CN115089163B

CN115089163B - Respiratory signal detection method and device, operation navigation method and device

Info

Publication number: CN115089163B
Application number: CN202210698042.1A
Authority: CN
Inventors: 秦春霞; 麦永锋; 张华杰; 王少康; 陈宽
Original assignee: Infervision Medical Technology Co Ltd
Current assignee: Wuhan Longdianjing Intelligent Technology Co ltd
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2023-08-22
Anticipated expiration: 2042-06-20
Also published as: CN115089163A

Abstract

The application provides a respiratory signal detection method and device, an operation navigation method and device, a respiratory gating system, electronic equipment and a computer readable storage medium, which are applied to the field of medical operation navigation. The respiratory signal detection method comprises the following steps: determining a first respiration characteristic point set corresponding to a reference respiration signal of a target user; determining a second respiration characteristic point set corresponding to the current respiration signal of the target user; determining a respiration state detection result corresponding to the current respiration signal based on the first respiration characteristic point set and the second respiration characteristic point set; the respiration state detection result is used for representing whether the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal or not. The respiration signal detection method provided by the application can accurately obtain the matching state of the current respiration signal and the reference respiration signal, thereby providing a basis for the accurate implementation of the respiration gating technology and further effectively assisting in improving the accuracy of the puncture operation.

Description

Respiratory signal detection method and device, operation navigation method and device

Technical Field

The application relates to the technical field of medical operation navigation, in particular to a respiratory signal detection method and device, an operation navigation method and device, a respiratory gating system, electronic equipment and a computer readable storage medium.

Background

In a needle aspiration procedure (e.g., needle biopsy or needle ablation, etc.), respiration can affect the relative position of the lesion, thereby affecting the accuracy of the needle. In recent years, respiratory gating techniques have received attention because of the ability to assist in the precise implementation of a puncture procedure.

The respiratory gating technology needs to monitor the matching state of the current respiratory signal and the reference respiratory signal in real time to realize accurate focus positioning, however, when the position of a patient changes, the matching state of the current respiratory signal and the reference respiratory signal is difficult to accurately detect, so that the respiratory gating accuracy is reduced, and the puncture accuracy is affected.

Disclosure of Invention

In view of this, the embodiments of the present application provide a respiratory signal detection method and apparatus thereof, an operation navigation method and apparatus thereof, a respiratory gate control system, an electronic device, and a computer readable storage medium, so as to solve the technical problem that in the prior art, the puncture accuracy is affected by the patient position variation.

According to a first aspect of an embodiment of the present application, there is provided a respiratory signal detection method, including: determining a first respiration characteristic point set corresponding to a reference respiration signal of a target user; determining a second respiration characteristic point set corresponding to the current respiration signal of the target user; determining a respiration state detection result corresponding to the current respiration signal based on the first respiration characteristic point set and the second respiration characteristic point set; the respiration state detection result is used for representing whether the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal or not.

In one embodiment, determining a respiration state detection result corresponding to the current respiration signal based on the first respiration feature point set and the second respiration feature point set includes: aligning the current respiratory signal and the reference respiratory signal based on the first respiratory characteristic point set and the second respiratory characteristic point set to obtain an aligned respiratory signal corresponding to the current respiratory signal; if the aligned respiratory signal is positioned in the gating threshold corresponding to the reference respiratory signal, determining that the respiratory state detection result of the current respiratory signal is matched; if the aligned respiratory signal is not located in the gating threshold corresponding to the reference respiratory signal, determining that the respiratory state detection result of the current respiratory signal is not matched.

In one embodiment, after determining that the respiratory state detection result of the current respiratory signal is a match, the method further comprises: and sending a puncture prompt signal, wherein the puncture prompt signal is used for indicating that the current respiratory state of the target user can perform a puncture operation.

In one embodiment, after determining that the respiratory state detection result of the current respiratory signal is not matched, the method further comprises: if the deviation value of the aligned breathing signal and the gating threshold is smaller than or equal to the deviation threshold, sending an adjustment prompt message to acquire an updated current breathing signal until the breathing state detection result of the updated current breathing signal is matched; if the deviation value of the aligned breathing signal and the gating threshold is larger than the deviation threshold, sending warning prompt information, wherein the warning prompt information is used for indicating that the current breathing state is in an abnormal state.

In one embodiment, determining a first set of respiratory feature points corresponding to a reference respiratory signal of a target user includes: determining a reference respiratory signal based on historical spatial position data of the chest and/or abdomen of the target user; and obtaining a first respiration characteristic point set based on respiration motion characteristic extraction operation on the reference respiration signal.

In one embodiment, based on performing a respiratory motion feature extraction operation on a reference respiratory signal, a first set of respiratory feature points is obtained, including: performing dimension reduction operation on the reference respiratory signal to obtain an initial reference respiratory curve; performing filtering operation on the initial reference breathing curve to obtain a reference breathing curve; and carrying out respiratory motion feature extraction operation on the reference respiratory curve to obtain a first respiratory feature point set.

In one embodiment, performing a respiratory motion feature extraction operation on a reference respiratory curve to obtain a first set of respiratory feature points includes: carrying out a respiratory motion speed solving operation on the reference respiratory curve to obtain the respiratory motion speed of the reference respiratory curve; based on the respiratory motion speed of the reference respiratory curve, carrying out respiratory motion characteristic analysis operation on the reference respiratory curve to obtain a first respiratory characteristic point set; the first respiration characteristic point set comprises at least one of an inhalation starting point characteristic point, an inhalation peak value characteristic point, an exhalation starting point characteristic point and an exhalation peak value characteristic point.

In one embodiment, determining a second set of respiratory feature points corresponding to a current respiratory signal of a target user includes: determining a current respiratory signal based on current spatial position data of the chest and/or abdomen of the target user; and obtaining a second respiration characteristic point set based on the respiration motion characteristic extraction operation of the current respiration signal.

In one embodiment, based on the respiratory motion feature extraction operation performed on the current respiratory signal, a second set of respiratory feature points is obtained, including: performing dimension reduction operation on the current respiratory signal to obtain an initial current respiratory curve; performing filtering operation on the initial current breathing curve to obtain a current breathing curve; and carrying out respiratory motion feature extraction operation on the current respiratory curve to obtain a second respiratory feature point set.

In one embodiment, performing a respiratory motion feature extraction operation on a current respiratory curve to obtain a second set of respiratory feature points, including: carrying out respiratory motion speed solving operation on the current respiratory curve to obtain the respiratory motion speed of the current respiratory curve; determining respiratory motion parameters of the current respiratory curve based on respiratory motion speed of the current respiratory curve; if the current breathing curve is in the normal breathing state based on the breathing motion parameters, carrying out breathing motion characteristic analysis operation on the current breathing curve based on the breathing motion speed of the current breathing curve to obtain a second breathing characteristic point set; the second respiration characteristic point set comprises at least one of an inhalation starting point characteristic point, an inhalation peak value characteristic point, an exhalation starting point characteristic point and an exhalation peak value characteristic point.

According to a second aspect of an embodiment of the present application, there is provided a surgical navigation method, including: based on the respiration signal detection method of the first aspect, detecting a current respiration signal of a target user to obtain a respiration state detection result corresponding to the current respiration signal; if the respiratory state detection result of the current respiratory signal is matched, generating operation navigation information based on the current respiratory signal, wherein the operation navigation information is used for assisting a doctor in performing puncture operation on a target user.

According to a third aspect of an embodiment of the present application, there is provided a respiratory signal detection apparatus comprising: the first determining module is configured to determine a first respiration characteristic point set corresponding to a reference respiration signal of the target user; the second determining module is configured to determine a second respiration characteristic point set corresponding to the current respiration signal of the target user; the respiratory state detection result determining module is configured to determine a respiratory state detection result corresponding to the current respiratory signal based on the first respiratory characteristic point set and the second respiratory characteristic point set; the respiration state detection result is used for representing whether the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal or not.

According to a fourth aspect of embodiments of the present application, there is provided a surgical navigation apparatus including: the respiratory state detection module is configured to detect the current respiratory signal of the target user based on the respiratory signal detection method provided by any embodiment, so as to obtain a respiratory state detection result corresponding to the current respiratory signal; and the execution module is configured to perform puncture operation on the target user based on the current respiratory signal if the respiratory state detection result of the current respiratory signal is matched.

According to a fifth aspect of embodiments of the present application, there is provided a respiratory gating system comprising: a spatial locator configured to acquire spatial position data of the chest and/or abdomen of a target user; a recorder in communication with the spatial locator, configured to store spatial location data; a controller communicatively connected to the recorder and configured to obtain a respiration state detection result of the current respiration signal based on the respiration signal detection method according to the first aspect; and the interaction guide is in communication connection with the controller and is configured to display a prompt signal corresponding to the breathing state detection result so as to assist in guiding a target user to breathe according to a breathing mode matched with the prompt signal.

According to a sixth aspect of an embodiment of the present application, there is provided an electronic apparatus including: a processor; and a memory having stored therein computer program instructions that, when executed by the processor, cause the processor to perform a respiratory signal detection method as described above for the first aspect, or a surgical navigation method as described above for the second aspect.

According to a seventh aspect of embodiments of the present application, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform a respiratory signal detection method as in the first aspect described above, or a surgical navigation method as in the second aspect described above.

According to the respiration gating control method provided by the embodiment of the application, based on the second respiration characteristic point set corresponding to the current respiration signal and the first respiration characteristic point set corresponding to the reference respiration signal, the respiration state detection result corresponding to the current respiration signal is accurately obtained in real time. Therefore, when the body position of the target user changes, the matching state of the current respiratory signal and the reference respiratory signal can be accurately obtained, a basis is provided for accurate implementation of the respiratory gating technology, and the accuracy of the puncture operation is effectively improved in an auxiliary mode.

Drawings

Fig. 1 is a schematic structural diagram of a respiratory gating system according to an embodiment of the present application.

Fig. 2 is a flowchart illustrating a respiratory signal detection method according to an embodiment of the application.

Fig. 3 is a flowchart illustrating a method for determining a respiration state detection result corresponding to a current respiration signal according to an embodiment of the present application.

Fig. 4 is a flowchart illustrating a process of determining a first respiration feature point set corresponding to a reference respiration signal of a target user according to an embodiment of the present application.

Fig. 5 is a schematic flow chart of obtaining a first respiration feature point set based on a respiration motion feature extraction operation performed on a reference respiration signal according to an embodiment of the present application.

Fig. 6 is a flowchart illustrating a process of determining a second set of respiratory feature points corresponding to a current respiratory signal of a target user according to an embodiment of the present application.

Fig. 7 is a schematic flow chart of obtaining a second respiration feature point set based on a respiration motion feature extraction operation performed on a current respiration signal according to an embodiment of the present application.

Fig. 8 is a flow chart of a surgical navigation method according to an embodiment of the application.

Fig. 9 is a schematic structural diagram of a respiratory signal detection apparatus according to an embodiment of the application.

Fig. 10 is a schematic structural diagram of a respiratory status detection result determining module according to an embodiment of the present application.

Fig. 11 is a schematic structural diagram of a first determining module according to an embodiment of the application.

FIG. 12 is a schematic diagram showing a first obtaining unit according to an embodiment of the present application

Fig. 13 is a schematic structural diagram of a second determining module according to an embodiment of the application.

Fig. 14 is a schematic structural diagram of a second obtaining unit according to an embodiment of the application.

Fig. 15 is a schematic structural diagram of a surgical navigation device according to an embodiment of the present application.

Fig. 16 is a schematic structural diagram of an electronic device according to an embodiment of the application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Puncture surgery (also called percutaneous puncture surgery) is a minimally invasive surgery with less damage, and mainly uses a fine needle to extract a sample or inject a medicine through local skin and tissue organs, thereby achieving the purposes of diagnosis and treatment. The puncture operation has great value for diagnosing infectious diseases, hemorrhagic diseases, tumors and other diseases, and has the characteristics of small puncture wound, quick recovery and the like, thereby being widely applied to clinic.

Puncture is generally classified into diagnostic puncture (which may also be referred to as a puncture biopsy) and therapeutic puncture (which may also be referred to as a puncture ablation). Common punctures include thoracocentesis, abdominal puncture, lumbar puncture, epidural puncture, bone marrow puncture, pulmonary puncture, joint cavity puncture, post-vaginal vault puncture, lymph node puncture, body surface tumor puncture, and the like.

In a puncture procedure, a physician needs to rely on acquired medical images, such as CT (Computed Tomography, electronic computed tomography) images or MRI (Magnetic Resonance Imaging ) images, in combination with human anatomy for puncture. Since the target user continues to breathe during the procedure, the lungs and chest cavity are constantly moving, it is difficult to keep the size and location of the lesions relatively fixed (i.e., breathing affects the relative location of the lesions), thereby affecting the accuracy of the puncture.

The respiratory gating technology has the advantages that the influence of respiration on the relative position of the focus can be reduced by tracking the respiration of a target user, so that the accurate positioning of the focus is realized, the puncture operation is accurately implemented, and the respiratory gating technology is paid attention to. When the respiration gating technology is actually applied, a doctor manually records a reference respiration signal, monitors the matching state of the current respiration signal and the reference respiration signal of a target user in real time through the respiration gating system, and performs puncture operation when the current respiration state is displayed on the respiration gating system to be matched with the reference respiration state (at the moment, the real-time relative position of a focus in a human body is indicated to be matched with the relative position of the focus displayed in a medical image).

Therefore, the respiratory gating technology needs to detect the matching state of the current respiratory signal and the reference respiratory signal in real time to reduce the influence of respiration on the focus position, however, in the related art, when the patient body position changes, the real-time respiratory signal suddenly shifts, and the matching state of the current respiratory signal and the reference respiratory signal is difficult to accurately detect, so that the respiratory gating accuracy is reduced, and the puncture accuracy is affected.

In order to solve the above problems, an embodiment of the present application provides a respiration signal detection method, which accurately obtains a respiration state detection result corresponding to a current respiration signal in real time based on a second respiration feature point set corresponding to the current respiration signal and a first respiration feature point set corresponding to a reference respiration signal. Therefore, when the body position of the target user changes, the matching state of the current respiratory signal and the reference respiratory signal can be accurately obtained, a basis is provided for realizing accurate implementation of the respiratory gating technology, and the accuracy of the puncture operation is effectively improved in an auxiliary mode.

The respiratory signal detection method and apparatus, the surgical navigation method, the respiratory gating system, the electronic device and the computer readable storage medium according to the embodiments of the present application are described in detail below with reference to fig. 1 to 16.

Exemplary respiratory gating System

The respiratory gating system according to an embodiment of the present application is described in detail below with reference to fig. 1. It should be noted that the respiratory gating system mentioned in the embodiments of the present disclosure is also a system architecture of an application scenario of the respiratory signal detection method mentioned in the embodiments of the present disclosure.

Fig. 1 is a schematic structural diagram of a respiratory gating system according to an embodiment of the present application. As shown in fig. 1, a respiratory gating system 10 according to an embodiment of the present application includes: a spatial locator 110, a recorder 120 communicatively coupled to the spatial locator 110, a controller 130 communicatively coupled to the recorder 120, and an interaction director 140 communicatively coupled to the controller 130.

In the practice of the system, the spatial locator 110 is configured to collect spatial position data of the chest and/or abdomen of the target user and to send the spatial position data to the recorder 120. The recorder 120 is configured to store spatial location data. The controller 130 is configured to extract spatial position data from the recorder 120 to obtain a reference respiratory signal and a current respiratory signal, and obtain a respiratory state detection result of the current respiratory signal based on the respiratory signal detection method according to the embodiment of the present application, that is, accurately detect whether the respiratory state corresponding to the current respiratory signal is matched with the respiratory state corresponding to the reference respiratory signal. The interaction director 140 is configured to display a prompt signal corresponding to the respiration state detection result, so as to assist in guiding the target user to breathe according to the respiration mode matched with the prompt signal, that is, if the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal, the interaction director 140 displays a puncture prompt signal, so as to assist the doctor in guiding the target user to continue breathing according to the current respiration state, so as to assist the doctor in performing the puncture operation. If the respiration state corresponding to the current respiration signal is not matched with the respiration state corresponding to the reference respiration signal, the interaction director 140 displays adjustment prompt information to assist the doctor in guiding the target user to adjust the respiration, or displays warning prompt information to warn the doctor and the target user to check whether the respirator is faulty.

In an example, the controller 130 may be a processor of a personal terminal such as a computer, and the interaction director 140 may be an interaction display of the personal terminal such as the computer.

According to the respiratory gating system provided by the embodiment of the disclosure, when the body position of the target user changes, the matching state of the current respiratory signal and the reference respiratory signal can be accurately obtained, and a basis is provided for realizing accurate implementation of the respiratory gating technology, so that the accuracy of a puncture operation is effectively improved in an auxiliary manner.

Exemplary respiratory Signal detection methods

Fig. 2 is a flowchart illustrating a respiratory signal detection method according to an embodiment of the application. As shown in fig. 2, the respiratory signal detection method includes the following steps.

S201: and determining a first respiration characteristic point set corresponding to the reference respiration signal of the target user.

Illustratively, the target user is a patient who is in need of a puncture procedure. The reference respiratory signal refers to a reference signal to which the current respiratory signal obtained in real time in the subsequent puncture operation needs to be matched, i.e. the reference respiratory signal is a reference standard for the subsequent respiration. The first set of respiratory feature points is a set of respiratory feature points capable of characterizing respiratory phase characteristics of the reference respiratory signal.

S202: and determining a second respiration characteristic point set corresponding to the current respiration signal of the target user.

By way of example, the current respiration signal refers to the respiration signal obtained in real time during the puncture procedure, i.e. the signal of the real-time respiration that needs to be guided. The second set of respiratory feature points is a set of respiratory feature points capable of characterizing respiratory phase characteristics of the current respiratory signal.

S203: and determining a respiration state detection result corresponding to the current respiration signal based on the first respiration characteristic point set and the second respiration characteristic point set.

Illustratively, the respiration state detection result is used to characterize whether the respiration state corresponding to the current respiration signal matches the respiration state corresponding to the reference respiration signal.

The above-mentioned determining the respiration state detection result corresponding to the current respiration signal based on the first respiration feature point set and the second respiration feature point set aims at accurately judging whether the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal or not by comparing the respiration phase features (that is, taking the respiration feature points as comparison points), that is, accurately determining the respiration state detection result corresponding to the current respiration signal, and providing an accurate basis for realizing the accurate implementation of the respiration gate control technology.

In the embodiment of the application, based on the second respiration characteristic point set corresponding to the current respiration signal and the first respiration characteristic point set corresponding to the reference respiration signal, a respiration state detection result corresponding to the current respiration signal is accurately obtained in real time. Therefore, when the body position of the target user changes, the matching state of the current respiratory signal and the reference respiratory signal can be accurately obtained, a foundation is provided for realizing accurate implementation of the respiratory gating technology, and then the accuracy of the puncture operation is effectively improved in an auxiliary mode.

How to determine the respiration state detection result corresponding to the current respiration signal based on the first respiration feature point set and the second respiration feature point set is described in detail below with reference to fig. 3.

Fig. 3 is a flowchart illustrating a method for determining a respiration state detection result corresponding to a current respiration signal according to an embodiment of the present application. As shown in fig. 3, the step of determining a respiration state detection result corresponding to the current respiration signal based on the first respiration feature point set and the second respiration feature point set includes the following steps.

S301: and aligning the current respiratory signal with the reference respiratory signal based on the first respiratory characteristic point set and the second respiratory characteristic point set to obtain an aligned respiratory signal corresponding to the current respiratory signal.

The above-mentioned purpose of aligning the current respiratory signal and the reference respiratory signal is to, when the body position of the target user changes (for example, the body position is integrally increased by 20CM, or the target user changes from supine to slightly inclined lateral lying, etc.), drift the real-time respiratory signal, offset the first respiratory signal towards the reference respiratory signal by using the respiratory feature point as a comparison point, align the current respiratory signal with the reference respiratory signal, that is, compensate the integral offset caused by the body position change, and reduce the influence of the body position change on the matching states of the current respiratory signal and the reference respiratory signal, thereby more accurately judging whether the respiratory state corresponding to the current respiratory signal matches the respiratory state corresponding to the reference respiratory signal, that is, accurately determining the respiratory state detection result corresponding to the current respiratory signal, and providing an accurate basis for implementing the accurate implementation of the respiratory gating technology.

For example, the implementation manner of determining the respiration state detection result corresponding to the current respiration signal based on the first respiration feature point set and the second respiration feature point set may be to offset the current respiration signal to the reference respiration signal based on the respiration feature points of the same type in the first respiration feature point set and the second respiration feature point set, so as to align the current respiration signal with the reference respiration signal, thereby obtaining an aligned respiration signal corresponding to the current respiration signal (that is, the aligned respiration signal is a respiration signal after the offset caused by the body position change is eliminated by the current respiration signal).

Specifically, considering that the respiratory characteristic points can represent respiratory phase characteristics of respiratory signals, respiratory characteristic points belonging to the same type in the first respiratory characteristic point set and the second respiratory characteristic point set are in the same phase, and respiratory signals in the same phase are utilized for alignment, so that integral deviation caused by body position change can be intuitively compensated, and whether the respiratory state corresponding to the current respiratory signal is matched with the respiratory state corresponding to the reference respiratory signal or not can be intuitively and accurately judged.

The first set of breathing characteristic points includes at least one of an inhalation start characteristic point, an inhalation peak characteristic point, an exhalation start characteristic point, and an exhalation peak characteristic point. Correspondingly, the second set of breathing characteristic points includes at least one of an inhalation start characteristic point, an inhalation peak characteristic point, an exhalation start characteristic point, and an exhalation peak characteristic point.

For example, the inhalation starting point feature points corresponding to the current respiratory signal and the inhalation starting point feature points corresponding to the reference respiratory signal are compared, so that the current respiratory signal is deviated to the reference respiratory signal, the current respiratory signal is aligned with the reference respiratory signal, an aligned respiratory signal corresponding to the current respiratory signal is obtained, and then a respiratory state detection result corresponding to the current respiratory signal is obtained.

S302: if the aligned respiratory signal is located in the gating threshold corresponding to the reference respiratory signal, determining that the respiratory state detection result of the current respiratory signal is matched.

S303: if the aligned respiratory signal is not located in the gating threshold corresponding to the reference respiratory signal, determining that the respiratory state detection result of the current respiratory signal is not matched.

In particular, the above-mentioned gating threshold refers to a range in which the real-time respiratory signal should be in a matched state (i.e., the real-time relative position of the lesion inside the human body matches the relative position of the lesion displayed in the medical image) according to the determination by the doctor of the reference respiratory signal.

In the respiratory gating technology, a doctor cannot predict how a target user can change body position when setting a gating threshold, so the gating threshold is set when the default body position is not changed, and the body position of a patient is changed frequently in the actual application process, so the acquired current respiratory signal is directly compared with the gating threshold, and whether the current respiratory signal is matched with the reference respiratory signal cannot be accurately judged. In consideration of the fact that the aligned respiratory signal is the respiratory signal after deviation caused by the current respiratory signal elimination body position change, the embodiment of the application adopts the aligned respiratory signal to be compared with the gating threshold value, and whether the respiratory state corresponding to the current respiratory signal is matched with the respiratory state corresponding to the reference respiratory signal can be accurately judged.

That is, when the aligned respiratory signal is within the gating threshold corresponding to the reference respiratory signal, it indicates that the current respiratory signal matches the reference respiratory signal (i.e., the real-time relative position of the lesion inside the human body matches the relative position of the lesion displayed in the medical image), and when the aligned respiratory signal is not within the gating threshold corresponding to the reference respiratory signal, the current respiratory signal does not match the reference respiratory signal (i.e., the real-time relative position of the lesion inside the human body does not match the relative position of the lesion displayed in the medical image).

In the embodiment of the application, the influence of the body position change on the matching states of the current respiratory signal and the reference respiratory signal is reduced by aligning the current respiratory signal and the reference respiratory signal based on the first respiratory characteristic point set and the second respiratory characteristic point set, so that the matching states of the respiratory state corresponding to the current respiratory signal and the respiratory state corresponding to the reference respiratory signal are more accurately judged, and a basis is provided for realizing accurate implementation of the respiratory gating technology.

In one embodiment, as shown in connection with fig. 3, after determining that the respiration state detection result of the current respiration signal is the matching step, the respiration signal detection method further includes:

S304: and sending a puncture prompt signal.

Illustratively, the puncture prompt signal is used to indicate that the current respiratory state of the target user is capable of performing the puncture procedure.

In the embodiment of the application, when the respiration state detection result of the current respiration signal is determined to be matched, that is, the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal, a puncture prompt signal is sent, so that a doctor can accurately and timely determine the real-time respiration state of a target user, and the accuracy and timeliness of puncture operation are improved.

In one embodiment, as shown in connection with fig. 3, after the step of determining that the respiration state detection result of the current respiration signal is a mismatch, the respiration signal detection method further includes:

s305: if the deviation value of the aligned breathing signals and the gating threshold is smaller than or equal to the deviation threshold, sending adjustment prompt information, and obtaining updated current breathing signals until the breathing state detection result of the updated current breathing signals is matched.

Specifically, when it is determined that the respiration state detection result of the current respiration signal is not matched, that is, the respiration state corresponding to the current respiration signal is not matched with the respiration state corresponding to the reference respiration signal, and the deviation value of the alignment respiration signal and the gating threshold is smaller than or equal to the deviation threshold, an adjustment prompt message indicating that the target user needs to adjust respiration is sent, after the target user adjusts respiration, an updated current respiration signal is obtained, and the steps are executed on the updated current respiration signal until the respiration state detection result of the updated current respiration signal is matched.

S306: and if the deviation value of the alignment breathing signal and the gating threshold is larger than the deviation threshold, sending warning prompt information.

The alert prompt is used to indicate that the current respiratory state is in an abnormal state.

Specifically, when it is determined that the respiratory state detection result of the current respiratory signal is not matched, that is, the respiratory state corresponding to the current respiratory signal is not matched with the respiratory state corresponding to the reference respiratory signal, and the deviation value of the alignment respiratory signal and the gating threshold is greater than the deviation threshold, warning prompt information is sent to prompt a doctor to check whether a patient is choked or whether a breathing machine is in a fault state, so that the occurrence probability of medical accidents is reduced, and the personal safety of a target user is ensured.

In the embodiment of the application, when the detection result of the respiratory state of the current respiratory signal is not matched, that is, the respiratory state corresponding to the current respiratory signal is not matched with the respiratory state corresponding to the reference respiratory signal, prompt information in different modes is sent according to the deviation degree of the aligned respiratory signal and the gating threshold, so that a doctor can accurately and timely interact with a patient, and the accuracy and the safety of a puncture operation are improved in an auxiliary manner.

How to determine the first set of respiratory feature points corresponding to the reference respiratory signal of the target user is described in detail below in conjunction with fig. 4.

Fig. 4 is a flowchart illustrating a process of determining a first respiration feature point set corresponding to a reference respiration signal of a target user according to an embodiment of the present application. As shown in fig. 4, the step of determining the first respiration feature point set corresponding to the reference respiration signal of the target user includes the following steps.

S401: a reference respiratory signal is determined based on historical spatial position data of the chest and/or abdomen of the target user.

In particular, respiration causes chest and/or abdomen movements, and respiratory signals are obtained by acquiring spatial position data of the chest and/or abdomen of the target user. Since the reference respiratory signal is the reference standard for the subsequent breath, the reference respiratory signal needs to be determined from the historical spatial position data.

In one implementation, historical spatial position data for a preset duration is intercepted from historical spatial position data of the chest and/or abdomen acquired by a target user for the first time and used as a reference respiratory signal.

S402: and obtaining a first respiration characteristic point set based on respiration motion characteristic extraction operation on the reference respiration signal.

Specifically, the purpose of the respiratory motion feature extraction operation based on the reference respiratory signal is to extract features of respiration in different respiratory phases by analyzing parameters such as respiratory cycle, respiratory standard deviation, respiratory amplitude extremum and the like of a respiratory curve, so as to obtain respiratory feature points capable of representing respiratory phase features of the reference respiratory signal.

The respiratory phase refers to a state in which the breath is at any one of the inhalation start point, the inhalation peak value, the exhalation start point, and the exhalation peak value.

How the first set of respiratory feature points is derived based on the respiratory motion feature extraction operation performed on the reference respiratory signal is described in detail below in connection with fig. 5.

Fig. 5 is a schematic flow chart of obtaining a first respiration feature point set based on a respiration motion feature extraction operation performed on a reference respiration signal according to an embodiment of the present application. As shown in fig. 5, the step of obtaining the first respiration feature point set based on the respiration motion feature extraction operation on the reference respiration signal includes the following steps.

S501: and performing dimension reduction operation on the reference respiratory signal to obtain an initial reference respiratory curve.

Specifically, the purpose of the dimension reduction operation is to reduce the four-dimensional reference respiratory signal to a two-dimensional initial reference respiratory curve.

S502: and performing filtering operation on the initial reference breathing curve to obtain the reference breathing curve.

In particular, the purpose of the filtering operation is to remove noise from the initial reference breathing curve, resulting in a reference breathing curve.

S503: and carrying out respiratory motion feature extraction operation on the reference respiratory curve to obtain a first respiratory feature point set.

The first set of breathing characteristic points includes at least one of an inhalation start characteristic point, an inhalation peak characteristic point, an exhalation start characteristic point, and an exhalation peak characteristic point.

In one embodiment, the implementation manner of performing the respiratory motion feature extraction operation on the reference respiratory curve to obtain the first respiratory feature point set may be that performing the respiratory motion velocity solving operation on the reference respiratory curve to obtain the respiratory motion velocity of the reference respiratory curve; the first respiration characteristic point set is obtained by extracting phase characteristics (namely, an inhalation starting point characteristic point, an inhalation peak characteristic point, an exhalation starting point characteristic point and an exhalation peak characteristic point) of all moments of reference respiration in different inhalation starting points, inhalation peak values, exhalation starting points and exhalation peak values based on the respiration motion speed of the reference respiration curve through analyzing parameters such as a respiration period, a respiration standard deviation, a respiration amplitude extremum and the like of the reference respiration curve.

In the embodiment of the application, through the steps, the first respiration characteristic point set corresponding to the reference respiration signal of the target user is obtained, and a basis is provided for realizing the purpose of accurately obtaining the matching state of the current respiration signal and the reference respiration signal by taking the respiration characteristic point capable of representing the respiration phase characteristic of the reference respiration signal as a comparison point.

How to determine the second set of respiratory feature points corresponding to the current respiratory signal of the target user is described in detail below in conjunction with fig. 6.

Fig. 6 is a flowchart illustrating a process of determining a second set of respiratory feature points corresponding to a current respiratory signal of a target user according to an embodiment of the present application. As shown in fig. 6, the step of determining the second respiration feature point set corresponding to the current respiration signal of the target user includes the following steps.

S601: a current respiratory signal is determined based on current spatial position data of the chest and/or abdomen of the target user.

In particular, the current respiratory signal is a real-time respiratory signal that needs to be matched to the reference respiratory signal, i.e. a respiratory signal obtained in real time throughout the puncture procedure, and thus the current respiratory signal needs to be determined from the current spatial position data.

In one implementation, the current spatial position data of the chest and/or abdomen of the target user acquired in real time is taken as the current respiratory signal.

S602: and obtaining a second respiration characteristic point set based on the respiration motion characteristic extraction operation of the current respiration signal.

Fig. 7 is a schematic flow chart of obtaining a second respiration feature point set based on a respiration motion feature extraction operation performed on a current respiration signal according to an embodiment of the present application. As shown in fig. 7, the step of obtaining the second respiration feature point set based on the respiration motion feature extraction operation on the current respiration signal includes the following steps.

S701: and performing dimension reduction operation on the current respiratory signal to obtain an initial current respiratory curve.

S702: and performing filtering operation on the initial current breathing curve to obtain the current breathing curve.

S703: and carrying out respiratory motion feature extraction operation on the current respiratory curve to obtain a second respiratory feature point set.

The second set of breathing characteristic points includes at least one of an inhalation start characteristic point, an inhalation peak characteristic point, an exhalation start characteristic point, and an exhalation peak characteristic point.

In an embodiment, the specific implementation manner of performing the respiratory motion feature extraction operation on the current respiratory curve to obtain the second respiratory feature point set may be that performing the respiratory motion velocity solving operation on the current respiratory curve to obtain the respiratory motion velocity of the current respiratory curve; determining respiratory motion parameters (respiratory cycle, respiratory standard deviation, respiratory amplitude extremum, etc.) of the current respiratory curve based on the respiratory motion speed of the current respiratory curve; if it is determined that the current respiratory curve is in a normal respiratory state based on respiratory motion parameters (that is, the current moment when the user starts breathing, or the breathing machine used by the user is started, but not the user is always in a breath holding or violent rapid cough state, or the breathing machine is in a closed or fault state), carrying out respiratory motion velocity solving operation on the current respiratory curve to obtain the respiratory motion velocity of the current respiratory curve, and extracting phase characteristics (that is, an inhalation starting point characteristic point, an inhalation peak characteristic point, an exhalation starting point characteristic point and an exhalation peak characteristic point) of all moments when the current breath is in different inhalation starting points, inhalation peaks, exhalation starting points and exhalation peaks based on the respiratory motion velocity of the current respiratory curve by analyzing parameters such as the respiratory cycle, the respiratory standard deviation and the respiratory amplitude extremum of the current respiratory curve, so as to obtain a second respiratory characteristic point set.

In the embodiment of the application, through the steps, the second respiration characteristic point set corresponding to the current respiration signal of the target user is obtained, and a basis is provided for realizing the purpose of accurately obtaining the matching state of the current respiration signal and the reference respiration signal by taking the respiration characteristic point capable of representing the respiration phase characteristic of the current respiration signal as a comparison point.

Exemplary surgical navigation methods

Fig. 8 is a flow chart of a surgical navigation method according to an embodiment of the application. As shown in fig. 8, the surgical navigation method includes the following steps.

S801: based on the respiration signal detection method provided by any one of the embodiments, the current respiration signal of the target user is detected, and a respiration state detection result corresponding to the current respiration signal is obtained.

S802: and if the respiratory state detection result of the current respiratory signal is matched, generating operation navigation information based on the current respiratory signal.

Illustratively, the surgical navigational information is used to assist a physician in performing a penetrating procedure on a target user. The implementation mode of the operation navigation information can be operation navigation images.

The specific implementation manner of generating the operation navigation information based on the current respiratory signal is that the current respiratory signal and the CT or MIR image of the target user acquired before operation are combined to generate an operation navigation image for assisting a doctor to perform puncture operation on the target user.

According to the embodiment of the application, when the body position of the target user changes, the matching state of the current respiratory signal and the reference respiratory signal can be accurately obtained, so that a doctor is guided to interact with the target user, the aim of accurately guiding accurate implementation of the puncture operation is fulfilled, and the accuracy of the puncture operation is effectively improved in an auxiliary manner.

Exemplary respiratory Signal detection apparatus

Fig. 9 is a schematic structural diagram of a respiratory signal detection apparatus according to an embodiment of the application. As shown in fig. 9, the respiratory signal detection apparatus 100 includes: a first determination module 101, a second determination module 102, and a respiratory state detection result determination module 103.

The first determining module 101 is configured to determine a first set of respiration feature points corresponding to a reference respiration signal of the target user. The second determining module 102 is configured to determine a second set of respiratory feature points corresponding to a current respiratory signal of the target user. The respiration state detection result determining module 103 is configured to determine a respiration state detection result corresponding to the current respiration signal based on the first respiration feature point set and the second respiration feature point set; the respiration state detection result is used for representing whether the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal or not.

In the embodiment of the application, the respiration state detection result corresponding to the current respiration signal is accurately obtained in real time by using a mode of automatically aligning the current respiration signal and the reference respiration signal based on the second respiration characteristic point set corresponding to the current respiration signal and the first respiration characteristic point set corresponding to the reference respiration signal. Therefore, when the body position of the target user changes, the matching state of the current respiratory signal and the reference respiratory signal can be accurately obtained, a basis is provided for realizing accurate implementation of the respiratory gating technology, and the accuracy of the puncture operation is effectively improved in an auxiliary mode.

Fig. 10 is a schematic structural diagram of a respiratory status detection result determining module according to an embodiment of the present application. As shown in fig. 10, the respiratory state detection result determination module 103 includes: an alignment unit 1031, a first determination unit 1032, and a second determination unit 1033.

The alignment unit 1031 is configured to align the current respiratory signal and the reference respiratory signal based on the first respiratory feature point set and the second respiratory feature point set, and obtain an aligned respiratory signal corresponding to the current respiratory signal. The first determining unit 1032 is configured to determine that the breathing state detection result of the current breathing signal is a match if the aligned breathing signal is located within the gating threshold corresponding to the reference breathing signal. The second determining unit 1033 is configured to determine that the respiration state detection result of the current respiration signal is not matching if the aligned respiration signal is not within the gating threshold corresponding to the reference respiration signal.

In one embodiment, the respiratory status detection result determining module 103 further includes a first sending unit 1034 configured to send a puncture prompting signal after determining that the respiratory status detection result of the current respiratory signal is a match, where the puncture prompting signal is used to indicate that the current respiratory status of the target user is capable of performing the puncture operation.

In one embodiment, the respiratory status detection result determining module 103 further includes a second sending unit 1035 configured to send the adjustment prompt information if the deviation value of the aligned respiratory signal and the gating threshold is less than or equal to the deviation threshold, and obtain the updated current respiratory signal until the respiratory status detection result of the updated current respiratory signal is a match.

In one embodiment, the respiratory state detection result determining module 103 further includes a third sending unit 1036 configured to send an alert prompt message if the deviation value of the aligned respiratory signal from the gating threshold is greater than the deviation threshold, where the alert prompt message is used to indicate that the current respiratory state is in an abnormal state.

Fig. 11 is a schematic structural diagram of a first determining module according to an embodiment of the application. As shown in fig. 11, the first determining module 101 further includes: reference is made to the respiratory signal determination unit 1011 and the first obtaining unit 1012.

The reference respiratory signal determination unit 1011 is configured to determine a reference respiratory signal based on historical spatial position data of the chest and/or abdomen of the target user. The first obtaining unit 1012 is configured to obtain a first set of respiratory feature points based on a respiratory motion feature extraction operation performed on the reference respiratory signal.

Fig. 12 is a schematic structural diagram of a first obtaining unit according to an embodiment of the application. As shown in fig. 12, the first obtaining unit 1012 further includes: the first dimension reduction subunit 10121, the first filtering subunit 10122, and the first feature point obtaining unit 10123.

The first dimension reduction subunit 10121 is configured to perform dimension reduction operation on the reference respiratory signal to obtain an initial reference respiratory curve. The first filtering subunit 10122 is configured to perform a filtering operation on the initial reference breathing curve to obtain a reference breathing curve. The first feature point obtaining subunit 10123 is configured to perform a respiratory motion feature extraction operation on the reference respiratory curve to obtain a first respiratory feature point set.

In one embodiment, the first feature point obtaining subunit 10123 is configured to further perform a respiratory motion velocity solving operation on the reference respiratory curve to obtain a respiratory motion velocity of the reference respiratory curve; based on the respiratory motion speed of the reference respiratory curve, carrying out respiratory motion characteristic analysis operation on the reference respiratory curve to obtain a first respiratory characteristic point set; the first respiration characteristic point set comprises at least one of an inhalation starting point characteristic point, an inhalation peak value characteristic point, an exhalation starting point characteristic point and an exhalation peak value characteristic point.

Fig. 13 is a schematic structural diagram of a second determining module according to an embodiment of the application. As shown in fig. 13, the second determining module 102 further includes: a current respiratory signal determination unit 1021 and a second obtaining unit 1022.

The current respiratory signal determination unit 1021 is configured to determine a current respiratory signal based on current spatial position data of the chest and/or abdomen of the target user. The second obtaining unit 1022 is configured to obtain a second set of respiratory feature points based on performing a respiratory motion feature extraction operation on the current respiratory signal.

Fig. 14 is a schematic structural diagram of a second obtaining unit according to an embodiment of the application. As shown in fig. 14, the second obtaining unit 1022 further includes: a second dimension reduction subunit 10221, a second filtering subunit 10222, and a second feature point obtaining subunit 10223.

The second dimension-reduction subunit 10221 is configured to perform dimension-reduction operation on the current respiratory signal to obtain an initial current respiratory curve. The second filtering subunit 10222 is configured to perform a filtering operation on the initial current breathing curve to obtain a current breathing curve. The second feature point sub-obtaining unit 10223 is configured to perform a respiratory motion feature extraction operation on the current respiratory curve to obtain a second respiratory feature point set.

In one embodiment, the second feature point obtaining unit 10223 is configured to further perform a respiratory motion velocity solving operation on the current respiratory curve to obtain a respiratory motion velocity of the current respiratory curve; determining respiratory motion parameters of the current respiratory curve based on respiratory motion speed of the current respiratory curve; if the current breathing curve is in the normal breathing state based on the breathing motion parameters, carrying out breathing motion characteristic analysis operation on the current breathing curve based on the breathing motion speed of the current breathing curve to obtain a second breathing characteristic point set; the second respiration characteristic point set comprises at least one of an inhalation starting point characteristic point, an inhalation peak value characteristic point, an exhalation starting point characteristic point and an exhalation peak value characteristic point.

The specific functions and operations of the other respective blocks in the above-described image dividing apparatus have been described in detail in the respiratory signal detection method described in fig. 1 to 7, and thus, a repetitive description thereof will be omitted here.

Exemplary surgical navigation apparatus

Fig. 15 is a schematic structural diagram of a surgical navigation device according to an embodiment of the present application. As shown in fig. 15, the surgical navigation device 200 includes a respiratory state detection module 201 and a navigation module 202.

The respiration state detection module 201 is configured to detect a current respiration signal of the target user based on the respiration signal detection method provided in any of the foregoing embodiments, so as to obtain a respiration state detection result corresponding to the current respiration signal. The navigation module 202 is configured to generate surgical navigation information based on the current respiratory signal if the respiratory status detection result of the current respiratory signal is a match, where the surgical navigation information is used to assist a doctor in performing a puncture operation on a target user.

Exemplary electronic device

Fig. 16 is a schematic structural diagram of an electronic device according to an embodiment of the application. As shown in fig. 16, the electronic device 300 includes one or more processors 310 and memory 320.

The processor 310 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

Memory 320 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 310 to implement the respiratory signal detection methods of the various embodiments of the present application described above, or the surgical navigation methods of the various embodiments of the present application, and/or other desired functions.

In one example, the electronic device 300 may further include: input device 330 and output device 340, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

Of course, only some of the components of the electronic device 300 relevant to the present application are shown in fig. 16 for simplicity, components such as buses, input/output interfaces, and the like being omitted. In addition, the electronic device 300 may include any other suitable components depending on the particular application.

Exemplary computer program product and computer readable storage Medium

In addition to the methods and apparatus described above, embodiments of the application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform steps in a respiratory signal detection method provided in accordance with various embodiments of the application described in the section "exemplary respiratory signal detection method" described above in this specification, or to perform steps in a surgical navigation method provided in accordance with various embodiments of the application described in the section "exemplary surgical navigation method" described above in this specification.

The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional step programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, which, when being executed by a processor, cause the processor to perform the steps in the respiratory signal detection method provided according to the embodiments of the present application described in the above-mentioned "exemplary respiratory signal detection method" section of the present specification, or to perform the steps in the surgical navigation method provided according to the embodiments of the present application described in the above-mentioned "exemplary surgical navigation method" section of the present specification.

The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

It should be noted that the above-mentioned embodiments are merely examples of the present application, and it is obvious that the present application is not limited to the above-mentioned embodiments, and many similar variations are possible. All modifications attainable or obvious from the present disclosure set forth herein should be deemed to be within the scope of the present disclosure.

It should be understood that the first, second, etc. qualifiers mentioned in the embodiments of the present application are only used for more clearly describing the technical solutions of the embodiments of the present application, and should not be used to limit the protection scope of the present application.

The foregoing is merely illustrative of the preferred embodiments of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of detecting a respiratory signal, comprising:

determining a first respiration characteristic point set corresponding to a reference respiration signal of a target user;

determining a second respiration characteristic point set corresponding to the current respiration signal of the target user;

determining a respiration state detection result corresponding to the current respiration signal based on the first respiration characteristic point set and the second respiration characteristic point set; the respiration state detection result is used for representing whether the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal or not;

If the respiratory state detection result of the current respiratory signal is not matched, if the deviation value of the aligned respiratory signal and the gating threshold is smaller than or equal to the deviation threshold, sending an adjustment prompt message to acquire an updated current respiratory signal until the respiratory state detection result of the updated current respiratory signal is matched; the alignment respiratory signal is obtained by aligning the current respiratory signal and the reference respiratory signal based on the first respiratory characteristic point set and the second respiratory characteristic point set;

and if the deviation value of the aligned breathing signal and the gating threshold is larger than the deviation threshold, sending warning prompt information, wherein the warning prompt information is used for indicating that the current breathing state is in an abnormal state.

2. The method according to claim 1, wherein the determining a respiration state detection result corresponding to the current respiration signal based on the first respiration feature point set and the second respiration feature point set includes:

aligning the current respiratory signal and the reference respiratory signal based on the first respiratory feature point set and the second respiratory feature point set to obtain an aligned respiratory signal corresponding to the current respiratory signal;

If the aligned respiratory signal is located in the gating threshold corresponding to the reference respiratory signal, determining that the respiratory state detection result of the current respiratory signal is matched;

and if the aligned respiratory signal is not positioned in the gating threshold corresponding to the reference respiratory signal, determining that the respiratory state detection result of the current respiratory signal is not matched.

3. The respiratory signal detection method according to claim 2, further comprising, after the determining that the respiratory state detection result of the current respiratory signal is a match:

and sending a puncture prompt signal, wherein the puncture prompt signal is used for indicating that the current respiratory state of the target user can perform a puncture operation.

4. A method of detecting a respiratory signal according to any one of claims 1 to 3, wherein determining a first set of respiratory feature points corresponding to a reference respiratory signal of a target user comprises:

determining the reference respiratory signal based on historical spatial position data of the chest and/or abdomen of the target user;

and carrying out respiratory motion feature extraction operation on the reference respiratory signal to obtain the first respiratory feature point set.

5. The method according to claim 4, wherein the obtaining the first set of respiratory feature points based on the respiratory motion feature extraction operation performed on the reference respiratory signal includes:

Performing dimension reduction operation on the reference respiratory signal to obtain an initial reference respiratory curve;

performing filtering operation on the initial reference breathing curve to obtain a reference breathing curve;

and carrying out the respiratory motion feature extraction operation on the reference respiratory curve to obtain the first respiratory feature point set.

6. The method according to claim 5, wherein the performing the respiratory motion feature extraction operation on the reference respiratory curve to obtain the first respiratory feature point set includes:

carrying out a respiratory motion speed solving operation on the reference respiratory curve to obtain the respiratory motion speed of the reference respiratory curve;

based on the respiratory motion speed of the reference respiratory curve, carrying out respiratory motion characteristic analysis operation on the reference respiratory curve to obtain the first respiratory characteristic point set;

the first respiration characteristic point set comprises at least one of an inhalation starting point characteristic point, an inhalation peak value characteristic point, an exhalation starting point characteristic point and an exhalation peak value characteristic point.

7. A respiratory signal detection method according to any one of claims 1 to 3, wherein the determining a second set of respiratory feature points corresponding to the current respiratory signal of the target user comprises:

Determining the current respiratory signal based on current spatial position data of the chest and/or abdomen of the target user;

and obtaining the second respiration characteristic point set based on the respiration motion characteristic extraction operation of the current respiration signal.

8. The method for detecting a respiratory signal according to claim 7, wherein the obtaining the second set of respiratory feature points based on the respiratory motion feature extraction operation performed on the current respiratory signal includes:

performing dimension reduction operation on the current respiratory signal to obtain an initial current respiratory curve;

performing filtering operation on the initial current breathing curve to obtain a current breathing curve;

and carrying out the respiratory motion feature extraction operation on the current respiratory curve to obtain the second respiratory feature point set.

9. The method for detecting respiratory signals according to claim 8, wherein said performing said respiratory motion feature extraction operation on said current respiratory curve to obtain said second set of respiratory feature points comprises:

carrying out respiratory motion speed solving operation on the current respiratory curve to obtain the respiratory motion speed of the current respiratory curve;

Determining a respiratory motion parameter of the current respiratory curve based on a respiratory motion speed of the current respiratory curve;

if the current breathing curve is in a normal breathing state based on the breathing motion parameters, carrying out breathing motion characteristic analysis operation on the current breathing curve based on the breathing motion speed of the current breathing curve to obtain the second breathing characteristic point set;

wherein the second set of respiratory feature points includes at least one of an inhalation start feature point, an inhalation peak feature point, an exhalation start feature point, and an exhalation peak feature point.

10. A surgical navigation method, comprising:

detecting a current respiratory signal of a target user based on the respiratory signal detection method according to any one of claims 1 to 9, to obtain a respiratory state detection result corresponding to the current respiratory signal;

and if the respiratory state detection result of the current respiratory signal is matched, generating operation navigation information based on the current respiratory signal, wherein the operation navigation information is used for assisting a doctor in performing puncture operation on the target user.

11. A respiratory signal detection apparatus, comprising:

The first determining module is configured to determine a first respiration characteristic point set corresponding to a reference respiration signal of the target user;

a second determining module configured to determine a second set of respiratory feature points corresponding to a current respiratory signal of the target user;

the respiratory state detection result determining module is configured to determine a respiratory state detection result corresponding to the current respiratory signal based on the first respiratory feature point set and the second respiratory feature point set; the respiration state detection result is used for representing whether the respiration state corresponding to the current respiration signal is matched with the respiration state corresponding to the reference respiration signal or not; if the respiratory state detection result of the current respiratory signal is not matched, if the deviation value of the aligned respiratory signal and the gating threshold is smaller than or equal to the deviation threshold, sending an adjustment prompt message to acquire an updated current respiratory signal until the respiratory state detection result of the updated current respiratory signal is matched; the alignment respiratory signal is obtained by aligning the current respiratory signal and the reference respiratory signal based on the first respiratory characteristic point set and the second respiratory characteristic point set; and if the deviation value of the aligned breathing signal and the gating threshold is larger than the deviation threshold, sending warning prompt information, wherein the warning prompt information is used for indicating that the current breathing state is in an abnormal state.

12. A respiratory gating system, comprising:

a spatial locator configured to acquire spatial position data of the chest and/or abdomen of a target user;

a recorder communicatively coupled to the spatial locator, configured to store the spatial location data;

a controller in communication with the recorder, configured to obtain a respiration state detection result of the current respiration signal based on the respiration signal detection method according to any one of claims 1 to 9;

and the interaction guide is in communication connection with the controller and is configured to display a prompt signal corresponding to the respiration state detection result based on the respiration state detection result so as to assist in guiding the target user to breathe according to a respiration mode matched with the prompt signal.

13. An electronic device, comprising:

a processor; and

a memory in which computer program instructions are stored which, when executed by the processor, cause the processor to perform the method of any one of claims 1 to 10.

14. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 10.