KR20170024196A - Respiratory monitoring system and method thereof - Google Patents

Abstract

The present invention relates to a respiratory monitoring system and a method thereof. According to the present invention, the respiratory monitoring method comprises: a step of receiving an input of sensing information from a sensor unit, detecting a marker which is attached to the body of a subject to be measured, and acquiring the real-time position of the marker; a step of calculating a respiratory motion direction axis by using the real-time position of the marker, projecting the real-time position of the marker on the respiratory motion direction axis, and extracting a plurality of projection points which correspond to the real-time position of the marker; a step of extracting the terminal points on both sides among the plurality of projection points, extracting the middle point of the terminal points on both sides, and calculating the respiratory depth of the subject to be measured by using one or more of the plurality of projection points, the terminal points on both sides, and the middle point; and a step of generating and outputting the respiratory monitoring result of the subject to be measured by using the respiratory depth. According to the present invention, the system of the present invention is able to use a low-cost multi sensor, to incur a low cost, to be non-invasive, and to be highly portable. In addition, the system of the present invention is able to precisely track the respiratory motion by using a marker, which comprises: a passive marker; and a plate with colors, to classify a variety of respiratory motion measuring situations, and to automatically remeasure the respiratory motion even after the patient makes a sudden movement.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a respiration monitoring apparatus,

The present invention relates to a respiration monitoring apparatus and a method thereof, and more particularly, to a respiration monitoring apparatus and method for measuring respiration of a patient using a sensor apparatus and a passive marker.

Most hospitals use body imaging measurement devices such as CT, MRI, and X-Ray to measure the patient's body. The medical information collected through these measuring devices is used as a preliminary data for judging the patient's condition or for the operation.

However, these physical measuring instruments need to adjust the patient's breathing to the situation to obtain accurate physical measurement information, and if the patient's breathing is not properly controlled, obtain incorrect physical measurement information and cause unexpected medical accidents .

However, most hospitals lack the manpower to operate the body measurement equipment, making it difficult to manage patient's breathing continuously. In order to solve these problems, respiratory monitoring systems using pressure sensors and the like have been used. However, even if the monitoring result is outputted inaccurate according to the patient's attitude or the accurate breath monitoring result is outputted, the equipment itself is very expensive, .

The technology of the background of the present invention is disclosed in Korean Patent Laid-Open No. 10-2008-0039919 (published on May.05, 2008).

SUMMARY OF THE INVENTION The present invention provides a respiration monitoring apparatus and method for measuring respiration of a patient using a sensor device and a passive marker.

According to an aspect of the present invention, there is provided a breathing monitoring method using a respiration monitoring apparatus, comprising: sensing information from a sensor device to detect a marker attached to a body of a measurement subject; Obtaining a plurality of projection points corresponding to a real-time position of the marker by projecting a real-time position of the marker on the breathing motion direction axis, calculating a breathing motion direction axis using the real-time position of the marker, Extracting both endpoints from the plurality of projection points, extracting an intermediate point between the two endpoints, and calculating a respiration depth of the measurement target person using at least one of the plurality of projection points, the two endpoints, , And calculating the breathing depth And generating and outputting a respiration monitoring result of the measurement subject.

The marker may include a passive marker and a plate.

The step of collecting the real-time position of the marker includes the steps of: detecting the candidate region of the passive marker and the candidate region of the plate using the sensing information and the shape information of the previously stored marker; And detecting the marker by matching a candidate region of the plate.

The sensing information may include at least one of color image information, infrared (IR) image information, distance information, and depth information.

The step of calculating the breathing depth of the measurement subject may calculate the breathing depth by determining the distance from the intermediate point to the projection point as the breathing depth.

Determining a respiration monitoring status of the measurement subject using at least one of the detection of the marker, the breath depth, the real-time position of the marker, and the respiration motion direction axis.

Wherein the step of determining the respiration monitoring status comprises: measuring a distance between the breathing motion direction axis and a real-time position of the marker; generating a unit vector that is perpendicular to the plate and passes through the center of the marker, And at least one of the distance between the respiratory motion direction axis and the positions of the marker or the angle is greater than a predetermined threshold value, respiration monitoring is performed Stopping or recalculating the breathing motion directional axis.

A breathing monitoring apparatus according to another embodiment of the present invention includes an input unit for inputting sensing information from a sensor device, a tracking unit for detecting a marker attached to the body of the measurement subject and obtaining a real time position of the marker, Extracting a plurality of projection points corresponding to a real-time position of the marker by projecting a real-time position of the marker on the breathing motion direction axis using the breathing motion direction axis, extracting both end points from the plurality of projection points, A calculation unit for extracting a midpoint between the two endpoints and calculating a respiration depth of the measurement target person using at least one of the projection point, the two endpoints and the intermediate point, The respiration monitoring result of the subject is generated and output And an output unit.

As described above, according to the present invention, a low-cost multi-sensor can be used, which is inexpensive, non-invasive and highly portable. In addition, the tracking of respiratory motion is accurately performed by using a marker including a passive marker and a plate with a color, and it is possible to classify various breathing motion measurement situations, and even if the patient suddenly moves, the breathing motion is automatically remeasured .

1 illustrates a system using a respiration monitoring apparatus according to an embodiment of the present invention.
2 is a view for explaining a marker according to an embodiment of the present invention.
3 is a configuration diagram of a respiration monitoring apparatus according to an embodiment of the present invention.
4 is a flowchart of a respiration monitoring method according to an embodiment of the present invention.
FIG. 5 is a flow chart of step S410 according to an embodiment of the present invention.
6 is a diagram for explaining a passive marker candidate region detecting process according to an embodiment of the present invention.
7 is a view for explaining a plate candidate region and a marker detection process according to an embodiment of the present invention.
8 is a view for explaining a breathing motion direction axis calculation process according to an embodiment of the present invention.
9 is a diagram for explaining a projection point calculation process according to an embodiment of the present invention.
FIG. 10 is a flowchart of a monitoring situation determination process according to an embodiment of the present invention.
11 is a view showing an output of respiration monitoring result according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

First, a respiration monitoring system according to an embodiment of the present invention will be described with reference to FIG. 1 illustrates a system using a respiration monitoring apparatus according to an embodiment of the present invention.

1, the respiratory monitoring system using the respiration monitoring apparatus 100 may be configured such that when the sensor device 200 measures the measurement subject to which the marker 50 is attached and generates sensing information, The sensing information is input to generate a respiration monitoring result.

2, the marker 50 includes a plate 52 and a passive marker 51, as shown in FIG. 2. The marker 52 has a shape corresponding to that of the marker 52, ).

The reason that the marker 50 includes the plate 52 at this time is to increase the accuracy of the detection of the marker 50. The shape of the plate 52 includes a circular shape, a square shape, a triangle shape, Includes yellow, blue, green, and the like.

The shape of the passive marker 51 includes a sphere or the like. Here, the passive marker 51 means a passive marker that absorbs light from the outside and emits light, and the light includes infrared rays and the like.

Next, the respiration monitoring apparatus 100 receives sensing information from the sensor apparatus 200. FIG. Then, the breathing depth is calculated using the sensing information input, and the respiration monitoring result is generated and output. The respiration monitoring apparatus 100 will be described in detail below with reference to the block diagram.

Next, the sensor device 200 measures a person to be measured, and transmits sensed information, which is obtained by measuring the person to be measured, to the respiration monitoring device 100 through wired / wireless communication. Here, the sensor device 200 includes an IR sensor, a camera, a depth sensor, an ultrasonic sensor, a pressure sensor, a gyro sensor, and the like.

The respiration monitoring apparatus 100 according to an embodiment of the present invention will now be described with reference to FIG. 3 is a configuration diagram of a respiration monitoring apparatus according to an embodiment of the present invention.

First, the respiration monitoring apparatus 100 includes an input unit 110, a tracking unit 120, an operation unit 130, and an output unit 140, and may further include a determination unit 150.

Specifically, the input unit 110 receives sensing information from the sensor device 200. Here, the input unit 110 is connected to the sensor device 200 via wired / wireless communication to receive sensing information. The sensing information is data measured using the sensor device 200, and the sensing information includes at least one of color image information, infrared image information, distance information, and depth information.

Next, the tracking unit 120 detects the marker 50 attached to the body of the measurement subject using the sensing information. At this time, the marker 50 includes a passive marker 51 and a plate 52.

Specifically, the tracking unit 120 detects the candidate region of the passive marker 51 and the candidate region of the plate 52 using the sensing information and the shape information of the previously stored marker 50, respectively. The tracking unit 120 detects the marker by matching the candidate region of the detected passive marker 51 and the candidate region of the plate 52 with each other. The shape information of the marker 50 includes information on the shape and size of the passive marker 51 and information on the shape, size, and color of the plate 52.

In addition, the tracking unit 120 collects the real-time position of the marker 50. The tracking unit 120 may collect the position of the marker 50 by tracking the real time movement of the marker 50 and determining the center point of the marker 50 as the position of the marker 50 .

The tracking unit 120 may remove noise due to the breathing motion of the measurement subject included in the sensing information using the Kalman filter. Specifically, the tracking unit 120 applies a Kalman filter to the real-time position of the marker 50 to remove noise. In addition, the tracking unit 120 may select a parameter of the Kalman filter from a previously stored parameter by selecting a parameter corresponding to the average of the degree of noise or the breathing depth.

Next, the operation unit 130 calculates the breathing motion direction axis of the measurement subject using the real-time position of the marker 50. [ For example, the operation unit 130 may calculate the respiratory motion direction axis of the measurement subject from the real-time positions of the marker 50 using Principal Component Analysis (PCA). Here, the breathing motion direction axis means a direction axis in which the marker 50 moves when the measurement subject breathes.

The arithmetic unit 130 calculates a plurality of projection points corresponding to the real-time position of the marker by projecting the real-time position of the marker 50 on the respiratory motion direction axis, and calculates projection points corresponding to both end points of the plurality of projection points And an intermediate point between both end points is extracted.

Then, the calculation unit 130 calculates the respiration depth of the measurement target person using at least one of the plurality of projection points, both endpoints and the intermediate point. In this case, the breathing depth means a distance between the projection point and the intermediate point, and since there are a plurality of projection points, a plurality of breathing depths are calculated corresponding to the respective projection points.

In addition, the both endpoints include a minimum point located the shortest distance from the ground and a maximum point located the farthest from the ground, and the calculation unit 130 calculates the distance between the minimum point and the midpoint, If they are located between points, you can calculate respiration depths with different signs.

Next, the output unit 140 generates and outputs a respiration monitoring result of the measurement subject using the respiration depth. Specifically, the output unit 140 can generate and output a breathing motion graph on a two-dimensional coordinate having the X axis as a time axis and the Y axis as a breathing depth. Also, the output unit 140 may generate and output a respiration measurement status graph corresponding to the respiration monitoring status determination result of the determination unit 150.

Next, the determination unit 150 determines the respiration monitoring status of the measurement subject. Specifically, the determination unit 150 determines the respiratory monitoring status of the measurement subject using at least one of the detection of the marker 50, the breath depth, the real-time position of the marker 50, and the respiration motion direction axis. At this time, the respiration monitoring situation may include preparatory stage, normal motion, respiratory arrest, temporary occlusion, unmeasurable and sudden movement.

The determination unit 150 measures the distance between the breathing motion direction axis and the real time position of the marker 50 and generates a unit vector that is perpendicular to the plate 52 and passes through the center of the marker 50, And the breathing motion direction axis. Also, if the measured distance and angle are greater than respective threshold values, it can be judged to stop respiratory monitoring or recompute the breathing motion direction axis.

Hereinafter, a respiration monitoring method using a respiration monitoring apparatus according to an embodiment of the present invention will be described with reference to FIG. 4 through FIG. 4 is a flowchart of a respiration monitoring method according to an embodiment of the present invention.

First, the respiration monitoring apparatus 100 receives the sensing information from the sensor device 200, detects the marker 50, and acquires the real-time position of the marker 50 (S410). At this time, the sensing information includes at least one of color image information, infrared image information, distance information, and depth information as the information on the measurement object of the sensor device 200.

The respiration monitoring apparatus 100 can remove noise due to the breathing motion of the measurement subject included in the sensing information by using the Kalman filter. Specifically, the breath monitoring apparatus 100 applies a Kalman filter to the real-time position of the marker 50 to remove noise. In addition, the respiration monitoring apparatus 100 can select a parameter of the Kalman filter from a previously stored parameter by selecting a parameter corresponding to the average of the degree of noise or the breathing depth.

The steps S410 through S57 will be described in detail. 6 is a view for explaining a process of detecting a passive marker candidate region according to an embodiment of the present invention, and FIG. 7 is a view for explaining a passive marker candidate region detecting process according to an embodiment of the present invention. Candidate regions and marker detection processes.

The respiratory monitoring apparatus 100 detects candidate regions of the passive marker 51 and the candidate regions of the plate 52 using the sensing information and the shape information of the stored marker 50 in operation S412. At this time, the shape information of the marker 50 includes at least one of the shape, size, and color information of the passive marker 51 and the plate 52.

First, the respiration monitoring apparatus 100 detects a candidate region of the passive marker 51 using infrared image information among the sensing information received from the sensor apparatus 200. Specifically, the respiration monitoring apparatus 100 filters the infrared image using a threshold value as shown in FIG. 6 (A). That is, a portion of the infrared image that is measured brighter than the threshold value is filtered and displayed.

Then, the respiration monitoring apparatus 100 detects a candidate region of the passive marker 51 by selecting an area corresponding to the shape information of the previously stored passive marker 51 from the filtered region as shown in FIG. 6B. At this time, the passive marker 51 may have a plurality of candidate regions.

Then, the respiration monitoring apparatus 100 detects the candidate region of the plate 52 using the color image information among the sensing information received from the sensor device. Specifically, the breath monitoring apparatus 100 can detect an area corresponding to color information of the previously stored plate 52 from the color image as shown in FIG. 7 (A). In addition, it is possible to acquire the size and shape of the object shown in the image using the depth information, and then to detect the area corresponding to the size and shape information of the previously stored plate 52. The respiration monitoring apparatus 100 detects a candidate region of the plate 52 by matching an area corresponding to the color information of the detected plate 52 and an area corresponding to the size and shape information of the detected plate 52 . At this time, the candidate region of the plate 52 may be plural.

Then, the respiration monitoring apparatus 100 detects the marker 50 by matching the candidate region of the passive marker 51 with the candidate region of the plate 52 (S414).

Specifically, the respiration monitoring apparatus 100 matches the candidate region of the passive marker 51 with the candidate region of the plate 52 to determine whether the candidate region of the passive marker 52 and the candidate region of the plate 52 The overlapping area is detected by the marker 50.

After detecting the marker, the respiratory monitoring device 100 acquires the position of the marker 50 in real time. At this time, the respiration monitoring apparatus 100 can obtain the real-time position of the marker 50 by determining the center point of the detected marker 50 as the position of the marker 50.

After acquiring the real-time position of the marker 50 in step S410, the breathing monitoring apparatus 100 calculates the breathing motion direction axis using the real-time position of the marker 50 (S420). FIG. 8 is a view for explaining a breathing motion direction axis calculation process according to an embodiment of the present invention. Hereinafter, a breathing motion direction axis calculation process will be described with reference to FIG.

First, the respiration monitoring apparatus 100 analyzes the real-time position of the obtained marker 50 as shown in FIG. 8A, and calculates the breathing motion direction axis of the measurement subject as shown in FIG. 8B.

At this time, in order to calculate the respiration motion direction axis of the measurement subject, the respiration monitoring apparatus 100 calculates the respiratory motion direction axis from the real time position of the marker 50 using Principal Component Analysis (PCA). In addition, the breathing monitoring apparatus 100 can calculate the respiratory motion direction axis using the real-time position of the marker 50 acquired for a predetermined time. At this time, the breathing motion direction axis and the marker 50 , The real-time position of the marker 50 may be recollected and the breathing motion direction axis may be recalculated for a predetermined period of time if the average of the distances of the real-time positions of the marker 50 is greater than or equal to the predetermined threshold.

Then, the respiration monitoring apparatus 100 projects a real-time position of the marker 50 on the breathing motion direction axis to extract a plurality of projection points corresponding to the real-time position of the marker (S430). FIG. 9 is a view for explaining a projection point calculation process according to an embodiment of the present invention. Hereinafter, a projection point calculation process will be described with reference to FIG. In FIG. 9, it is assumed that five projection points are extracted using the positions of five real-time markers 50 for convenience of explanation.

9, the middle vertical line represents the respiratory motion direction axis, the point outside the breathing motion direction axis represents the real time position of the marker 50, and the point on the axis represents the real time 3 Means a projection point on which a dimension position is projected. That is, the respiration monitoring apparatus 100 extracts a plurality of projection points by vertically projecting the position of the real-time marker 50 on the breathing motion direction axis as shown in FIG.

Then, the respiratory monitoring apparatus 100 extracts the midpoints of both endpoints and both endpoints from among the plurality of projection points (S440). As shown in Fig. 8, both end points MAX and MIN include a minimum point MIN located closest to the ground and a maximum point MAX located the greatest distance from the ground. That is, the respiration monitoring apparatus 100 extracts projection points (MAX, MIN) corresponding to both endpoints from the plurality of projection points and an intermediate point (MID) which is the middle point of both endpoints.

According to the embodiment of the present invention, the respiration monitoring apparatus 100 can extract the midpoints (MIDs) of both endpoints MAX and MIN and both endpoints using the real-time position of the marker 50 acquired during a predetermined time Where the real-time position of the marker used to calculate the breathing motion directional axis can be used.

Next, the respiration monitoring apparatus 100 calculates the respiration depth of the measurement subject using the projection point, both endpoints and the intermediate point (S450).

Specifically, the breathing monitoring apparatus 100 can calculate the distance from the midpoint (MID) to the projection point at the current point as a breathing depth, and calculate the distance between the projection point and the midpoint MID) and the maximum point (MAX), and when the projection point is between the midpoint (MID) and the minimum point (MIN).

For example, if the projection point is between the midpoint (MID) and the maximum point (MAX), if the distance between the projection point and the midpoint (MID) is 4, then the breath depth is 4. However, if the projection point is between the midpoint (MID) and the minimum point (MIN), if the distance between the projection point and the midpoint (MID) is 3, the breathing depth is -3.

Then, the respiration monitoring apparatus 100 can determine the respiration monitoring status of the measurement subject (S460). Specifically, the respiration monitoring device can determine the respiration monitoring status using at least one of the detection of the marker 50, the depth of breath, the real-time position of the marker 50, and the direction of the respiration motion direction.

According to one embodiment of the present invention, the respiration monitoring situation may include an initialization, a normal motion, a breathing-hold, a temporary hiding, an undetected and a sudden movement, . ≪ / RTI >

In detail, the preparation step is a step in which the respiration monitoring apparatus 100 performs steps S410 to S440, and the respiration monitoring apparatus 100 is performing steps S410 to S440 If it is judged, the respiration monitoring situation can be judged as the preparation stage.

Next, the normal motion is a case in which the respiration monitoring result of the measurement subject is outputted by progressing the marker detection, tracking and breath depth calculation of the measurement subject, and for example, when the respiration monitoring apparatus 100 detects the marker 50 And if the difference between the maximum respiration depth and the minimum respiration depth is higher than a preset value, then the respiration monitoring result can be determined as normal motion if the respiration depth is calculated and the respiration monitoring result is outputted.

The respiratory arrest is a case where the subject stops breathing. For example, when the respiration depth of the respiration depth of one cycle is smaller than the predetermined value, the difference between the maximum respiration depth and the minimum respiration depth In the same case, the respiration monitoring device may determine that the respiration monitoring situation is stopped.

Next, the temporal occlusion is a case where a third object is temporarily present between the measurement subject and the measurement device. If the third object is detected through the sensing information in a situation where the marker 50 is not detected, 100) can determine that the respiration monitoring situation is temporarily blocked.

If the marker 50 is not detected and the third object is not sensed through the sensing information without the marker 50 being detected, the respiration monitoring apparatus 100 can not detect the marker 50 The respiration monitoring situation can be judged to be unmeasurable.

Next, the sudden movement means a case where the patient with the marker 50 is suddenly moved, and the distance between the breathing motion direction axis and the real time position of the marker 50 and between the unit vector of the marker and the breathing motion direction axis And the angles are greater than predetermined threshold values, the respiration monitoring apparatus 100 may determine the breath monitoring state as a sudden movement.

FIG. 10 is a flow chart of a monitoring situation determination process according to an embodiment of the present invention. Hereinafter, a process of determining a breathing monitoring situation as a sudden motion will be described in detail with reference to FIG.

First, the respiration monitoring apparatus 100 measures the distance between the breathing motion direction axis and the real-time position of the marker 50 (S462). Here, the distance between the breathing motion direction axis and the real time position of the marker 50 becomes the length of the waterline from the real time position of the marker 50 toward the breathing motion direction axis.

The respiration monitoring apparatus 100 then generates a unit vector that is perpendicular to the plate 52 of the marker 50 and passes through the center of the marker 50 and measures the angle between the unit vector and the breathing motion direction axis (S464).

Then, the respiration monitoring apparatus 100 compares the measured distance in step S462 and the measured angle in step S464 with the respective thresholds to determine the respiratory monitoring status (step S466). Specifically, when at least one of the distance measured in S462 and the angle measured in S464 is greater than the respective threshold, the breath monitoring apparatus 100 judges the breath monitoring state as a sudden movement. And the respiration monitoring device 100 stops breath monitoring or allows the respiratory motion direction axis to recompute. That is, the respiration monitoring apparatus 100 performs the respiration monitoring again from step S420.

Next, the respiration monitoring apparatus 100 generates and outputs a respiration monitoring result of the measurement subject using the breath depth (S470). Here, the respiration monitoring result includes a breathing motion graph in which the X-axis is the time axis and the Y-axis is the breathing depth, and may include a result of the breathing monitoring situation judgment.

11 is a view showing an output of respiration monitoring result according to an embodiment of the present invention. As shown in FIGS. 11 (A) and 11 (B), the window may include three windows. Window (1) outputs a photographed image using sensing information. Window ), The respiration motion direction axis and the unit vector, (3) window is the output of the respiration monitoring result, (3) the upper part of the window is the breathing motion graph, and the lower part is the respiration monitoring situation judgment result it means.

11 (A), left, middle, and right represent respiration stop, normal motion, breathing motion graph of the preparation stage, and respiration monitoring situation determination results, respectively.

11 (B), the left, middle, and right sides show temporal occlusion, normal motion, respiratory motion graph of the preparation stage, and respiration monitoring situation determination results, respectively.

According to the embodiment of the present invention, a low-cost multi-sensor can be used, which is inexpensive, non-invasive and highly portable. In addition, the tracking of respiratory motion is accurately performed by using a marker including a passive marker and a plate with a color, and it is possible to classify various breathing motion measurement situations, and even if the patient suddenly moves, the breathing motion is automatically remeasured .

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

50: marker 51: passive marker
52: Plate 100: Breath monitoring device
110: input unit 120: tracking unit
130: Operation unit 140:
150: determination unit 200: sensor device

Claims (14)

A respiration monitoring method using a respiration monitoring device,
Receiving sensing information from the sensor device, detecting a marker attached to the body of the measurement subject, and obtaining a real-time position of the marker,
Extracting a plurality of projection points corresponding to a real-time position of the marker by projecting a real-time position of the marker on the breathing motion direction axis by calculating a respiration motion direction axis using the real-time position of the marker,
Extracting both endpoints from the plurality of projection points, extracting an intermediate point between the two endpoints, calculating a respiration depth of the measurement subject using at least one of the plurality of projection points, the two endpoints, and the intermediate point And
And generating and outputting a respiration monitoring result of the measurement subject using the respiration depth. The method according to claim 1,
The marker
A respiration monitoring method comprising a passive marker and a plate. 3. The method of claim 2,
The step of collecting the real-
Detecting the candidate region of the passive marker and the candidate region of the plate using the sensing information and the shape information of the previously stored marker;
And detecting the marker by matching a candidate region of the passive marker with a candidate region of the plate. The method according to claim 1,
The sensing information,
Color image information, infrared (IR) image information, distance information, and depth information. The method according to claim 1,
The step of calculating the respiration depth of the measurement subject includes:
And a distance from the intermediate point to the plurality of projection points is determined as a breathing depth. 3. The method of claim 2,
Further comprising the step of determining a respiration monitoring status of the measurement subject using at least one of whether or not the marker is detected, the respiration depth, the real-time position of the marker, and the respiration motion direction axis. The method according to claim 6,
Wherein the step of determining the respiration monitoring status comprises:
Measuring a distance between the breathing motion directional axis and a real-time position of the marker,
Generating a unit vector perpendicular to the plate and passing through the center of the marker and measuring an angle between the unit vector and the breathing motion direction axis,
Determining if the distance between the respiratory motion direction axis and the position of the marker or at least one of the angles is greater than a predetermined threshold value to stop respiratory monitoring or recompute the respiratory motion directional axis A respiration monitoring method. An input unit for receiving sensing information from the sensor device,
A tracking unit for detecting a marker attached to the body of the measurement subject and obtaining a real time position of the marker,
A plurality of projection points corresponding to a real-time position of the marker are extracted by projecting a real-time position of the marker on the respiratory motion direction axis by calculating a breathing motion direction axis using the real-time position of the marker, An operation unit for extracting both endpoints from the two endpoints, extracting an intermediate point between the two endpoints, and calculating a respiration depth of the measurement subject using at least one of the projection point, the endpoints at both ends, and the intermediate point, and
And an output unit for generating and outputting a respiration monitoring result of the measurement subject using the respiration depth. 9. The method of claim 8,
The marker
A respiratory monitoring device comprising a passive marker and a plate. 10. The method of claim 9,
The tracking unit includes:
Detecting a candidate region of the passive marker and a candidate region of the plate using the sensing information and the shape information of the previously stored marker and detecting the marker by matching the candidate region of the passive marker with the candidate region of the plate Breathing monitoring device. 9. The method of claim 8,
The sensing information,
Color image information, infrared (IR) image information, distance information, and depth information. 9. The method of claim 8,
The operation unit,
And a distance from the intermediate point to the plurality of projection points is determined as a breathing depth. 10. The method of claim 9,
Further comprising a determination unit for determining a breathing monitoring state of the measurement subject using at least one of whether the marker is detected, the breathing depth, the real-time position of the marker, and the breathing motion direction axis. 14. The method of claim 13,
Wherein,
Measuring a distance between the breathing motion direction axis and a real-time position of the marker, generating a unit vector perpendicular to the plate and passing through the center of the marker, and measuring an angle between the unit vector and the breathing motion direction axis And a respiratory motion direction axis and / or respiratory motion direction axis, and wherein, when at least one of the distance between the respiration motion direction axis and the position of the marker or the angle is greater than a predetermined threshold value, Monitoring device.

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