50 results about "Bronchiolar tree" patented technology

Systems, assemblies, and methods to treat pulmonary diseases are used to decrease nervous system input to distal regions of the bronchial tree within the lungs. Treatment systems damage nerve tissue to temporarily or permanently decrease nervous system input. The treatment systems are capable of heating nerve tissue, cooling the nerve tissue, delivering a flowable substance that cause trauma to the nerve tissue, puncturing the nerve tissue, tearing the nerve tissue, cutting the nerve tissue, applying pressure to the nerve tissue, applying ultrasound to the nerve tissue, applying ionizing radiation to the nerve tissue, disrupting cell membranes of nerve tissue with electrical energy, or delivering long acting nerve blocking chemicals to the nerve tissue.

The invention provides a bronchoscope position determination method and device, a system, equipment and a medium. The bronchoscope position determination method comprises the following steps: acquiring a virtual bronchial tree of a target object; identifying a bifurcated node of the virtual bronchial tree of the target object, and acquiring identification information on each lung segment and the bifurcated node in the virtual bronchial tree of the target object based on the identified bifurcated node; acquiring an intraoperative image of the target object; matching the intraoperative image with a virtual slice image of the virtual bronchial tree of the target object, and determining a target virtual slice image matched with the intraoperative image; and determining identification information on corresponding lung segments and bifurcated node matched with the target virtual slice map in the virtual bronchial tree of the target object, wherein the determined identification information is used for representing a current position of a bronchoscope in the target object.

The invention relates to the technical field of splicing point multi-branch path planning, in particular to a splicing point multi-branch path planning method of a virtual bronchoscope, which comprises the following step of segmenting a bronchus tree from an acquired lung CT sequence image by using a three-dimensional region growth algorithm. According to the splicing point multi-branch path planning method and system for the virtual bronchoscope, the planning effect of complex multi-branch paths and large-curvature turning branch paths can be achieved through a splicing point path planning algorithm, and a high-quality center line image meeting the requirements for centrality, connectivity and singleness of a center path can be obtained; the methhod is an important premise for planning the bronchial tree path by using a splicing point algorithm, can solve the problem of multi-branch path planning of automatic roaming of the virtual bronchoscope, adopts the splicing point branch path planning algorithm, and can quickly and conveniently plan an automatic roaming path reaching any branch end point after obtaining the complete center line of the bronchial tree.

The invention discloses a method for freely browsing VB, which comprises the following steps: 1, firstly performing lung segmentation on a chest CT image, then performing main bronchial segmentation and peripheral bronchial segmentation, and finally connecting the main bronchial segmentation and the peripheral bronchial segmentation to form integral bronchial segmentation to obtain a bronchial tree; setting the pixel value of the bronchial tree to be 1, and setting the pixel value of the non-bronchial tree area to be 0; 2, extracting a center line to obtain a bronchial center line tree model; 3, generating three-dimensional model data of triangular patch; 4, obtaining a unique path from the inlet of the bronchus to the tip position of each bronchus; and 5, carrying out path switching. The invention also discloses a method for marking by freely browsing VB and a related system. According to the invention, a doctor can freely browse in the VB, and is not limited to a fixed path or a specified position, so that the doctor can freely jump and switch in all bronchial trees.

The invention discloses a trachea and bronchus stent. The trachea and bronchus stent comprises a tube body and a branch thereof. According to the trachea and bronchus stent, the computed tomography (CT) and three-dimensional reconstruction technology is used for acquiring bronchial tree information, a data processing device is used for restoring and repairing acquired data, software is used for design and modification, a trachea and bronchus stent three-dimensional design drawing suitable for a bronchial tree is obtained, a three-dimensional printing system is applied for printing forming, and the finished product is obtained. Trachea and bronchus stents designed for different individuals and bronchi using the individuals are high in form degree of adaptability, the problems such as displacement, disengagement, air way mucosa bruise and insufficient supporting are avoided, and the treatment effect is improved.

The invention discloses a respiratory endoscope video collecting and processing method, electronic equipment and a storage medium, and belongs to the technical field of video processing. Generating a bronchial tree diagram based on the trachea scanning image, and marking a focus generation area on the bronchial tree diagram; generating a focus navigation path based on the bronchial tree diagram and the focus generation area; acquiring a real-time endoscope video based on the focus navigation path; based on the real-time endoscope video, determining whether the endoscope reaches an airway branch fork corresponding to the focus occurrence area; if it is determined that the endoscope reaches the airway branch fork corresponding to the focus occurrence area, the video compression strategy of the real-time endoscope video is switched from the first compression strategy to the second compression strategy. According to the method, the video compression strategy can be reasonably arranged in the diagnosis and treatment process of the respiratory endoscope, the high-definition requirement of a focus area is ensured while the video transmission timeliness is ensured, and the accuracy and reliability of respiratory endoscope examination are improved.

The invention provides a bronchoscope simulation system based on personalized data. The system comprises a control handle which is used for receiving the operation of a user for simulating a bronchoscope, a display used for displaying a graphical interface interacting with a user, a memory used for storing data and application programs, and a processor which is used for running the application program in the memory so as to execute the following steps: a three-dimensional reconstruction step: generating an interactive three-dimensional digital bronchial tree; a focus prediction step: performing prediction analysis on the characteristics of the focus according to the characteristics of the focus so as to create a training case based on personalized data; and a simulation probing step: drawing an image of the training case on the graphical interface, and drawing an under-mirror image according to the received input of the user through the control handle, and completing the simulation probing operation. According to the invention, repeated drilling can be carried out based on individual data of the patient before clinical examination, the technical proficiency and accuracy of a trained doctor are improved, and the efficiency and safety of a bronchoscope of the patient are improved.

The present application discloses a bronchial tree model completion method, device and non-volatile storage medium. The method includes: determining a first bronchial tree model, wherein the first bronchial tree model is a model to be completed constructed based on electronic computed tomography data; determining a first target point, and determining a second target point in the first bronchial tree model, wherein the first target point is a point outside the first bronchial tree model, and the second target point is the point on the first bronchial tree model that is closest to the first target point; determining a target center point corresponding to the second target point; completing the first bronchial tree model based on the first target point and the target center point to obtain a second bronchial tree model. The present application solves the technical problem of being unable to accurately determine the patient's bronchial tree structure due to the incomplete bronchial branching structure of the bronchial tree model generated in the related art.

The invention relates to the technical field of robot simulation and control, in particular to a bronchoscope robot simulation control platform and method based on VTK, and is suitable for structural modeling, motion control, virtual simulation and the like of continuum robots (such as bronchoscope robots). The method can be widely applied to the fields of medical robot simulation, operation training, robot control algorithm verification and the like. Firstly, the platform adopts a voxelization modeling technology to carry out modeling on a bronchoscope robot, and forms and behaviors of different continuum robots can be simulated only by setting structural parameters and freedom of motion of the robot. The center line of the bronchial tree is rapidly extracted by using a vmtk library, and a motion control algorithm based on the center line of the bronchial tree is designed, so that the simulation platform can effectively simulate interaction between the robot and the bronchial tree. Meanwhile, the collision condition of the robot and the bronchial tree is calculated in real time through a collision detection interface built in the vtk, and real-time accurate feedback is conducted in the simulation process.

The present invention relates to the technical field of bronchial image analysis, and particularly relates to a bronchoscope-assisted positioning method and system for tuberculosis care. The method obtains an area correction amount based on the branch angle between the corresponding position of each frame of the internal gray-scale image of the bronchus in the virtual bronchial tree and its next bifurcation, and the area difference between the internal gray-scale image of the bronchus and the target hole area of the previous internal gray-scale image of the bronchus, and combines the distance between the corresponding position of the image in the virtual bronchial tree and its next bifurcation to correct the area of the target hole area to obtain the true area; according to the change of the true area of the target hole area of the internal gray-scale image of the bronchus between the corresponding position of the internal gray-scale image of the bronchus in the virtual bronchial tree and its previous bifurcation, it assists in positioning the bronchoscope. The present invention reduces the error in the recognition of abnormal structures in the bronchial airway and improves the accuracy of assisting in positioning the bronchoscope.

The present application relates to the field of robot simulation and control technology, in particular to a bronchoscope robot simulation control platform and method based on VTK, which is suitable for structure modeling, motion control, virtual simulation and the like of continuum robots (such as bronchoscope robots), and can be widely applied to the fields of medical robot simulation, surgical training and robot control algorithm verification and the like. Firstly, the platform uses voxel modeling technology to model the bronchoscope robot, and only needs to set the robot structure parameters and motion degrees of freedom, so as to simulate the form and behavior of different continuum robots. The center line of the bronchial tree is quickly extracted using the vmtk library, and a motion control algorithm based on the center line of the bronchial tree is designed, so that the simulation platform can effectively simulate the interaction between the robot and the bronchial tree. At the same time, the built-in collision detection interface of vtk is used to calculate the collision between the robot and the bronchial tree in real time, and real-time and accurate feedback is carried out in the simulation process.

The invention provides an operation-assisted data processing method, device and system. The operation-assisted data processing system comprises a server, a bronchoscope, and a mixed reality display device; the server can directly or indirectly communicate with the mixed reality display device and the bronchoscope; the server is used for sending intraoperative data and virtual data to the mixed reality display device; the mixed reality display device is used for acquiring and displaying a reality scene image of an operation process; the displayed real scene image is matched with a real scene observed by medical staff in the operation process; based on the virtual data, an appearance model of the virtual bronchial tree is displayed; and a real-time endoscopic image is displayed.

A system and method can be used to denervate at least a portion of a bronchial tree. An energy emitter of an instrument is percutaneously delivered to a treatment site and outputs energy to damage nerve tissue of the bronchial tree. The denervation procedure can be performed without damaging non-targeted tissue. Minimally invasive methods can be used to open airways to improve lung function in subjects with COPD, asthma, or the like. Different sections of the bronchial tree can be denervated while leaving airways intact to reduce recovery times.

1. The name of this design product: Bronchoscopy-assisted quality control graphical user interface for electronic equipment. 2. Purpose of this design product: an electronic device. 3. The key design point of this design product lies in the graphical user interface. 4. The picture or photo that best illustrates the key points of the design: Main view of Design 1. 5. The electronic device of this design product is of conventional design, and the rear view, left view, right view, top view, and bottom view of Design 1‑4 are omitted. 6. Designate Design 1 as the base design. 7. Purpose of the graphical user interface: The interface of this design product is a desktop display and application display interface. 8. Human-computer interaction mode of graphical user interface: The main view of Design 1 shows the horizontal real-time display interface of bronchoscopy examination. The upper left side of the interface shown in the main view of Design 1 displays the current inspection time, inspection time, current part, next part and operation score. The current part can be one or more, and the next part is the part to be inspected. The bronchial tree diagram is displayed at the lower left side of the interface shown in the main view of Design 1, and a light-up prompt is given to the inspected parts in the bronchial tree diagram, another light-up prompt is given to the currently inspected part, and a light-up prompt is given to the text corresponding to the inspected part. The largest octagonal area on the right side of the interface shown in the main view of Design 1 is used to display the current endoscopic video image. The small octagonal area of ​​the interface shown in the main view of Design 1 is used to display the screenshots taken by the user during the operation, and displays the swipe-up button and the swipe-down button to display the undisplayed part of the screenshot by turning pages / scrolling. The user can view the undisplayed screenshots by clicking / touching the swipe-up button and the swipe-down button in the interface. The main view of Design 2 shows the vertical real-time display interface of bronchoscopy. The right side of the lower side of the interface shown in the main view of Design 2 displays the current inspection time, inspection time, current part, next part and operation score. The current part can be one or more, and the next part is the part to be inspected. The lower left side of the interface shown in the main view of Design 2 displays a schematic diagram of the bronchial tree, and a light-up prompt is given to the inspected parts in the schematic diagram, another light-up prompt is given to the currently inspected part, and a light-up prompt is given to the text corresponding to the inspected part. The largest octagonal area on the upper side of the interface shown in the main view of Design 2 is used to display the current endoscopic video image. The small octagonal area of ​​the interface shown in the main view of Design 2 is used to display the screenshots taken by the user during the operation, and displays the left and right slide buttons to display the undisplayed part of the screenshot by turning pages / scrolling. The user can view the undisplayed screenshots by clicking / touching the left and right slide buttons in the interface. The main view of Design 3 shows the horizontal summary interface of the bronchoscopy examination. The upper left side of the interface shown in the main view of Design 3 displays the current inspection time, inspection time, operation score and completeness. The bronchial tree diagram is displayed at the lower left side of the interface shown in the main view of Design 3, and the inspected parts in the bronchial tree diagram are highlighted, and the text corresponding to the inspected parts is highlighted. The large octagonal area on the upper right side of the interface shown in the main view of Design 3 is used to display the identified abnormal screenshots, and the left slide button and the right slide button are displayed to display the undisplayed part of the screenshot by turning pages / scrolling. The user can view the undisplayed abnormal screenshots by clicking / touching the left slide button and the right slide button in the interface. The small octagonal areas in the lower right side of the interface shown in the main view of Design 3 are used to display the identified part screenshots, and the left slide button and the right slide button are displayed to display the undisplayed part of the screenshot by turning pages / scrolling. Users can view the undisplayed part screenshots by clicking / touching the left slide button and the right slide button in the interface. The main view of Design 4 shows the vertical summary interface of the bronchoscopy examination. The current inspection time, inspection time, operation score and completeness are displayed on the lower right side of the interface shown in the main view of Design 4. The lower left side of the interface shown in the main view of Design 4 displays a schematic diagram of the bronchial tree, and a light-up prompt is given to the inspected parts in the schematic diagram of the bronchial tree, and a light-up prompt is given to the text corresponding to the inspected parts. In the large octagonal area above the interface shown in the main view of Design 4, each large octagon displays the identified abnormal screenshots, and displays the left slide button and the right slide button to display the undisplayed part of the screenshot by turning pages / scrolling. The user can view the undisplayed abnormal screenshots by clicking / touching the left slide button and the right slide button in the interface. Each small octagon in the small octagon area of ​​the interface shown in the main view of Design 4 displays a screenshot of the identified part, and displays a left slide button and a right slide button to display the undisplayed part of the screenshot by turning pages / scrolling. The user can view the undisplayed part screenshot by clicking / touching the left slide button and the right slide button in the interface. In each view, the swipe up button, swipe down button, swipe left button, swipe right button, etc. in the main view interface of Design 1, Design 2, Design 3 and Design 4 are used for human-computer interaction and to realize functions.

The present invention relates to an apparatus (10) for designing or configuring a guide for a bronchoscope or guiding sheath. It is described to providing (310) a processing unit with at least one diagnostic image of a patient, wherein the at least one diagnostic image comprises image data of a region of interest and image data of the bronchial tree or vascular system in the vicinity of the region of interest. The processing unit determines (320) a position of the region of interest. The processing unit determines (330) a position in the bronchial tree or vascular system from which an intervention is to be carried out via a bronchoscope or guiding sheath. The intervention will comprise movement of a part of an intervention device towards the region of interest, wherein the bronchoscope or guiding sheath is configured such that the part of the intervention device can exit an end of the bronchoscope or guiding sheath. The processing unit determines (340) an angle of movement of the part of the intervention device with respect to a longitudinal axis of the bronchoscope or guiding sheath to guide the part of the intervention device towards the region of interest. The determination comprises utilization of the position of the region of interest and the position in the bronchial tree or vascular system from which the intervention is to be carried out. The processing unit designs (350) or configures (360) a guide to operate in conjunction with the bronchoscope or guiding sheath, the design or configuration comprising utilization of the determined angle of movement of the part of the intervention device. The guide is configured to operate in conjunction with the bronchoscope or guiding sheath to guide the part of the intervention device exiting the end of the bronchoscope or guiding sheath towards the region of interest at the determined angle of movement.

The invention provides a bronchoscope navigation operation system and method based on bronchial tree naming, and the system comprises a three-dimensional reconstruction module which is used for constructing a three-dimensional bronchial tree model; the bronchus naming and labeling module is used for naming branches at all levels of the bronchus tree; the virtual image generation module is used for generating a plurality of bronchial branch virtual images with bronchial branch data; the route generation module is used for forming a planned lens entering route taking a glottis gate as a starting point and a target bronchus as an ending point on the three-dimensional bronchus tree model; the image fusion module is used for acquiring a bronchial branching real image of each stage of bronchial tube on an actual endoscope entering path in real time and performing overlapping fusion on the bronchial branching real image and the optimal matching bronchial branching virtual image; and the auxiliary navigation module is used for assisting in completing bronchoscope operation according to the fused bronchial branching real image. The bronchoscope operation is rapidly and accurately completed through a semi-automatic auxiliary guiding scheme.

The utility model belongs to the field of in-vitro inhalation and exposure, and particularly relates to a bionic breathing type exposure system for inhales. The system comprises a breathing power device, a mouth branch and a nose branch, the mouth branch and the nose branch are connected with the breathing power device, the downstream of the mouth branch and the downstream of the nose branch converge to form a throat structure and then are connected with a trachea branch, and the trachea branch comprises a bronchial tree with a plurality of branches. The mouth branch and / or the nose branch are / is connected with a diverter valve used for adjusting the diverter flow of the mouth branch and the nose branch; at least one of the branches is connected with a lung unit exposure device; the lung unit exposure device comprises a microporous membrane for cell growth, a gas chamber and a liquid chamber, wherein the gas chamber and the liquid chamber are located on the two sides of the microporous membrane respectively. According to the utility model, the grading and shunting environment of a bronchial tree where cells are located can be accurately simulated, the respiratory physiological microenvironment where the cells are located can be reduced, and the exposure dose of the cells can be accurately evaluated, so that a more accurate cell exposure experiment result can be obtained.

The application relates to an interactive bronchoscope navigation system and method, the navigation system comprising: a CT data acquisition module for acquiring chest CT data of a patient; a navigation data acquisition device for simulating the insertion operation of a camera at the head end of an insertion tube of a bronchoscope based on the chest CT data and obtaining insertion position data and posture data of the camera; a digital bronchial tree generation module for generating a digital bronchial tree based on the chest CT data; a navigation data mapping module for mapping the insertion position data and the posture data of the camera into the digital bronchial tree, performing motion calculation of a virtual camera under the constraint of a digital airway lumen of the digital bronchial tree, obtaining the pose of the virtual camera in the digital airway lumen, and realizing simulation operation. The simulation operation of the bronchoscope can be realized, the digital airway of the patient can be preoperatively preoperated, and the operation efficiency is improved, the operation risk is reduced, and the medical cost is saved.

The present application relates to a system for improving airflow within a bronchial tree of an emphysema lung. The system includes: a delivery device; and an implantable object including a distal end and a proximal end. Wherein the implantable object is configured to: place the implantable object through multiple generations of connected airways using the delivery device such that the distal end is placed in a first airway within a tip portion of the bronchial tree and the proximal end is placed in a second airway within a middle portion of the bronchial tree; and when the implantable object is placed through a multi-generation connected airway, expanding the implantable object such that at least a portion of the multi-generation connected airway expands from (i) an initial diameter prior to placement of the implantable object to (ii) an expanded diameter greater than the initial diameter.

The present application relates to a system for improving airflow within the bronchial tree of an emphysematous lung. The system comprises: a delivery device; and an implantable object comprising a distal end and a proximal end. The implantable object is configured to: place the implantable object through multiple generations of connected airways using the delivery device such that the distal end is placed in a first airway within a terminal portion of the bronchial tree and the proximal end is placed in a second airway within a mid-portion of the bronchial tree; and, when placing the implantable object through the multiple generations of connected airways, expand the implantable object such that at least a portion of the multiple generations of connected airways expands from (i) an initial diameter prior to placement of the implantable object to (ii) an expanded diameter that is greater than the initial diameter.

The invention relates to the technical field of methods for treating focuses in lungs, in particular to a method for injecting medicine into peripheral cavernous focuses of lungs under the guidance of a bronchoscope ultrasonic small probe. According to the technical scheme, the medicine injection method for precise treatment of the focus in the lung under guidance of the bronchoscope ultrasonic small probe comprises the steps that firstly, preoperative evaluation is conducted on the illness state of a patient; 2, an equipment preparation stage; step 3, anesthesia; 4, bronchial insertion and focus positioning; 5, guide sheath tube fixation and medicine injection preparation are carried out; sixthly, precise medicine injection is conducted; and step 7, postoperative observation and treatment. High-resolution CT is combined with computer simulation scanning to reconstruct a focus in a three-dimensional mode, the relation between the lung focus and a bronchial tree and the path from the bronchial tree to the focus are positioned, a small ultrasonic probe is used for carrying a guiding sheath to stretch into the path, and after it is confirmed through an ultrasonic image that the small ultrasonic probe reaches the focus position, the small ultrasonic probe is withdrawn, and the focus position of the lung is determined. And performing focus medicine injection treatment in the target bronchial tube by using an injector through the ultrasonic guide sheath tube.

The invention discloses a construction method of a human body full-airway model with random characteristics, and belongs to the field of bio-fluid mechanics. Comprising the steps that a CT image of the upper body of a human body is received, medical image reconstruction and reverse engineering are combined, an upper respiratory tract-bronchial tube model based on the CT image is generated, and the model comprises a mouth model, a nose model, a throat model, a throat model, a trachea model and a bronchial tube model; on the basis of a Weibel idealized model, a bronchial tree model which has random growth characteristics and is based on a CT image is constructed, and the bronchial tree model is formed by reconstructing the tail end of a geometric bronchial tube through the CT image and extending outwards; based on a Weibel idealized model, using a parameterized script to generate a pulmonary airway tree model; and assembling and combining the models of all the parts to generate a human body full-airway model with random characteristics. The bronchial tree with the random growth characteristic is constructed based on the Weibel model, the bronchial tree consistent with the actual airway growth in the CT image is assembled to the corresponding CT reconstruction geometric tail end, and the actual respiratory tract distribution condition and the anatomical structure can be reflected.

A method of evaluating airway wall density and inflammation including: segmenting a bronchial tree to create an airway wall map; for each branch, taking a set of locations that form the wall of each branch from the map and sampling the value in a virtual non-contrast image of the bronchial tree and, given a set of samples of pre-contrast densities, computing a value to yield a bronchial wall density for each branch to yield density measures; for each branch, taking the set of locations that form the wall of each branch from the map and sampling the value in a contrast agent map of the bronchial tree and, given the set of samples of contrast agent intake, computing a value to yield a bronchial wall uptake for each branch to yield inflammation measures; and using the density and inflammation measures to determine treatment or predict outcome for a patient.

The invention discloses devices, systems, and methods for improving airflow within an airway. One example embodiment includes a method for treating a subject. The method includes (1) placing an expandable object into one or more airways of the bronchial tree of the subject, (2) expanding the expandable object within at least one of the one or more airways such that at least a portion of a wall ofthe one or more airways is expanded, and (3) placing a stent in the airway such that a portion of the stent is adjacent to the portion of the wall of the one or more expanded airways.

The embodiment of the present application provides a bronchoscope electromagnetic navigation system, including a registration module, a navigation module and a display module, the position image of the bronchi in the CT image matched by the registration module, and the positioning sensor in the navigation module acquires the real-time position image of the bronchoscope. Position coordinates, the control unit in the navigation module determines the correct coordinates corresponding to the real-time position coordinates in the position image according to the real-time position coordinates and the center line, and the display module displays the CT image, the position image, the real-time position coordinates and the correct coordinates, In this process, precise electromagnetic navigation in the bronchial tree is realized through the correct registration of the registration module and the precise navigation of the navigation module.

The invention provides a data processing part, a processing device, an operation system, equipment and a medium. A processing method for bronchoscope detection comprises the following steps: determining first pose information of a bronchoscope in a virtual coordinate system based on a target bronchus image collected by the bronchoscope and a preset virtual bronchus tree; based on a preset tracking assembly used for detecting the bronchoscope, acquiring second pose information of the bronchoscope under a tracking coordinate system; based on second pose information of the bronchoscope in the tracking coordinate system and the first pose information of the bronchoscope in the virtual coordinate system, determining a target conversion relationship between the tracking coordinate system and the virtual coordinate system; and determining second real-time pose information of the bronchoscope in the virtual coordinate system according to the first real-time pose information of the bronchoscope in the tracking coordinate system and the target conversion relationship.

An implant in accordance with an embodiment of the present technology includes proximal and distal end portions spaced apart from one another along a longitudinal axis and configured to be deployed at first and second airways, respectively, of a bronchial tree, the second airway being of a greater generation than the first airway. The implant includes a wire extending along a wire path within a tubular region coaxially aligned with the longitudinal axis. The wire includes first and second legs alternatingly disposed along the wire path and extending distally and proximally, respectively, in a circumferential direction about the longitudinal axis. The implant is configured to transition from a low-profile delivery state to an expanded deployed state at a treatment location and to allow mucociliary clearance from immediately distal to the implant to immediately proximal to the implant while the in deployed at the treatment location.