CN107945868A - Benign paroxysmal positional vertigo intelligence diagnostic equipment - Google Patents
Benign paroxysmal positional vertigo intelligence diagnostic equipment Download PDFInfo
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- 208000001870 benign paroxysmal positional vertigo Diseases 0.000 title claims abstract description 39
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Abstract
The invention discloses a kind of benign paroxysmal positional vertigo intelligence diagnostic equipment, including：Host is rescued, it is used to carry out nystagmus provocative test to patient and carries out reduction therapy to patient；Nystagmus recorder, it is used to gather the nystagmus video information during patient's progress nystagmus provocative test；Operation console, it includes master system and main control module；The master system includes nystagmus video module, diagnostic test module, reduction therapy module, real-time navigation module and systematic parameter configuration module.The present invention realizes the automating of vertigo, intelligentized diagnose and treat, the accurate diagnosis and treatment scheme that particular patients ' provides semicircular canal real-time navigation can be directed to, realize technical breakthrough and innovation, effectively domestic industries can be promoted to develop, meet the needs of ever-increasing national health development.
Description
Technical field
The present invention relates to benign paroxysmal positional vertigo Clinics field, more particularly to a kind of benign paroxysmal position
Property dizziness intelligence diagnostic equipment.
Background technology
Benign paroxysmal positional vertigo (benign paroxysmal positional vertigo, BPPV) is clinical
Most common dizziness disease.BPPV shows as head position and changes burst dizziness when such as bowing, facing upward head, lie down, sitting up, turning over, depending on
Thing rotates, and a moment is alleviated, with nausea and vomiting when serious.Its pathogenesis is mainly ridge top calculosis theory and semicircular canal otolith disease
The otolith of theory, i.e. macula acustica utriculi, which comes off, to be displaced in semicircular canal or is attached on ampullar crest.Manipulative reduction be at present more
Common and preferable BPPV diagnosis and treatment methods, the analysis by specific nystagmus caused by gimmick positioning test are also BPPV diagnosis
Goldstandard, but due to different clinical experiences and different treatment skills so that the disease, which resets the effect of manipulation, to be had very
Big difference.The diagnostic test and reduction therapy method of various BPPV is mainly the ridge top calculosis or pipe calculosis according to BPPV
Pathogenesis theory and design, by the corresponding axial characteristic nystagmus that induces when adjusting patient head position, it is accurate to come
Positioning, determine side affected part, then by a series of head bit map, by gravity, the otolith particle of displacement is come off sinking
Displacement is returned in utricle, reaches healing purpose.But the nystagmus that doctor estimates is all based on mostly, but rolling nystagmus
Direction be usually not easy to distinguish, in addition some tiny nystagmus easily by naked eyes ignored, have impact on BPPV level diagnosis and after
Continuous reduction therapy.Therefore, seek it is more accurate, objective, easily otolith localization method have become BPPV research it is urgently to be resolved hurrily
One of key.Canalith repositioning procedure can induce dizziness, nausea and vomiting in operation, patient is produced terrified sense, institute
How accurately to position affected part, simplify and reset diagnosis and treatment gimmick, it is significant to clinic diagnosis.
In recent years, the popularization and application of video Electronystagmogram instrument makes the judgement in nystagmus direction more objective, conveniently.Meanwhile mitigate
The work load of medical worker, improves the accuracy of BPPV diagnosis.And also occur full-automatic vestibular diagnosis and treatment on the market
The characteristics of system, it makes full use of three dimensions, carry out position rotation to patient using mechanical structures such as turning chairs, compensate for passing
The defects of manipulative reduction of system, the whole body of subject is fixed in equipment, makes body integral transformation position, and use video
Eyeshade observing eye emotionally condition, the therapeutic system effect is directly perceived, and repeatability is strong, it is often more important that due to avoiding neck factor
Participate in, add the possibility and success rate cured with cervical spondylosis and other unsuitable manipulative reduction patients BPPV, and subtract
Lacked because reset gimmick it is unskilled, it is inaccurate produce the effect of difference probability, realize full automatic manipulative reduction diagnosis and treatment
Journey.But above BPPV diagnostic equipments still suffer from following deficiency：
1., the quantitative extraction of nystagmus characteristic parameter
It can be recorded in vertical and horizontal direction using video nystagmus instrument and the eye movement of rotary motion, still
It can not directly be become more meticulous, the mathematical description of quantification, reduce the precision of diagnosis.
2., semicircular canal space orientation data lack
The either diagnosis of BPPV is still treated, and is all highly dependent on semicircular canal dimensional orientation knowledge, especially privately nystagmus
HSP-BPPV judges that Ipsilateral often needs secondary positioning sign to be judged, is even more that height relies on ampullar crest direction in space knowledge.
3., the shortage of the automatic cutting techniques of semicircular canal
In order to improve the accuracy of diagnostic test and reset the effect of gimmick, it is necessary to know direction in space and the position of semicircular canal
Confidence ceases, but common MRI and CT images can not observe directly the complete anatomical structure of semicircular canal.Simultaneously as inner ear knot
Structure is fine, easily causes wrong segmentation, and manual segmentation takes seriously, and very big burden is caused to doctor, so how accurate
Ground, the research hotspot and difficult point for automatically being split always this field to inner ear image.
4., diagnosis gimmick and repositioning method reasonability
At present the diagnostic method of clinically benign paroxysmal positional vertigo be using Dix-Hallpike positioning tests and
Horizontal Roll test, has pertinent literature to think that the diagnostic method also needs to further improve.In addition, based on carrying space side
To diagnosis gimmick of the semicircular canal tube model to BPPV and reset gimmick and analyzed it can be found that traditional diagnosis gimmick and reset
Gimmick much needs to be improved or redesigned, and Diagnostic Strategy is also required to redesign, or even the meaning of secondary positioning sign
Justice is also required to assert again.
5., the shortage of real-time navigation technology, reduce diagnosis and treatment precision and individualized treatment effect
Patient is carried out in provocative test and clinical reseting procedure, it is necessary to which intuitive and reliable semicircular canal three dimensions is real-time
Track navigation, the clear moving direction and spatial positional information for showing semicircular canal, this is for diagnosing otolith disease, research BPPV morbidities
Mechanism and improvement innovation reset gimmick are helpful, and then improve diagnostic accuracy and therapeutic effect.Secondly can be empty to semicircular canal
Between direction individual variation scope be adjusted, analysis semicircular canal direction in space individual difference to different repositioning methods and reset effect
Influence so that preferably implement personalized medicines service.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of benign paroxysm
Property positional vertigo intelligence diagnostic equipment.
The present invention is in view of the defects existing in the prior art, there is provided a kind of high accuracy, the benign paroxysmal position of automation are dizzy
Dizzy diagnostic equipment, realizes the efficient diagnosis and fast accurate treatment of BBPV.The present invention is using image processing techniques to nystagmus video
Image is handled to obtain nystagmus signal, nystagmus characteristic parameter is quantitatively extracted, with semicircular canal real time imagery and three-dimensional visualization phase
With reference to being capable of precise positioning BPPV diseased regions.Semicircular canal is realized using the active outline segmentation based on statistical shape model
The automatic segmentation of pipe, BPPV is refined under the guiding of the real time imagery of semicircular canal and resets gimmick, so lifted treatment efficiency and
Precision, reduces the sense of discomfort that patient bears in diagnosis and treatment process.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of benign paroxysmal positional vertigo intelligence
Energy diagnostic equipment, including：
Host is rescued, it is used to carry out nystagmus provocative test and reduction therapy to patient；
Nystagmus recorder, it is used to gather nystagmus video information of the patient during nystagmus provocative test is carried out；
Operation console, it includes master system and main control module；
The master system includes nystagmus video module, diagnostic test module, reduction therapy module, real-time navigation module
And systematic parameter configuration module.
Preferably, the nystagmus that the nystagmus video module includes being used to receiving and showing the nystagmus recorder collection regards
The video display unit of frequency, for carrying out nystagmus signal extraction to the nystagmus video of reception with analyzing and judging patient's type
Nystagmus analytic unit and for preserve receive nystagmus video video storage unit.
Preferably, the nystagmus analytic unit application image treatment technology carries out nystagmus signal to the nystagmus video of reception
Extraction and analysis, and judge the diseased type of patient, it, which carries out nystagmus signal extraction and the step of analysis, includes：
1) the frame original gray level image in the nystagmus video that collection receives；
2) the former gray level image of collection is subjected to gaussian filtering process, eliminates Gaussian noise；
3) binary conversion treatment is carried out to the threshold value that the image selection after being handled by above-mentioned steps is set；
4) Morphological scale-space is carried out to the image after above-mentioned steps processing；
5) regional connectivity processing is carried out to the image after above-mentioned Morphological scale-space, obtains the largest connected region of image；
6) center coordinate of eye pupil and pupil radium in the two field picture are calculated using centroid method；
7) the next frame original gray level image in the nystagmus video that collection receives, and the 2-6 that repeats the above steps；
8) 7 are repeated the above steps, until the center coordinate of eye pupil in all images in calculating the nystagmus video of reception
And pupil radium, realize the extraction of nystagmus signal；
9) center coordinate of eye pupil in all images that analysis obtains, extracts the parameter in nystagmus signal, the parameter bag
Include pupil windup-degree, nystagmus slow phase amplitude, the fast phase amplitude of nystagmus, the nystagmus slow phase duration, the fast phase duration of nystagmus and
The frequency of nystagmus, then it is fitted to the graph of relation of parameter and time；
10) according to the diseased type of above-mentioned handling result interpretation patient, nystagmus signal extraction and analysis are completed.
Preferably, the pupil windup-degree is sat by calculating the pupil center of adjacent two field pictures in nystagmus video
Target relative horizontal displacement dxWith relative vertical displacement dyObtain, pupil windup-degree θ=arctan (tan θ), tan θ=dx/
dy。
Preferably, the real-time navigation module includes being used for carrying out the semicircular canal of patient automatic segmentation to obtain patient
Semicircular canal structural images the automatic cutting unit of semicircular canal, three-dimensional for the semicircular canal structural images of obtained patient to be carried out
The semicircular canal three-dimensional display unit reconstructed and displayed and the graphics for the semicircular canal structure to the patient after three-dimensional reconstruction
Semicircular canal real-time navigation unit as carrying out real-time display.
Preferably, three-dimensional navigation software, the real-time navigation module are provided with the semicircular canal real-time navigation unit
Workflow comprise the following steps：
1) it is beneficial to based on the dividing method of statistical shape model half to patient by the automatic cutting unit of the semicircular canal
Regulate and split automatically, obtain the semicircular canal structural images of patient；
2) semicircular canal three-dimensional display unit is carried out the semicircular canal structural images of obtained patient by three-dimensional reconstruction software
Three-dimensional reconstruction is simultaneously shown；
3) miniature navigation attitude measurement sensing device is dressed with patient, and passes through three-dimensional navigation software track patients head's appearance
Gesture, by the semicircular canal 3-D view of semicircular canal three-dimensional display unit real time patient, realizes the semicircular canal structure chart of patient
The real-time navigation of picture.
Preferably, the multiple individual characteies formulated according to different patient's patient's condition are previously stored with the diagnostic test module
Change diagnosis scheme, the diagnostic test module automatically selects matching tailored diagnostics scheme according to patient's patient's condition, described
Tailored diagnostics scheme includes the nystagmus provocative test standard selected according to different patient's patient's condition, the nystagmus provocative test
Standard includes being used for the provocative test rotation approach rescued host and carry out rotation control；
The diagnostic test module combination nystagmus video module diagnoses the diseased type of patient, its diagnostic process bag
Include following steps：
1) diagnostic test module automatically selects matching tailored diagnostics scheme according to patient's patient's condition, and obtains therewith
Corresponding nystagmus provocative test standard；
2) described in provocative test rotation approach control of the diagnostic test module in obtained nystagmus provocative test standard
Host rotation is rescued, changes in the posture for rescuing the patient on host, induces patient's nystagmus；
3) the nystagmus video information of the nystagmus recorder collection patient of eyes of patients is worn on, and is transmitted to the eye
Shake video module；
4) the nystagmus video module receives and shows the nystagmus video of the nystagmus recorder collection, and to the eye of reception
Shake video and carry out nystagmus signal extraction and analysis, the final diseased type for judging patient, obtains diagnostic result.
Preferably, be previously stored with the patient's condition and its diseased type according to different patients in the reduction therapy module and
The multiple individuation reset schemes formulated are corresponded to respectively, include corresponding standard care side in the individuation reset schemes
Case, includes in the standard regimens to the reduction therapy rotation approach rescued host and carry out rotation control；
The reduction therapy flow of the reduction therapy module includes：
1) the reduction therapy module selects corresponding individuation to reset according to the patient's condition and its diseased type of patient
Scheme, and obtain corresponding standard regimens；
2) described in reduction therapy rotation approach control of the reduction therapy module in obtained standard regimens
Host rotation is rescued, adjustment is in the posture for rescuing the patient on host；
3) patient is answered with reference to the real time 3-D image of the semicircular canal of the patient obtained by the real-time navigation module
Position treatment.
Preferably, the host of rescuing includes rescuing seat, main shaft, auxiliary axis, electric rotating machine and rack, the main shaft
It is used to drive the 360 degree of rotations rescued seat and complete three dimensions with auxiliary axis.
Preferably, the workflow of the master system comprises the following steps：
1) after patient wears the nystagmus recorder and is fixed on described rescue on seat, diagnostic test module is according to patient
The patient's condition automatically selects matching tailored diagnostics scheme, and host rotation is rescued described in control, induces patient and produces nystagmus；Institute
The nystagmus video information of nystagmus recorder collection patient is stated, and nystagmus signal extraction is carried out with dividing by the nystagmus video module
Analysis, and judge the diseased type of patient；
2) by the semicircular canal 3-D view of the real-time navigation module real time patient, the semicircular canal knot of patient is realized
The real-time navigation of composition picture；
3) the reduction therapy module selects corresponding individuation to reset according to the patient's condition and its diseased type of patient
Scheme, host rotation is rescued described in control, and adjustment is combined by above-mentioned steps in the posture for rescuing the patient on host
The real time 3-D image of the semicircular canal of the patient obtained by the real-time navigation module in 2 carries out reduction therapy to patient.
The beneficial effects of the invention are as follows：The present invention is handled to obtain eye using image processing techniques to nystagmus video image
Signal is shaken, quantitatively extracts nystagmus characteristic parameter, while is combined with semicircular canal real time imagery and three-dimensional visualization, improves diagnosis
Efficiency and accuracy.Carried out using based on diagnosis gimmick of the semicircular canal tube model in carrying space direction to BPPV and reset gimmick
Improve, this can not only improve the recall rate for inducing nystagmus, but also can improve the standard of BPPV involvement semicircular canals and property
True differentiation rate, also improves the precision of manipulative reduction.At the same time, this also greatly reduces the pain that patient induces indagation repeatedly
And the feared state of mind so that the accurate manipulative reduction of individuation is possibly realized.The automatic cutting techniques of semicircular canal based on statistical model,
The automatic segmentation of semicircular canal image is realized, alleviates the work load of doctor.Surveyed by rescuing the miniature navigation attitude on host
Amount sensing device and three-dimensional reconstruction complete patient's semicircular canal or the real-time virtual of standard semicircular canal tube model is shown, to luring
Hair experiment and reduction therapy play the role of real-time navigation and auxiliary diagnosis.The present invention realize vertigo automation,
Intelligentized diagnose and treat, can be directed to the accurate diagnosis and treatment scheme that particular patients ' provides semicircular canal real-time navigation, realize skill
Breakthrough and innovation in art, effectively can promote domestic industries to develop, and meet ever-increasing national health development
Demand.
Brief description of the drawings
Fig. 1 is the structure diagram of the benign paroxysmal positional vertigo intelligence diagnostic equipment of the present invention；
Fig. 2 is the system structure diagram of the master system in a kind of embodiment of the present invention；
Fig. 3 is the workflow schematic diagram of the video nystagmus recorder in a kind of embodiment of the present invention；
Fig. 4 is the general flow chart of the algorithm of the center coordinate of eye pupil and pupil radium in a kind of embodiment of the present invention；
Fig. 5 is the general flow chart of the pupil windup-degree computational algorithm in a kind of embodiment of the present invention；
Fig. 6 is a kind of composition schematic diagram of single nystagmus signal in a kind of embodiment of the present invention；
Fig. 7 is the workflow schematic diagram of the real-time navigation module in a kind of embodiment of the present invention；
Fig. 8 is the diagnostic flow chart of the diagnostic test module in a kind of embodiment of the present invention；
Fig. 9 is the reduction therapy flow chart of the reduction therapy module in a kind of embodiment of the present invention.
Embodiment
With reference to embodiment, the present invention is described in further detail, to make those skilled in the art with reference to specification
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded from one or more
The presence or addition of a other elements or its combination.
Host is rescued, it is used to carry out nystagmus provocative test and reduction therapy to patient；
Nystagmus recorder, it is used to gather the nystagmus video information during patient's progress nystagmus provocative test；
Operation console, it includes master system and main control module；
Master system includes nystagmus video module, diagnostic test module, reduction therapy module, real-time navigation module and is
System parameter configuration module.The hardware devices such as computer are further included in master system.
Master system communicates by wirelessly communicating with nystagmus recorder, by serial ports with main control module, and main control module leads to
Cross CAN and rescue main-machine communication, the work of host is rescued in control.
Fig. 2 gives a kind of system structure diagram of the master system in embodiment.
Rescuing host includes rescuing seat, main shaft, auxiliary axis, electric rotating machine and rack, and main shaft and auxiliary axis are used to drive strong
Control 360 degree of rotations that seat completes three dimensions.
The control system for rescuing host is made of spindle control section and auxiliary axis control section, mainly including Spindle control
Device, auxiliary axis controller, power switch button, power module, CAN transport modules, motor and driver, synchronous signal circuit, determine
Position device and corresponding control software etc..Master control selects abundant Embedded Linux System of exploiting natural resources, and China is ground in hardware selection
Industrial personal computer；Motor control panel controller is voluntarily developed using the ARM9 processors based on atmel corp.Master control and control panel it
Between using industrial CAN communication, facilitate development hardware node.Master control uses serial communication with host computer, realizes command communication and shape
State returns.
Wherein, nystagmus recorder is a wearable wireless video nystagmus recorder, mainly by infrared photography camera lens, micro-
Controller, memory, WIFI module and power module composition, have the characteristics that portable, low-power consumption.It passes through infrared photography mirror
Head completes nystagmus video acquisition, and by being wirelessly transmitted to the upper computer software of operation console, application image treatment technology moves eye
The nystagmus signal of video carries out quantitative analysis, automatically analyzes the parameters such as the direction of nystagmus, number, duration, slow phase velocity.
Video nystagmus recorder, it is very sensitive to power consumption as mobile terminal, also have and compare strict requirements.One
In kind of embodiment, nystagmus recorder uses lithium battery power supply, and lithium battery has numerous advantages, including operating voltage it is high, it is small,
Light-weight, long lifespan, safely and fast charge, allow temperature range wide etc..Using KB4540 lithium battery charging management chips to being
System carries out Charge Management, and KB4540 is a dedicated lithium battery charging management chip, it is possible to achieve lithium electricity is in constant current/constant voltage
Linear-charging.And support USB to charge, charging current control can be realized by programming, maximum current reaches 800mA.
Fig. 3 gives a kind of workflow schematic diagram of the video nystagmus recorder in embodiment.
Since human body three is in three planes of Relative vertical semicircular canal, institute can be made by the movement of respective planes
The semicircular canal for locating plane obtains maximal stimulation.Semicircular canal, which is upset, can induce nystagmus, the direction of nystagmus and stimulated half
Regulate related.The locus of semicircular canal is corresponding with human posture, is combined by adjusting human posture with gravity, can
The otolith that dystopy occurs is sent into utricle.
Wherein, systematic parameter configuration module includes configuring system related hardware and software parameter, including serial ports ginseng
Number dispensing unit, nystagmus instrument parameter configuration unit and host parameter dispensing unit.
Wherein, the workflow of master system comprises the following steps：
1) patient is worn after nystagmus recorder and being fixed on rescued on seat, and diagnostic test module is automatic according to patient's patient's condition
Matching tailored diagnostics scheme is selected, host rotation is rescued in control, is induced patient and is produced nystagmus；Nystagmus recorder gathers
The nystagmus video information of patient, and nystagmus signal extraction and analysis are carried out by nystagmus video module, and judge the trouble of patient
Sick type；
2) by the semicircular canal 3-D view of real-time navigation module real time patient, the semicircular canal structure chart of patient is realized
The real-time navigation of picture；
3) reduction therapy module selects corresponding individuation reset schemes according to the patient's condition and its diseased type of patient,
Host rotation is rescued in control, adjustment in the posture for rescuing patient on host, and combine by above-mentioned steps 2 by leading in real time
The real time 3-D image of the semicircular canal for the patient that model plane block obtains carries out reduction therapy to patient.
Video display unit of the nystagmus video module including the nystagmus video for receiving and showing the collection of nystagmus recorder,
For the nystagmus video of reception is carried out nystagmus signal extraction with analyze and judge patient's type nystagmus analytic unit and
For preserving the video storage unit of the nystagmus video received.
Wherein, nystagmus analytic unit application image treatment technology carries out nystagmus signal extraction with dividing to the nystagmus video of reception
Analysis, and judge the diseased type of patient, it, which carries out nystagmus signal extraction and the step of analysis, includes：
1) the frame original gray level image in the nystagmus video that collection receives；
2) the former gray level image of collection is subjected to gaussian filtering process, eliminates Gaussian noise；
3) binary conversion treatment is carried out to the threshold value that the image selection after being handled by above-mentioned steps is set；
4) Morphological scale-space is carried out to the image after above-mentioned steps processing；
5) regional connectivity processing is carried out to the image after above-mentioned Morphological scale-space, obtains the largest connected region of image；
6) center coordinate of eye pupil and pupil radium in the two field picture are calculated using centroid method；
7) the next frame original gray level image in the nystagmus video that collection receives, and the 2-6 that repeats the above steps；
8) 7 are repeated the above steps, until the center coordinate of eye pupil in all images in calculating the nystagmus video of reception
And pupil radium, realize the extraction of nystagmus signal；
9) center coordinate of eye pupil in all images that analysis obtains, extracts the parameter in nystagmus signal, and parameter includes pupil
Hole windup-degree, nystagmus slow phase amplitude, the fast phase amplitude of nystagmus, nystagmus slow phase duration, the fast phase duration of nystagmus and nystagmus
Frequency, then be fitted to the graph of relation of parameter and time；
10) according to the diseased type of above-mentioned handling result interpretation patient, nystagmus signal extraction and analysis are completed.
Nystagmus recorder is uploaded to master system by the way that eye wirelessly is moved video, the processing of master system application image
Technology realizes the nystagmus signal extraction that video is moved to eye.First, to former gray level image gaussian filtering, Gaussian noise is eliminated, to filter
Image after ripple chooses appropriate threshold and carries out binaryzation, which is first obvious trough point of gray level image histogram.So
Afterwards, image after binaryzation is expanded, burn into opening operation, closed operation cavity filling, eliminate binaryzation after some cavity,
Tiny dark bright noise, region labeling is carried out to the image after Morphological scale-space.Then, largest connected region is found, eliminates eyelash
The noise region that hair and other factors influence binaryzation and formed, extracts real pupil connected region.Finally, barycenter is used
Method calculates center coordinate of eye pupil, zoning area and calculates pupil radium, realizes the extraction of nystagmus data.Nystagmus signal is just
It is the displacement information of pupil center, i.e., pupil object in video is moved to eye and is continuously monitored, constantly obtains center coordinate of eye pupil,
Then whole location points of acquisition are connected to form one section of curve.The most basic parameter of nystagmus signal include the fast phase of nystagmus,
The speed and amplitude of slow phase, the frequency of nystagmus and duration.
As Fig. 6 be a kind of a kind of single nystagmus signal in embodiment composition, that includes nystagmus slow phase amplitude A s,
Fast phase amplitude A f, slow phase duration ts, fast phase duration tf.Nystagmus signal according to figure seven, can calculate list
The basic parameter value of a nystagmus, nystagmus slow phase velocity formula are：
Fast phase velocity is：
The method that the present invention is calculated using the horizontal and vertical relative displacement of pupil center location, calculates pupil windup-degree ginseng
Number.Pupil windup-degree is by calculating the relative horizontal displacement d of the center coordinate of eye pupil of adjacent two field pictures in nystagmus videoxWith
Relative vertical displacement dyObtain, pupil windup-degree θ=arctan (tan θ), tan θ=dx/dy.Fig. 5 gives a kind of embodiment
The general flow chart of middle pupil windup-degree computational algorithm.
Fig. 4 is given in a kind of embodiment, carries out the general flow chart of the algorithm of center coordinate of eye pupil and pupil radium.
Real-time navigation module includes being used for carrying out the semicircular canal of patient automatic segmentation to obtain the semicircular canal structure of patient
The automatic cutting unit of semicircular canal of image, for by the semicircular canal structural images of obtained patient carry out three-dimensional reconstruction and show
Semicircular canal three-dimensional display unit and 3-D view for the semicircular canal structure to the patient after three-dimensional reconstruction are shown in real time
The semicircular canal real-time navigation unit shown.
Three-dimensional navigation software is provided with semicircular canal real-time navigation unit, the workflow of real-time navigation module is including following
Step：
1) it is beneficial to the semicircular canal based on the dividing method of statistical shape model to patient by the automatic cutting unit of semicircular canal
Automatically split, obtain the semicircular canal structural images of patient；
2) semicircular canal three-dimensional display unit is carried out the semicircular canal structural images of obtained patient by three-dimensional reconstruction software
Three-dimensional reconstruction is simultaneously shown；
3) miniature navigation attitude measurement sensing device is dressed with patient, and passes through three-dimensional navigation software track patients head's appearance
Gesture, by the semicircular canal 3-D view of semicircular canal three-dimensional display unit real time patient, realizes the semicircular canal structure chart of patient
The real-time navigation of picture.
Wherein, the automatic segmentation of semicircular canal is realized using the active outline segmentation based on statistical shape model.Statistics
Shape uses the shape of statistical method extraction target by the feature point for calibration in shape of one group in training book collection
Feature generates model, and then the model of generation is added in the curve evolvement of level set, as the limitation of shape prior, is made up
Easily there is the defects of edge leakage or segmentation deficiency in weak edge in level-set segmentation, improves segmentation precision, is drilling every time
Priori is based on during change to semicircular canal shape and image information carries out maximum a posteriori probability and estimates, when evolution obtains
Shape it is close with statistical shape model when, stop develop, obtain segmentation result.
Three-dimensional real-time navigation is realized using miniature navigation attitude measurement sensing device, is calculated using the VTK volume drawings accelerated based on GPU
Method realizes three-dimensional navigation software, and Fig. 7 gives a kind of workflow schematic diagram of the real-time navigation module in embodiment.In the reality
Apply in example, real-time navigation module coordinates the diagnostic equipment of the present invention to carry out the flow of diagnosis and treatment.First by doctor's manual segmentation semicircular canal
Pipe, establishes semicircular canal sample storehouse；Resettle statistics training pattern；The MRI image to be split to patient is split automatically again, raw
Into three-dimensional data；Miniature navigation attitude measurement sensing device is dressed to patient, passes through three-dimensional navigation software track human body head posture；Examine
Equipment is treated to automatically reset patient's otolith；Three-dimensional navigation software completes patient's semicircular canal 3-D view real-time display, according to patient's head
Portion's location parameter, the locus of real-time update semicircular canal；Doctor judges that reset is examined according to semicircular canal spatial position change situation
The direction for the treatment of and speed.
Fig. 7 gives a kind of workflow schematic diagram of the real-time navigation module in embodiment.In this embodiment, in real time
Navigation module coordinates the diagnostic equipment of the present invention to carry out the flow of diagnosis and treatment.First by doctor's manual segmentation semicircular canal, semicircular canal is established
Pipe sample storehouse；Resettle statistics training pattern；MR image of the patient with segmentation is split automatically again, produces three-dimensional data；
Miniature navigation attitude measurement sensing device is dressed to patient, passes through three-dimensional navigation software track human body head posture；Doctor passes through reset
Diagnosis and treatment gimmick carries out reduction therapy to patient；Three-dimensional navigation software completes patient's semicircular canal 3-D view real-time display, according to trouble
Person's head position parameters, the locus of real-time update semicircular canal；Doctor judges multiple according to semicircular canal spatial position change situation
The direction of position diagnosis and treatment gimmick and dynamics.
The multiple tailored diagnostics schemes formulated according to different patient's patient's condition are previously stored with diagnostic test module, are examined
Disconnected tentative module automatically selects matching tailored diagnostics scheme according to patient's patient's condition, tailored diagnostics scheme include according to
The nystagmus provocative test standard selected according to different patient's patient's condition, nystagmus provocative test standard include be used for rescue host into
The provocative test rotation approach of row rotation control；
Diagnostic test module combination nystagmus video module diagnoses the diseased type of patient, its diagnostic process include with
Lower step：
1) diagnostic test module automatically selects matching tailored diagnostics scheme according to patient's patient's condition, and obtains therewith
Corresponding nystagmus provocative test standard；
2) provocative test rotation approach control of the diagnostic test module in obtained nystagmus provocative test standard is rescued
Host rotates, and changes the posture in the patient rescued on host, induces patient's nystagmus；
3) the nystagmus video information of the nystagmus recorder collection patient of eyes of patients is worn on, and is transmitted to nystagmus video screen module
Block；
4) nystagmus video module receives and shows the nystagmus video of nystagmus recorder collection, and to the nystagmus video of reception into
The signal extraction of row nystagmus and analysis, the final diseased type for judging patient, obtains diagnostic result.
Fig. 8 is the diagnostic flow chart of the diagnostic test module in a kind of embodiment of the present invention.
In one embodiment, nystagmus provocative test standard includes the Dix- based on normed space semicircular canal tube model
Hallpike is tested and horizontal Roll test, induces nystagmus by the experiment.
It is previously stored with reduction therapy module according to the patient's condition and its diseased type of different patients and corresponds to formulate respectively
Multiple individuation reset schemes, include corresponding standard regimens in individuation reset schemes, in standard regimens
Include the reduction therapy rotation approach that rotation control is carried out to rescuing host；
The reduction therapy flow of reduction therapy module includes：
1) reduction therapy module selects corresponding individuation reset schemes according to the patient's condition and its diseased type of patient,
And obtain corresponding standard regimens；
2) host is rescued in reduction therapy rotation approach control of the reduction therapy module in obtained standard regimens
Rotation, posture of the adjustment in the patient rescued on host；
3) real time 3-D image for combining the semicircular canal of patient obtained by real-time navigation module carries out reset to patient and controls
Treat.
Fig. 9 gives a kind of reduction therapy flow chart of the reduction therapy module in embodiment.
In one embodiment, individuation reset schemes include the Epley of the semicircular canal tube model based on normed space
Maneuve resets gimmick and Barbecue maneuver reset gimmick.
Following table is given in a kind of embodiment, the matching correspondence of diagnosis and reset schemes.
In one embodiment, corresponding technical parameter is as follows：
Video recorder：
Video sampling rate：120Hz
Video image：640*480
The dynamic resolution ratio of eye：<0.07 degree
Eye-tracking：It is horizontal：± 30 degree；Vertically：± 20 degree
Photologging：The single image record time is no less than 400 seconds
Wifi module transfer speed>54Mbps.
Rescue host：
Support angle/speed/torque pattern, parameter area is as follows：
The speed of service：0--180°/s；
Acceleration/deceleration：0.5--180°/s2；
Operation angle：0--360°；
Run time：0--999s；
Real-time navigation module：Positioning acquisition frequency：>120Hz
In one embodiment, the workflow (i.e. the overall workflow of the equipment) of master system includes：
1) positioning test
After patient wears the nystagmus recorder and is fixed on described rescue on seat, diagnostic test module is according to disease
Condition automatically selects matching tailored diagnostics scheme, is handed down to main control module by serial ports, main control module passes through CAN communication
The rotation that host carries out more dimensional planes is rescued in control, makes corresponding semicircular canal stimulated, induces patient's nystagmus.Nystagmus recorder is wireless
Nystagmus vision signal is recorded, and transmits it to operation console master system, nystagmus letter is carried out by the nystagmus video module
Number extraction and analysis, and paramedical personnel judges the diseased type of patient.
2) semicircular canal segmentation and real-time navigation
The inner ear MRI/CT images scanned according to patient, using the active outline segmentation based on statistical shape model,
The automatic semicircular canal structure for being partitioned into patient, and carry out three-dimensional reconstruction in master system and show.Master system is according to strong
Host rotary position information and nystagmus recorder location information are controlled, semicircular canal three-dimensional real-time navigation is realized, clearly shows semicircular canal
The moving direction and spatial positional information of pipe, to aid in doctor to carry out reduction therapy.
3) reduction therapy
Reduction therapy module selects corresponding individuation reset schemes according to the patient's condition and its diseased type of patient, under
The corresponding rotation approach of main control module is issued, main control module rescues host by CAN communication control, and adjustment, which is fixed on, to be rescued in chair
Human posture, change the position of semicircular canal, and combine the real-time three-dimensional of the semicircular canal of the patient obtained by real-time navigation module
Image carries out reduction therapy to patient, and with reference to gravity, ectopic endometrium otolith is resetted.
The present invention handles nystagmus video image using image processing techniques to obtain nystagmus signal, passes through nystagmus signal
Quantitatively extract nystagmus characteristic parameter, including the digitalized signature such as nystagmus direction, torsion angle, amplitude, frequency and speed phase angle, speed
Parameter.Positioning accuracy and quantitative Diagnosis susceptibility are improved by the host of rescuing of the system again.
The present invention according to the diagnosis and treatment gimmick based on semicircular canal direction in space of improvement, realize BPPV types intelligent distinguishing and
Accurately reduction therapy.
The present invention using semicircular canal is split based on the Snake algorithm of statistical shape model automatically, by doctor
The sample data set of raw manual segmentation carries out statistical analysis, builds statistical shape model, avoids the office of single static models
It is sex-limited, the prior information such as the effective integration spatial distribution of semicircular canal, geometry, the then model using generation and mesh to be measured
Logo image is fitted by minimizing the method for energy function, iterative search sample to be tested, constantly adjusts standard semicircular canal pipe die
Parameter in type, makes it constantly be matched with semicircular canal image to be split, final to obtain best match model, completes semicircular canal point
Cut.
The present invention is by rescuing positioner and three-dimensional reconstruction completion patient's semicircular canal or standard on host
The real-time virtual of semicircular canal tube model is shown, real-time navigation is played to provocative test and reduction therapy and aids in the work of diagnosis
With.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Realize other modification, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details.
Claims (10)
- A kind of 1. benign paroxysmal positional vertigo intelligence diagnostic equipment, it is characterised in that including：Host is rescued, it is used to carry out nystagmus provocative test and reduction therapy to patient；Nystagmus recorder, it is used to gather nystagmus video information of the patient during nystagmus provocative test is carried out；Operation console, it includes master system and main control module；The master system includes nystagmus video module, diagnostic test module, reduction therapy module, real-time navigation module and is System parameter configuration module.
- 2. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 1, it is characterised in that the nystagmus Video module includes the video display unit of the nystagmus video for receiving and showing the nystagmus recorder collection, for docking The nystagmus videos of receipts carries out nystagmus signal extraction and analysis and judges the nystagmus analytic unit of patient's type and for preserving The video storage unit of the nystagmus video of reception.
- 3. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 2, it is characterised in that the nystagmus Analytic unit application image treatment technology carries out nystagmus signal extraction and analysis to the nystagmus video of reception, and judges the trouble of patient Sick type, it, which carries out nystagmus signal extraction and the step of analysis, includes：1) the frame original gray level image in the nystagmus video that collection receives；2) the former gray level image of collection is subjected to gaussian filtering process, eliminates Gaussian noise；3) binary conversion treatment is carried out to the threshold value that the image selection after being handled by above-mentioned steps is set；4) Morphological scale-space is carried out to the image after above-mentioned steps processing；5) regional connectivity processing is carried out to the image after above-mentioned Morphological scale-space, obtains the largest connected region of image；6) center coordinate of eye pupil and pupil radium in the two field picture are calculated using centroid method；7) the next frame original gray level image in the nystagmus video that collection receives, and the 2-6 that repeats the above steps；8) 7 are repeated the above steps, until center coordinate of eye pupil and pupil in all images in calculating the nystagmus video of reception Pore radius, realizes the extraction of nystagmus signal；9) center coordinate of eye pupil in all images that analysis obtains, extracts the parameter in nystagmus signal, and the parameter includes pupil Hole windup-degree, nystagmus slow phase amplitude, the fast phase amplitude of nystagmus, nystagmus slow phase duration, the fast phase duration of nystagmus and nystagmus Frequency, then be fitted to the graph of relation of parameter and time；10) according to the diseased type of above-mentioned handling result interpretation patient, nystagmus signal extraction and analysis are completed.
- 4. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 3, it is characterised in that the pupil Hole windup-degree is by calculating the relative horizontal displacement d of the center coordinate of eye pupil of adjacent two field pictures in nystagmus videoxWith it is opposite Vertical displacement dyObtain, pupil windup-degree θ=arctan (tan θ), tan θ=dx/dy。
- 5. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 4, it is characterised in that described real-time Navigation module includes being used for carrying out the semicircular canal of patient automatic segmentation to obtain the semicircular canal of the semicircular canal structural images of patient Automatic cutting unit, for the semicircular canal structural images of obtained patient carry out three-dimensional reconstruction and show semicircular canal is three-dimensional aobvious Show that unit and the 3-D view for the semicircular canal structure to the patient after three-dimensional reconstruction carry out the semicircular canal reality of real-time display When navigation elements.
- 6. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 5, it is characterised in that the semicircular canal Three-dimensional navigation software is provided with pipe real-time navigation unit, the workflow of the real-time navigation module comprises the following steps：1) it is beneficial to the semicircular canal based on the dividing method of statistical shape model to patient by the automatic cutting unit of the semicircular canal Automatically split, obtain the semicircular canal structural images of patient；2) semicircular canal three-dimensional display unit is carried out the semicircular canal structural images of obtained patient by three-dimensional reconstruction software three-dimensional Rebuild and shown；3) miniature navigation attitude measurement sensing device is dressed with patient, and by three-dimensional navigation software track patients head's posture, By the semicircular canal 3-D view of semicircular canal three-dimensional display unit real time patient, the semicircular canal structural images of patient are realized Real-time navigation.
- 7. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 6, it is characterised in that the diagnosis The multiple tailored diagnostics schemes formulated according to different patient's patient's condition, the diagnostic test mould are previously stored with tentative module Root tuber automatically selects matching tailored diagnostics scheme according to patient's patient's condition, and the tailored diagnostics scheme is included according to not The nystagmus provocative test standard selected with patient's patient's condition, the nystagmus provocative test standard include being used to rescue master to described Machine carries out the provocative test rotation approach of rotation control；The diagnostic test module combination nystagmus video module diagnoses the diseased type of patient, its diagnostic process include with Lower step：1) diagnostic test module automatically selects matching tailored diagnostics scheme according to patient's patient's condition, and is corresponded to therewith Nystagmus provocative test standard；2) rescued described in provocative test rotation approach control of the diagnostic test module in obtained nystagmus provocative test standard Host rotates, and changes in the posture for rescuing the patient on host, induces patient's nystagmus；3) the nystagmus video information of the nystagmus recorder collection patient of eyes of patients is worn on, and is transmitted to the nystagmus and regards Frequency module；4) the nystagmus video module receives and shows the nystagmus video of the nystagmus recorder collection, and the nystagmus of reception is regarded Frequency carries out nystagmus signal extraction and analysis, finally sentences the diseased type of shake patient, obtains diagnostic result.
- 8. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 7, it is characterised in that the reset The patient's condition and its diseased type according to different patients and the respectively corresponding multiple individuations formulated are previously stored with treatment module Reset schemes, include corresponding standard regimens in the individuation reset schemes, the standard regimens include Have to the reduction therapy rotation approach rescued host and carry out rotation control；The reduction therapy flow of the reduction therapy module includes：1) the reduction therapy module selects corresponding individuation reset schemes according to the patient's condition and its diseased type of patient, And obtain corresponding standard regimens；2) rescued described in reduction therapy rotation approach control of the reduction therapy module in obtained standard regimens Host rotates, and adjustment is in the posture for rescuing the patient on host；3) real time 3-D image with reference to the semicircular canal of the patient obtained by the real-time navigation module carries out reset to patient and controls Treat.
- 9. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 8, it is characterised in that described to rescue Host includes rescuing seat, main shaft, auxiliary axis, electric rotating machine and rack, and the main shaft and auxiliary axis, which are used to driving, described rescues seat Chair completes 360 degree of rotations of three dimensions.
- 10. benign paroxysmal positional vertigo intelligence diagnostic equipment according to claim 9, it is characterised in that on described The workflow of position machine system comprises the following steps：1) after patient wears the nystagmus recorder and is fixed on described rescue on seat, diagnostic test module is according to patient's patient's condition Matching tailored diagnostics scheme is automatically selected, host rotation is rescued described in control, patient is induced and produces nystagmus；The eye Seismic recorder gathers the nystagmus video information of patient, and carries out nystagmus signal extraction and analysis by the nystagmus video module, And judge the diseased type of patient；2) by the semicircular canal 3-D view of the real-time navigation module real time patient, the semicircular canal structure chart of patient is realized The real-time navigation of picture；3) the reduction therapy module selects corresponding individuation reset schemes according to the patient's condition and its diseased type of patient, Host rotation is rescued described in control, adjustment is combined by above-mentioned steps 2 in the posture for rescuing the patient on host The real time 3-D image of the semicircular canal of the patient obtained by the real-time navigation module carries out reduction therapy to patient.
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| CN112288687B (en) * | 2020-09-08 | 2024-04-09 | 温州市人民医院 | Inner ear space posture analysis method and analysis system |
| CN113057590A (en) * | 2021-03-17 | 2021-07-02 | 国医华科（天津）医疗科技集团有限公司 | Benign paroxysmal positional vertigo treatment device |
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