CN110811826A - Intelligent stone breaking system - Google Patents
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- 239000004575 stone Substances 0.000 title claims description 46
- 238000000034 method Methods 0.000 claims abstract description 26
- 238000005516 engineering process Methods 0.000 claims abstract description 17
- 239000000835 fiber Substances 0.000 claims abstract description 13
- 210000000626 ureter Anatomy 0.000 claims abstract description 11
- 238000001727 in vivo Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 12
- 238000003745 diagnosis Methods 0.000 claims description 9
- 239000013307 optical fiber Substances 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000013135 deep learning Methods 0.000 claims description 5
- 238000013467 fragmentation Methods 0.000 claims description 4
- 238000006062 fragmentation reaction Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000003708 urethra Anatomy 0.000 claims description 2
- 238000005457 optimization Methods 0.000 claims 1
- 238000013473 artificial intelligence Methods 0.000 abstract description 6
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- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 208000000913 Kidney Calculi Diseases 0.000 description 2
- 206010029148 Nephrolithiasis Diseases 0.000 description 2
- 208000009911 Urinary Calculi Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000010191 image analysis Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
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- 230000035939 shock Effects 0.000 description 2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B18/26—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor for producing a shock wave, e.g. laser lithotripsy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00505—Urinary tract
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00505—Urinary tract
- A61B2018/00511—Kidney
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00791—Temperature
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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Abstract
An intelligent lithotripsy system for use in laser lithotripsy; the system consists of a laser lithotripter, a ureter soft lens system, a display, a perfusion system and a host, wherein a laser fiber of the laser lithotripter can enter the body through a working channel of the ureter soft lens, the host receives an in-vivo focus environment detected by the front end of the ureter soft lens, and the size of a calculus and the distance between the front end of the laser fiber and the calculus are judged through an image recognition technology and a distance sensor arranged in the ureter soft lens; the method can judge whether the laser generator can be started or not according to a preset safety distance meter. The system also automatically identifies images through big data and artificial intelligence, judges the condition of the calculus by combining environmental information such as temperature and the like, and provides a suggestion of the optimal laser pulse energy and laser pulse time for doctors.
Description
Technical Field
The invention relates to medical equipment, in particular to an intelligent stone breaking system for stones in a human body.
Background
Intracorporeal Lithotripsy (IL) refers to a procedure for Lithotripsy inside the human body with special instruments, including mechanical, hydroelectrical, ultrasound, laser, and pneumatic Lithotripsy. IL has been a long-standing development over the last 20 years with improvements in urological intraluminal devices and procedures. Although External Shock Wave Lithotripsy (ESWL) has become the first treatment of upper urinary tract stones, for lower urinary tract stones, ureteral incarceration stones, giant kidney stones, etc., stones with difficult ESWL localization or treatment and severe "stone streets" after shock wave lithotripsy, IL is still an indispensable treatment.
At present, in-vivo lithotripsy for stones is performed by positioning the sizes of stones through a perspective technology, but the evaluation of the components, the sizes and the hardness of the stones depends on the clinical experience of doctors, and the doctors judge which pulse energy laser is selected for lithotripsy, so the lithotripsy effect and the lithotripsy time are different from person to person.
In the lithotripsy operation process, the conventional operation is that after a doctor visually observes that a laser probe is at a safe distance from the end of a flexible ureteroscope, a button is started to carry out lithotripsy; however, in the actual operation process, the operation personnel may start the lithotripsy by mistake under the condition that the safe distance is not reached, so that the ureteroscope is damaged or the human body is damaged.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: by adopting an intelligent automatic scheme, the problem that the front end of the laser optical fiber is too close to or too far away from a focus during lithotripsy is solved, a patient and equipment are protected, and the damage condition is reduced.
The invention adopts the technical scheme for solving the problems as follows: an intelligent lithotripsy system for use in laser lithotripsy; it comprises laser lithotripter, soft mirror system of ureter, display, filling system and host computer, and laser lithotripter's laser fiber accessible ureter soft mirror's working channel gets into internally, its characterized in that: the host machine receives an in-vivo focus environment detected by the front end of the flexible ureteroscope, and judges the size of the calculus and the distance between the front end of the laser optical fiber and the calculus through an image recognition technology and a distance sensor arranged in the flexible ureteroscope; judging whether the laser generator can be started or not according to a preset safety distance table; and only after the distance between the position of the laser generator and the calculus reaches the preset safety distance, unlocking a starting circuit of the laser generator.
The intelligent calculus smashing system is characterized in that a temperature and pressure sensor is further integrated at the front end of a flexible ureteroscope to detect the focus environment of a calculus, collected data such as calculus shape and color are transmitted to a big data platform through a host, the intelligent learning system judges calculus components, structure and the environment of the focus and matches diagnosis and treatment schemes such as corresponding laser pulse irradiation energy and laser pulse time.
The host of the intelligent stone breaking system comprises a data communication module which comprises a Bluetooth module, a WIFI module or a wired transmission module.
The intelligent stone breaking system comprises a laser shooting method, the fragmentation and burning pit trace of the stone are judged through an image recognition technology through 5-10 second standard laser power irradiation, the components of the stone are judged through an intelligent learning system by utilizing a large data platform, and a diagnosis and treatment scheme is provided.
The intelligent stone breaking system also comprises a method for automatically adjusting laser setting parameters through negative feedback in the laser stone breaking process, and the stone breaking degree is automatically judged through an image recognition technology in the laser stone breaking process; when the size of the calculus is obviously changed by image recognition and judged, and the calculus size is smaller than the diameter of the working channel, the calculus is taken out from the human body through the calculus taking basket, matched with a large database according to the size and shape of the residual calculus, automatically adjusted (setting parameters including laser pulse output energy and pulse time), and even stopped from further emitting laser, and the calculus is taken out by adopting other auxiliary tools or is automatically discharged by a patient through the urethra.
The invention has the advantages that: the safety is better. The distance between the front end of the laser fiber and the calculus can be automatically judged through an image processing technology and a distance measuring technology, and the safe distance between the front end of the laser fiber and the calculus when a doctor emits laser is ensured through a mode of locking a circuit of a laser generator. Damage to the endoscope or the fiber tip due to over-proximity is avoided.
The invention has more convenient operability and intelligent advantage, and utilizes the image processing technology and the in vivo environment perception technology, quickly obtains key data of the size, the structure, the color, the hardness and the like of the in vivo calculus by the methods of image judgment and laser shooting, automatically matches with a large database through an artificial intelligence learning platform, provides a presumption scheme of calculus components, and further provides a treatment scheme including parameters such as proper laser pulse energy, laser pulse time and the like for doctors to refer.
The system can be connected with a big data platform through a data communication module, can continuously train a laser diagnosis and treatment scheme through a deep learning method, quickly gives optimized laser pulse energy, laser pulse time and other key diagnosis and treatment parameters, and intelligently solves the problem that a doctor is possibly unfamiliar with parameters of a laser stone crusher in the operation process.
The method can judge the composition of the calculus and the laser irradiation result by using an image recognition technology through a standard power laser pilot injection scheme, and quickly provide a further diagnosis and treatment scheme. The utility model can help doctors to complete the lithotripsy operation in a shorter time, reduce the workload of doctors and relieve the pain of patients.
The image recognition technology can monitor the stone fragmentation degree under laser irradiation in real time through a negative feedback technology, and provides suggestions of parameters such as laser irradiation pulse and time through observing the residual stone information, so that the risk of injury to human organs possibly caused by repeated use of high-power laser pulse irradiation is reduced, the risk of damage to surgical instruments possibly caused is also reduced, and postoperative recovery of patients is accelerated.
Drawings
FIG. 1 is a schematic diagram of an intelligent lithotripsy system approaching calculus.
Fig. 2 is a structural diagram of a laser generator of the intelligent stone breaking system.
Fig. 3 is a laser shooting process diagram of the intelligent stone breaking system.
Fig. 4 is a negative feedback process diagram of the intelligent stone breaking system.
Wherein 1 is a laser fiber, 2 is a ureter soft lens, 3 is a sensing system, 31 is a temperature sensor, 32 is a pressure sensor, 33 is a distance sensor, 4 is a working channel, 5 is an outer tube, and 6 is a calculus focus.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
The intelligent lithotripsy system has the advantages of good safety and high intelligence degree, provides an optimal laser pulse energy and laser pulse time scheme for doctors, is used for in-vivo stone operations such as lithangiuria, kidney stones and the like, has the function of automatically locking the safe distance, can safely and effectively control the safe distance between the laser fiber tip of the laser lithotripsy machine and stones, and prevents the accidental injury to human bodies and equipment caused by too close or too far distance from the stones when the laser generator is started.
As shown in fig. 1 to 3, the laser calculus removing device comprises a laser calculus removing machine, a ureter soft lens system, a display, a perfusion system and a host, wherein a laser optical fiber and the perfusion system of the laser calculus removing machine are arranged inside a working channel 4 and can reach the focus of calculus, and a calculus removing basket also enters the focus of a human body through the working channel 4.
The laser fiber enters the working channel from the luer hole 8 at the front end of the working channel by an external penetration method.
A distance sensor is arranged beside the ureter soft lens system and comprises an ultrasonic distance sensor, a laser distance measurer or a structured light distance measurer. They can judge whether the focus of the calculus is in the safe distance range of the laser generator by focusing of ultrasonic waves, laser reflected light or laser dot matrix.
After the front end of the working channel is close to the calculus position, the distance sensor feeds back the accurate distance h between the calculus and the end part of the laser optical fiber to the host in real time, only when the distance is in the preset safe distance of laser irradiation, a prompt is made on display software, a control screen of the laser stone breaker makes a green prompt, a starting circuit of the laser generator is unlocked, and laser emission is allowed.
On the contrary, if the laser does not reach a safe distance (including too close or too far), or the image processing system judges that the laser cannot be directly aligned with the calculus, the starting circuit of the laser generator is in a locked state and cannot be started.
The method can effectively prevent the head of the laser fiber from being too close to or too far away from the calculus, and thus, the head of the laser fiber is prevented from damaging human tissues and the head of the laser fiber.
The intelligent stone breaking system can assist a doctor in analyzing and judging the shape, size, color, hardness and other properties of the stone by utilizing an image recognition technology and a built-in-vivo environment sensor, and can provide optimal diagnosis and treatment suggestions of light pulse energy and laser pulse time for the doctor through a large data platform and an artificial intelligence auxiliary learning system.
A flexible ureteroscope system is also provided with temperature, pressure and other sensors, and can feed back temperature, water pressure and other relevant environmental information at a focus. Providing the focus analysis to doctors.
The sensing system carries out real-time interaction and feedback on the acquired data and image information with a big data platform on the Internet through a data communication module of the host, establishes a special big database through an artificial intelligence deep learning system at the server end, continuously trains artificial intelligence to learn and judge the properties of the calculus, and provides an optimal diagnosis and treatment suggestion of laser pulse irradiation energy and laser pulse time for a doctor to refer.
The data communication module comprises a Bluetooth module, a WIFI module or a wired transmission module.
The intelligent stone crushing system also comprises a laser shooting program, the standard output power of a laser generator is utilized, short-time laser irradiation is carried out on the stones within the time of 5-10 seconds, the laser burning marks or the stone fragmentation degree are analyzed through an image recognition system, the components and the structural properties of the stones are further given, and the scheme of laser pulse energy and laser pulse time required by diagnosis and treatment is quickly given in a short time through a large data platform and an artificial intelligent deep learning system for reference of doctors.
The intelligent stone breaking system also comprises a real-time image analysis system adopting a negative feedback technology, and the real-time image analysis system feeds back the stone breaking condition and the environment near a focus in real time in the laser stone breaking process, and allows artificial intelligence to adjust the laser pulse energy and the laser pulse time in real time through a host under the video monitoring of a doctor according to the size structure of the broken stone on the premise of avoiding burning on the normal organs of a human body. It has the automatic regulating function, simplifies the operation process of doctors and obtains the best operation effect.
Claims (5)
1. An intelligent lithotripsy system for use in laser lithotripsy; it includes laser lithotripter, soft mirror of ureter, display, system of infusing and host computer, and laser optical fiber of laser lithotripter gets into internally through the working channel of the soft mirror of ureter, its characterized in that: the host machine receives an in-vivo focus environment detected by the front end of the flexible ureteroscope, and judges the size of the calculus and the distance between the front end of the laser optical fiber and the calculus through an image recognition technology and a distance sensor arranged in the flexible ureteroscope; judging whether the laser generator can be started or not according to a preset safety distance table; and only after the distance between the position of the front end of the laser fiber and the calculus reaches the preset safe distance, unlocking a starting circuit of the laser generator, and allowing a doctor to emit laser to perform the lithotripsy operation.
2. The intelligent lithotripsy system of claim 1, wherein: other sensors such as temperature and pressure sensors are further integrated at the front end of the ureteroscope to detect the focus environment of the calculus, the data such as the shape and the color of the calculus are transmitted to a big data platform, an intelligent learning system is used for judging the components and the structure of the calculus and the environment of the focus, and the corresponding diagnosis and treatment schemes such as laser pulse irradiation energy and laser pulse time are matched.
3. The intelligent lithotripsy system of claim 1, wherein: the host of the intelligent stone breaking system comprises a data communication module which comprises a Bluetooth module, a WIFI module or a wired transmission module.
4. The intelligent lithotripsy system of claim 1, wherein: the intelligent stone breaking system comprises a laser shooting method, the method judges the fragmentation and burning pit trace of the stone through standard laser power irradiation for 5-10 seconds, judges the components of the stone through an image recognition technology, and provides a stone breaking optimization scheme comprising laser pulse energy, laser pulse time and other parameters through a big data platform and an artificial intelligent deep learning system.
5. The intelligent lithotripsy system of claim 1, wherein: the intelligent stone breaking system also comprises a method for automatically adjusting laser setting parameters through negative feedback in the laser stone breaking operation process, and the method comprises the steps of uploading the laser setting parameters to an artificial intelligent deep learning system at a server end through a real-time image recognition technology in the laser stone breaking process, and automatically judging the stone breaking degree; when the size of the calculus is obviously changed by image recognition, the setting parameters including the laser pulse output energy and the pulse time are automatically adjusted to finish the calculus crushing operation process, and further, whether the calculus is extracted by a calculus extracting basket or is automatically discharged from a patient through the urethra is judged according to the real-time image.
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| CN201911261408.3A CN110811826A (en) | 2019-12-11 | 2019-12-11 | Intelligent stone breaking system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112515760A (en) * | 2020-10-18 | 2021-03-19 | 泰州国安医疗用品有限公司 | Pattern conversion platform based on quantity analysis |
| CN112656483A (en) * | 2020-12-21 | 2021-04-16 | 中南大学湘雅医院 | Visual portable choledochoscope lithotomy forceps |
| CN113855168A (en) * | 2021-08-26 | 2021-12-31 | 王金万 | Method for medical shock wave extracorporeal lithotripter based on CT positioning guidance |
| CN115444502A (en) * | 2022-09-30 | 2022-12-09 | 广州医科大学附属第一医院（广州呼吸中心） | Ureter soft lens lithotripsy system, device and computer readable storage medium |
| CN117503337A (en) * | 2023-12-22 | 2024-02-06 | 弗恩医疗科技(嘉兴)有限公司 | Control method for preventing endoscope head end from being burnt out by holmium laser |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106232037A (en) * | 2014-05-11 | 2016-12-14 | 捷锐士阿希迈公司(以奥林巴斯美国外科技术名义) | Rubble in computer assisted reinforcement based on image |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106232037A (en) * | 2014-05-11 | 2016-12-14 | 捷锐士阿希迈公司(以奥林巴斯美国外科技术名义) | Rubble in computer assisted reinforcement based on image |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112515760A (en) * | 2020-10-18 | 2021-03-19 | 泰州国安医疗用品有限公司 | Pattern conversion platform based on quantity analysis |
| CN112656483A (en) * | 2020-12-21 | 2021-04-16 | 中南大学湘雅医院 | Visual portable choledochoscope lithotomy forceps |
| CN113855168A (en) * | 2021-08-26 | 2021-12-31 | 王金万 | Method for medical shock wave extracorporeal lithotripter based on CT positioning guidance |
| CN115444502A (en) * | 2022-09-30 | 2022-12-09 | 广州医科大学附属第一医院（广州呼吸中心） | Ureter soft lens lithotripsy system, device and computer readable storage medium |
| CN117503337A (en) * | 2023-12-22 | 2024-02-06 | 弗恩医疗科技(嘉兴)有限公司 | Control method for preventing endoscope head end from being burnt out by holmium laser |
| CN117503337B (en) * | 2023-12-22 | 2024-04-19 | 弗恩医疗科技(嘉兴)有限公司 | Control method for preventing endoscope head end from being burnt out by holmium laser |
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