetration blocking type blind zone pixel group is mapped to the second spray coverage blind zone under the current body position.
[0008] In some embodiments, the spray angle range corresponding to the spray density distribution map is corrected based on the regional characteristics of the first and second spray coverage blind zones, resulting in the following specifically: Extract corresponding regional features from the first and second spray coverage blind zones respectively. The regional features include geometric center coordinates and morphological contours. Based on the geometric center coordinates of each spray coverage blind zone and the spatial position of the nozzle, calculate the first theoretical compensation incident angle set for compensating the first spray coverage blind zone and the second theoretical compensation incident angle set for compensating the second spray coverage blind zone; Based on the morphological profile of each spray coverage blind zone and the kinematic constraints of the nozzle, motion accessibility correction is performed on the first theoretical compensation incident angle set and the second theoretical compensation incident angle set to obtain the first actual compensation angle set and the second actual compensation angle set. Based on the first actual compensation angle set and the second actual compensation angle set, as well as the reference spray angle in the spray density distribution map, a first angle deviation vector corresponding to the first spray coverage blind zone and a second angle deviation vector corresponding to the second spray coverage blind zone are determined respectively. The original injection angle range corresponding to the injection density distribution map is corrected using the first angle deviation vector and the second angle deviation vector to generate the corrected injection angle range.
[0009] In some embodiments, controlling the nozzle of the spray-type drug delivery device to perform drug delivery compensation spraying to cover blind areas based on the corrected spray angle range specifically includes: Analyze the corrected spray angle range to generate nozzle motion control signals and spray trigger signals; Based on the nozzle motion control signal, the nozzle of the spraying drug delivery device is driven to perform angle positioning, so that the nozzle axis is aligned with the target angle within the corrected spray angle range. Combining the regional characteristics of the first and second spray coverage blind zones, preset differentiated spray parameters are matched, and the nozzle of the spray-type drug delivery device is triggered according to the spray trigger signal to perform coverage blind zone compensation according to the differentiated spray parameters until the coverage blind zone is completely covered.
[0010] In some embodiments, a spray density distribution map for initial spraying of the target tissue region of the target patient is obtained from the drug spraying command.
[0011] In some embodiments, real-time monitoring images of the target tissue region are acquired by a miniature endoscope camera integrated on the side of the nozzle of a spray-type drug delivery device.
[0012] Secondly, this application provides a spray-type medication application device for obstetrics and gynecology clinical use, which includes a medication compensation spray unit, wherein the medication compensation spray unit includes: The acquisition module is used to acquire the spray density distribution map of the initial spray on the target tissue area of the target patient; The processing module is used to control the nozzle of the spraying drug delivery device to perform the first round of spraying according to the spray density distribution map, and to acquire a real-time monitoring image of the target tissue area after the first round of spraying is completed; The processing module is also used to identify the first and second spray coverage blind zones of the target patient in the current position based on the real-time monitoring image, and then correct the spray angle range corresponding to the spray density distribution map according to the regional characteristics of the first and second spray coverage blind zones to obtain the corrected spray angle range. The execution module is used to control the nozzle of the spray-type drug application device to perform drug application compensation spray to cover the blind area according to the corrected spray angle range.
[0013] Thirdly, this application provides a computer device, the computer device including a memory and a processor, the memory storing code, the processor being configured to acquire the code and execute the above-described compensating spray method for medication application using a spray-type medication application device for obstetrics and gynecology clinical use.
[0014] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for compensating for medication application using a spray-type medication application device for obstetrics and gynecology clinical use.
[0015] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects: The obstetric and gynecological clinical spray-type drug delivery device and drug delivery compensation spray method provided in this application firstly obtain a spray density distribution map for initial spraying of the target tissue area of the target patient; secondly, control the nozzle of the spray-type drug delivery device to perform a first round of spraying according to the spray density distribution map, and after the first round of spraying is completed, obtain a real-time monitoring image of the target tissue area; then, based on the real-time monitoring image, identify the first spray coverage blind zone and the second spray coverage blind zone of the target patient in the current position, and then correct the spray angle range corresponding to the spray density distribution map according to the regional characteristics of the first spray coverage blind zone and the second spray coverage blind zone to obtain the corrected spray angle range; finally, control the spray-type drug delivery device to perform drug delivery compensation spraying of the coverage blind zone according to the corrected spray angle range.
[0016] Therefore, this application can achieve compensated spraying of medication under the influence of the complex three-dimensional morphology of the target tissue; obtaining the spray density distribution map of the initial spray on the target tissue area of the target patient can provide a precise density distribution reference for the first round of spraying, clarifying the area and density requirements to be covered by the medication, ensuring that the initial spraying has targeting and preset uniformity, and avoiding waste of medication or insufficient local coverage caused by blind spraying; secondly, controlling the nozzle of the spraying device to perform the first round of spraying according to the spray density distribution map can complete the basic medication operation on the target tissue area, and after the first round of spraying, obtaining a real-time monitoring image of the target tissue area can intuitively reflect the actual coverage effect of the initial spraying, providing accurate and real-time visual data support for subsequent blind spot identification; then, based on the real-time monitoring image, the first spray of the target patient in the current position is identified. The first spray coverage blind zone and the second spray coverage blind zone can accurately distinguish uncovered areas caused by different reasons. Then, based on the regional characteristics of the two types of blind zones, the spray angle range corresponding to the spray density distribution map is corrected. This enables targeted optimization and adjustment of the spray angle, avoiding the problem of coverage blind zones caused by differences in individual patient positioning, tissue anatomical structures obstructing the view, and differences in drug infiltration characteristics due to fixed-angle spraying. It also avoids the problem of insufficient drug coverage when the nozzle controls drug delivery to the target tissue area due to the complex three-dimensional morphology of the target tissue. Finally, controlling the spray-type drug delivery device to perform compensatory spraying of the coverage blind zone according to the corrected spray angle range can accurately target previously uncovered blind areas, achieving comprehensive drug delivery to the target tissue. In summary, the technical solution provided in this application can achieve compensatory spraying of the drug solution under the influence of the complex three-dimensional morphology of the target tissue. Attached Figure Description
[0017] Figure 1 This is an exemplary flowchart of a drug delivery compensation spraying method for a spray-type drug delivery device used in obstetrics and gynecology clinical practice, according to some embodiments of this application; Figure 2 This is an exemplary flowchart illustrating the determination of a first spray coverage blind zone and a second spray coverage blind zone according to some embodiments of this application; Figure 3 This is a schematic diagram of the structure of the drug-feeding compensation spray unit according to some embodiments of this application; Figure 4 This is a schematic diagram of the structure of a computer device for implementing a drug delivery compensation spraying method for a spray-type drug delivery device used in obstetrics and gynecology clinical practice, according to some embodiments of this application. Detailed Implementation
[0018] To better understand the technical solution of this application, the technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0019] refer to Figure 1 The figure is an exemplary flowchart of a compensating spray method for medication application using a spray-type medication application device for obstetrics and gynecology clinical use, according to some embodiments of this application. The compensating spray method for medication application using this spray-type medication application device for obstetrics and gynecology clinical use mainly includes the following steps: In step 101, a spray density distribution map is obtained for the initial spraying of the target tissue area of the target patient.
[0020] In specific implementation, the spray density distribution map for the initial spraying of the target tissue area of the target patient is obtained from the drug spraying command. The drug spraying command refers to the command information received by the nozzle of the spraying drug delivery device for the initial spraying of the target patient. The drug spraying command includes the spray density distribution map for the initial spraying of the target tissue area of the target patient. The spray density distribution map is a pre-set two-dimensional spray density distribution map. Specifically, it can be set by acquiring a three-dimensional anatomical image of the target tissue area (e.g., vaginal or cervical lesion area) of the target patient using an endoscope before spraying, and setting the spray density distribution map based on the morphological differences (e.g., protrusions and depressions) of the target tissue area in the three-dimensional anatomical image by expert knowledge. This will not be elaborated here. In addition, it can also be set through experimental simulation, which is not limited here.
[0021] It should be noted that the spray density distribution map in this application refers to a distribution map of the target tissue area of the target patient marked with corresponding spray density values. It is used to intuitively reflect the requirements of drug spray density at different locations in the target tissue area. By determining the spray density distribution map, a precise quantitative execution basis can be provided for the first round of spraying of the spray-type drug delivery device nozzle, clarifying the drug spray volume requirements of the target tissue area, and ensuring that the spraying device can achieve differentiated and precise drug spraying according to the actual structural characteristics of the target tissue.
[0022] In step 102, the nozzle of the spraying device is controlled to perform the first round of spraying according to the spray density distribution map. After the first round of spraying is completed, a real-time monitoring image of the target tissue area is acquired.
[0023] In some embodiments, controlling the nozzle of the spraying device to perform the first round of spraying according to the spray density distribution map is achieved by the following steps: The spray density distribution map is analyzed to extract the spray density parameters and spatial coordinate information of each location point within the target tissue area; Based on the extracted spray density parameters and spatial coordinate information, the spatial motion path and spray timing parameters of the nozzle of the spray-type drug delivery equipment are planned. Based on the spatial motion path and the injection timing parameters, the linkage parameters of the nozzle displacement drive module and the liquid injection module are configured. The nozzle is driven by the displacement drive module to move along the spatial movement path to the corresponding position point. The liquid spraying module of the nozzle is controlled according to the spraying timing parameters to spray according to the spraying density parameters, thus completing the first round of liquid spraying.
[0024] In specific implementation, firstly, the spray density distribution map is analyzed using the image processing tool OpenCV to extract the spray density parameters and spatial coordinate information of each location point within the target tissue region. The spray density parameters refer to the drug spray density values corresponding to different locations within the target tissue region, and the spatial coordinate information refers to the location identification data of different locations within the target tissue region. Secondly, when planning the spatial motion path and spray timing parameters of the nozzle based on the extracted spray density parameters and spatial coordinate information, the A* path planning algorithm is used, with the initial position of the nozzle as the starting point and the spatial coordinates of each spray location point as the target node, to search for the optimal spatial motion path for the nozzle to traverse all locations. Simultaneously, a discrete event scheduling method based on timing planning is used to obtain the fixed drug spray rate of the spray-type drug delivery device nozzle (this drug spray rate is a constant value determined by the equipment factory calibration or preclinical debugging). Then, based on the spray density parameters of each location point in the target tissue region combined with the drug spray rate, the dwell time of the nozzle at the corresponding location point is calculated, and the dwell time is used as the spray timing of the spray-type drug delivery device nozzle. The sequence parameters are as follows: the spatial motion path refers to the trajectory of the nozzle in three-dimensional space, and the spray timing parameters refer to the time data for completing the spraying action at each position point. Then, when configuring the linkage parameters of the nozzle's displacement drive module and the liquid spraying module based on the spatial motion path and the spray timing parameters, for the displacement drive module (e.g., a servo motor drive system), a motor control signal is generated based on the trajectory curvature and movement speed of the spatial motion path; for the liquid spraying module (e.g., a pneumatic spraying system), a spray trigger signal is generated based on the spray timing parameters. This completes the linkage parameter configuration for the nozzle's displacement drive module and the liquid spraying module. The linkage parameter configuration refers to the set of parameters set for the displacement drive module and the liquid spraying module. Finally, the displacement drive module receives the motor control signal from the linkage parameter configuration and drives the nozzle's robotic arm to move along the spatial motion path until the nozzle reaches the spatial coordinate position of the corresponding position point. At the same time, the liquid spraying module receives the trigger signal from the spray timing parameters and controls the nozzle's liquid spraying module to complete the liquid spraying action according to the spray density parameters, completing the first round of liquid spraying.
[0025] It should be noted that in this application, drug spraying refers to the process of spraying drug solution onto the target tissue area.
[0026] In specific implementation, after the first round of spraying is completed, a real-time monitoring image of the target tissue area is obtained by a miniature endoscope camera integrated on the side of the spraying device nozzle. In addition, in other embodiments, other acquisition devices can be used to obtain the real-time monitoring image of the target tissue area, which is not limited here.
[0027] It should be noted that the monitoring image in this application refers to the image obtained by monitoring the target tissue area. Specifically, the monitoring image is the image of the target tissue area obtained by the nozzle integrated into the spraying drug application device. The monitoring image can clearly reflect the morphology of the target tissue area surface after the initial drug application.
[0028] In step 103, the first and second spray coverage blind zones of the target patient in the current position are identified based on the real-time monitoring image. Then, the spray angle range corresponding to the spray density distribution map is corrected according to the regional characteristics of the first and second spray coverage blind zones to obtain the corrected spray angle range.
[0029] In some embodiments, reference Figure 2 As shown, this figure is an exemplary flowchart illustrating the determination of the first and second jet coverage blind zones according to some embodiments of this application. In this embodiment, the identification of the first and second jet coverage blind zones of the target patient in the current position based on the real-time monitoring image can be achieved through the following steps: First, in step 1031, the drug coverage features of the target tissue region are extracted based on the real-time monitoring image; Secondly, in step 1032, the feature threshold range for blind zone identification is set based on the drug liquid coverage characteristics; Further, in step 1033, the real-time monitoring image is traversed and filtered according to the feature threshold range to obtain a set of candidate blind zone pixels for the target tissue region; Then, in step 1034, spatial clustering and topological analysis are performed on the candidate blind zone pixel set to distinguish the target tissue region from the spatial occlusion type blind zone pixel group caused by body position and the penetration resistance type blind zone pixel group caused by the difference in drug infiltration. Finally, in step 1035, the spatial occlusion type blind zone pixel group is mapped to the first spray coverage blind zone under the current body position, and the penetration blocking type blind zone pixel group is mapped to the second spray coverage blind zone under the current body position.
[0030] In specific implementation, firstly, since the drug coverage state directly changes the optical uniformity of the tissue surface, when the drug is not covered, the original texture of the mucosa (such as wrinkles) leads to large local gray-level differences (i.e., high contrast), disordered distribution (i.e., low energy, high entropy), and weak inter-pixel correlation (i.e., low correlation) in the image. Therefore, the existing gray-level co-occurrence matrix can be used to extract the contrast, energy, entropy, and correlation texture statistics in the real-time monitoring image to form the drug coverage features of the target tissue region. The drug coverage feature set refers to the texture attribute feature parameters of the drug coverage of the target tissue region. Secondly, when setting the feature threshold range for blind zone identification based on the drug coverage features, sufficient real-time monitoring image samples of target tissue regions in obstetrics and gynecology clinics are first collected, covering typical cases of normal drug coverage areas, blind zones caused by body position occlusion, and blind zones caused by osmosis blockage. Drug coverage feature (contrast, energy, entropy, correlation) data consistent with the dimensions of drug coverage features are extracted from the samples according to the aforementioned method to construct a feature sample library. Subsequently, the normal drug coverage areas in the sample library are analyzed. Statistical analysis of the liquid coverage characteristics is performed. The mean and standard deviation of each liquid coverage characteristic are calculated using the normal distribution fitting method, and the 95% confidence interval is determined as the feature threshold interval for blind zone identification. The feature threshold interval refers to the critical range of feature parameters used to distinguish between the normal liquid coverage area and the blind zone. Further, when performing region traversal and screening on the real-time monitoring image to obtain the candidate blind zone pixel set of the target tissue region based on the feature threshold interval, a sliding window traversal algorithm is used. A fixed-size window (e.g., a 3×3 window) is used to traverse the target tissue region of the real-time monitoring image pixel by pixel. The liquid coverage characteristics of each pixel in the window are extracted and compared with the feature threshold interval. If the liquid coverage characteristics of a pixel exceed the feature threshold interval of normal liquid coverage, the pixel is marked as a candidate blind zone pixel. The coordinate information of all candidate blind zone pixels is combined to obtain the candidate blind zone pixel set. The candidate blind zone pixel set refers to the set of coordinates of all pixels in the real-time monitoring image that are determined to possibly belong to the liquid spray coverage blind zone.Then, when performing spatial clustering and topological analysis on the candidate blind zone pixel set to distinguish between spatially occluded blind zone pixel groups and permeation-blocking blind zone pixel groups, the two-dimensional pixel coordinates in the candidate blind zone pixel set are converted into three-dimensional spatial coordinates of the target tissue region through camera calibration parameters. Each candidate blind zone pixel is assigned a spatial position attribute, and then the DBSCAN density clustering algorithm is used to cluster the candidate blind zone pixel set. A reasonable neighborhood radius is set based on the three-dimensional spatial coordinates of the pixels (the specific radius can be set according to actual needs or determined based on the pixel resolution of the target tissue region and the minimum spatial scale of the clinical blind zone). For example, a neighborhood radius of 3-5 pixels can be selected, along with a minimum number of pixels (e.g., the minimum clinical blind zone should contain at least 20 pixels). All candidate blind zone pixels are traversed, and core pixels with the minimum number of pixels in their neighborhood and pixels with achievable density are grouped into the same cluster, forming multiple independent candidate blind zone pixel groups. Then, topological analysis is performed on each cluster. First, spatial connectivity indices (e.g., Euler number, representing the number of holes and connected regions in the pixel group) and geometric morphology parameters (e.g., the aspect ratio of the circumscribed rectangle of the pixel group, reflecting the regularity of the pixel group's outline) are calculated. This is then combined with the effects of body positioning in obstetrics and gynecology clinics. Spatial occlusion patterns (such as overlapping folds in target tissue caused by patient positioning easily forming spatial occlusion blind zones; pixel groups in these areas are mostly distributed in the depressions of the target tissue, with poor spatial connectivity and irregular geometric shapes) and drug infiltration patterns (such as dense mucosa easily forming penetration-blocking blind zones; pixel groups in these areas are mostly distributed in flat areas of the target tissue, with good spatial connectivity and regular geometric shapes) are used to identify candidate blind zone pixel groups with spatial connectivity indices less than a connectivity threshold and geometric shape parameters greater than a geometric shape parameter threshold. Candidate blind zone pixel groups corresponding to connectivity thresholds and geometric morphology parameters less than the geometric morphology parameter thresholds are designated as penetration-blocking blind zone pixel groups in the target tissue region caused by differences in drug infiltration. Spatial occlusion blind zone pixel groups and penetration-blocking blind zone pixel groups refer to candidate blind zone pixel clusters caused by spatial occlusion due to patient position and differences in drug infiltration in the target tissue mucosa, respectively. Finally, using the image processing tool OpenCV, the spatial occlusion blind zone pixel groups are mapped to the first spray coverage blind zone under the current position, and the penetration-blocking blind zone pixel groups are mapped to the second spray coverage blind zone under the current position.
[0031] It should be noted that, in this application, the first spray coverage blind zone refers to the target tissue area not effectively covered by the drug solution due to patient positioning obstruction, while the second spray coverage blind zone refers to the target tissue area not effectively covered by the drug solution due to differences in drug infiltrative properties. The distinction between the first spray coverage blind zone (spatial obstruction type) and the second spray coverage blind zone (penetration barrier type) lies in the fundamental difference in their formation mechanisms. The first spray coverage blind zone is caused by spatial physical factors such as overlapping folds in the target tissue due to patient positioning and obstruction of the nozzle's viewing angle, while the second spray coverage blind zone is determined by the density of the target tissue mucosa. The blind spots are caused by physiological and chemical factors such as differences in drug penetration. If a uniform compensation spray strategy is used without differentiation, the compensation method will be ineffective because it does not match the cause of the blind spot. Therefore, by covering the first and second spray blind spots, a differentiated execution basis can be provided for subsequent compensation sprays. For the first spray blind spot, the compensation strategy of nozzle spatial movement angle can be optimized. For the second spray blind spot, the local spray density can be increased to improve the drug penetration effect. This provides direction for the parameter optimization of the spray-type drug delivery equipment and reduces the probability of blind spots in the first round of spraying.
[0032] In some embodiments, the spray angle range corresponding to the spray density distribution map is corrected based on the regional characteristics of the first and second spray coverage blind zones. The corrected spray angle range is obtained by the following steps: Extract corresponding regional features from the first and second spray coverage blind zones respectively. The regional features include geometric center coordinates and morphological contours. Based on the geometric center coordinates of each spray coverage blind zone and the spatial position of the nozzle, calculate the first theoretical compensation incident angle set for compensating the first spray coverage blind zone and the second theoretical compensation incident angle set for compensating the second spray coverage blind zone; Based on the morphological profile of each spray coverage blind zone and the kinematic constraints of the nozzle, motion accessibility correction is performed on the first theoretical compensation incident angle set and the second theoretical compensation incident angle set to obtain the first actual compensation angle set and the second actual compensation angle set. Based on the first actual compensation angle set and the second actual compensation angle set, as well as the reference spray angle in the spray density distribution map, a first angle deviation vector corresponding to the first spray coverage blind zone and a second angle deviation vector corresponding to the second spray coverage blind zone are determined respectively. The original injection angle range corresponding to the injection density distribution map is corrected using the first angle deviation vector and the second angle deviation vector to generate the corrected injection angle range.
[0033] In implementation, firstly, regional features are extracted from the first and second spray coverage blind zones respectively. The geometric center coordinates are calculated using the center-of-magnitude method in image processing, while the morphological contours are extracted using the Canny edge detection operator in image processing. The geometric center coordinates refer to the center position coordinates of the spray coverage blind zone in the image coordinate system, and the morphological contours refer to the edge contour lines of the spray coverage blind zone. Secondly, based on the geometric center coordinates of each spray coverage blind zone and the spatial position of the nozzle, a ray tracing method in spatial analytic geometry is used to construct the ray trajectory from the nozzle to the geometric center coordinates of the spray coverage blind zone. This ray trajectory is then used to calculate the... The angle between the reference spray direction and the spray density distribution map is used to obtain a first theoretical compensation incident angle set for compensating the first spray coverage blind zone and a second theoretical compensation incident angle set for compensating the second spray coverage blind zone. The reference spray direction is the spray direction determined when setting the initial spray density distribution map. The theoretical compensation incident angle refers to the angle between the spray direction and the reference spray direction required to adjust the spray direction so that the liquid is sprayed to the geometric center of the coverage blind zone. Furthermore, based on the morphological contours of each spray coverage blind zone and the kinematic constraints of the nozzle (i.e., including the nozzle rotation angle limit and the mechanical limit of the rotation axis), a known accessibility analysis method in the field of mechanical kinematics is used to compare the first and second theoretical compensation incident angle sets. The theoretical compensation incident angles are verified one by one, and those exceeding the nozzle's movement range and kinematic constraints are eliminated, resulting in a first set of actual compensation angles and a second set of actual compensation angles. The motion accessibility correction refers to the verification process of determining whether the theoretical compensation incident angles can be achieved through actual nozzle movement based on the equipment's kinematic constraints. The actual compensation angle set refers to the set of compensation angles that can be actually executed after accessibility correction. Then, using the preset reference spray angle in the spray density distribution map as a reference, where the reference spray angle refers to the standard spray direction angle set at the initial spray, vector operations are used to calculate the difference between each actual compensation angle in the first set of actual compensation angles and the reference spray angle, constructing the first angle... Similarly, the difference between each actual compensation angle and the reference injection angle in the second actual compensation angle set is calculated to construct the second angle deviation vector. The angle deviation vector refers to the vector composed of the offset of the actual compensation angle relative to the reference injection angle. Finally, the first angle deviation vector and the second angle deviation vector obtained above are directly applied to the original injection angle interval corresponding to the injection density distribution map. The original injection angle interval refers to the injection direction angle range set at the initial injection. By superimposing the angle intervals, the offsets corresponding to the first angle deviation vector and the second angle deviation vector are integrated into the original injection angle interval. Repeated or conflicting angle values in the original injection angle interval are removed, and finally, the corrected injection angle interval is generated.
[0034] It should be noted that the modified spray angle range in this application refers to the range of spray direction angles used for compensating spray after the spray coverage blind zone compensation correction. Determining the modified spray angle range can provide the nozzle of the spray-type drug delivery device with a precise and executable set of motion commands to directly drive it to make precise angle adjustments during the compensation spray stage. This solves the problems of spatial obstruction caused by the patient's position and uneven drug penetration caused by differences in tissue surface characteristics. Specifically, by correcting the original angle range, this modified range not only compensates for the angle deviation of the main spray direction that needs to be changed due to changes in body position (first spray coverage blind zone), but also expands the local spray coverage range to meet the need for additional angle scanning of specific areas due to differences in infiltration (second spray coverage blind zone), thereby ensuring that the drug achieves uniform and complete coverage on the three-dimensional surface and folds of the target tissue.
[0035] In step 104, the nozzle of the spraying device is controlled to perform compensatory spraying to cover the blind zone according to the corrected spray angle range.
[0036] In some embodiments, controlling the nozzle of the spray-type drug delivery device to perform drug delivery compensation spraying to cover blind areas according to the corrected spray angle range is achieved by the following steps: Analyze the corrected spray angle range to generate nozzle motion control signals and spray trigger signals; Based on the nozzle motion control signal, the nozzle of the spraying drug delivery device is driven to perform angle positioning, so that the nozzle axis is aligned with the target angle within the corrected spray angle range. Combining the regional characteristics of the first and second spray coverage blind zones, preset differentiated spray parameters are matched, and the nozzle of the spray-type drug delivery device is triggered according to the spray trigger signal to perform coverage blind zone compensation according to the differentiated spray parameters until the coverage blind zone is completely covered.
[0037] In specific implementation, firstly, the instruction parsing module of a PLC (Programmable Logic Controller) in existing technology is used to parse the corrected spray angle range. This corrected spray angle range data is converted into pulse commands (i.e., spray head motion control signals) to drive the nozzle rotation and level signals (i.e., spray trigger signals) to control the start and stop of the liquid spraying. The spray head motion control signal is an electrical signal used to drive the nozzle to perform angle adjustment, and the spray trigger signal is an electrical signal used to control the start and stop of the liquid spraying system. Then, the spray head motion control signal is input to the servo driver of the spray head rotation mechanism. The driver controls the servo motor to rotate according to the number and frequency of pulses in the spray head motion control signal, while simultaneously providing real-time feedback on the current nozzle angle through an encoder. This achieves gradual adjustment of the nozzle axis to align with the target angle within the corrected spray angle range. The target angle refers to the specific spray direction angle determined for the blind zone position within the corrected spray angle range. Specifically, the angle from the nozzle to the geometric center of the blind zone within the spray angle range can be used as... From the target perspective; finally, the differential spray parameter library preset in the control system of the gynecological clinical spray-type drug delivery equipment is retrieved (the differential spray parameter library is a set of drug spray parameters pre-built and stored in the control system of the spray-type drug delivery equipment, which corresponds one-to-one with the characteristics of different types of spray coverage blind zones. Among them, the parameter set for the spatial obstruction type blind zone (the first spray coverage blind zone) is calibrated through clinical pre-experiment, and the parameter set for the osmotic resistance type blind zone (the second spray coverage blind zone) is calibrated through mucosal tissue infiltration experiment, which will not be elaborated here). The spray pressure parameters are matched with the spatial obstruction characteristics of the first spray coverage blind zone, and the atomization particle size parameters are matched with the osmotic resistance characteristics of the second spray coverage blind zone. The differential spray parameters refer to the spray pressure and atomization particle size parameters set for the characteristics of different types of blind zones. Then, the spray trigger signal is input to the solenoid valve controller of the drug pipeline. After receiving the spray trigger signal, the solenoid valve controller opens the solenoid valve, so that the drug is sprayed from the nozzle according to the matched differential spray parameters to perform coverage blind zone compensation until the coverage blind zone is completely covered.
[0038] It should be noted that, in this application, complete coverage of the blind zone means that the coverage area of the liquid in the blind zone in the real-time monitoring image reaches the preset full coverage judgment threshold.
[0039] In another aspect, in some embodiments, this application provides a spray-type medication application device for obstetrics and gynecology clinical use, the device including a medication compensation spray unit, see reference. Figure 3 The figure is a schematic diagram of the structure of a drug-applying compensation injection unit according to some embodiments of this application. The drug-applying compensation injection unit includes: an acquisition module 201, a processing module 202, and an execution module 203, which are described below: The acquisition module 201 in this application is mainly used to acquire the spray density distribution map of the initial spray on the target tissue area of the target patient; Processing module 202, in this application, is mainly used to control the nozzle of the spraying drug delivery device to perform the first round of spraying according to the spray density distribution map, and to obtain a real-time monitoring image of the target tissue area after the first round of spraying is completed; The processing module 202 is further configured to identify the first and second spray coverage blind zones of the target patient in the current position based on the real-time monitoring image, and then correct the spray angle range corresponding to the spray density distribution map according to the regional characteristics of the first and second spray coverage blind zones to obtain the corrected spray angle range. The execution module 203 in this application is mainly used to control the spraying drug delivery device to perform drug delivery compensation spray to cover the blind area according to the modified spray angle range.
[0040] In addition, this application also provides a computer device, the computer device including a memory and a processor, the memory storing code, the processor being configured to acquire the code and execute the above-described compensating spray method of the spray-type drug application device for obstetrics and gynecology clinical use.
[0041] In some embodiments, reference Figure 4 This figure is a schematic diagram of the structure of a computer device for implementing a drug delivery compensation spraying method for a clinical spray-type drug delivery device in obstetrics and gynecology, according to some embodiments of this application. The drug delivery compensation spraying method for a clinical spray-type drug delivery device in obstetrics and gynecology in the above embodiments can be achieved through... Figure 4 The computer device shown is used to implement this, and the computer device includes at least one processor 301, a communication bus 302, a memory 303, and at least one communication interface 304.
[0042] The processor 301 may be a general-purpose central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more devices used to control the execution of the drug delivery compensation spraying method of the gynecological clinical spraying drug delivery device in this application.
[0043] The communication bus 302 can be used to transmit information between the aforementioned components.
[0044] The memory 303 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CDROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disks or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 303 may exist independently and be connected to the processor 301 via the communication bus 302. The memory 303 may also be integrated with the processor 301.
[0045] The memory 303 stores program code for executing the scheme of this application, and its execution is controlled by the processor 301. The processor 301 executes the program code stored in the memory 303. The program code may include one or more software modules. In the above embodiments, the determination of the drug application compensation spraying method of the obstetric and gynecological clinical spraying drug application device can be achieved by the processor 301 and one or more software modules in the program code in the memory 303.
[0046] Communication interface 304 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.
[0047] In a specific implementation, as one example, a computer device may include multiple processors, each of which may be a single-core (single CPU) processor or a multi-core (multi CPU) processor. Here, a processor may refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).
[0048] The aforementioned computer device can be a general-purpose computer device or a special-purpose computer device. In specific implementations, the computer device can be a desktop computer, a portable computer, a network server, a handheld digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. This application does not limit the type of computer device.
[0049] In addition, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for compensating for medication application using a spray-type medication application device for obstetrics and gynecology clinical use.
[0050] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.
[0051] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.
Claims
1. A method for compensating for medication application using a spray-type medication application device for obstetrics and gynecology clinical use, characterized in that, Includes the following steps: Obtain the spray density distribution map for the initial spraying of the target tissue area of the target patient; The nozzle of the spray-type drug delivery device is controlled to perform the first round of spraying according to the spray density distribution map. After the first round of spraying is completed, a real-time monitoring image of the target tissue area is acquired. Based on the real-time monitoring image, the first and second spray coverage blind zones of the target patient in the current position are identified. Then, the spray angle range corresponding to the spray density distribution map is corrected according to the regional characteristics of the first and second spray coverage blind zones to obtain the corrected spray angle range. The nozzle of the spray-type drug delivery device is controlled to perform drug delivery compensation spray to cover blind areas according to the corrected spray angle range.
2. The method as described in claim 1, characterized in that, The control of the nozzles of the spray-type drug delivery equipment to perform the first round of spraying according to the spray density distribution map specifically includes: The spray density distribution map is analyzed to extract the spray density parameters and spatial coordinate information of each location point within the target tissue area; Based on the extracted spray density parameters and spatial coordinate information, the spatial motion path and spray timing parameters of the nozzle of the spray-type drug delivery equipment are planned. Based on the spatial motion path and the injection timing parameters, the linkage parameters of the nozzle displacement drive module and the liquid injection module are configured. The nozzle is driven by the displacement drive module to move along the spatial movement path to the corresponding position point. The liquid spraying module of the nozzle is controlled according to the spraying timing parameters to spray according to the spraying density parameters, thus completing the first round of liquid spraying.
3. The method as described in claim 1, characterized in that, Based on the real-time monitoring images, the first and second jet coverage blind zones of the target patient in the current position are identified, specifically including: Based on the real-time monitoring images, extract the drug coverage characteristics of the target tissue region; Based on the characteristics of the drug liquid coverage, a feature threshold range for blind zone identification is set; Based on the feature threshold range, the real-time monitoring image is traversed and filtered to obtain a set of candidate blind zone pixels for the target tissue region; Spatial clustering and topological analysis are performed on the candidate blind zone pixel set to distinguish between the spatial occlusion type blind zone pixel group caused by body position and the penetration resistance type blind zone pixel group caused by the difference in drug wettability in the target tissue region. The spatial occlusion type blind zone pixel group is mapped to the first spray coverage blind zone under the current body position, and the penetration blocking type blind zone pixel group is mapped to the second spray coverage blind zone under the current body position.
4. The method as described in claim 1, characterized in that, Based on the regional characteristics of the first and second spray coverage blind zones, the spray angle intervals corresponding to the spray density distribution map are corrected to obtain the corrected spray angle intervals, which specifically include: Extract corresponding regional features from the first and second spray coverage blind zones respectively. The regional features include geometric center coordinates and morphological contours. Based on the geometric center coordinates of each spray coverage blind zone and the spatial position of the nozzle, calculate the first theoretical compensation incident angle set for compensating the first spray coverage blind zone and the second theoretical compensation incident angle set for compensating the second spray coverage blind zone; Based on the morphological profile of each spray coverage blind zone and the kinematic constraints of the nozzle, motion accessibility correction is performed on the first theoretical compensation incident angle set and the second theoretical compensation incident angle set to obtain the first actual compensation angle set and the second actual compensation angle set. Based on the first actual compensation angle set and the second actual compensation angle set, as well as the reference spray angle in the spray density distribution map, a first angle deviation vector corresponding to the first spray coverage blind zone and a second angle deviation vector corresponding to the second spray coverage blind zone are determined respectively. The original injection angle range corresponding to the injection density distribution map is corrected using the first angle deviation vector and the second angle deviation vector to generate the corrected injection angle range.
5. The method as described in claim 1, characterized in that, Controlling the nozzle of the spray-type drug delivery device to perform drug delivery compensation spraying to cover blind spots according to the corrected spray angle range specifically includes: Analyze the corrected spray angle range to generate nozzle motion control signals and spray trigger signals; Based on the nozzle motion control signal, the nozzle of the spraying drug delivery device is driven to perform angle positioning, so that the nozzle axis is aligned with the target angle within the corrected spray angle range. Combining the regional characteristics of the first and second spray coverage blind zones, preset differentiated spray parameters are matched, and the nozzle of the spray-type drug delivery device is triggered according to the spray trigger signal to perform coverage blind zone compensation according to the differentiated spray parameters until the coverage blind zone is completely covered.
6. The method as described in claim 1, characterized in that, Obtain the spray density distribution map of the initial spray on the target tissue area of the target patient from the drug spraying command.
7. The method as described in claim 1, characterized in that, Real-time monitoring images of the target tissue area are acquired using a miniature endoscope camera integrated into the side of the nozzle of the spray-type drug delivery device.
8. A spray-type medication application device for obstetrics and gynecology clinical use, the device comprising a medication compensation spray unit, characterized in that, The drug-feeding compensation spray unit includes: The acquisition module is used to acquire the spray density distribution map of the initial spray on the target tissue area of the target patient; The processing module is used to control the nozzle of the spraying drug delivery device to perform the first round of spraying according to the spray density distribution map, and to acquire a real-time monitoring image of the target tissue area after the first round of spraying is completed; The processing module is also used to identify the first and second spray coverage blind zones of the target patient in the current position based on the real-time monitoring image, and then correct the spray angle range corresponding to the spray density distribution map according to the regional characteristics of the first and second spray coverage blind zones to obtain the corrected spray angle range. The execution module is used to control the nozzle of the spray-type drug application device to perform drug application compensation spray to cover the blind area according to the corrected spray angle range.
9. A computer device, characterized in that, The computer device includes a memory and a processor, the memory storing code, and the processor being configured to retrieve the code and execute the compensating spray method of the spray-type drug delivery device for obstetric and gynecological clinical use as described in any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the compensating spray method for medication application using a spray-type medication application device for obstetrics and gynecology clinical use as described in any one of claims 1 to 7.