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Bronchoscope robot and guiding method and system thereof

A bronchoscope and guidance system technology, applied in the field of medical devices, can solve problems such as difficulty, blocking the closure of the glottis, serious complications, etc., and achieve the effect of avoiding the wrong way

Active Publication Date: 2022-01-07
THE FIRST AFFILIATED HOSPITAL OF CHONGQING MEDICAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003]The purpose of the present invention is to provide a bronchoscope robot guidance method and system, to at least solve the problem of existing bronchoscope entering the trachea and bronchi through the glottis for inspection and treatment. Obstructing the closure of the glottis and obstructing the airway in the middle will cause severe discomfort, aggravate dyspnea, and may cause serious complications. The technical problem of not being able to enter the peripheral small airway for observation

Method used

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  • Bronchoscope robot and guiding method and system thereof
  • Bronchoscope robot and guiding method and system thereof

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Embodiment 1

[0040] Please refer to figure 1 , an embodiment of the present invention provides a bronchoscopic robot guidance method, comprising the following steps:

[0041] S1. According to the medical image data extraction of the patient's trachea, bronchi and lungs, the three-dimensional map data and lesion location data of the trachea and bronchi are obtained;

[0042] S2. According to the entry point and lesion position of the three-dimensional map data, create a travel route of the bronchoscopic robot;

[0043] S3. The bronchoscopic robot is driven by the magnetic field generator to advance to the lesion position according to the traveling route;

[0044] S41. Acquire an image of the advancing direction of the bronchoscope robot, and judge whether the image is an obstacle. If the image is an obstacle, the magnetic field generator drives the bronchoscope robot to go around the obstacle.

[0045] An embodiment of the present invention provides a method for guiding a bronchoscopic ro...

Embodiment 2

[0055] An embodiment of the present invention provides a bronchoscope robot, where the bronchoscope robot is guided by the bronchoscope robot guiding method.

[0056] As a specific implementation, the bronchoscopic robot is provided with a camera, and at least one of a biopsy forceps, a puncture needle and a suction pipeline.

[0057] Among them, the camera is used to cooperate with automatic exposure control to provide clear and bright clinical images with a large field of view, the biopsy forceps are used to take pathological specimens, and the puncture needle is used to sample the tissue in the trachea.

[0058] The specific implementation process of the second embodiment has been described in detail in the first embodiment, so it will not be repeated here.

Embodiment 3

[0060] Please refer to Figure 4 , an embodiment of the present invention provides a bronchoscopic robotic guidance system, comprising:

[0061] The data extraction module is used to extract the three-dimensional map data and lesion location data of the trachea and bronchi according to the medical image data of the patient's trachea and lungs;

[0062] A route creation module, configured to create a route for the bronchoscopic robot according to the entry point and lesion position of the three-dimensional map data;

[0063] The computer module is used to control the magnetic field generator to drive the bronchoscope robot to advance to the lesion position according to the traveling route;

[0064] The image acquisition module is used to acquire the image of the advancing direction of the bronchoscope robot;

[0065] The computer module is also used to judge whether the image is an obstacle, and if the image is an obstacle, the magnetic field generator drives the bronchoscopi...

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Abstract

The invention discloses a bronchoscope robot guiding method and system. The method comprises the steps: S1, carrying out extraction of the three-dimensional map data and lesion position data of a tracheal bronchus according to the medical image data of the tracheal bronchus and the lungs of a patient; S2, according to an entrance point and a lesion position of the three-dimensional map data, creating an advancing route of a bronchoscope robot; S3, driving the bronchoscope robot to advance to the lesion position according to the advancing route by a magnetic field generator; and S41, acquiring an image in the advancing direction of the bronchoscope robot, judging whether the image is an obstacle or not, and if the image is the obstacle, driving the bronchoscope robot to bypass the obstacle to advance by the magnetic field generator. According to the technical scheme, the bronchoscope robot is configured to be in a capsule shape, enters from the nasal cavity or the oral cavity and is driven by the in-vitro magnetic field generator, glottis closing cannot be blocked, and the airway cannot be blocked.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a bronchoscopic robot guiding method and system. Background technique [0002] After the existing bronchoscope is connected to the host system, it enters the trachea and bronchi through the glottis for examination and treatment. During the operation, the closure of the glottis and the obstructed airway are obvious, which will cause severe discomfort, aggravate dyspnea, and may cause serious complications. Peripheral small airways were observed. Contents of the invention [0003] The purpose of the present invention is to provide a bronchoscopic robot guidance method and system to at least solve the problem that the existing bronchoscope enters the tracheobronchus through the glottis for examination and treatment, and the closure of the glottis and the obvious obstruction of the airway during the operation will cause severe discomfort. Insufficiency, aggravation of dysp...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B34/20
CPCA61B34/30A61B34/20A61B2034/301A61B2034/2065
Inventor 郭述良李一诗白阳江瑾玥杨明金
Owner THE FIRST AFFILIATED HOSPITAL OF CHONGQING MEDICAL UNIVERSITY
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