CN114948081B - Oral intelligent stone crushing method and intelligent stone crushing equipment - Google Patents
Oral intelligent stone crushing method and intelligent stone crushing equipment Download PDFInfo
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- CN114948081B CN114948081B CN202210541966.0A CN202210541966A CN114948081B CN 114948081 B CN114948081 B CN 114948081B CN 202210541966 A CN202210541966 A CN 202210541966A CN 114948081 B CN114948081 B CN 114948081B
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- 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
- A61B17/22004—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 using mechanical vibrations, e.g. ultrasonic shock waves
- A61B17/22012—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 using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
- A61B17/22022—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 using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement using electric discharge
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Abstract
The invention discloses an intelligent lithotripter and intelligent lithotripter, which can improve the accuracy of generating control parameters of electrode wires by automatically analyzing the position of a stone at a target position of a target object and generating the control parameters of the electrode wires according to the position of the stone at the target position and the position of a detection channel of the stone, and control the electrode wires to extend into the position of the stone from an oral cavity through the detection channel based on the control parameters of the electrode wires to release energy, namely, the electrode wires enter the target object through an oral cavity to carry out lithotripter, so as to carry out the training, teaching and experiment of the lithotripter, reduce the dependence of manual work or not rely on manual work, thereby providing accurate reference basis for the teaching, simulation or training of the lithotripter and further being beneficial to improving the teaching, simulation or training effect of the lithotripter.
Description
Technical Field
The invention relates to the technical field of stone breaking, in particular to an oral intelligent stone breaking method and intelligent stone breaking equipment.
Background
Due to the influence of bad eating habits and bad environmental factors, there are more or less corresponding stones in the body of many people. The existence of stones (such as pancreatic bile duct stones) brings great pain to the body of people, thereby affecting the life and work of people and the like.
At present, the method for treating the calculus generally comprises the steps of opening or punching at the position (such as abdomen) corresponding to the calculus by means of corresponding treatment instruments (such as choledochoscope/laparoscope/laser calculus crushing equipment/shock wave calculus crushing equipment), then deep penetrating the calculus crushing equipment to the position corresponding to the calculus or generating shock waves in vitro, acting on the surface of a human body, penetrating human tissues, gathering energy in a certain range around the calculus and the calculus, crushing the calculus, and taking medicines in the later period to discharge the calculus out of the body. However, it has been found in practice that existing lithotripsy methods, although with the aid of treatment equipment, still rely heavily on manual work and the lithotripsy accuracy is low. Therefore, how to provide an intelligent stone breaking method which is less dependent on manpower or independent of manpower, and further provides accurate reference basis for stone breaking teaching or simulation or training.
Disclosure of Invention
The invention provides an oral intelligent stone crushing method and intelligent stone crushing equipment, which can reduce the dependence on artificial or independent artificial intelligent stone crushing method, thereby providing accurate reference for stone crushing teaching or simulation or training.
To solve the above technical problems, a first aspect of the present invention discloses a method for intelligent lithotripsy, which comprises:
Analyzing information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at a target part in a target object;
determining an electrode wire required for breaking the calculus, and generating control parameters of the electrode wire according to information corresponding to the calculus and information of a detection channel which is determined in advance, wherein the detection channel is used for enabling a lithotripter to transfer the electrode wire from an oral cavity of a target object to a position corresponding to the calculus, and the information of the detection channel comprises position information of the detection channel in the target object and curvature of the detection channel in the target object;
according to the control parameters of the electrode wire, the electrode wire is controlled to extend from the oral cavity of the target object to the position of the calculus through the detection channel, and the electrode wire is controlled to release energy to break up the calculus.
In an optional embodiment, in the first aspect of the present invention, the information corresponding to the calculus further includes at least one of a material of the calculus, a hardness of the calculus, a composition of the calculus, a shape of the calculus, a size of the calculus, and a distance between the calculus and the electrode line;
The method further comprises the steps of:
determining release information of energy required for breaking up the calculus according to information corresponding to the calculus, wherein the release information of the energy comprises one or more of release frequency of the energy, release voltage of the energy, release current of the energy, pulse number of the energy, pulse mode of the energy and release range of the energy;
generating an energy release control parameter of the electrode wire according to the energy release information;
wherein said controlling said electrode wire to release energy to break up said stones comprises:
according to the energy release control parameters of the electrode wires, controlling the electrode wires to release energy, and crushing the stones;
the method further comprises the steps of:
after the position corresponding to the calculus is obtained, generating control parameters of a target electrode wire according to the position corresponding to the calculus and the information of the detection channel, and controlling the target electrode wire to extend into the position corresponding to the calculus from the oral cavity of the target object through the detection channel according to the control parameters of the target electrode wire;
when the fact that the target electrode wire stretches into the position corresponding to the calculus is detected, the target electrode wire is controlled to collect information matched with the calculus, the collected information matched with the calculus is analyzed to obtain other information of the calculus, release information of energy required for crushing the calculus is determined according to the other information of the calculus, and the operation of generating energy release control parameters of the electrode wire according to the release information of the energy is triggered to be executed, or the other information of the calculus and the information corresponding to the calculus are analyzed to obtain the information corresponding to the calculus after analysis, the operation of executing the information corresponding to the calculus according to the calculus to determine the release information of the energy required for crushing the calculus is triggered, and the information corresponding to the calculus after analysis is the information corresponding to the calculus;
Wherein the other information of the stone includes one or more of a material of the stone, a hardness of the stone, a composition of the stone, a shape of the stone, and a size of the stone.
As an alternative embodiment, in the first aspect of the present invention, the method further includes:
determining the distance change condition of the organ of the target part and the calculus, and predicting whether the calculus is attached to the organ of the target part in the calculus breaking process according to the distance change condition to obtain a prediction result;
when the estimated result is used for indicating that the calculus and the organ of the target part cannot be attached in the calculus breaking process, executing the operation of determining the release information of the energy required for breaking the calculus according to the information corresponding to the calculus;
when the estimated result is used for indicating that the calculus is attached to the organ of the target part in the calculus breaking process, estimating the attaching condition of the calculus and the organ of the target part according to the distance change condition of the organ of the target part and the calculus and the liquid fluid condition of the target part, wherein the attaching condition comprises attaching degree and/or attaching area;
Analyzing the damage condition of the organ of the target part corresponding to the energy released in the lithotripsy process according to the estimated fitting condition and the collected type of the organ of the target part;
wherein the generating the energy release control parameter of the electrode wire according to the energy release information includes:
and determining release information of energy required for breaking the calculus according to the information corresponding to the calculus and the analyzed damage condition.
As an alternative embodiment, in the first aspect of the present invention, the method further includes:
when the information corresponding to the calculus comprises the distance between the calculus and the electrode wire, judging whether the calculus and the electrode wire are in touch or not according to the distance between the calculus and the electrode wire;
when the contact between the calculus and the electrode wire is judged, analyzing the bonding degree of the calculus and the electrode wire;
and correcting the energy release information according to the bonding degree of the calculus and the electrode wire, and triggering and executing the operation of generating the energy release control parameters of the electrode wire according to the energy release information.
As an alternative embodiment, in the first aspect of the present invention, the method further includes, before the controlling the electrode wire to release energy and break up the stone:
Estimating the stone breaking and scattering range of the stone in the process of breaking the stone according to the information corresponding to the stone and the energy release information;
collecting target object position information in a stone breaking and scattering range of the stone, and determining opening information of a container for containing the stone breaking and scattering range of the stone, information corresponding to the stone and the target object position information, wherein the opening information of the container comprises the opening size of the container and the opening direction of the container;
generating control parameters of the container according to the opening information of the container, and controlling the opening of the container according to the control parameters of the container;
triggering and executing the operation of controlling the electrode wire to release energy and breaking up the stones when the opening of the container is detected to be matched with the opening information of the container.
As an alternative embodiment, in the first aspect of the present invention, the method further includes, before the controlling the electrode wire to release energy and break up the stone:
analyzing the lithotripsy position of the calculus according to the information corresponding to the calculus, and analyzing the pointing position of the electrode head of the electrode wire to the calculus;
Judging whether the pointing position corresponding to the electrode head of the electrode wire is matched with the stone breaking position of the stone, and executing the operation of controlling the electrode wire to release energy and breaking the stone when the judgment result is yes;
and when the result is judged to be negative, calculating an offset angle between the pointing position corresponding to the electrode head of the electrode wire and the stone breaking position of the stone, correcting the pointing position corresponding to the electrode head of the electrode wire according to the offset angle, and triggering and executing the operation of controlling the electrode wire to release energy and breaking the stone when the corrected pointing position corresponding to the electrode head of the electrode wire is matched with the stone breaking position of the stone.
In an optional implementation manner, in the first aspect of the present invention, the analyzing information corresponding to the stone includes:
inputting developing solution to the target part of the target object through the detection channel, and collecting an image of the target part;
analyzing the acquired image of the target part to obtain information corresponding to the calculus, wherein the information corresponding to the calculus comprises at least one of the position of the calculus of the target part at the target part, the material of the calculus, the hardness of the calculus, the ingredients of the calculus, the shape of the calculus, the size of the calculus and the distance between the calculus and the electrode wire;
The method further comprises the steps of:
determining the position required to be reached by information acquisition equipment according to the information of the target position and the position of the calculus at the target position;
generating control parameters of the information acquisition equipment according to the position of the calculus at the target part and the information of the detection channel which is determined in advance, and controlling the information acquisition equipment to move from the oral cavity of the target object to the position which the information acquisition equipment needs to reach according to the control parameters of the information acquisition equipment;
controlling the information acquisition equipment to acquire information of the calculus at the position of the target part, wherein the information acquired by the information acquisition equipment comprises information of a sub-part of the calculus at the target part, and the information of the sub-part comprises the type of the sub-part and the position information of the sub-part;
analyzing the information of the calculus on the position of the target position to obtain information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus on the target position, and the information corresponding to the calculus further comprises at least one of the material of the calculus, the hardness of the calculus, the components of the calculus, the shape of the calculus, the size of the calculus and the distance between the calculus and the electrode wire:
The method further comprises the steps of:
when the information acquisition equipment is an intelligent mirror, outputting a calculus position confirmation prompt to related personnel, wherein the calculus position confirmation prompt comprises information of the position of the calculus on the target part, and the calculus position confirmation prompt is used for prompting the related personnel to confirm the position of the calculus on the target part according to the information of the position of the calculus on the target part through the intelligent mirror;
and when feedback of the relevant personnel for the calculus position confirmation prompt is received and comprises the input position of the relevant personnel, determining the input position of the relevant personnel as the position of the calculus on the target position.
The second aspect of the invention discloses an intelligent lithotripter for intelligent lithotripter, comprising:
the first analysis module is used for analyzing information corresponding to the calculus, and the information corresponding to the calculus at least comprises the position of the calculus at a target part in a target object;
a determining module for determining electrode wires required for breaking up the stones;
the generation module is used for generating control parameters of the electrode wire according to the information corresponding to the calculus and the information of a detection channel which is determined in advance, the detection channel is used for enabling the lithotripter to transfer the electrode wire from the oral cavity of the target object to the position corresponding to the calculus, and the information of the detection channel comprises the position information of the detection channel in the target object and the curvature of the detection channel in the target object;
The control module is used for controlling the electrode wire to extend from the oral cavity of the target object to the position of the calculus through the detection channel according to the control parameters of the electrode wire;
the control module is also used for controlling the electrode wire to release energy and breaking up the stones.
In a second aspect of the present invention, the information corresponding to the stone further includes at least one of a material of the stone, a hardness of the stone, a composition of the stone, a shape of the stone, a size of the stone, and a distance between the stone and the electrode line;
the determining module is further configured to determine, according to information corresponding to the calculus, release information of energy required for crushing the calculus, where the release information of energy includes one or more of a release frequency of the energy, a release voltage of the energy, a release current of the energy, a number of pulses of the energy, a pulse pattern of the energy, and a release range of the energy;
the generating module is further used for generating energy release control parameters of the electrode wires according to the energy release information;
wherein, the control module controls the electrode wire to release energy, and the mode of breaking up the calculus specifically comprises:
According to the energy release control parameters of the electrode wires, controlling the electrode wires to release energy, and crushing the stones;
the intelligent lithotripter is further used for generating control parameters of a target electrode wire according to the position corresponding to the calculus and the information of the detection channel after the position corresponding to the calculus is obtained, and controlling the target electrode wire to extend into the position corresponding to the calculus from the oral cavity of the target object through the detection channel according to the control parameters of the target electrode wire;
when the fact that the target electrode wire stretches into the position corresponding to the calculus is detected, the target electrode wire is controlled to collect information matched with the calculus, the collected information matched with the calculus is analyzed to obtain other information of the calculus, release information of energy required for crushing the calculus is determined according to the other information of the calculus, and the operation of generating energy release control parameters of the electrode wire according to the release information of the energy is triggered to be executed, or the other information of the calculus and the information corresponding to the calculus are analyzed to obtain the information corresponding to the calculus after analysis, the operation of executing the information corresponding to the calculus according to the calculus to determine the release information of the energy required for crushing the calculus is triggered, and the information corresponding to the calculus after analysis is the information corresponding to the calculus;
Wherein the other information of the stone includes one or more of a material of the stone, a hardness of the stone, a composition of the stone, a shape of the stone, and a size of the stone.
As an optional implementation manner, in the second aspect of the present invention, the determining module is further configured to determine a change condition of a distance between an organ of the target site and the stone;
the intelligent lithotripsy device further comprises:
the first estimating module is used for estimating whether the stone is attached to the organ of the target part in the stone breaking process according to the distance change condition, so as to obtain an estimated result; when the estimated result is used for indicating that the calculus and the organ of the target part cannot be attached in the calculus breaking process, executing the information operation of the determining module according to the information corresponding to the calculus, and determining the energy release information required for breaking the calculus; when the estimated result is used for indicating that the calculus is attached to the organ of the target part in the calculus breaking process, estimating the attaching condition of the calculus and the organ of the target part according to the distance change condition of the organ of the target part and the calculus and the liquid fluid condition of the target part, wherein the attaching condition comprises attaching degree and/or attaching area;
The second analysis module is used for analyzing the damage condition of the organ of the target part corresponding to the energy released in the lithotripsy process according to the estimated fitting condition and the collected type of the organ of the target part;
the generating module generates the energy release control parameter of the electrode wire according to the energy release information specifically includes:
and determining release information of energy required for breaking the calculus according to the information corresponding to the calculus and the analyzed damage condition.
As an alternative embodiment, in a second aspect of the present invention, the intelligent lithotripsy apparatus further comprises:
the first judging module is used for judging whether the calculus and the electrode wire are in touch or not according to the distance between the calculus and the electrode wire when the information corresponding to the calculus comprises the distance between the calculus and the electrode wire;
the third analysis module is used for analyzing the fitting degree of the calculus and the electrode wire when the first judgment module judges that the calculus and the electrode wire are in touch;
the first correction module is used for correcting the energy release information according to the bonding degree of the calculus and the electrode wire, triggering the generation module to execute the operation of generating the energy release control parameters of the electrode wire according to the energy release information.
As an alternative embodiment, in a second aspect of the present invention, the intelligent lithotripsy apparatus further comprises:
the second estimating module is used for estimating the stone breaking and scattering range of the stone in the process of breaking the stone according to the information corresponding to the stone and the energy release information before the control module controls the electrode wire to release energy and breaks the stone;
the acquisition module is used for acquiring the target object position information in the lithotripsy scattering range of the stones
The determining module is further used for determining opening information of a container for containing the calculus according to the calculus scattering range, the information corresponding to the calculus and the target object position information, wherein the opening information of the container comprises the opening size of the container and the opening direction of the container;
the generating module is further used for generating control parameters of the container according to the opening information of the container;
the control module is also used for controlling the opening of the container according to the control parameters of the container; triggering the control module to execute the operation of controlling the electrode wire to release energy and breaking up the stones when the opening of the container is detected to be matched with the opening information of the container.
As an alternative embodiment, in a second aspect of the present invention, the intelligent lithotripsy apparatus further comprises:
the fourth analysis module is used for analyzing the stone breaking position of the stone according to the information corresponding to the stone before the control module controls the electrode wire to release energy and breaks the stone, and analyzing the pointing position of the electrode head of the electrode wire to the stone;
the second judging module is used for judging whether the pointing position corresponding to the electrode head of the electrode wire is matched with the stone breaking position of the stone, and triggering the control module to execute the operation of controlling the electrode wire to release energy and breaking the stone when the judgment result is yes;
the calculating module is used for calculating the offset angle between the pointing position corresponding to the electrode head of the electrode wire and the stone breaking position of the stone when the second judging module judges that the result is negative;
the second correction module is used for correcting the pointing position corresponding to the electrode head of the electrode wire according to the offset angle, and triggering the control module to execute the operation of controlling the electrode wire to release energy and breaking the calculus when the corrected pointing position corresponding to the electrode head of the electrode wire is matched with the calculus breaking position of the calculus.
As an alternative embodiment, in a second aspect of the present invention, the first analysis module includes:
an input sub-module for inputting a developing solution to the target portion of the target object through the detection channel;
the acquisition sub-module is used for acquiring the image of the target part;
the analysis submodule is used for analyzing the acquired image of the target position to obtain information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at the target position, and the information corresponding to the calculus also comprises at least one of the material of the calculus, the hardness of the calculus, the components of the calculus, the shape of the calculus, the size of the calculus and the distance between the calculus and the electrode line;
the first analysis module further includes:
the determining submodule is used for determining the position required to be reached by the information acquisition equipment according to the information of the target position and the position of the calculus at the target position;
the generation submodule is used for generating control parameters of the information acquisition equipment according to the position of the calculus at the target part and the information of the detection channel which is determined in advance;
The control submodule is used for controlling the information acquisition equipment to be transferred from the oral cavity of the target object to the position which the information acquisition equipment needs to reach according to the control parameters of the information acquisition equipment;
the control sub-module is further used for controlling the information acquisition equipment to acquire information of the position of the calculus on the target part, the information acquired by the information acquisition equipment comprises information of a sub-part of the calculus on the target part, and the information of the sub-part comprises the type of the sub-part and the position information of the sub-part;
the analysis submodule is further used for analyzing information of the position of the calculus at the target position to obtain the position of the calculus at the target position:
the first analysis module further includes:
the communication sub-module is used for outputting a calculus position confirmation prompt to related personnel when the information acquisition equipment is an intelligent mirror, wherein the calculus position confirmation prompt comprises information of the calculus at the position of the target part, and the calculus position confirmation prompt is used for prompting the related personnel to confirm the position of the calculus at the target part through the intelligent mirror according to the information of the calculus at the position of the target part;
The communication sub-module is further configured to determine, when feedback of the relevant person regarding the stone position confirmation prompt is received and the feedback includes a position input by the relevant person, the position input by the relevant person as the position of the stone on the target site.
The third aspect of the invention discloses another intelligent lithotripter for intelligent lithotripter, which comprises:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform some or all of the steps of any of the intelligent lithotripsy methods disclosed in the first aspect of the invention.
In a fourth aspect, the invention discloses a computer storage medium storing computer instructions which, when invoked, are adapted to carry out part or all of the steps of any one of the intelligent lithotripsy methods disclosed in the first aspect of the invention.
In a fifth aspect, the invention discloses an intelligent lithotripter for performing part or all of the steps of any one of the intelligent lithotripters disclosed in the first aspect of the invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the information corresponding to the calculus is analyzed, and the information corresponding to the calculus at least comprises the position of the calculus at the target part in the body of the target object; determining electrode wires required for breaking up stones, and generating control parameters of the electrode wires according to information corresponding to the stones and information of a detection channel which is determined in advance, wherein the detection channel is used for enabling stone breaking equipment to transfer the electrode wires from an oral cavity of a target object to positions corresponding to the stones, and the information of the detection channel comprises position information of the detection channel in the target object and curvature of the detection channel in the target object; according to the control parameters of the electrode wire, the electrode wire is controlled to extend from the oral cavity of the target object to the position of the calculus through the detection channel, and the electrode wire is controlled to release energy to break up the calculus. Therefore, the control parameters of the electrode wire are generated through automatic analysis and according to the position of the calculus at the target object part and the position of the detection channel of the calculus, the control parameter generation accuracy of the electrode wire can be improved, the electrode wire is controlled to extend into the position of the calculus from the oral cavity through the detection channel based on the control parameters of the electrode wire to release energy for crushing the calculus, namely the electrode wire enters the target object body through the mouth to perform crushing, so that training, teaching and experiment of crushing are performed, the dependence of manpower is reduced or the dependence of manpower is not relied on, accurate reference basis is provided for the teaching or simulation or training of the crushing, and further the teaching or simulation or training effect of the crushing is facilitated to be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for intelligent lithotripsy disclosed in an embodiment of the invention;
FIG. 2 is a flow chart of another method for intelligent lithotripsy disclosed in an embodiment of the invention;
FIG. 3 is a schematic structural view of an intelligent lithotripter for intelligent lithotripter according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of another intelligent lithotripter for intelligent lithotripter according to an embodiment of the present invention;
FIG. 5 is a schematic view of a construction of an intelligent lithotripter of another intelligent lithotripter disclosed in an embodiment of the present invention;
FIG. 6 is a schematic structural view of an intelligent lithotripsy apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of yet another intelligent lithotripsy apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an intelligent lithotripter according to an embodiment of the present invention;
FIG. 9 is a schematic structural view of yet another intelligent lithotripsy apparatus according to an embodiment of the present invention;
fig. 10 is a schematic view of a calculus breaking scene according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, smart stone crusher, product or end that comprises a series of steps or units is not limited to the listed steps or units, but may alternatively include steps or units not listed or may alternatively include other steps or units inherent to such process, method, product or end.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses an oral intelligent lithotripsy method and intelligent lithotripsy device, which can automatically analyze and generate control parameters of an electrode wire according to the position of a stone at a target object part and the position of a detection channel of the stone, can improve the control parameter generation accuracy of the electrode wire, and control the electrode wire to extend into the position of the stone from an oral cavity through the detection channel based on the control parameters of the electrode wire to release energy so as to carry out lithotripsy, namely the electrode wire enters the target object body through the oral cavity to carry out lithotripsy, so that the training, teaching and experiment of the lithotripsy are carried out, the dependence of manpower is reduced or the manual is not relied on, thereby providing an accurate reference basis for the teaching or simulation or training of the lithotripsy, and further being beneficial to improving the teaching or simulation or training effect of the lithotripsy. The following describes the oral intelligent lithotripsy method and the intelligent lithotripsy apparatus of the present invention in detail, respectively.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for intelligent lithotripsy according to an embodiment of the invention. The method described in fig. 1 can be applied to intelligent stone crushing equipment for intelligent stone crushing, and can also be applied to any one of an intelligent stone crushing platform, an intelligent stone crushing system and an intelligent stone crushing server (comprising a local server or a cloud server). As shown in fig. 1, the method of intelligent lithotripsy may include the following operations:
101. and analyzing information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at the target part in the body of the target object.
In the embodiment of the invention, the target object can be understood as a real user, can be understood as a virtual user, and can be understood as a virtual user corresponding to the real user. In this case, when the target object is a virtual user, the target site, the sub site, and the organ in this embodiment are all corresponding virtual sites or organs.
102. Determining electrode wires required for breaking up the stones, generating control parameters of the electrode wires according to information corresponding to the stones and information of a detection channel which is determined in advance, wherein the detection channel is used for enabling the stone breaking equipment to transfer the electrode wires from an oral cavity of a target object to positions corresponding to the stones, and the information of the detection channel comprises position information of the detection channel in the target object.
In the embodiment of the present invention, optionally, the diameter of the electrode wire is smaller than or equal to a preset diameter threshold, for example: 1.0mm. And optionally, the type of the optional electrode wire is greater than or equal to 1, when the optional type is greater than 1, the voltage withstand (such as DC4kv/min, DC4.5kv/min, etc.) and tensile properties of each type of electrode wire can be the same or different, and the electrode wires are bipolar and coaxial electrode wires.
In the embodiment of the present invention, optionally, the information corresponding to the stones further includes one or more of a type of the stones, a composition of the stones, a shape of the stones, a material of the stones, and a size of the stones; and optionally, determining the electrode wires required to break up the calculus, comprising: the type of the target part and the physique type of the target object are determined, and electrode wires required for breaking up the calculi are determined according to the information corresponding to the calculi, the type of the target part and the physique type of the target object. Therefore, by combining various information of the calculus, the type of the position of the calculus and the physique type of the object, the proper electrode wire is determined, and the determination accuracy and reliability of the electrode wire can be improved.
In the embodiment of the invention, optionally, the detection channel is a channel formed by extending a duodenal mirror corresponding to the lithotripsy device from the oral cavity of the target object to the target position where the calculus is located, wherein the lithotripsy device is any one of an intelligent lithotripsy device, an intelligent lithotripsy server, an intelligent lithotripsy system and an intelligent lithotripsy platform.
In the embodiment of the invention, optionally, the information of the detection channel further comprises at least one of the curvature of the detection channel in the target object, the width of the detection channel in the target object and the elasticity of the detection channel in the target object, so that the generation accuracy of the control parameters of the electrode wire can be further improved by considering the width and the elasticity of the detection channel in the target object, and the training, teaching and experimental effects of broken stones are further improved.
103. According to the control parameters of the electrode wire, the electrode wire is controlled to extend from the oral cavity of the target object to the position of the calculus through the detection channel.
104. The electrode wire is controlled to release energy to break up stones.
As shown in fig. 10, fig. 10 is a schematic view of a calculus lithotripsy scene according to an embodiment of the present invention, where the schematic view includes a detection channel, an electrode wire passing through the detection channel, and a calculus in a target object, and when the electrode wire extends into the position of the calculus through the detection channel via the oral cavity, energy is released to lithotripsy the calculus.
In the embodiment of the invention, optionally, after the intelligent lithotripter which can be used for intelligent lithotripter generates the control parameters of the electrode wire, the electrode wire is directly controlled to release energy, so as to break up the lithotripter; the method can also be that after the control parameters of the electrode wire are generated, and when a release request of related personnel for energy triggering is received, the electrode wire is controlled to release energy according to the release request, and the calculus is broken, wherein the triggering mode of the release request can be voice triggering or touch triggering, and when the trigger is touch triggering, the trigger can be energy release foot switch or button switch and the like arranged on the intelligent calculus breaking equipment for touching the intelligent calculus breaking.
In an embodiment of the present invention, optionally, after the step 104 is performed, the method may further include the following steps: judging whether the calculus of the target part is crushed, and if the judgment result is negative, repeating the steps 101-104 and other steps of the invention until the calculus is crushed. Therefore, whether the breaking is finished is judged after each time of breaking, if the breaking is not finished, the breaking operation is continued until the breaking is finished, so that all the stones can be broken, and the training, teaching and experimental effects of the breaking are further ensured.
Therefore, the method described by the embodiment of the invention generates the control parameters of the electrode wire by automatically analyzing and according to the position of the calculus at the target object part and the position of the detection channel of the calculus, can improve the accuracy of generating the control parameters of the electrode wire, and controls the electrode wire to extend into the position of the calculus from the oral cavity based on the control parameters of the electrode wire to release energy for crushing the calculus, so as to train, teach and experiment the calculus, reduce the dependence of manpower or not rely on manpower, thereby providing accurate reference basis for teaching or simulating or training the calculus, and further being beneficial to improving the teaching or simulating or training effect of the calculus.
In an alternative embodiment, the method may further comprise the steps of, prior to breaking up the stone, controlling the electrode wire to release energy:
according to the information corresponding to the calculus, analyzing the calculus breaking position of the calculus, and analyzing the pointing position of the electrode head of the electrode wire to the calculus;
judging whether the pointing position corresponding to the electrode head of the electrode wire is matched with the stone breaking position of the stone, and executing the operation of controlling the electrode wire to release energy and breaking the stone when the judgment result is yes;
and when the result is judged to be negative, calculating an offset angle between the pointing position corresponding to the electrode head of the electrode wire and the stone breaking position of the stone, correcting the pointing position corresponding to the electrode head of the electrode wire according to the offset angle, and triggering and executing the operation of controlling the electrode wire to release energy and breaking the stone when the corrected pointing position corresponding to the electrode head of the electrode wire is matched with the stone breaking position of the stone.
In this alternative embodiment, optionally, when the electrode tip of the electrode wire points to the lithotripsy position of the calculus, it is determined that the corresponding pointing position of the electrode tip matches the lithotripsy position of the calculus. The method comprises the steps of determining the stone breaking position of the stone according to the position of the stone in a target object, and determining the stone breaking position of the stone by combining the material, the component, the shape and the size of the stone, so that the determination accuracy and the reliability of the stone breaking position of the stone can be improved, the judgment of whether the electrode tip points to the stone breaking position of the stone can be improved, more accurate reference basis is further provided for the teaching or simulation or training of the stone, and the training, teaching and experimental effects of the stone breaking can be improved.
Therefore, when the electrode head of the electrode wire is judged to be directed to the proper position of the calculus, the optional embodiment executes the subsequent operation of releasing energy to break the calculus, if the electrode head is not directed to the proper position, the directing position of the electrode head is automatically corrected according to the deviation angle between the directing position of the electrode head and the position of the calculus, and when the directing position of the electrode head is proper, the subsequent operation of releasing energy to break the calculus is executed, so that the accuracy of the energy release of the electrode wire can be improved, more accurate reference basis is provided for the teaching or simulation or training of the calculus, and the training, teaching and experimental effects of the calculus are further improved.
In yet another alternative embodiment, analyzing information corresponding to stones includes:
inputting developing solution to a target part of a target object through a detection channel, and collecting an image of the target part;
analyzing the acquired image of the target position to obtain information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at the target position, and the information corresponding to the calculus also comprises at least one of the material of the calculus, the hardness of the calculus, the ingredients of the calculus, the shape of the calculus, the size of the calculus and the distance between the calculus and an electrode wire;
Determining the position required to be reached by the information acquisition equipment according to the information of the target part and the position of the calculus at the target part;
generating control parameters of the information acquisition equipment according to the position of the calculus at the target part and the information of the detection channel which is determined in advance, and controlling the information acquisition equipment to be transferred from the oral cavity of the target object to the position which the information acquisition equipment needs to reach according to the control parameters of the information acquisition equipment;
the method comprises the steps that information of a calculus at the position of a target part is collected by control information collection equipment, wherein the information collected by the information collection equipment comprises information of a sub-part of the calculus at the target part, and the information of the sub-part comprises the type of the sub-part and the position information of the sub-part;
and analyzing the information of the position of the calculus at the target position to obtain the position of the calculus at the target position.
In this alternative embodiment, the developing solution is also called contrast solution. And the sub-sites may be different depending on the target site, such as the duodenal papilla when the target site is common bile duct.
Therefore, in the alternative embodiment, the developing solution is injected into the target part of the target object, the image acquisition is carried out, the position of the calculus at the target part is initially positioned, and the type and the position of the sub-part on the target part acquired by the information acquisition equipment which stretches into the position of the calculus are further combined, so that the position of the calculus is accurately positioned, the generation accuracy of the control parameters of the electrode wire can be further improved, and the control accuracy of the electrode wire stretching into the position of the calculus is further improved.
In yet another alternative embodiment, the method may further comprise the steps of:
when the information acquisition equipment is an intelligent mirror, outputting a calculus position confirmation prompt to related personnel, wherein the calculus position confirmation prompt comprises information of the position of the calculus on the target part, and the calculus position confirmation prompt is used for prompting the related personnel to confirm the position of the calculus on the target part according to the information of the position of the calculus on the target part through the intelligent mirror;
when feedback from the relevant person regarding the stone location confirmation cue is received and the feedback includes the location of the relevant person input, the location of the relevant person input is determined as the location of the stone on the target site.
In this alternative embodiment, the smart mirror may comprise a cholangioscope.
In the optional embodiment, the optional intelligent lithotripter for intelligent lithotripter can comprehensively determine the position of the calculus at the target position by receiving the position input by related personnel and analyzing the information of the position of the calculus at the target position, so that the position determination accuracy of the calculus can be improved, more accurate reference basis is further provided for the teaching or simulation or training of lithotripter, and the training, teaching and experimental effects of lithotripter are further improved.
Therefore, the optional embodiment outputs the type and the position of the sub-part where the calculus is located to related personnel so as to conveniently confirm the position of the calculus, enriches the position determining mode of the calculus, improves the determining efficiency of the position of the calculus, and further provides more accurate reference basis for the teaching or simulation or training of the calculus.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another method for intelligent lithotripsy according to an embodiment of the invention. The method described in fig. 2 can be applied to intelligent stone crushing equipment for intelligent stone crushing, and can also be applied to any one of an intelligent stone crushing platform, an intelligent stone crushing system and an intelligent stone crushing server (comprising a local server or a cloud server). As shown in fig. 2, the method of intelligent lithotripsy may include the following operations:
201. and analyzing the information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at the target part in the body of the target object, and the information corresponding to the calculus also comprises at least one of the material of the calculus, the hardness of the calculus, the composition of the calculus, the shape of the calculus, the size of the calculus and the distance between the calculus and an electrode wire.
202. Determining electrode wires required for breaking up the stones, generating control parameters of the electrode wires according to information corresponding to the stones and information of a detection channel which is determined in advance, wherein the detection channel is used for enabling the stone breaking equipment to transfer the electrode wires from an oral cavity of a target object to positions corresponding to the stones, and the information of the detection channel comprises position information of the detection channel in the target object.
203. According to the control parameters of the electrode wire, the electrode wire is controlled to extend from the oral cavity of the target object to the position of the calculus through the detection channel.
204. And determining the energy release information required for breaking up the calculus according to the information corresponding to the calculus, wherein the energy release information comprises one or more of energy release frequency, energy release voltage, energy release current, energy pulse number, energy pulse mode and energy release range.
In the embodiment of the invention, the energy release frequency is used to represent the number of times of energy release per unit time. It should be noted that, the release voltage and/or the release current required for each energy release may be the same, or may be determined according to the calculus breaking condition of the previous times (such as the previous time), where the calculus breaking condition includes the fragmentation condition of the calculus after the calculus is hit, the loosening condition of the calculus, and the structural change condition of the calculus. Therefore, by combining the stone breaking condition of the front stones, the releasing voltage and the releasing current of the energy are adjusted, so that the full stone breaking can be ensured, the waste of the energy can be reduced, and the resources are saved.
205. And generating energy release control parameters of the electrode wires according to the energy release information.
206. According to the energy release control parameters of the electrode wire, the electrode wire is controlled to release energy, so that stones are broken.
In the embodiment of the present invention, for the related descriptions of step 201 to step 203 and step 206, please refer to the detailed descriptions of step 101 to step 104 in the first embodiment, and the detailed description of the embodiment of the present invention is omitted.
It can be seen that, implementing the method described in fig. 2, by automatically analyzing and according to the position of the stone at the target object and the position of the detection channel of the stone, generates the control parameter of the electrode wire, so as to improve the accuracy of generating the control parameter of the electrode wire, and controls the electrode wire to extend into the position of the stone from the oral cavity based on the control parameter of the electrode wire to release energy for carrying out stone breaking, so as to carry out training, teaching and experiment of stone breaking, reduce the dependence of manpower or not depend on manpower, and facilitate improving the training effect of stone breaking, thereby facilitating improving the accuracy and efficiency of stone breaking, and reducing the possibility of trauma of the body of the target object due to stone breaking; and by combining the factors such as the position, the material, the composition, the size and the distance from the electrode wire of the calculus, the release frequency, the release voltage and the release current of the energy required for crushing the calculus are determined, and the determination accuracy and the reliability of the release frequency, the release voltage and the release current of the energy can be improved, so that the energy release accuracy and the reliability of the electrode wire are improved, the calculus crushing accuracy and efficiency of the calculus are improved, and the calculus training, teaching and experimental effects are further improved.
In an alternative embodiment, the method may further comprise the steps of:
determining the distance change condition of the organ of the target part and the calculus, and predicting whether the calculus is attached to the organ of the target part in the calculus breaking process according to the distance change condition to obtain a prediction result;
when the estimated result is used for indicating that the stone is not attached to the organ of the target part in the stone breaking process, executing the operation of determining the release information of the energy required for breaking the stone according to the information corresponding to the stone;
when the estimated result is used for indicating that the stone is attached to the organ of the target part in the stone breaking process, according to the distance change condition of the organ of the target part and the stone and the liquid fluid condition of the target part, the attaching condition of the stone and the organ of the target part is estimated, wherein the attaching condition comprises attaching degree and/or attaching area, and the attaching degree is higher, and indicates that the stone is attached to the organ more tightly;
analyzing damage conditions of organs of the target part corresponding to energy released in the lithotripsy process according to the estimated fitting conditions and the collected types of the organs of the target part;
in this alternative embodiment, generating the energy release control parameter of the electrode line according to the energy release information includes:
And determining the release information of the energy required for breaking the calculus according to the information corresponding to the calculus and the analyzed damage condition.
Therefore, when the calculus is a movable calculus, if the calculus is judged not to be attached to the organ according to the distance change condition between the calculus and the organ of the target part, the follow-up energy release calculus crushing operation is executed, if the attachment occurs, the attachment degree and/or attachment area of the calculus and the organ are estimated, the damage condition of the organ caused by the energy released by the calculus is further analyzed by combining the type of the organ, the analysis accuracy and the reliability of the damage condition can be improved, the release frequency, the release voltage and the release current of the energy are determined by combining the damage condition, and the determination accuracy of the release frequency, the release voltage and the release current of the energy can be further improved, so that the control accuracy of the energy release is improved.
In another alternative embodiment, the method may further comprise the steps of, prior to breaking up the stone, controlling the electrode wire to release energy:
estimating the broken stone scattering range of the stone in the breaking process according to the information corresponding to the stone and the energy release information;
collecting target object position information in a calculus breaking and scattering range, and determining opening information of a container for containing calculus breaking according to the calculus breaking and scattering range of the calculus, the information corresponding to the calculus and the target object position information, wherein the opening information of the container comprises the opening size of the container and the opening direction of the container;
Generating control parameters of the container according to the opening information of the container, and controlling the opening of the container according to the control parameters of the container;
triggering and executing the operation of controlling the electrode wire to release energy and break up stones when the opening of the container is detected to be matched with the opening information of the container.
In this alternative embodiment, the container for holding the stone chips includes any container capable of holding chips, such as a basket or balloon.
Therefore, according to the optional embodiment, the lithotripsy scattering range of the calculus is estimated by combining the position of the calculus in the target object and the release information of the energy, so that the determination accuracy of the lithotripsy scattering range can be improved; and the size and the direction of the opening of the container for containing the broken stone are determined according to the scattering range, the position information in the scattering range, the position of the stone and other information, so that the accuracy of determining the size and the direction of the opening of the container can be improved, and when the opening of the container is opened to the corresponding size and direction, energy broken stone is released, thereby being beneficial to improving the accuracy and the reliability of the follow-up energy release operation, further providing more accurate reference basis for the teaching or simulation or training of broken stone, and further improving the training, teaching and experimental effects of broken stone.
In this alternative embodiment, the control electrode wire releases energy, and after breaking up the stones, the method may further comprise the steps of:
after stone breaking is detected, controlling the container for containing stone breaking to be tightened according to the size and/or the row and the number of the collected stone breaking, and generating a taking-out control parameter of the container according to the corresponding information of the container and the information of the detection channel, wherein the corresponding information of the container comprises one or more of the size of the container after the container is tightened, the shape of the container after the container is tightened, the position of the container after the container is tightened and the elasticity of the container after the container is tightened;
and according to the container taking-out control parameters, controlling the container to be taken out from the tightened position of the container through the detection channel and the oral cavity.
Therefore, after the stone breaking is detected, the optional embodiment controls the container to be tightened according to the size, the row shape and the number of the broken stones collected by the container, so that the tightening accuracy of the container can be improved, the scattering situation of the broken stones in the taking-out process of the container can be reduced, the taking-out control parameters of the container can be generated according to the position, the shape, the size and the elasticity of the container after the container is tightened, the generating accuracy and the reliability of the taking-out control parameters of the container can be improved, the container can be further taken out according to the taking-out control parameters, and the taking-out accuracy, the efficiency and the completeness of the broken stones can be improved.
It should be noted that, before the control container is taken out from the position where the control container is tightened, the electrode wire can be taken out first, so that the smoothness and completeness of taking out the container can be improved, that is, the occurrence of possible scattering of broken stone due to the influence of the possible electrode wire when the electrode wire and broken stone are taken out simultaneously is reduced.
In yet another alternative embodiment, the method may further comprise the steps of:
when the information corresponding to the calculus comprises the distance between the calculus and the electrode wire, judging whether the calculus and the electrode wire are touched or not according to the distance between the calculus and the electrode wire;
when the contact between the calculus and the electrode wire is judged, analyzing the bonding degree of the calculus and the electrode wire;
and correcting the energy release information according to the bonding degree of the calculus and the electrode wire, and triggering and executing the operation of generating the energy release control parameters of the electrode wire according to the energy release information.
Therefore, when the optional embodiment judges that the calculus and the electrode wire are touched, the release information of the calculus energy is corrected through the bonding degree of the calculus and the electrode wire, and the analysis accuracy and reliability of the release information of the calculus energy can be further improved, so that the release control accuracy of the energy is further improved.
In yet another alternative embodiment, the method may further comprise the steps of:
after the position corresponding to the calculus is obtained, generating control parameters of the target electrode wire according to the position corresponding to the calculus and the information of the detection channel, and controlling the target electrode wire to extend into the position corresponding to the calculus from the oral cavity of the target object through the detection channel according to the control parameters of the target electrode wire;
when the target electrode wire is detected to extend into the position corresponding to the calculus, the target electrode wire is controlled to acquire information matched with the calculus, the acquired information matched with the calculus is analyzed to obtain other information of the calculus, the release information of the energy required for crushing the calculus is determined according to the other information of the calculus, the operation of generating the energy release control parameter of the electrode wire according to the release information of the energy is executed, or the other information of the calculus and the information corresponding to the calculus are analyzed to obtain the information corresponding to the analyzed calculus, the operation of executing the information corresponding to the calculus and determining the release information of the energy required for crushing the calculus according to the information corresponding to the calculus is triggered, and the information corresponding to the calculus after analysis is the information corresponding to the calculus.
In this alternative embodiment, the other information of the stone includes one or more of the material of the stone, the hardness of the stone, the composition of the stone, the shape of the stone, and the size of the stone; further, other information about the stone may include the location of the stone.
Therefore, after the position corresponding to the stone is obtained, the electrode wire specially used for detecting the material, hardness, composition, shape, size and other information of the stone is used for collecting the information of the stone to determine the voltage, frequency and other information of the energy required by the stone, so that the determination mode of the energy required by the stone can be enriched, more reference bases are provided for teaching, simulation or training of the stone, or the obtained information of the material, hardness, composition, shape, size and the like of the stone is analyzed together based on the collected information, and the accurate information corresponding to the stone can be obtained, thereby further improving the determination accuracy and efficiency of the voltage, frequency and other information of the energy required by the stone.
Example III
Referring to fig. 3, fig. 3 is a schematic structural diagram of an intelligent lithotripter for intelligent lithotripter according to an embodiment of the present invention. The intelligent lithotripsy device depicted in fig. 3 may include any one of an intelligent lithotripsy device, an intelligent lithotripsy platform, an intelligent lithotripsy system, and an intelligent lithotripsy server (including a local server or cloud server). As shown in fig. 3, the intelligent lithotripter of the intelligent lithotripter may include:
The first analysis module 301 is configured to analyze information corresponding to a calculus, where the information corresponding to a calculus at least includes a position of the calculus at a target site in the target object;
a determination module 302 for determining electrode wires required for breaking up stones;
the generating module 303 is configured to generate control parameters of the electrode wire according to information corresponding to the calculus and information of a detection channel determined in advance, where the detection channel is used for the lithotripter to transfer the electrode wire from an oral cavity of the target object to a position corresponding to the calculus, and the information of the detection channel includes position information of the detection channel in the target object;
the control module 304 is used for controlling the electrode wire to extend from the oral cavity of the target object to the position of the calculus through the detection channel according to the control parameter of the electrode wire;
the control module 304 is also used for controlling the electrode wire to release energy and break up stones.
Therefore, the intelligent lithotripter shown in fig. 3 is implemented to automatically analyze and generate the control parameters of the electrode wire according to the position of the stone at the target object part and the position of the detection channel of the stone, so that the control parameter generation accuracy of the electrode wire can be improved, the electrode wire is controlled to extend into the position of the stone from the oral cavity through the detection channel based on the control parameters of the electrode wire to release energy, namely, the electrode wire enters the target object body through the mouth to carry out lithotripter, so as to carry out the training, teaching and experiment of the lithotripter, reduce the dependence of manpower or not rely on manpower, provide accurate reference basis for the teaching or simulation or training of the lithotripter, further be beneficial to improving the teaching or simulation or training effect of the lithotripter, be beneficial to improving the lithotripter accuracy, efficiency and the disposable stone extraction rate, and be beneficial to reducing the possibility of the target object body from the occurrence of wounds due to the lithotripter; and stretch into the electrode line from the oral cavity through the inspection passageway and carry out the rubble to the position of calculus place, electrode line gets into the target object internal through the mouth promptly and carries out the rubble, need not to open, the body surface is atraumatic, and recovery period is short, has improved the practicality and the suitability of intelligent rubble equipment of intelligent rubble, and does promptly, has improved the turnover availability of intelligent rubble equipment.
In an optional embodiment, the information corresponding to the calculus further includes at least one of a material of the calculus, a hardness of the calculus, a size of the calculus, and a distance between the calculus and the electrode line; the determining module 302 is further configured to determine, according to information corresponding to the stone, release information of energy required for breaking the stone, where the release information of energy includes one or more of a release frequency of energy, a release voltage of energy, a release current of energy, a pulse number of energy, a pulse mode of energy, and a release range of energy, and the pulse mode of energy includes one of a direct current superposition pulse mode, a periodic commutation pulse mode, and an intermittent pulse mode;
the generating module 303 is further configured to generate an energy release control parameter of the electrode line according to the energy release information;
the control module 304 controls the electrode wire to release energy, and the method for breaking up the stones specifically includes:
according to the energy release control parameters of the electrode wire, the electrode wire is controlled to release energy, so that stones are broken.
Therefore, the intelligent stone crushing device described in the implementation figure 3 can determine the release frequency, the release voltage and the release current of the energy required for crushing the stone by combining the factors such as the position, the material, the composition, the size and the distance between the stone and the electrode wire, and can improve the determination accuracy and the reliability of the release frequency, the release voltage and the release current of the energy required for crushing the stone, thereby being beneficial to improving the energy release accuracy and the reliability of the electrode wire, further improving the stone crushing accuracy and the stone crushing efficiency of the stone, further providing more accurate reference basis for the teaching or simulation or training of the stone, and further being beneficial to improving the teaching or simulation or training effect of the stone; and through the release information of the energy required by various broken stones, the energy release control parameters are generated, and the generation accuracy and reliability of the energy release control parameters can be improved, so that the stone breaking accuracy and efficiency of the stones are further improved; and determining information on the release of energy required to break up the stone based on a variety of information on the stone, such as: the intelligent lithotripter can be expanded to be used for stones of kidney stones, urinary system stones and other parts by the pulse mode, the quantity and the like of energy, so that the purpose of multiple purposes of the intelligent lithotripter is realized, the applicability of the intelligent lithotripter is further improved, and the equipment cost is reduced.
In another alternative embodiment, the determining module 302 is further configured to determine a change in a distance between the organ of the target site and the stone;
as shown in fig. 4, the intelligent lithotripsy apparatus may further include:
the first estimating module 305 is configured to estimate whether the stone is attached to the organ of the target portion during the lithotripsy according to the distance change condition, so as to obtain an estimated result; when the estimated result is used for indicating that the stone cannot be attached to the organ of the target part in the stone breaking process, executing the operation of determining the release information of the energy required for breaking the stone according to the information corresponding to the stone; when the estimated result is used for indicating that the stone is attached to the organ of the target part in the stone breaking process, according to the distance change condition of the organ of the target part and the stone and the liquid fluid condition of the target part, the attaching condition of the stone and the organ of the target part is estimated, wherein the attaching condition comprises attaching degree and/or attaching area;
the second analysis module 306 is configured to analyze the damage condition of the organ corresponding to the target site by the energy released in the lithotripsy process according to the estimated fitting condition and the collected type of the organ of the target site;
the generating module 303 generates the energy release control parameter of the electrode line according to the energy release information, which specifically includes:
And determining the release information of the energy required for breaking the calculus according to the information corresponding to the calculus and the analyzed damage condition.
Therefore, when the intelligent lithotripter described in fig. 4 is implemented, if it is determined that the calculus cannot be attached to the organ according to the distance change condition between the calculus and the organ of the target portion, the following energy release lithotripter is executed, if the attachment occurs, the attachment degree and/or attachment area of the calculus and the organ are estimated, the damage condition of the organ caused by the energy released by the lithotripter is further analyzed by combining the type of the organ, the analysis accuracy and reliability of the damage condition can be improved, and the release frequency, the release voltage and the release current of the energy can be further determined by combining the damage condition, so that the control accuracy of the energy release is improved.
In yet another alternative embodiment, as shown in fig. 4, the intelligent lithotripsy apparatus further comprises:
a first judging module 307, configured to judge whether the calculus and the electrode line touch according to the distance between the calculus and the electrode line when the information corresponding to the calculus includes the distance between the calculus and the electrode line;
The third analysis module 308 is configured to analyze the degree of adhesion between the calculus and the electrode wire when the first determination module 307 determines that the calculus touches the electrode wire;
the first correction module 309 is configured to correct the energy release information according to the degree of adhesion between the calculus and the electrode wire, and trigger the generation module 303 to execute the operation of generating the energy release control parameter of the electrode wire according to the energy release information.
Therefore, when the intelligent lithotripter described in fig. 4 is implemented, the lithotripter can correct the release information of the lithotripter energy through the bonding degree of the calculus and the electrode wire when judging that the calculus touches the electrode wire, so that the analysis accuracy and reliability of the release information of the lithotripter energy can be further improved, and the release control accuracy of the energy is further improved.
In yet another alternative embodiment, as shown in fig. 4, the intelligent lithotripsy apparatus may further comprise:
the second estimating module 310 is configured to estimate a stone scattering range of the stone during the stone breaking process according to the information corresponding to the stone and the energy release information before the control module 304 controls the electrode wire to release energy and break the stone;
the acquisition module 311 is used for acquiring target object position information in the lithotripsy scattering range of the stones;
The determining module 302 is further configured to determine opening information of a container for containing the broken stone according to the broken stone scattering range of the broken stone, information corresponding to the broken stone, and target object position information, where the opening information of the container includes an opening size of the container and an opening direction of the container;
the generating module 303 is further configured to generate control parameters of the container according to the opening information of the container;
the control module 304 is further configured to control the opening of the container according to the control parameter of the container; triggering and executing the operation of controlling the electrode wire to release energy and break up stones when the opening of the container is detected to be matched with the opening information of the container.
It can be seen that the implementation of the intelligent lithotripsy device described in fig. 4 can also estimate the lithotripsy range of the calculus by combining the position of the calculus in the target object and the release information of energy, so as to improve the accuracy of determining the lithotripsy range; and determining the size and direction of the opening of the container for containing the broken stone according to the scattering range, the position information in the scattering range, the position information of the stone and other various information, so that the accuracy of determining the size and direction of the opening of the container can be improved, and when the opening of the container is opened to the corresponding size and direction, fang Shi can discharge energy broken stone, so that the occurrence that broken stone is scattered in a target object due to the fact that all broken stone cannot be contained due to the fact that the size and/or direction of the opening of the container are unsuitable can be reduced.
In yet another alternative embodiment, as shown in fig. 4, the intelligent lithotripsy apparatus further comprises:
a fourth analysis module 312, configured to analyze a lithotripsy position of the stone according to information corresponding to the stone before the control module 304 controls the electrode wire to release energy and break up the stone, and analyze a pointing position of an electrode tip of the electrode wire to point to the stone;
the second judging module 313 is configured to judge whether the pointing position corresponding to the electrode tip of the electrode wire is matched with the lithotripsy position of the calculus, and when the result of the judgment is yes, trigger the control module 304 to execute the operation of controlling the electrode wire to release energy and break the calculus;
a calculating module 314, configured to calculate an offset angle between the pointing position corresponding to the electrode tip of the electrode wire and the lithotripsy position of the stone when the second judging module 313 judges that the result is negative;
the second correction module 315 is configured to correct the pointing position corresponding to the electrode tip of the electrode wire according to the offset angle, and trigger the control module 304 to perform the operation of controlling the electrode wire to release energy and break up the stone when the corrected pointing position corresponding to the electrode tip of the electrode wire matches with the stone breaking position of the stone.
Therefore, the intelligent stone crushing device described in fig. 4 can also execute the subsequent operation of releasing energy to crush the stone when the electrode head of the electrode wire is judged to be directed to the proper position of the stone, and automatically repair the directing position of the electrode head according to the deviation angle between the directing position of the electrode head and the stone crushing position if the electrode head is not directed to the proper position, execute the subsequent operation of releasing energy to crush the stone when the directing position of the electrode head is proper, thereby being capable of improving the accuracy of releasing the energy of the electrode wire, further being beneficial to improving the stone crushing accuracy and reliability of the stone and reducing the occurrence condition of the internal organs of the damaged target object caused by improper energy release, and further providing more accurate reference basis for teaching or simulation or training of the stone, and being beneficial to improving the teaching or simulation or training effect of the stone.
In yet another alternative embodiment, as shown in fig. 4, the first analysis module 301 includes:
an input submodule 3011 for inputting a developer to a target site of a target object through a detection channel;
an acquisition submodule 3012, configured to acquire an image of a target site;
the analysis submodule 3013 is used for analyzing the acquired image of the target position to obtain information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at the target position, and the information corresponding to the calculus also comprises at least one of the material of the calculus, the hardness of the calculus, the ingredients of the calculus, the shape of the calculus, the size of the calculus and the distance between the calculus and an electrode wire;
the first analysis module 301 further comprises:
a determining submodule 3014, configured to determine a position required to be reached by the information collecting device according to information of the target site and a position of the stone at the target site;
a generating submodule 3015, configured to generate control parameters of the information acquisition device according to the position of the stone at the target site and the information of the detection channel determined in advance;
a control submodule 3016, configured to control the information collecting device to transfer from the oral cavity of the target object to a position where the information collecting device needs to reach according to a control parameter of the information collecting device;
The control sub-module 3016 is further used for controlling the information acquisition device to acquire information of the position of the calculus on the target part, wherein the information acquired by the information acquisition device comprises information of a sub-part of the calculus on the target part, and the information of the sub-part comprises the type of the sub-part and the position information of the sub-part;
the analysis submodule 3013 is further configured to analyze information on a position of the stone at the target site, and obtain a position of the stone at the target site:
the first analysis module 301 further comprises:
a communication sub-module 3017, configured to output a stone position confirmation prompt to a person concerned when the information collecting device is a smart mirror, where the stone position confirmation prompt includes information on a position of a stone at the target site, and the stone position confirmation prompt is configured to prompt the person concerned to confirm the position of the stone at the target site according to the information on the position of the stone at the target site through the smart mirror;
the communication sub-module 3017 is further configured to determine the location of the relevant person input as the location of the stone on the target site when feedback from the relevant person for a stone location confirmation prompt is received and the feedback includes the location of the relevant person input.
As can be seen, the intelligent lithotripter described in fig. 4 can also be implemented by injecting the developing solution into the target portion of the target object, performing image acquisition, primarily positioning the position of the calculus at the target portion, and further accurately positioning the position of the calculus by combining the type and the position of the sub-portion on the target portion acquired by the information acquisition device extending into the position of the calculus, so that the generation accuracy of the control parameters of the electrode wire can be further improved, and the control accuracy of the electrode wire extending into the position of the calculus is further improved; the type and the position of the sub-part where the calculus is positioned are output to related personnel, so that the position of the calculus can be conveniently confirmed, the position determining mode of the calculus is enriched, the determining efficiency of the position of the calculus is improved, and the accuracy and the reliability of calculus breaking are further improved.
In yet another optional embodiment, the intelligent lithotripter is further configured to generate a control parameter of the target electrode wire according to the position corresponding to the calculus and the information of the detection channel after obtaining the position corresponding to the calculus, and control the target electrode wire to extend from the oral cavity of the target object to the position corresponding to the calculus through the detection channel according to the control parameter of the target electrode wire;
when the target electrode wire is detected to extend into the position corresponding to the calculus, the target electrode wire is controlled to acquire information matched with the calculus, the acquired information matched with the calculus is analyzed to obtain other information of the calculus, the release information of the energy required for crushing the calculus is determined according to the other information of the calculus, the operation of generating the energy release control parameter of the electrode wire according to the release information of the energy is executed, or the other information of the calculus and the information corresponding to the calculus are analyzed to obtain the information corresponding to the analyzed calculus, the operation of executing the information corresponding to the calculus and determining the release information of the energy required for crushing the calculus according to the information corresponding to the calculus is triggered, and the information corresponding to the calculus after analysis is the information corresponding to the calculus.
In this alternative embodiment, the other information of the stone includes one or more of the material of the stone, the hardness of the stone, the composition of the stone, the shape of the stone, and the size of the stone; further, other information about the stone may include the location of the stone.
Therefore, after the position corresponding to the stone is obtained, the electrode wire specially used for detecting the material, hardness, composition, shape, size and other information of the stone is used for collecting the information of the stone to determine the voltage, frequency and other information of the energy required by the stone, so that the determination mode of the energy required by the stone can be enriched, more reference bases are provided for teaching, simulation or training of the stone, or the obtained information of the material, hardness, composition, shape, size and the like of the stone is analyzed together based on the collected information, and the accurate information corresponding to the stone can be obtained, thereby further improving the determination accuracy and efficiency of the information of the voltage, frequency and the like of the energy required by the stone, being beneficial to reducing the occurrence condition that the stone cannot be broken due to the too small energy, further improving the stone breaking efficiency and accuracy of the stone, and reducing the occurrence condition that the human body tissue is damaged due to the too large energy.
It should be noted that, for other detailed descriptions of the functions related to the device side, please refer to other detailed descriptions of the corresponding contents of the first embodiment and the second embodiment, which are not described herein.
Example IV
Referring to fig. 7, fig. 7 is a schematic structural diagram of another intelligent lithotripter according to an embodiment of the present invention. As shown in fig. 7, the smart lithotripter may include a smart lithotripter 502, an electrode wire 503, a detection channel 504 (e.g., a channel formed by a duodenoscope and a cholangioscope), and a lithotomy container 505; further, the intelligent lithotripsy apparatus may also include an energy output control switch 506; the intelligent lithotripter 502 is connected with an external power supply 501 (such as an AC 220V mains supply), the electrode wire 503 is connected to an energy output port of the intelligent lithotripter 502 and extends into a position corresponding to the calculus through the detection channel 504 in the oral cavity, and the calculus removing container 505 extends into the position corresponding to the calculus through the detection channel; the energy output control switch 506 is connected to a control switch interface of the intelligent lithotripter 502, where the energy output control switch 506 includes a mechanical control switch (such as a foot pedal control switch and a manual button control switch) or a non-mechanical control switch (such as a key switch or a liquid crystal touch control switch disposed on a panel of the intelligent lithotripter) for reducing the faults of the mechanical control switch and ensuring smooth completion of lithotripter, and the functions of each module of the intelligent lithotripter are described in detail in the first and second embodiments, which are not repeated herein. As shown in fig. 8, fig. 8 is a schematic structural diagram of an intelligent lithotripter according to an embodiment of the present invention, where, as shown in fig. 8, the intelligent lithotripter 502 includes a CPU processing module 605, an isolated filtering power supply 601, a boost rectifying module 602, an energy storage conversion module 603, a charge-discharge control module 606, a visual display module 607, and a man-machine interaction end 604; the input end of the isolation filtering power supply 601 is electrically connected with an external power supply 501 (such as an AC 220V mains supply), the external power supply 501 is isolated from the intelligent lithotripter 502 to ensure the protection of electric shock hazards under the condition of meeting standards (such as GB/T9706.1), and the primary output end of the isolation filtering power supply 601 is electrically connected with the CPU processing module 605 and is used for supplying power to the CPU processing module 605 safely and continuously in the use process; the boost rectifying module 602 includes a boost module (such as a boost transformer) and a rectifying module, where a secondary output of the isolation filtering power supply 601 is electrically connected to an input end of the boost transformer, and an output end of the boost transformer is electrically connected to an input end of the rectifying module, where the boost module is configured to boost a voltage from the isolation filtering power supply, and the rectifying module is configured to rectify the boosted current; the energy storage conversion module 603 is realized by a high-voltage capacitor bank, the capacitance of the parallel high-voltage capacitor bank is controlled by switching a relay, different capacitances are selected to switch to output energy, the different capacitances of the capacitor bank determine the size of the output energy, and the high-voltage capacitor bank is selected to realize stable output of different energies so as to meet stone breaking requirements of stones with different materials, different sizes, different hardness and different components; the charge-discharge control module 606 uses the optocoupler driving module to drive and control the high-voltage triode to realize charge-discharge of the high-voltage capacitor group, wherein the charge-discharge control module is composed of optocoupler diodes and other devices, and can realize different frequency adjustment discharge modes in a certain frequency range by driving and controlling the switch module through low voltage, enrich the pulse discharge of the adjustable frequency and jointly realize the stone breaking requirements of different stones; the visual display module 607 (as shown in fig. 9, fig. 9 is a schematic structural diagram of another intelligent stone breaking device according to the embodiment of the present invention, where the visual display module may be understood as a display screen on the intelligent stone breaking host 1, the electrode wire is 2, the energy output control switch 3, the electrode wire 2 and the energy output control switch 3 are respectively disposed at two ends of the intelligent stone breaking host 1), and an industrial touch screen is used to display information of the whole or partial process from the start of the positioning of the stone to the stone, where the information includes, but is not limited to, one or more of image information of the collected stone, information corresponding to the analyzed stone, release information of energy required for breaking the stone, and image information of the stone taking process of the stone taking container; the energy release information required for breaking up the stones comprises, but is not limited to, one or more of energy pulse mode of the electrode wire, energy release frequency, energy pulse number, energy release range, energy release voltage, energy release current and the like, and further comprises fault information and the like if faults occur; the man-machine interaction end 604 is configured to enable related personnel to perform corresponding operations on the man-machine interaction interface, for example, setting release information of energy required for breaking up the stone, such as release frequency and pulse mode, and selecting preset release information of energy according to information corresponding to stone in a target object body to be broken up, such as hardness and size of the stone; the CPU processing module 605 may be implemented by an embedded ARM or a PLC, and is configured to implement some or all of the steps in the method for intelligent lithotripsy in the first embodiment and the second embodiment, for example: analyzing information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at a target part in a target object; determining electrode wires required for breaking up stones, and generating control parameters of the electrode wires according to information corresponding to the stones and information of a detection channel which is determined in advance, wherein the detection channel is used for enabling stone breaking equipment to transfer the electrode wires from an oral cavity of a target object to positions corresponding to the stones, and the information of the detection channel comprises position information of the detection channel in the target object and curvature of the detection channel in the target object; according to the control parameters of the electrode wire, the electrode wire is controlled to extend from the oral cavity of the target object to the position of the calculus through the detection channel, and the electrode wire is controlled to release energy to break up the calculus, and the following steps are as follows: receiving information from a man-machine interaction end, and controlling devices in the intelligent stone crushing host machine through a bus according to the received information to realize switching of set energy release information; another example is: the intelligent stone crushing device is used for collecting working state information of the intelligent stone crushing host, transmitting the working state information monitored in real time to the visual display module for display, and facilitating related personnel to know the working state of the intelligent stone crushing device in real time.
It should be noted that the boost rectifying module can be replaced by high-voltage silicon stack rectification; the visual display module can be integrated on the man-machine interaction end.
Example five
Referring to fig. 5, fig. 5 is a schematic structural diagram of an intelligent lithotripter for intelligent lithotripter according to another embodiment of the present invention. The intelligent lithotripsy device described in fig. 5 may also be understood as any one of an intelligent lithotripsy platform, an intelligent lithotripsy system, and an intelligent lithotripsy server, wherein the intelligent lithotripsy server includes a local server or a cloud server. As shown in fig. 5, the intelligent lithotripter of the intelligent lithotripter may include:
a memory 401 storing executable program codes;
a processor 402 coupled with the memory 401;
further, an input interface 403 and an output interface 404 coupled to the processor 402 may also be included;
wherein the processor 402 invokes executable program code stored in the memory 402 to perform some or all of the steps of the method for intelligent lithotripsy disclosed in embodiment one or embodiment two of the present invention.
Example six
Referring to fig. 6, fig. 6 is a schematic structural diagram of an intelligent lithotripter according to an embodiment of the present invention. As shown in fig. 6, the smart stone crusher may comprise a smart stone crusher for smart stone crushing and is used to implement some or all of the steps of the smart stone crushing method described in fig. 1 or fig. 2. Alternatively, the intelligent lithotripter of the intelligent lithotripter may be the intelligent lithotripter of the intelligent lithotripter described in any one of fig. 3 to 5, which is not limited by the embodiment of the present invention.
Example seven
The embodiment of the invention discloses a computer storage medium which stores computer instructions for executing part or all of the steps in the method for intelligent lithotripsy disclosed in the first or second embodiment of the invention when the computer instructions are called.
The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses an oral intelligent stone crushing method and intelligent stone crushing equipment, which are only disclosed as a preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A method of intelligent lithotripsy, comprising:
analyzing information corresponding to a calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at a target part in a target object body, the target object is a virtual user, the target part is a virtual part, a sub-part on the target part is a corresponding virtual sub-part, and an organ of the target part is a corresponding virtual organ;
determining electrode wires required for breaking the stones, and generating control parameters of the electrode wires according to information corresponding to the stones and information of a detection channel which is determined in advance, wherein the detection channel is used for enabling stone breaking equipment to transfer the electrode wires from an oral cavity of a target object to positions corresponding to the stones, and the information of the detection channel comprises position information of the detection channel in the target object;
According to the control parameters of the electrode wire, controlling the electrode wire to extend from the oral cavity of the target object to the position of the calculus through the detection channel, and controlling the electrode wire to release energy to break up the calculus;
the analysis of the information corresponding to the stones includes:
inputting developing solution to the target part of the target object through the detection channel, and collecting an image of the target part;
analyzing the acquired image of the target part to obtain information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at the target part, and the information corresponding to the calculus also comprises at least one of the material of the calculus, the hardness of the calculus, the components of the calculus, the shape of the calculus, the size of the calculus and the distance between the calculus and the electrode wire;
the method further comprises the steps of:
determining the position required to be reached by information acquisition equipment according to the information of the target position and the position of the calculus at the target position;
generating control parameters of the information acquisition equipment according to the position of the calculus at the target part and the information of the detection channel which is determined in advance, and controlling the information acquisition equipment to move from the oral cavity of the target object to the position which the information acquisition equipment needs to reach according to the control parameters of the information acquisition equipment;
Controlling the information acquisition equipment to acquire information of the calculus at the position of the target part, wherein the information acquired by the information acquisition equipment comprises information of a sub-part of the calculus at the target part, and the information of the sub-part comprises the type of the sub-part and the position information of the sub-part;
and analyzing the information of the position of the calculus at the target position to obtain the position of the calculus at the target position.
2. The method of claim 1, wherein the information corresponding to the stone further comprises at least one of a material of the stone, a hardness of the stone, a composition of the stone, a shape of the stone, a size of the stone, and a distance of the stone from the electrode line;
the method further comprises the steps of:
determining release information of energy required for breaking up the calculus according to information corresponding to the calculus, wherein the release information of the energy comprises one or more of release frequency of the energy, release voltage of the energy, release current of the energy, pulse number of the energy, pulse mode of the energy and release range of the energy;
Generating an energy release control parameter of the electrode wire according to the energy release information;
wherein said controlling said electrode wire to release energy to break up said stones comprises:
according to the energy release control parameters of the electrode wires, controlling the electrode wires to release energy, and crushing the stones;
the method further comprises the steps of:
after the position corresponding to the calculus is obtained, generating control parameters of a target electrode wire according to the position corresponding to the calculus and the information of the detection channel, and controlling the target electrode wire to extend into the position corresponding to the calculus from the oral cavity of the target object through the detection channel according to the control parameters of the target electrode wire;
when the fact that the target electrode wire stretches into the position corresponding to the calculus is detected, the target electrode wire is controlled to collect information matched with the calculus, the collected information matched with the calculus is analyzed to obtain other information of the calculus, release information of energy required for crushing the calculus is determined according to the other information of the calculus, and the operation of generating energy release control parameters of the electrode wire according to the release information of the energy is triggered to be executed, or the other information of the calculus and the information corresponding to the calculus are analyzed to obtain the information corresponding to the calculus after analysis, the operation of executing the information corresponding to the calculus according to the calculus to determine the release information of the energy required for crushing the calculus is triggered, and the information corresponding to the calculus after analysis is the information corresponding to the calculus;
Wherein the other information of the stone includes one or more of a material of the stone, a hardness of the stone, a composition of the stone, a shape of the stone, and a size of the stone.
3. The method of intelligent lithotripsy of claim 2, further comprising:
determining the distance change condition of the organ of the target part and the calculus, and predicting whether the calculus is attached to the organ of the target part in the calculus breaking process according to the distance change condition to obtain a prediction result;
when the estimated result is used for indicating that the calculus and the organ of the target part cannot be attached in the calculus breaking process, executing the operation of determining the release information of the energy required for breaking the calculus according to the information corresponding to the calculus;
when the estimated result is used for indicating that the calculus is attached to the organ of the target part in the calculus breaking process, estimating the attaching condition of the calculus and the organ of the target part according to the distance change condition of the organ of the target part and the calculus and the liquid fluid condition of the target part, wherein the attaching condition comprises attaching degree and/or attaching area;
Analyzing the damage condition of the organ of the target part corresponding to the energy released in the lithotripsy process according to the estimated fitting condition and the collected type of the organ of the target part;
wherein the generating the energy release control parameter of the electrode wire according to the energy release information includes:
and determining release information of energy required for breaking the calculus according to the information corresponding to the calculus and the analyzed damage condition.
4. A method of intelligent lithotripsy according to claim 2 or 3, further comprising:
when the information corresponding to the calculus comprises the distance between the calculus and the electrode wire, judging whether the calculus and the electrode wire are in touch or not according to the distance between the calculus and the electrode wire;
when the contact between the calculus and the electrode wire is judged, analyzing the bonding degree of the calculus and the electrode wire;
and correcting the energy release information according to the bonding degree of the calculus and the electrode wire, and triggering and executing the operation of generating the energy release control parameters of the electrode wire according to the energy release information.
5. A method of intelligent lithotripsy according to claim 2 or 3 wherein said controlling said electrode wire to release energy, said method further comprising, prior to breaking said stone:
Estimating the stone breaking and scattering range of the stone in the process of breaking the stone according to the information corresponding to the stone and the energy release information;
collecting target object position information in a stone breaking and scattering range of the stone, and determining opening information of a container for containing the stone breaking and scattering range of the stone, information corresponding to the stone and the target object position information, wherein the opening information of the container comprises the opening size of the container and the opening direction of the container;
generating control parameters of the container according to the opening information of the container, and controlling the opening of the container according to the control parameters of the container;
triggering and executing the operation of controlling the electrode wire to release energy and breaking up the stones when the opening of the container is detected to be matched with the opening information of the container.
6. The method of intelligent lithotripsy according to claim 1 or 2, wherein said controlling said electrode wire to release energy, said method further comprising, prior to breaking said stone:
analyzing the lithotripsy position of the calculus according to the information corresponding to the calculus, and analyzing the pointing position of the electrode head of the electrode wire to the calculus;
Judging whether the pointing position corresponding to the electrode head of the electrode wire is matched with the stone breaking position of the stone, and executing the operation of controlling the electrode wire to release energy and breaking the stone when the judgment result is yes;
and when the result is judged to be negative, calculating an offset angle between the pointing position corresponding to the electrode head of the electrode wire and the stone breaking position of the stone, correcting the pointing position corresponding to the electrode head of the electrode wire according to the offset angle, and triggering and executing the operation of controlling the electrode wire to release energy and breaking the stone when the corrected pointing position corresponding to the electrode head of the electrode wire is matched with the stone breaking position of the stone.
7. The method of intelligent lithotripsy according to claim 6, further comprising:
when the information acquisition equipment is an intelligent mirror, outputting a calculus position confirmation prompt to related personnel, wherein the calculus position confirmation prompt comprises information of the position of the calculus on the target part, and the calculus position confirmation prompt is used for prompting the related personnel to confirm the position of the calculus on the target part according to the information of the position of the calculus on the target part through the intelligent mirror;
And when feedback of the relevant personnel for the calculus position confirmation prompt is received and comprises the input position of the relevant personnel, determining the input position of the relevant personnel as the position of the calculus on the target position.
8. An intelligent lithotripter, the intelligent lithotripter comprising:
the first analysis module is used for analyzing information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of a target part of the calculus in a target object body, the target object comprises a real user or a virtual user, when the target object is the real user, the target part is a real part, and when the target object is the virtual user, the target part is a virtual part;
a determining module for determining electrode wires required for breaking up the stones;
the generation module is used for generating control parameters of the electrode wire according to the information corresponding to the calculus and the information of a detection channel which is determined in advance, the detection channel is used for enabling the lithotripter to transfer the electrode wire from the oral cavity of the target object to the position corresponding to the calculus, and the information of the detection channel comprises the position information of the detection channel in the target object and the curvature of the detection channel in the target object;
The control module is used for controlling the electrode wire to extend from the oral cavity of the target object to the position of the calculus through the detection channel according to the control parameters of the electrode wire;
the control module is also used for controlling the electrode wire to release energy and breaking up the stones;
the first analysis module comprises:
an input sub-module for inputting a developing solution to the target portion of the target object through the detection channel;
the acquisition sub-module is used for acquiring the image of the target part;
the analysis submodule is used for analyzing the acquired image of the target position to obtain information corresponding to the calculus, wherein the information corresponding to the calculus at least comprises the position of the calculus at the target position, and the information corresponding to the calculus also comprises at least one of the material of the calculus, the hardness of the calculus, the components of the calculus, the shape of the calculus, the size of the calculus and the distance between the calculus and the electrode line;
the first analysis module further includes:
the determining submodule is used for determining the position required to be reached by the information acquisition equipment according to the information of the target position and the position of the calculus at the target position;
The generation submodule is used for generating control parameters of the information acquisition equipment according to the position of the calculus at the target part and the information of the detection channel which is determined in advance;
the control submodule is used for controlling the information acquisition equipment to be transferred from the oral cavity of the target object to the position which the information acquisition equipment needs to reach according to the control parameters of the information acquisition equipment;
the control sub-module is further used for controlling the information acquisition equipment to acquire information of the position of the calculus on the target part, the information acquired by the information acquisition equipment comprises information of a sub-part of the calculus on the target part, and the information of the sub-part comprises the type of the sub-part and the position information of the sub-part;
the analysis submodule is also used for analyzing the information of the position of the calculus at the target position to obtain the position of the calculus at the target position.
9. An intelligent lithotripter, the intelligent lithotripter comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the method of intelligent lithotripsy of any one of claims 1-7.
10. An intelligent lithotripter for performing the method of intelligent lithotripter of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541966.0A CN114948081B (en) | 2022-05-18 | 2022-05-18 | Oral intelligent stone crushing method and intelligent stone crushing equipment |
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| US9259231B2 (en) * | 2014-05-11 | 2016-02-16 | Gyrus Acmi, Inc. | Computer aided image-based enhanced intracorporeal lithotripsy |
| CN104473692B (en) * | 2014-12-30 | 2017-06-20 | 成都美创医疗科技股份有限公司 | High voltage pulse calculosis treatment system based on plasma |
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Denomination of invention: Intelligent gravel method and intelligent gravel equipment for oral use Granted publication date: 20230620 Pledgee: Bank of China Limited Xi'an Chang'an District Branch Pledgor: Yuanhong Science & Technology Co.,Ltd. Xi'an Registration number: Y2024610000104 |