CN108969117A - Operation auxiliary localization method and device - Google Patents
Operation auxiliary localization method and device Download PDFInfo
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- CN108969117A CN108969117A CN201810876935.4A CN201810876935A CN108969117A CN 108969117 A CN108969117 A CN 108969117A CN 201810876935 A CN201810876935 A CN 201810876935A CN 108969117 A CN108969117 A CN 108969117A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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Abstract
The present invention relates to a kind of operations to assist localization method and device.This method obtains the current breathing phases of patient；Current breathing phases are compared with the standard breathing phases being obtained ahead of time；When comparison result meets preset condition, trigger signal is issued；Wherein trigger signal is performed the operation for triggering.The current breathing phases of patient are compared by this method with the standard breathing phases being obtained ahead of time；When comparison result meets preset condition, issue for triggering the trigger signal performed the operation, this method may be implemented the accurate positioning of operation time started, improve success rate of operation.
Description
Technical field
The present invention relates to medical imaging technology fields more particularly to a kind of operation to assist localization method and device.
Background technique
Clinically, especially clinically, more and more extensive is guided using medical image for oncotherapy, is then made
The positioning of operation tool is carried out with mechanical arm auxiliary, to carry out Minimally Invasive Surgery, to reduce patient's surface of a wound, accelerates patients ' recovery
Speed.
According to medical image, sketching out the corresponding target point for the treatment of and entering needle direction is the key that operation is smooth
Place.Since patient is in the state persistently breathed, and melting main position is that lung and liver etc. are influenced maximum by breathing
Position, the practical mediastinum campaign due to patient respiration, the displacement of corresponding organ inner disease foci point can achieve 5cm.
Current common practice is the assembly respiration monitoring control bandage in patient body, and carries out split-phase to respiratory movement and refer to
Show that lamp is shown, and training patient suppresses when corresponding breath light lights and breathes, and performs the operation at the moment.
Correlative study the result shows that, in the case where no training, one-time successful puncture rate is only 40%, and is being instructed
After white silk, one-time successful puncture rate is also only 70%.
Based on this, existing method is had the disadvantages that
1. additional bandage is needed to carry out respiration monitoring control, cause patient uncomfortable and cost increase.
2. needs additionally give patient training, time-consuming and effect is bad, often results in repeatedly contact pin again.
3. holding one's breath for patient is carried out twice scanning and puncture, hold one's breath inevasible can have deviation twice.
Summary of the invention
(1) technical problems to be solved
To solve the above-mentioned problems, the present invention provides a kind of operation auxiliary localization method and device.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
A kind of operation assisted location method, the method, comprising:
S101 obtains the current breathing phases of patient；
The current breathing phases are compared by S102 with the standard breathing phases being obtained ahead of time；
S103 issues trigger signal when comparison result meets preset condition；
The trigger signal is performed the operation for triggering.
Optionally, before the S101 further include:
S201 acquires the first breath signal of the patient in first time period；
S202 is filtered first breath signal, obtains standard respiratory waveform；
S203 is based on the standard respiratory waveform, extracts the first maximum extension point, the first maximum collapse point, the first breathing
The first moment and first moment corresponding first amplitude that period, acquisition stop；
S204, according to the first maximum extension point, the first maximum collapse point, the first respiratory cycle, the first moment and first
Amplitude determines standard breathing phases.
Optionally, the S203 includes:
S301, in the standard respiratory waveform, the random waveform obtained in a period；
The period obtained in S301 was determined as the first respiratory cycle by S302；
The peak value of the waveform obtained in S301 and trough are determined as the first maximum collapse point and the first maximum extension by S303
Point.
Optionally, the S203 includes:
S401 successively obtains the waveform in the preset quantity period since the standard respiratory waveform；
The rhythmic mean value of institute obtained in S401 was determined as the first respiratory cycle by S402；
S401, by the peak-to-average of all waveforms obtained in S401 and trough mean value be determined as the first maximum collapse point and
First maximum extension point.
Optionally, the preset quantity is 6.
Optionally, the S204 includes:
Amplitude difference between first maximum extension point and the first maximum collapse point is determined as first and compares width by S204-1
Degree；
S204-2 calculates a1=(the trough amplitude in period where the first amplitude-first moment)/first and compares width
Degree；
S204-3, the difference of the initial time in period where calculating the first moment and first moment；
S204-4 calculates difference/first respiratory cycle that b1=S204-3 is obtained；
S204-5 determines standard breathing phases according to a1 and b1.
Optionally, the S101 includes:
S101-1 acquires the second breath signal of the patient in second time period, the second time period with it is described
First time period is different, and the second time period is later than the first time period；
S101-2 is filtered second breath signal, obtains current respiratory waveform；
S101-3, based on the current respiratory waveform, when extracting the second moment of acquisition stopping and adopting described second
Carve corresponding second amplitude；
S101-4 determines current breathing phases according to the second moment and the second amplitude.
Optionally, the S101-4 includes:
S501 calculates a2=(the trough amplitude in period where the second amplitude-second moment)/first and compares amplitude；
S502, the difference of the initial time in period where calculating the second moment and second moment；
S503 calculates difference/first respiratory cycle that b2=S502 is obtained；
S504 determines current breathing phases according to a2 and b2.
Optionally, the trigger signal are as follows: enable signal；Alternatively,
The trigger signal are as follows: indication signal and enable signal；
The enable signal is performed the operation for triggering；
The indication signal is felt suffocated for triggering patient.
In order to achieve the above object, the main technical schemes that the present invention uses further include:
A kind of operation auxiliary locator, described device, comprising: imaging system, support system, mechanical arm and middle control meter
Calculation machine；
The imaging system, for physiological signal to be changed into breath signal or electrocardiosignal；
The support system, for carrying patient；
The mechanical arm, for loading operation tool；
Central control computer, for executing such as the step of above method any one.
(3) beneficial effect
The beneficial effects of the present invention are: the current breathing phases of patient are compared with the standard breathing phases being obtained ahead of time
Compared with；When comparison result meets preset condition, issue for triggering the trigger signal performed the operation, this method may be implemented to perform the operation
The accurate positioning of time started, improves success rate of operation.
Detailed description of the invention
Fig. 1 is a kind of expiration phase schematic diagram provided by one embodiment of the present invention；
Fig. 2 is a kind of expiratory phase schematic diagram provided by one embodiment of the present invention；
Fig. 3 is a kind of operation assisted location method flow diagram provided by one embodiment of the present invention；
Fig. 4 is a kind of respiratory waveform schematic diagram provided by one embodiment of the present invention；
Fig. 5 is a kind of operation assisted location method apparatus structure schematic diagram provided by one embodiment of the present invention.
Specific embodiment
In order to preferably explain the present invention, in order to understand, below by specific embodiment, present invention work is retouched in detail
It states.
According to medical image, sketching out the corresponding target point for the treatment of and entering needle direction is the key that operation is smooth
Place.Since patient is in the state persistently breathed, and melting main position is that lung and liver etc. are influenced maximum by breathing
Position, practical mediastinum campaign (expiration phase schematic diagram as shown in Figure 1 and air-breathing rank shown in Fig. 2 due to patient respiration
Section schematic diagram), the displacement of corresponding organ inner disease foci point can achieve 5cm.
Based on this, the application provides a kind of method, and this method is realized by operation auxiliary locator.
The operation auxiliary locator includes imaging system, support system, mechanical arm and central control computer.
Wherein,
Imaging system, for breath signal (such as electromyography signal or electrocardiosignal) graphically to be showed,
Alternatively, other function can also be realized.The present embodiment is not defined the concrete function that imaging system may be implemented.Specific
When realization, the specific implementation of imaging system can there are many, such as using individual equipment as imaging system, alternatively, by one
A module (such as physiological single processing module) is used as imaging system, at this point it is possible to realize function in the Module-embedding other equipment
It can be integrated.
Wherein, there are many acquisition modes of breath signal, such as: it is acquired in such a way that chest strap pressurizes force snesor
The electromyography signal of nutator.Alternatively, acquiring the electrocardiosignal of intercostal muscle in such a way that chest strap pressurizes force snesor.
Alternatively, acquiring the breath signal of patient by other breath signal extracting modes.
Support system, for carrying patient；
Mechanical arm, for loading operation tool；
Central control computer provides a kind of method for executing the application.
The specific implementation schematic diagram of the operation auxiliary locator of the application is as shown in Figure 3, wherein imaging system 82 passes through
At least one module realizes at least one function, using physiological single processing module as imaging system in Fig. 3.Support system 81 is removed
Except diagram, also to there is other implementations.Mechanical arm is also based on enable signal (in Fig. 3 in addition to loading operation tool
For operation tool enable signal) control operation tool perform the operation.Central control computer is simultaneously not shown in FIG. 3.
The operation assisted location method specific implementation flow executed in above-mentioned apparatus central control computer is as shown in Figure 4.
S101 obtains the current breathing phases of patient；
Current breathing phases are compared by S102 with the standard breathing phases being obtained ahead of time；
S103 issues trigger signal when comparison result meets preset condition；
Trigger signal is performed the operation for triggering.
Optionally, before S101 further include:
S201 acquires the first breath signal of patient in first time period；
S202 is filtered the first breath signal, obtains standard respiratory waveform；
S203, be based on standard respiratory waveform, extract the first maximum extension point, the first maximum collapse point, the first respiratory cycle,
Acquire the first moment stopped and the first moment corresponding first amplitude；
S204, according to the first maximum extension point, the first maximum collapse point, the first respiratory cycle, the first moment and first
Amplitude determines standard breathing phases.
Optionally, S203 includes:
S301, in standard respiratory waveform, the random waveform obtained in a period；
The period obtained in S301 was determined as the first respiratory cycle by S302；
The peak value of the waveform obtained in S301 and trough are determined as the first maximum collapse point and the first maximum extension by S303
Point.
Optionally, S203 includes:
S401 successively obtains the waveform in the preset quantity period since standard respiratory waveform；
The rhythmic mean value of institute obtained in S401 was determined as the first respiratory cycle by S402；
S401, by the peak-to-average of all waveforms obtained in S401 and trough mean value be determined as the first maximum collapse point and
First maximum extension point.
Optionally, preset quantity 6.
Optionally, S204 includes:
Amplitude difference between first maximum extension point and the first maximum collapse point is determined as first and compares width by S204-1
Degree；
S204-2 calculates a1=(the trough amplitude in period where the first-the first moment of amplitude)/first and compares amplitude；
S204-3, the difference of the initial time in period where calculating the first moment and the first moment；
S204-4 calculates difference/first respiratory cycle that b1=S204-3 is obtained；
S204-5 determines standard breathing phases according to a1 and b1.
Optionally, S101 includes:
S101-1 acquires the second breath signal of patient, second time period and first time period are not in second time period
Together, and second time period is later than first time period；
S101-2 is filtered the second breath signal, obtains current respiratory waveform；
S101-3 extracts the second moment that acquisition stops and to adopt for the second moment corresponding based on current respiratory waveform
Second amplitude；
S101-4 determines current breathing phases according to the second moment and the second amplitude.
Optionally, S101-4 includes:
S501 calculates a2=(the trough amplitude in period where the second-the second moment of amplitude)/first and compares amplitude；
S502, the difference of the initial time in period where calculating the second moment and the second moment；
S503 calculates difference/first respiratory cycle that b2=S502 is obtained；
S504 determines current breathing phases according to a2 and b2.
Optionally, trigger signal are as follows: enable signal；Alternatively,
Trigger signal are as follows: indication signal and enable signal；
Enable signal is performed the operation for triggering；
Indication signal is felt suffocated for triggering patient.
In order to more clearly describe the realization process for the operation assisted location method that this motion provides, this motion is with patient
For A, the realization process that patient A is performed the operation by this method is described in chronological order.
S201 acquires the first breath signal of patient in first time period.
The first breath signal herein be electromyography signal or electrocardiosignal, acquisition mode can there are many, this implementation
Example is without limiting.Such as: the electromyography signal of patient's nutator is acquired in such a way that chest strap pressurizes force snesor
And as the first breath signal.In another example acquiring patient's intercostal muscle in such a way that chest strap pressurizes force snesor
Electrocardiosignal and as the first breath signal.Further for example, acquiring the first of patient by other breath signal extracting modes
Breath signal.
First time period herein can be any time section before operation, during this period of time patient A eupnea,
It does not need to train patient A accordingly, does not need patient A yet and feel suffocated.
S202 is filtered the first breath signal, obtains standard respiratory waveform.
Respiratory waveform is the curve of cyclical fluctuations up and down of reflection breathing situation, waveform as shown in Figure 5.Standard in this step is exhaled
The curve of cyclical fluctuations up and down for inhaling waveform when can reflect patient's A eupnea.
S203, be based on standard respiratory waveform, extract the first maximum extension point, the first maximum collapse point, the first respiratory cycle,
Acquire the first moment stopped and the first moment corresponding first amplitude.
It should be noted that amplitude mentioned by the present embodiment and subsequent embodiment be respective point criterion distance position (such as
Abscissa, alternatively, 0 amplitude that corresponding thoracic cavity does not rise and fall) distance.In addition, amplitude involved in this embodiment is not absolute
Positive value, such as at the lower section of normal place (such as trough), then range value is negative value, in the top (such as wave crest) of normal place, amplitude
Value is honest.
In addition, there are many first maximum extension point, the first maximum collapse point, the extracting modes of the first respiratory cycle, this reality
It applies example and only provides 2 kinds as an example, being not construed as limiting to other extracting modes.
The first implementation:
S301, in standard respiratory waveform, the random waveform obtained in a period.
The waveform in a cycle can be obtained at random in S301 in standard respiratory waveform.
Respiratory waveform can be the curve of cyclical fluctuations up and down of reflection breathing situation, and the waveform in a cycle in this step can
To be to be also possible to from wave crest to the waveform adjacent lower secondary wave crest from trough to the wave adjacent next trough
Shape can also be from an amplitude to the waveform etc. adjacent next same magnitude.
The period obtained in S301 was determined as the first respiratory cycle by S302.
The peak value of the waveform obtained in S301 and trough are determined as the first maximum collapse point and the first maximum extension by S303
Point.
Second of implementation:
S401 successively obtains the waveform in the preset quantity period since standard respiratory waveform.
If preset quantity is 6.Then take the waveform in 6 adjacent periods.
The rhythmic mean value of institute obtained in S401 was determined as the first respiratory cycle by S402.
S401, by the peak-to-average of all waveforms obtained in S401 and trough mean value be determined as the first maximum collapse point and
First maximum extension point.
S204, according to the first maximum extension point, the first maximum collapse point, the first respiratory cycle, the first moment and first
Amplitude determines standard breathing phases.
The implementation of this step, including but not limited to:
Amplitude difference between first maximum extension point and the first maximum collapse point is determined as first and compares width by S204-1
Degree.
I.e. first comparison amplitude=| the amplitude of amplitude the-the first maximum collapse point of the first maximum extension point |.
S204-2 calculates a1=(the trough amplitude in period where the first-the first moment of amplitude)/first and compares amplitude.
The acquisition stop timing of the available first time period of this step corresponding amplitude and disease in standard respiratory waveform
Amplitude difference between people's A eupnea amplitude.
S204-3, the difference of the initial time in period where calculating the first moment and the first moment.
Period corresponding to moment acquisition stop timing of the available first time period of this step start when
The time span at quarter.
S204-4 calculates difference/first respiratory cycle that b1=S204-3 is obtained.
The acquisition stop timing of the available first time period of this step corresponding time span in standard respiratory waveform
With the time difference between patient's A normal cycle of respiration.
S204-5 determines standard breathing phases according to a1 and b1.
This step standard breathing phases include the width according to the acquisition stop timing of a1 reflection relative to patient's A eupnea
It is poor to spend, and time difference of the acquisition stop timing of b1 reflection relative to patient's A eupnea, the present embodiment passes through amplitude difference and reality
Poor comprehensive description acquires the stop timing, and then describes the physiological characteristic of patient A when the acquisition stop timing.
S101 obtains the current breathing phases of patient.
The implementation method of this step is similar to S201 to S204, the difference is that executing the time.
The current breathing phases of patient that this step obtains are in second time period.When second time period herein is with first
Between section it is different, and second time period is later than first time period, the specific can be that be located in operation, and does not start formally to perform the operation
For a period of time.
S101-1 acquires the second breath signal of same patient in second time period.
Acquisition mode herein is similar to S201, repeats no more.
S101-2 is filtered the second breath signal, obtains current respiratory waveform.
S101-3 extracts the second moment that acquisition stops and to adopt for the second moment corresponding based on current respiratory waveform
Second amplitude.
Second amplitude is the amplitude difference where the second moment and the second moment between the trough in period.
That is the second amplitude=| the amplitude where-the second moment of amplitude at the second moment between the trough in period |.
S101-4 determines current breathing phases according to the second moment and the second amplitude.
The realization of this step includes but is not limited to:
S501 calculates a2=(the trough amplitude in period where the second-the second moment of amplitude)/first and compares amplitude.
The acquisition stop timing of the available second time period of this step corresponding amplitude and disease in current respiratory waveform
Amplitude difference between people's A eupnea amplitude.
S502, the difference of the initial time in period where calculating the second moment and the second moment.
Period corresponding to moment acquisition stop timing of the available second time period of this step start when
The time span at quarter.
S503 calculates difference/first respiratory cycle that b2=S502 is obtained.
The acquisition stop timing of the available second time period of this step corresponding time span in current respiratory waveform
With the time difference between patient's A normal cycle of respiration.
S504 determines current breathing phases according to a2 and b2.
Current breathing phases are compared by S102 with the standard breathing phases being obtained ahead of time.
The comparison of this step is a1 and a2 ratio, b1 and b2 ratio.
S103 issues trigger signal when comparison result meets preset condition.
The present embodiment is not defined preset condition, such as: absolute value of the difference is not more than first threshold between a1 and a2,
Absolute value of the difference is not more than second threshold between b1 and b2.Again for example: only absolute value of the difference is not more than third threshold between a1 and a2
Value.Also for example: only absolute value of the difference is not more than the 4th threshold value between b1 and b2.
In addition, trigger signal, performs the operation for triggering.It performs the operation specifically, doctor can be triggered, it can be with machinery
Arm control operation tool is performed the operation.
In specific implementation, trigger signal can be exactly enable signal.It can also be instruction signal and enable signal.May be used also
To be other signals, indication signal and enable signal.
Enable signal is performed the operation for triggering.
Indication signal is felt suffocated for triggering patient.
So far, patient A starts formal surgical procedure.
When being positioned using device and method provided herein to operation tool, can effectively overcome patient because
To breathe the inaccurate problem of caused positioning.
The present processes extract the phase information during respiratory movement, different to match patient's general breathing state
The dilatation at moment, and corresponding phase information at that time is recorded in CT scan, and select corresponding phase when puncturing
It provides warning light and punctures enable signal, patient respiration and doctor is prompted to puncture.
The method for extracting breathing phases has several, common are and is directly acquiring breath signal or rib from nutator
Between in harvesting of muscle electrocardiosignal, obtained by corresponding filtering.After obtaining respiratory waveform, maximum extension point and most is extracted
Big constriction point, and phase is calculated according to intermediate amplitude difference and time difference.The method that the present invention uses is to pass through physiological signal
Processing module acquires breath signal, extracts the amplitude information of breathing to determine phase, at the same recording respiration direction (expansion or
It shrinks).
After determining target breathing phases, this method continues to analyze breathing phases in subsequent respiratory, and is setting
Allowed band in provide the matched window of breathing, and provide standby signal and enable signal.Respectively for patient respiration control with
Operation tool makes can control.
By taking the puncture ablative surgery under PET/CT guidance as an example, when patient makes arrangements for surgery, installed on nutator
Respiration transducer, and signal is passed into physiological single processing module, carry out breathing phases extraction.Position before puncture is true
Recognize during the CT scan in stage, controls (any time) according to normal patient respiration, and record corresponding pair felt suffocated
Answer breathing phases.Perform the operation it is ready after, at the time of guiding needle or ablation needle and be inserted into, the breathing that is provided according to system
Matched signal, it is desirable that patient feels suffocated in corresponding window, when patient feels suffocated and meets breathing phases matching, breathes match window
It will keep effective.Doctor can choose carries out puncturing operation at this moment.Using automatic puncturing, this signal can be made
Automatic puncturing is carried out for enable signal, such as puncture time is shorter, can puncture in patient without completing in the case where feeling suffocated.
Based on foregoing description, method provided by the present application is had the effect that
1. more accurately extracting the situation of change of the actual anatomical structure under patient respiration.
2. helping to promote patient comfort, and reduce cost without respiration monitoring control chest strap.
3. checking that the breathing phases matching at moment and moment of performing the operation is more accurate, and prompt is given, when beyond match window
The prompt for providing negative afterwards avoids matching overproof operation progress, improves one-time successful puncture rate.
4. in the case where non-automatic puncture, it is only necessary to respiratory training is carried out to the operation moment, reduces patient's training time,
And improve one-time successful puncture rate.
Operation assisted location method provided in this embodiment breathes the current breathing phases of patient with the standard being obtained ahead of time
Phase is compared；When comparison result meets preset condition, issue for triggering the trigger signal performed the operation, this method can
To realize the accurate positioning of operation time started, success rate of operation is improved.
It should be clear that the invention is not limited to specific configuration described above and shown in figure and processing.
For brevity, it is omitted here the detailed description to known method.In the above-described embodiments, several tools have been described and illustrated
The step of body, is as example.But method process of the invention is not limited to described and illustrated specific steps, this field
Technical staff can be variously modified, modification and addition after understanding spirit of the invention, or suitable between changing the step
Sequence.
It should also be noted that, the exemplary embodiment referred in the present invention, is retouched based on a series of step or device
State certain methods or system.But the present invention is not limited to the sequence of above-mentioned steps, that is to say, that can be according in embodiment
The sequence referred to executes step, may also be distinct from that the sequence in embodiment or several steps are performed simultaneously.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (10)
1. a kind of operation assisted location method, which is characterized in that the method, comprising:
S101 obtains the current breathing phases of patient；
The current breathing phases are compared by S102 with the standard breathing phases being obtained ahead of time；
S103 issues trigger signal when comparison result meets preset condition；
The trigger signal is performed the operation for triggering.
2. the method according to claim 1, wherein before the S101 further include:
S201 acquires the first breath signal of the patient in first time period；
S202 is filtered first breath signal, obtains standard respiratory waveform；
S203, be based on the standard respiratory waveform, extract the first maximum extension point, the first maximum collapse point, the first respiratory cycle,
Acquire the first moment stopped and first moment corresponding first amplitude；
S204, according to the first maximum extension point, the first maximum collapse point, the first respiratory cycle, the first moment and the first amplitude
Determine standard breathing phases.
3. according to the method described in claim 2, it is characterized in that, the S203 includes:
S301, in the standard respiratory waveform, the random waveform obtained in a period；
The period obtained in S301 was determined as the first respiratory cycle by S302；
The peak value of the waveform obtained in S301 and trough are determined as the first maximum collapse point and the first maximum extension point by S303.
4. according to the method described in claim 2, it is characterized in that, the S203 includes:
S401 successively obtains the waveform in the preset quantity period since the standard respiratory waveform；
The rhythmic mean value of institute obtained in S401 was determined as the first respiratory cycle by S402；
The peak-to-average of all waveforms obtained in S401 and trough mean value are determined as the first maximum collapse point and first by S401
Maximum extension point.
5. according to the method described in claim 4, it is characterized in that, the preset quantity is 6.
6. according to method described in claim 3 or 4 or 5, which is characterized in that the S204 includes:
Amplitude difference between first maximum extension point and the first maximum collapse point is determined as first and compares amplitude by S204-1；
S204-2 calculates a1=(the trough amplitude in period where the first amplitude-first moment)/first and compares amplitude；
S204-3, the difference of the initial time in period where calculating the first moment and first moment；
S204-4 calculates difference/first respiratory cycle that b1=S204-3 is obtained；
S204-5 determines standard breathing phases according to a1 and b1.
7. according to the method described in claim 6, it is characterized in that, the S101 includes:
S101-1 acquires the second breath signal of the patient, the second time period and described first in second time period
Period is different, and the second time period is later than the first time period；
S101-2 is filtered second breath signal, obtains current respiratory waveform；
S101-3 extracts the second moment and adopt second moment pair that acquisition stops based on the current respiratory waveform
The second amplitude answered；
S101-4 determines current breathing phases according to the second moment and the second amplitude.
8. the method according to the description of claim 7 is characterized in that the S101-4 includes:
S501 calculates a2=(the trough amplitude in period where the second amplitude-second moment)/first and compares amplitude；
S502, the difference of the initial time in period where calculating the second moment and second moment；
S503 calculates difference/first respiratory cycle that b2=S502 is obtained；
S504 determines current breathing phases according to a2 and b2.
9. the method according to claim 1, wherein the trigger signal are as follows: enable signal；Alternatively,
The trigger signal are as follows: indication signal and enable signal；
Operation tool is performed the operation and controlled to the enable signal for triggering；
The indication signal is felt suffocated for triggering patient.
10. a kind of operation auxiliary locator, which is characterized in that described device, comprising: imaging system, support system, mechanical arm
And central control computer；
The imaging system, for physiological signal to be changed into breath signal or electrocardiosignal；
The support system, for carrying patient；
The mechanical arm, for loading operation tool；
Central control computer requires method described in 1 to 9 any claim for perform claim.
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| US20040249264A1 (en) * | 2001-07-31 | 2004-12-09 | Salgo Ivan S. | Medical triggering device |
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Application publication date: 20181211 |