CN113197618A - Self-adaptive thrombus granulation treatment platform - Google Patents
Self-adaptive thrombus granulation treatment platform Download PDFInfo
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- CN113197618A CN113197618A CN202010776929.9A CN202010776929A CN113197618A CN 113197618 A CN113197618 A CN 113197618A CN 202010776929 A CN202010776929 A CN 202010776929A CN 113197618 A CN113197618 A CN 113197618A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3137—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for examination of the interior of blood vessels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22082—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for after introduction of a substance
- A61B2017/22084—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for after introduction of a substance stone- or thrombus-dissolving
Abstract
The invention relates to a self-adaptive thrombus granulation treatment platform, which comprises: mechanism is got rid of to thrombus, including bayonet hose, probe and handheld drive structure, handheld drive structure is the rotation type handle, with bayonet hose connection, be used for driving the probe-in and stretching out of bayonet hose in the blood vessel under artifical rotatory mode, the probe setting is at the top of bayonet hose, including the needle point camera, thrombus analysis appearance and phagocytosis structure, thrombus analysis appearance respectively with the needle point camera with phagocytosis structural connection, the needle point camera is used for output probe the place ahead image, the thrombus analysis appearance includes first processing unit, the second processing unit, third processing unit and data analysis unit. The self-adaptive thrombus granulation treatment platform is convenient to operate and stable in operation. Because the customized thrombus removal mechanism and the self-adaptive thrombus removal mechanism can be adopted to realize the automatic clearing of thrombus at each position in the blood vessel, the thrombus removal efficiency is improved.
Description
Technical Field
The invention relates to the field of thrombus therapeutic instruments, in particular to a self-adaptive thrombus granulation treatment platform.
Background
Thrombi are small patches of blood flow that form on the surface of a denuded or repaired site within a blood vessel of the cardiovascular system. In variable flow dependent patterns, the thrombus is composed of insoluble fibrin, deposited platelets, accumulated leukocytes and entrapped erythrocytes.
Thrombosis is a multifactorial process of change that is influenced by the interaction of a set of genetic and environmental factors. The clinical common thrombus patients are mainly characterized by familial inheritance, recurrent attacks, symptom severity, abnormality of thrombus formation sites and younger onset time.
Objective evidence is needed to suspect arterial or venous thrombosis or thromboembolism. Angiography is the reference standard for diagnosis, but superficial blood vessels and the heart can also be examined by well-understood ultrasound tests.
In patients with spontaneous deep vein thrombosis as evidenced by venography, genetic predisposition is present in 25% to 50% of cases. In the presence of a deficiency in the innate anti-coagulation mechanism (e.g., factor V activated protein C, homocysteinemia, protein C deficiency, protein S deficiency, antithrombin deficiency, fibrinolytic insufficiency) in a subject, venous thromboembolism may be sufficient in combination with a thrombotic stimulus (e.g., surgery, pregnancy, administration of contraceptives, antiphospholipid antibodies). Early patients with multiple sites of thrombosis had a significantly increased frequency and severity of episodes compared to single thrombosis.
Disclosure of Invention
In order to solve the technical problems in the related field, the invention provides a self-adaptive thrombus granulation processing platform, which can realize automatic clearing of thrombus at each position in a blood vessel by adopting a customized thrombus removing mechanism and a self-adaptive thrombus removing mechanism, thereby reducing participation links of medical staff and improving thrombus removing efficiency.
Therefore, the invention needs to have the following two key points:
(1) introducing a customized thrombus removal mechanism comprising an insertion type hose, a probe and a handheld driving structure, and detecting various parameters of thrombus in front of the blood vessel;
(2) the advancing mode and the phagocytic mode of a phagocytic head mechanism for executing thrombus removal are adaptively determined according to the size, the direction and the distance of thrombus in front of the blood vessel.
According to an aspect of the present invention, there is provided an adaptive thrombus granulation treatment platform, the platform comprising:
the thrombus removal mechanism comprises an insertion type hose, a probe and a handheld driving structure, wherein the handheld driving structure is a rotary handle and is connected with the insertion type hose and used for driving the insertion type hose to be inserted into and extend out of a blood vessel in a manual rotation mode, the probe is arranged at the top of the insertion type hose and comprises a needle tip camera, a thrombus analyzer and a phagocytosis structure, the thrombus analyzer is respectively connected with the needle tip camera and the phagocytosis structure and used for outputting a front image of the probe, the thrombus analyzer comprises a first processing unit, a second processing unit, a third processing unit and a data analysis unit, and the first processing unit, the second processing unit, the third processing unit and the data analysis unit are sequentially connected;
the first processing unit is connected with the needle tip camera and used for executing artifact removing processing on the received image so as to obtain and output a corresponding artifact removing image; the second processing unit is connected with the first processing unit and is used for executing histogram equalization processing on the received artifact-removed image so as to obtain and output a corresponding equalization processing image; the third processing unit is connected with the second processing unit and is used for sequentially performing morphological processing of expansion and corrosion on the received equilibrium processing image so as to obtain and output a corresponding morphological processing image; the data analysis unit is connected with the third processing unit and is used for identifying a corresponding thrombus pattern from the morphological processing image based on a preset thrombus gray threshold value and respectively determining the phagocytosis direction and the phagocytosis distance of the phagocytosis structure based on the relative position and the real-time depth of field of the thrombus pattern in the morphological processing image;
the distance between the phagocytosis structure and the needle tip camera is smaller than or equal to a preset distance threshold value, and the thrombus phagocytosis device is used for executing corresponding thrombus phagocytosis treatment based on the received phagocytosis direction and the phagocytosis distance to the position of a blood vessel with thrombus in front;
wherein, phagocytosis structure includes first micro motor, second micro motor, direction control unit, distance the control unit and phagocytes first mechanism, it is used for carrying out the fragmentation of miniaturation to the thrombus of phagocytosing to handle to phagocytose first mechanism, first micro motor respectively with the direction control unit with phagocytose first mechanism and connect, be used for based on the direction drive of phagocytosing that the direction control unit sent phagocytizes the advancing direction of head mechanism, the second micro motor respectively with the distance the control unit with phagocytose first mechanism and connect, be used for based on the distance drive of phagocytosing that the distance the control unit sent phagocytosis mechanism the advancing distance of head mechanism.
According to another aspect of the invention, there is also provided an adaptive thrombus granulation treatment method, which comprises using an adaptive thrombus granulation treatment platform as described above, for adaptively determining a corresponding thrombus phagocytosis strategy based on the direction, distance and area of an anterior thrombus in a blood vessel.
The self-adaptive thrombus granulation treatment platform is convenient to operate and stable in operation. Because the customized thrombus removal mechanism and the self-adaptive thrombus removal mechanism can be adopted to realize the automatic clearing of thrombus at each position in the blood vessel, the thrombus removal efficiency is improved.
Detailed Description
Embodiments of the adaptive thrombus granulation treatment platform of the present invention will be described in detail below.
Antithrombotic therapy uses thrombolytic drugs, antiplatelet drugs and anticoagulants. In formulating anti-thrombotic treatment strategies, attention is first paid to thrombolytic drug therapy, which removes a formed thrombus, and anti-thrombotic therapy is diversified depending on whether the affected site is the venous or arterial circulatory system, the degree and site of vascular involvement, the extension of thrombosis, the risk of embolism or recurrence, and the relative advantages and disadvantages of anti-thrombotic therapy and hemorrhage.
The artificial mechanical method for restoring the unobstructed blood vessel comprises balloon catheter operation and surgical embolectomy; the indications and complications are associated with antithrombotic treatment of specific disease species (e.g. myocardial infarction, venous thrombosis, pulmonary infarction, cerebrovascular accident, prosthetic heart valves, arterial embolism).
However, the related thrombus removal scheme in the prior art cannot adopt a customized thrombus removal mechanism and a self-adaptive thrombus removal mechanism to automatically remove thrombus at each position in a blood vessel, so that the participation links of medical staff cannot be reduced, and the thrombus removal efficiency is improved.
In order to overcome the defects, the invention builds a self-adaptive thrombus granulation treatment platform and can effectively solve the corresponding technical problem.
An adaptive thrombus granulation treatment platform is shown according to an embodiment of the invention comprising:
the thrombus removal mechanism comprises an insertion type hose, a probe and a handheld driving structure, wherein the handheld driving structure is a rotary handle and is connected with the insertion type hose and used for driving the insertion type hose to be inserted into and extend out of a blood vessel in a manual rotation mode, the probe is arranged at the top of the insertion type hose and comprises a needle tip camera, a thrombus analyzer and a phagocytosis structure, the thrombus analyzer is respectively connected with the needle tip camera and the phagocytosis structure and used for outputting a front image of the probe, the thrombus analyzer comprises a first processing unit, a second processing unit, a third processing unit and a data analysis unit, and the first processing unit, the second processing unit, the third processing unit and the data analysis unit are sequentially connected;
the first processing unit is connected with the needle tip camera and used for executing artifact removing processing on the received image so as to obtain and output a corresponding artifact removing image; the second processing unit is connected with the first processing unit and is used for executing histogram equalization processing on the received artifact-removed image so as to obtain and output a corresponding equalization processing image; the third processing unit is connected with the second processing unit and is used for sequentially performing morphological processing of expansion and corrosion on the received equilibrium processing image so as to obtain and output a corresponding morphological processing image; the data analysis unit is connected with the third processing unit and is used for identifying a corresponding thrombus pattern from the morphological processing image based on a preset thrombus gray threshold value and respectively determining the phagocytosis direction and the phagocytosis distance of the phagocytosis structure based on the relative position and the real-time depth of field of the thrombus pattern in the morphological processing image;
the distance between the phagocytosis structure and the needle tip camera is smaller than or equal to a preset distance threshold value, and the thrombus phagocytosis device is used for executing corresponding thrombus phagocytosis treatment based on the received phagocytosis direction and the phagocytosis distance to the position of a blood vessel with thrombus in front;
wherein, phagocytosis structure includes first micro motor, second micro motor, direction control unit, distance the control unit and phagocytes first mechanism, it is used for carrying out the fragmentation of miniaturation to the thrombus of phagocytosing to handle to phagocytose first mechanism, first micro motor respectively with the direction control unit with phagocytose first mechanism and connect, be used for based on the direction drive of phagocytosing that the direction control unit sent phagocytizes the advancing direction of head mechanism, the second micro motor respectively with the distance the control unit with phagocytose first mechanism and connect, be used for based on the distance drive of phagocytosing that the distance the control unit sent phagocytosis mechanism the advancing distance of head mechanism.
Next, the specific structure of the adaptive thrombus granulation processing platform of the present invention will be further described.
In the adaptive thrombus granulation treatment platform:
the phagocytic head mechanism decides the power of its fragmentation process that performs granulation of the thrombus engulfed based on the proportion of the area occupied by the thrombus pattern in the morphologically processed image.
In the adaptive thrombus granulation treatment platform:
the larger the proportion of the thrombus pattern occupying area in the morphologically processed image, the greater the power of the phagocytosis head mechanism in deciding the fragmentation processing that it performs granulation on the thrombus engulfed.
In the adaptive thrombus granulation treatment platform:
the data analysis unit is composed of a plurality of parallel processing components and is used for executing parallel processing on each task of the data analysis unit;
wherein, in the data analysis unit, the same task is executed only in one parallel processing unit and not in more than two parallel processing units.
In the adaptive thrombus granulation treatment platform:
the plurality of parallel processing elements each have a different processing capability that depends on a processing rate or a processing bandwidth of the parallel processing element;
and in the data analysis unit, selecting a parallel processing component with a corresponding processing rate for each task according to the running data requirement of the task.
In the adaptive thrombus granulation treatment platform:
the parallel processing component for selecting the corresponding processing rate for each task according to the running data requirement of the task comprises: the greater the operating data requirement of each task, the faster the processing rate of the parallel processing component selected for the task to execute the personnel;
and a humidity measuring instrument is arranged in the third processing unit and used for monitoring the internal humidity of the third processing unit in real time to be output as the internal environment humidity.
In the adaptive thrombus granulation treatment platform:
the third processing unit is also internally provided with a signal triggering unit which is connected with the humidity measuring instrument and used for sending a humidity abnormal signal when the received internal environment humidity is not within a preset humidity range;
the preset humidity range is composed of an upper humidity threshold and a lower humidity threshold smaller than the upper humidity threshold.
The adaptive thrombus granulation treatment platform may further comprise:
and the field timing equipment is connected with the data analysis unit and is used for providing timing operation for each task of the data analysis unit.
In the adaptive thrombus granulation treatment platform:
in the field timing device, different timing processing deadlines are set for each task of the data analysis unit.
Meanwhile, in order to overcome the defects, the invention also builds an adaptive thrombus granulation treatment method, which comprises the step of using an adaptive thrombus granulation treatment platform as described above to adaptively determine a corresponding thrombus phagocytosis strategy based on the direction, distance and area of the front thrombus in the blood vessel.
In addition, the adaptive thrombus granulation processing platform may further include a ZIGBEE communication device for receiving various configuration commands sent remotely to the data analysis unit.
ZIGBEE is a low power consumption local area network protocol based on the IEEE802.15.4 standard. According to international standards, ZIGBEE technology is a short-range, low-power wireless communication technology. This name (also called the purple bee protocol) is derived from the dance of the eight characters of bees, since bees (bee) communicate the orientation information of pollen with partners by flying and "waving" (ZIG) flapping wings, "i.e. bees form a communication network in the community by this way. Its advantages are short distance, low complexity, self-organization, low power consumption and low data rate. The device is mainly suitable for the fields of automatic control and remote control, and can be embedded into various devices.
In short, ZIGBEE is an inexpensive and low-power-consumption short-range wireless networking communication technology. ZIGBEE is a wireless network protocol for low-speed short-range transmission. The ZIGBEE protocol is, from bottom to top, a physical layer (PHY), a media access control layer (MAC), a Transport Layer (TL), a network layer (NWK), an application layer (APL), and the like. Wherein the physical layer and the medium access control layer comply with the provisions of the IEEE802.15.4 standard.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Although the present invention has been described with reference to the above embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims of the present application.
Claims (10)
1. An adaptive thrombus granulation treatment platform, the platform comprising:
the thrombus removal mechanism comprises an insertion type hose, a probe and a handheld driving structure, wherein the handheld driving structure is a rotary handle and is connected with the insertion type hose and used for driving the insertion type hose to be inserted into and extend out of a blood vessel in a manual rotation mode, the probe is arranged at the top of the insertion type hose and comprises a needle tip camera, a thrombus analyzer and a phagocytosis structure, the thrombus analyzer is respectively connected with the needle tip camera and the phagocytosis structure and used for outputting a front image of the probe, the thrombus analyzer comprises a first processing unit, a second processing unit, a third processing unit and a data analysis unit, and the first processing unit, the second processing unit, the third processing unit and the data analysis unit are sequentially connected;
the first processing unit is connected with the needle tip camera and used for executing artifact removing processing on the received image so as to obtain and output a corresponding artifact removing image; the second processing unit is connected with the first processing unit and is used for executing histogram equalization processing on the received artifact-removed image so as to obtain and output a corresponding equalization processing image; the third processing unit is connected with the second processing unit and is used for sequentially performing morphological processing of expansion and corrosion on the received equilibrium processing image so as to obtain and output a corresponding morphological processing image; the data analysis unit is connected with the third processing unit and is used for identifying a corresponding thrombus pattern from the morphological processing image based on a preset thrombus gray threshold value and respectively determining the phagocytosis direction and the phagocytosis distance of the phagocytosis structure based on the relative position and the real-time depth of field of the thrombus pattern in the morphological processing image;
the distance between the phagocytosis structure and the needle tip camera is smaller than or equal to a preset distance threshold value, and the thrombus phagocytosis device is used for executing corresponding thrombus phagocytosis treatment based on the received phagocytosis direction and the phagocytosis distance to the position of a blood vessel with thrombus in front;
wherein, phagocytosis structure includes first micro motor, second micro motor, direction control unit, distance the control unit and phagocytes first mechanism, it is used for carrying out the fragmentation of miniaturation to the thrombus of phagocytosing to handle to phagocytose first mechanism, first micro motor respectively with the direction control unit with phagocytose first mechanism and connect, be used for based on the direction drive of phagocytosing that the direction control unit sent phagocytizes the advancing direction of head mechanism, the second micro motor respectively with the distance the control unit with phagocytose first mechanism and connect, be used for based on the distance drive of phagocytosing that the distance the control unit sent phagocytosis mechanism the advancing distance of head mechanism.
2. The adaptive thrombus granulation treatment platform of claim 1, wherein:
the phagocytic head mechanism decides the power of its fragmentation process that performs granulation of the thrombus engulfed based on the proportion of the area occupied by the thrombus pattern in the morphologically processed image.
3. The adaptive thrombus granulation treatment platform of claim 2, wherein:
the larger the proportion of the thrombus pattern occupying area in the morphologically processed image, the greater the power of the phagocytosis head mechanism in deciding the fragmentation processing that it performs granulation on the thrombus engulfed.
4. The adaptive thrombus granulation treatment platform of claim 3, wherein:
the data analysis unit is composed of a plurality of parallel processing components and is used for executing parallel processing on each task of the data analysis unit;
wherein, in the data analysis unit, the same task is executed only in one parallel processing unit and not in more than two parallel processing units.
5. The adaptive thrombus granulation treatment platform of claim 4, wherein:
the plurality of parallel processing elements each have a different processing capability that depends on a processing rate or a processing bandwidth of the parallel processing element;
and in the data analysis unit, selecting a parallel processing component with a corresponding processing rate for each task according to the running data requirement of the task.
6. The adaptive thrombus granulation treatment platform of claim 5, wherein:
the parallel processing component for selecting the corresponding processing rate for each task according to the running data requirement of the task comprises: the greater the operating data requirement of each task, the faster the processing rate of the parallel processing component selected for the task to execute the personnel;
and a humidity measuring instrument is arranged in the third processing unit and used for monitoring the internal humidity of the third processing unit in real time to be output as the internal environment humidity.
7. The adaptive thrombus granulation treatment platform of claim 6, wherein:
the third processing unit is also internally provided with a signal triggering unit which is connected with the humidity measuring instrument and used for sending a humidity abnormal signal when the received internal environment humidity is not within a preset humidity range;
the preset humidity range is composed of an upper humidity threshold and a lower humidity threshold smaller than the upper humidity threshold.
8. The adaptive thrombus granulation treatment platform of claim 7, wherein the platform further comprises:
and the field timing equipment is connected with the data analysis unit and is used for providing timing operation for each task of the data analysis unit.
9. The adaptive thrombus granulation treatment platform of claim 8, wherein:
in the field timing device, different timing processing deadlines are set for each task of the data analysis unit.
10. A method of adaptive thrombus granulation treatment, the method comprising providing an adaptive thrombus granulation treatment platform according to any of claims 1-9 for adaptively determining a corresponding thrombus phagocytosis strategy based on the orientation, proximity and area of a forward thrombus within a blood vessel.
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| CN202010776929.9A CN113197618A (en) | 2020-08-05 | 2020-08-05 | Self-adaptive thrombus granulation treatment platform |
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