CN117982189A - Hemostatic method and device - Google Patents
Hemostatic method and device Download PDFInfo
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- CN117982189A CN117982189A CN202410148245.2A CN202410148245A CN117982189A CN 117982189 A CN117982189 A CN 117982189A CN 202410148245 A CN202410148245 A CN 202410148245A CN 117982189 A CN117982189 A CN 117982189A
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- 230000002439 hemostatic effect Effects 0.000 title claims abstract description 114
- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000000740 bleeding effect Effects 0.000 claims abstract description 124
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 238000001727 in vivo Methods 0.000 claims abstract description 23
- 206010053649 Vascular rupture Diseases 0.000 claims abstract description 15
- 230000023597 hemostasis Effects 0.000 claims abstract description 7
- 208000032843 Hemorrhage Diseases 0.000 claims description 154
- 230000015654 memory Effects 0.000 claims description 35
- 210000004204 blood vessel Anatomy 0.000 claims description 18
- 238000011065 in-situ storage Methods 0.000 claims description 17
- 238000013486 operation strategy Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 6
- 208000034158 bleeding Diseases 0.000 description 94
- 238000010586 diagram Methods 0.000 description 10
- 230000001360 synchronised effect Effects 0.000 description 9
- 206010052428 Wound Diseases 0.000 description 8
- 208000027418 Wounds and injury Diseases 0.000 description 8
- 230000002792 vascular Effects 0.000 description 6
- 239000008280 blood Substances 0.000 description 5
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
- A61B17/12099—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder
- A61B17/12109—Occluding by internal devices, e.g. balloons or releasable wires characterised by the location of the occluder in a blood vessel
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/02042—Determining blood loss or bleeding, e.g. during a surgical procedure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B2017/12004—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for haemostasis, for prevention of bleeding
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
- A61B2017/1205—Introduction devices
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- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
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- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Reproductive Health (AREA)
- Vascular Medicine (AREA)
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Abstract
The application discloses a hemostasis method, which comprises the following steps: acquiring internal bleeding information of a target object, wherein the internal bleeding information at least comprises internal bleeding point position information and internal bleeding amount information; outputting a surgical advice instruction based on the in-vivo bleeding information and the historical vascular rupture data; and controlling a target hemostatic instrument to enter the internal bleeding position of the target object according to a target motion path based on a target surgical strategy corresponding to the surgical advice instruction, and performing hemostatic operation on the internal bleeding position. Meanwhile, the application also discloses electronic equipment.
Description
Technical Field
The application relates to the medical field, in particular to a hemostasis method and equipment.
Background
Fatal hemorrhage is one of the most serious complications caused by wounds, and is a main factor that can lead to death after wounds, accounting for 40% of wound-related deaths. For severe hemorrhage caused by wound, the conventional treatment means at present are surgical operation, drug treatment and artificial vascular intervention, wherein the surgical operation has large wound and a plurality of complications; the medicine has slow effect and poor effect; the artificial blood vessel intervention has higher technical requirements for doctors, and the operation has uncontrollable factors under the emergency treatment scene of massive hemorrhage. Therefore, how to improve the success rate of the operation and the hemostatic efficiency and solve the problem of difficult treatment of traumatic massive hemorrhage (such as visceral fracture hemorrhage, incompressible hemorrhage of large blood vessels and the like) is a problem which needs to be solved at present.
Disclosure of Invention
Accordingly, embodiments of the present application provide a hemostasis method and apparatus for solving at least the above-mentioned problems.
In order to achieve the above purpose, the technical scheme of the application is realized as follows:
According to an aspect of the present application, there is provided a method of haemostasis, the method comprising:
acquiring internal bleeding information of a target object, wherein the internal bleeding information at least comprises internal bleeding point position information and internal bleeding amount information;
outputting a surgical advice instruction based on the in-vivo bleeding information and the historical vascular rupture data;
and controlling a target hemostatic instrument to enter the internal bleeding position of the target object according to a target motion path based on a target surgical strategy corresponding to the surgical advice instruction, and performing hemostatic operation on the internal bleeding position.
In the above-mentioned scheme, the controlling the target hemostatic instrument to enter the internal bleeding position of the target object according to the target motion path based on the surgical strategy corresponding to the surgical advice instruction includes:
Controlling the target hemostatic instrument to move in the blood vessel of the target object according to a target movement path based on a surgical strategy corresponding to the surgical advice instruction;
acquiring first resistance information of the target hemostatic instrument when the target hemostatic instrument moves inside the blood vessel;
Adjusting motion information of the current target hemostatic instrument based on the first resistance information;
and determining that the target hemostatic instrument moves to the internal bleeding position of the target object based on the movement information, and performing hemostatic operation on the internal bleeding position.
In the above aspect, the adjusting the motion information of the current target hemostatic instrument based on the first resistance information includes:
correcting the first resistance information to obtain second resistance information;
And adjusting the motion information of the current target hemostatic instrument based on the second resistance information.
In the above-mentioned scheme, the obtaining the internal hemorrhage information of the target object includes:
Acquiring first intra-body hemorrhage information of the target object in a first mode, wherein the first intra-body hemorrhage information at least comprises a target hemorrhage area of the target object;
And identifying the target bleeding area to obtain second internal bleeding information of the target object, wherein the second internal bleeding information at least comprises bleeding point position information and bleeding amount information of the target bleeding area.
In the above-mentioned aspect, before the target surgical strategy corresponding to the surgical advice instruction is used to control the target hemostatic instrument to enter the internal bleeding position of the target object according to the target movement path, the method further includes one of the following steps:
determining a first surgical strategy carried in the surgical advice instruction as a target surgical strategy;
or acquiring current vital sign information of the target object, determining a second surgical strategy based on the vital sign information and the first surgical strategy carried in the surgical advice instruction, and determining the second surgical strategy as a target surgical strategy.
In the above-mentioned solution, before the controlling the target hemostatic instrument to enter the internal bleeding position of the target object according to the target motion path based on the target surgical strategy corresponding to the surgical advice instruction, the method further includes:
Acquiring in-situ information of the target hemostatic instrument;
Determining that the target hemostatic instrument is mounted to a target location based on the presence information.
In the above-mentioned solution, before the controlling the target hemostatic instrument to enter the internal bleeding position of the target object according to the target motion path based on the target surgical strategy corresponding to the surgical advice instruction, the method further includes:
And under the condition that the target hemostatic instrument is determined to be mounted to the target position based on the in-situ information, locking and fixing the target hemostatic instrument through an instrument locking assembly.
In the above scheme, the method further comprises:
Upon determining that the hemostatic procedure is complete, controlling the removal of the target hemostatic instrument from the body of the target object.
According to another aspect of the present application, there is provided an electronic device, the hemostatic device comprising:
The device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring internal bleeding information of a target object, and the internal bleeding information at least comprises internal bleeding point position information and internal bleeding amount information;
An output unit configured to output a surgical advice instruction based on the in-vivo bleeding information and the historical vascular rupture data;
and the control unit is used for controlling the target hemostatic instrument to enter the internal bleeding position of the target object according to the target motion path based on the target operation strategy corresponding to the operation proposal instruction, and performing hemostatic operation on the internal bleeding position.
According to a third aspect of the present application, there is provided an electronic device, the device comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is adapted to perform the method steps of any of the preceding claims when the computer program is run.
Drawings
FIG. 1 is a schematic diagram showing a flow implementation of a blood stopping method according to the present application;
FIG. 2 is a schematic diagram showing a second implementation of the blood stopping method according to the present application;
FIG. 3 is a schematic diagram showing the structural components of an electronic device according to the present application;
FIG. 4 is a schematic diagram showing a structural configuration of an electronic device according to the present application;
fig. 5 is a schematic diagram of the structural composition of the electronic device in the present application.
Detailed Description
The technical scheme of the application is further elaborated below by referring to the drawings in the specification and the specific embodiments.
Various combinations of the features described in the embodiments may be performed without contradiction, for example, different embodiments may be formed by combining different features, and various possible combinations of the features in the present application are not described further to avoid unnecessary repetition.
In describing embodiments of the present application, unless otherwise indicated and limited thereto, the term "connected" should be construed broadly, for example, it may be an electrical connection, or may be a communication between two elements, or may be a direct connection, or may be an indirect connection via an intermediate medium, and it will be understood by those skilled in the art that the specific meaning of the term may be interpreted according to circumstances.
It should be noted that, the term "first\second\third" related to the embodiment of the present application is merely to distinguish similar objects, and does not represent a specific order for the objects, it is to be understood that "first\second\third" may interchange a specific order or sequence where allowed. It is to be understood that the "first\second\third" distinguishing objects may be interchanged where appropriate such that embodiments of the application described herein may be practiced in sequences other than those illustrated or described herein.
The present application is described in detail below with reference to fig. 1,2 and 3.
Fig. 1 is a schematic diagram showing a flow of a blood stopping method according to the present application, and the method can be applied to an electronic device in the medical field, for example, a medical apparatus such as a surgical robot, a therapeutic robot, or a diagnostic robot. As shown in fig. 1, the method includes:
step 101, obtaining internal bleeding information of a target object, wherein the internal bleeding information at least comprises internal bleeding point position information and internal bleeding amount information;
Here, the target object may be a person or an animal with vital signs, and when the electronic device acquires in-vivo hemorrhage information of the target object, the electronic device may acquire first in-vivo hemorrhage information of the target object in a first mode, where the first in-vivo hemorrhage information includes at least a target hemorrhage area of the target object, and the target hemorrhage area includes, but is not limited to, a head, an abdominal cavity, a thoracic cavity, and the like; and identifying the target bleeding area to obtain second internal bleeding information of the target object, wherein the second internal bleeding information at least comprises bleeding point position information and bleeding amount information of the target bleeding area.
Here, the bleeding amount information may be obtained from bleeding point position information, bleeding flow rate information, and bleeding time period. Of course, the second internal hemorrhage information may further include information on the size of the wound, the angle of the wound, and the like.
Here, when the electronic device identifies the target bleeding area, vital sign information of the target object may also be acquired by the vital monitoring device, including but not limited to body temperature, electrocardiography, heart rate, respiration, invasive blood pressure, noninvasive blood pressure, body temperature, pulse, blood oxygen saturation, and the like. Inputting the vital sign information and the image information of the target bleeding area into a first preset model to obtain the bleeding point position information and the bleeding amount information of the target bleeding area. The first preset model may be trained based on historical vital sign information and historical bleeding diagnostic information in the case database. And the target bleeding area is identified through the first preset model, so that the identification accuracy of bleeding points can be improved. For example, the target bleeding area of the wounded person is primarily determined to be the abdominal cavity through the first intra-body bleeding information, the abdominal cavity area is identified through the first preset model, and the specific bleeding point position of the abdominal cavity area is the liver, wherein the bleeding amount is greater than 150 milliliters within 1 minute.
In one implementation of the application, the electronic device may have an input unit through which first intra-body hemorrhage information from manual input may be obtained. For example, a doctor can clearly judge the internal hemorrhage area of a wounded person by the pathological features of the wounded person, in which case the first internal hemorrhage information of the wounded person can be input through the input unit of the electronic device. Therefore, diagnosis and treatment time can be saved, and treatment efficiency can be improved.
In another implementation, the electronic device may be connected to a medical imaging device, through which first intra-body hemorrhage information of the victim is obtained. Here, medical imaging devices include, but are not limited to, X-ray devices, magnetic resonance imaging devices, nuclear medicine devices, ultrasound imaging devices, thermal imaging devices, medical optical devices. Thus, the diagnosis accuracy can be improved, and the erroneous judgment rate can be reduced.
Step 102, outputting an operation suggestion instruction based on the in-vivo bleeding information and the historical vascular rupture data;
Here, the electronic device may acquire the historical vascular rupture data and the corresponding historical operation plan data through the vascular database and/or the case database, perform model training based on the historical vascular rupture data and the corresponding historical operation plan data, may obtain a second preset model, may obtain an operation advice instruction by inputting the in-vivo bleeding information of the target object into the second preset model, and may output the operation advice instruction through the output unit, where the operation advice instruction carries an operation advice policy.
Step 103, controlling a target hemostatic instrument to enter the internal bleeding position of the target object according to a target motion path based on a target surgical strategy corresponding to the surgical advice instruction, and performing hemostatic operation on the internal bleeding position.
Here, under the condition that the operation suggestion instruction is obtained, the electronic device may further obtain current vital sign information of the target object, if the vital sign information meets an operation requirement of a first operation policy carried in the operation suggestion instruction, the first operation policy carried in the operation suggestion instruction may be determined as a target operation policy, and based on the target operation policy, the target hemostatic instrument is controlled to enter the internal bleeding position of the target object according to a target motion path, and a hemostatic operation is performed on the internal bleeding position.
If the vital sign information cannot meet the operation requirement of the first operation strategy carried in the operation proposal instruction, determining a second operation strategy based on the vital sign information and the first operation strategy carried in the operation proposal instruction, determining the second operation strategy as a target operation strategy, and controlling a target hemostatic instrument to enter the internal bleeding position of the target object according to a target movement path based on the target operation strategy so as to perform hemostatic operation on the internal bleeding position.
Here, the electronic device may compare the current vital sign information with vital sign information required by the first operation policy, and if the comparison result indicates that at least one parameter in the current vital sign information is smaller than a corresponding parameter in the vital sign information required by the first operation policy, it is determined that the vital sign information cannot meet the operation requirement of the first operation policy carried in the operation suggestion instruction, and analysis needs to be performed by combining the current vital sign information and the first operation policy, so as to obtain a second operation policy applicable to the current vital sign information, so as to improve the treatment effect and the operation success rate of the wounded.
According to the hemostasis method provided by the application, through identifying in-vivo bleeding information of a target object, an operation suggestion instruction is given by combining historical vascular rupture data; the doctor can quickly determine the target operation strategy based on the operation proposal instruction, thereby improving the operation implementation efficiency and success rate.
Fig. 2 is a schematic diagram showing a second implementation of a blood stopping method according to the present application, as shown in fig. 2, the method includes:
Step 201, obtaining internal bleeding information of a target object, wherein the internal bleeding information at least comprises internal bleeding point position information and internal bleeding amount information;
Step 202, outputting operation advice instructions based on the in-vivo bleeding information and the historical vascular rupture data;
step 203, controlling the target hemostatic instrument to move in the blood vessel of the target object according to a target movement path based on a target operation strategy corresponding to the operation proposal instruction;
step 204, obtaining first resistance information of the target hemostatic instrument when the target hemostatic instrument moves in the blood vessel;
Step 205, adjusting motion information of the current target hemostatic instrument based on the first resistance information;
step 206, determining that the target hemostatic instrument moves to the internal bleeding position of the target object based on the movement information, and performing a hemostatic operation on the internal bleeding position.
Here, the electronic device adjusts motion information of the current target hemostatic instrument based on the first resistance information, the motion information including, but not limited to, a direction of motion, a speed of motion; the electronic equipment can control the target hemostatic instrument to move to the internal bleeding position of the target object based on the movement information, and perform hemostatic operation on the internal bleeding position.
Here, when the electronic device acquires the first resistance information, the electronic device may further correct the first resistance information according to a preset resistance compensation parameter to obtain second resistance information; and adjusting the motion information of the current target hemostatic instrument based on the second resistance information. Thus, the control precision of the target hemostatic instrument can be improved, and the success rate of the operation can be improved.
According to the application, the electronic equipment can also acquire in-situ information of the target hemostatic instrument before controlling the target hemostatic instrument to enter the in-vivo bleeding position of the target object according to the target motion path based on the target surgical strategy corresponding to the surgical advice instruction; and judging whether the target hemostatic instrument is mounted to a target position based on the in-situ information.
In one implementation, the electronic device can determine that the target hemostatic instrument is in place whenever presence information of the target hemostatic instrument is detected.
In another implementation, the electronic device may further match the in-situ information of the target hemostatic instrument with the clamping information of the housing box for housing the target hemostatic instrument, and if the matching is successful, determine that the target hemostatic instrument is in place.
In the application, the electronic equipment can be further provided with the instrument locking assembly, and the target hemostatic instrument can be locked and fixed through the instrument locking assembly under the condition that the target hemostatic instrument is determined to be mounted at the target position based on the in-situ information of the target hemostatic instrument, so that the problem that the target hemostatic instrument falls off in the process of entering into the blood vessel of a target object can be avoided.
In the application, the electronic device can also control the target hemostatic instrument to be moved out of the body of the target object under the condition that the hemostatic operation is determined to be completed.
The following is a schematic flow of a scene of the present application:
For the case of bleeding of a large blood vessel (determined empirically by a doctor or determined by a medical instrument), the electronic device can identify the bleeding point position of the large blood vessel, internal bleeding information such as the size of a broken wound, the amount of bleeding and the like, and a first surgical strategy obtained based on the internal bleeding information is as follows: a vascular access is established from the femoral artery on the inner side of the thigh of the lower limb, a hemostatic instrument A is used for entering the vascular rupture position from the femoral artery on the inner side of the thigh of the lower limb, a covered stent is adopted for vascular repair on the vascular rupture position, or a balloon catheter is adopted for vascular embolism on the vascular rupture position. After comprehensively analyzing the current vital sign information of the wounded person by combining with the first operation strategy, an operator (doctor) determines a target operation strategy, controls a hemostatic instrument A in the electronic equipment to move in a blood vessel according to a target movement path based on the target operation strategy, acquires first resistance information fed back by the hemostatic instrument A in real time, and controls forward, backward and rotation movements of the hemostatic instrument A in the blood vessel in real time according to the first resistance information fed back by the hemostatic instrument A until the hemostatic instrument A reaches a blood vessel rupture part, so that the hemostatic operation on the blood vessel rupture part is realized. Because the electronic equipment not only can provide operation suggestion strategies, but also can feed back the resistance information of the hemostatic instrument to the operation end of the equipment in real time in the operation process, the electronic equipment not only can provide more realistic feeling in the operation process of doctors through the electronic equipment, but also can enable the operation to be more controllable, and the operation precision and the created hemostatic speed are improved.
Fig. 3 is a schematic diagram of the structural composition of an electronic device according to the present application, as shown in fig. 3, the device includes:
An acquiring unit 301, configured to acquire internal bleeding information of a target object, where the internal bleeding information includes at least internal bleeding point position information and internal bleeding amount information;
an output unit 302 for outputting a surgical advice instruction based on the in-vivo bleeding information and the historical vascular disruption data;
And the control unit 303 is used for controlling the target hemostatic instrument to enter the internal bleeding position of the target object according to the target motion path based on the target surgical strategy corresponding to the surgical advice instruction, and performing hemostatic operation on the internal bleeding position.
In a preferred aspect, the electronic device further includes: an adjustment unit 304 and a determination unit 305;
Wherein, the control unit 303 is further configured to control the target hemostatic instrument to move inside the blood vessel of the target object according to a target movement path based on a target surgical strategy corresponding to the surgical advice instruction;
An acquisition unit 301 further configured to acquire first resistance information when the target hemostatic instrument moves inside the blood vessel;
an adjustment unit 304, configured to adjust motion information of the current target hemostatic instrument based on the first resistance information;
a determining unit 305, configured to determine, based on the movement information, that the target hemostatic instrument is moved to an internal bleeding position of the target object, and perform a hemostatic operation on the internal bleeding position.
In a preferred embodiment, the electronic device further includes: a correction unit 306;
The correction unit 306 is configured to correct the first resistance information to obtain second resistance information;
The adjusting unit 304 is specifically configured to adjust motion information of the current target hemostatic instrument based on the second resistance information.
In a preferred embodiment, the electronic device further includes: an identification unit 307;
the acquiring unit 301 is further configured to acquire first intra-body hemorrhage information of the target object in a first manner, where the first intra-body hemorrhage information includes at least a target hemorrhage area of the target object;
And the identifying unit 307 is configured to identify the target bleeding area, and obtain second internal bleeding information of the target object, where the second internal bleeding information includes at least bleeding point position information and bleeding amount information of the target bleeding area.
In a preferred embodiment, the determining unit 305 is further configured to determine the first surgical policy carried in the surgical advice instruction as the target surgical policy;
Or, in a preferred embodiment, the obtaining unit 301 is further configured to obtain current vital sign information of the target object; the determining unit 305 is further configured to determine a second surgical strategy based on the vital sign information and the first surgical strategy carried in the surgical advice instruction, and determine the second surgical strategy as a target surgical strategy.
In a preferred embodiment, the obtaining unit 301 is further configured to obtain in-situ information of the target hemostatic instrument;
the determining unit 305 is further configured to determine that the target hemostatic instrument is mounted to a target location based on the presence information.
In a preferred embodiment, the electronic device further includes: a locking unit 308;
A locking unit 308, configured to lock and fix the target hemostatic instrument when it is determined that the target hemostatic instrument is mounted to the target position based on the in-situ information.
Preferably, the control unit 303 is further configured to control the removal of the target hemostatic instrument from the body of the target object in response to determining that the hemostatic operation is completed.
It should be noted that, the electronic device provided in the above embodiment and the hemostasis method provided in fig. 1 and fig. 2 are the same concept, and specific implementation processes may refer to the above method embodiment, which is not described herein again.
According to the electronic equipment provided by the application, through acquiring the in-vivo bleeding information of the wounded person and combining the historical vascular rupture data and the historical operation data, a preliminary operation proposal strategy can be given, and the resistance information of the hemostatic instrument in the in-vivo movement can be fed back to the operation end in real time in the process of implementing the operation strategy, so that the operation end has more in-situ feeling, and the operation controllability and the operation success rate are improved.
Fig. 4 is a schematic diagram of a second structural component of the electronic device according to the present application, as shown in fig. 4, the device includes:
A hemorrhage identifier 401, a core controller 402, an operating end 403, an instrument driver 404, an in-situ sensor 405, a force sensor 406, and a hemostatic instrument 407; wherein, the hemorrhage identifier 401 is connected with the core controller 402, and is used for identifying in-vivo hemorrhage information of the target object, and the in-vivo hemorrhage information at least comprises in-vivo hemorrhage point position information and in-vivo hemorrhage amount information; the core controller 402 is connected to the operation end 403, and is configured to determine a first surgical advice policy based on the in-vivo hemorrhage information and the historical vascular rupture data, and output a surgical advice instruction to the operation end 403, where the first surgical advice instruction carries the first surgical advice policy. The operator terminal 403 includes a display with a display function. And outputting a first operation proposal strategy corresponding to the operation proposal instruction through the display.
The device driver 404 includes a device accommodating groove, the hemostatic device 407 is installed in the device accommodating groove, the in-situ sensor 405 is connected with the device driver 404 and the core controller 402, and is used for detecting the in-situ state of the hemostatic device 407 under the driving of the device driver 404 and sending the in-situ state information to the core controller 402, and the core controller 402 sends a device in-situ instruction to the operation end 4403 when determining that the hemostatic device 407 is successfully installed in the device accommodating groove based on the in-situ state, and controls the hemostatic device 407 to move to the in-vivo bleeding position along the target path under the driving of the device driver 404 through the operation end 403. The force sensor 406 is connected with the instrument driver 404 and the core controller 402, and is configured to collect, in real time, resistance information of the hemostatic instrument 407 when moving in a blood vessel during a process of implementing a target surgical strategy corresponding to a surgical advice instruction under the driving of the instrument driver 404, and send the resistance information to the core controller 402, after the core controller 402 corrects the resistance information, send the corrected resistance information to the operation end 403, and the operation end 403 adjusts a control direction and a control force of the hemostatic instrument 407 based on the corrected resistance information, so that the hemostatic instrument 407 accurately reaches a position of a bleeding point in the body to perform a hemostatic operation.
Fig. 5 is a schematic diagram of the structural components of an electronic device 500 according to the present application, and the electronic device 500 may be a computer, a medical device, a medical robot, or the like. The electronic device 500 shown in fig. 5 includes: at least one processor 501, memory 502, at least one network interface 504, and a user interface 503. The various components in the electronic device 500 are coupled together by a bus system 505. It is understood that bus system 505 is used to enable connected communications between these components. The bus system 505 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for clarity of illustration the various buses are labeled as bus system 505 in fig. 5.
The user interface 503 may include, among other things, a display, keyboard, mouse, trackball, click wheel, keys, buttons, touch pad, or touch screen, etc.
It is to be appreciated that memory 502 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Wherein the nonvolatile Memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read Only Memory (EEPROM, ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk-Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory) which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The memory 502 described in embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 502 in embodiments of the present application is used to store various types of data to support the operation of the electronic device 500. Examples of such data include: any computer programs for operation on the electronic device 500, such as an operating system 5021 and application 5022; case data, medical image data, and the like. The operating system 5021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 5022 may include various application programs such as a media player (MEDIA PLAYER), a Browser (Browser), etc. for implementing various application services. A program for implementing the method according to the embodiment of the present application may be included in the application 5022.
The method disclosed in the above embodiment of the present application may be applied to the processor 501 or implemented by the processor 501. The processor 501 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 501. The Processor 501 may be a general purpose Processor, a digital signal Processor (DSP, digital Signal Processor), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 501 may implement or perform the methods, steps and logic blocks disclosed in embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiment of the application can be directly embodied in the hardware of the decoding processor or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium in memory 502 and processor 501 reads information in memory 502 to perform the steps of the method described above in connection with its hardware.
In an exemplary embodiment, the electronic device 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, programmable logic devices (PLDs, programmable Logic Device), complex Programmable logic devices (CPLDs, complex Programmable Logic Device), field-Programmable gate arrays (FPGAs), general purpose processors, controllers, microcontrollers (MCUs, micro Controller Unit), microprocessors (microprocessors), or other electronic elements for performing the aforementioned methods.
In an exemplary embodiment, the present application also provides a computer-readable storage medium, such as a memory 502 including a computer program executable by the processor 501 of the electronic device 500 to perform the steps described in the foregoing methods. The computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash Memory, magnetic surface Memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above-described memories, such as a mobile phone, computer, tablet device, personal digital assistant, or the like.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The methods disclosed in the method embodiments provided by the application can be arbitrarily combined under the condition of no conflict to obtain a new method embodiment.
The features disclosed in the several product embodiments provided by the application can be combined arbitrarily under the condition of no conflict to obtain new product embodiments.
The features disclosed in the embodiments of the method or the apparatus provided by the application can be arbitrarily combined without conflict to obtain new embodiments of the method or the apparatus.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of hemostasis, the method comprising:
acquiring internal bleeding information of a target object, wherein the internal bleeding information at least comprises internal bleeding point position information and internal bleeding amount information;
outputting a surgical advice instruction based on the in-vivo bleeding information and the historical vascular rupture data;
and controlling a target hemostatic instrument to enter the internal bleeding position of the target object according to a target motion path based on a target surgical strategy corresponding to the surgical advice instruction, and performing hemostatic operation on the internal bleeding position.
2. The method of claim 1, wherein controlling the target hemostatic instrument to enter the target object's internal hemorrhage site according to the target motion path based on the target surgical strategy corresponding to the surgical advice instruction comprises:
Controlling the target hemostatic instrument to move in the blood vessel of the target object according to a target movement path based on a target operation strategy corresponding to the operation proposal instruction;
acquiring first resistance information of the target hemostatic instrument when the target hemostatic instrument moves inside the blood vessel;
Adjusting motion information of the current target hemostatic instrument based on the first resistance information;
and determining that the target hemostatic instrument moves to the internal bleeding position of the target object based on the movement information, and performing hemostatic operation on the internal bleeding position.
3. The method of claim 2, wherein adjusting the current movement information of the target hemostatic instrument based on the first resistance information comprises:
correcting the first resistance information to obtain second resistance information;
And adjusting the motion information of the current target hemostatic instrument based on the second resistance information.
4. The method of claim 1, wherein the obtaining in vivo bleeding information of the target object comprises:
Acquiring first intra-body hemorrhage information of the target object in a first mode, wherein the first intra-body hemorrhage information at least comprises a target hemorrhage area of the target object;
And identifying the target bleeding area to obtain second internal bleeding information of the target object, wherein the second internal bleeding information at least comprises bleeding point position information and bleeding amount information of the target bleeding area.
5. The method of claim 1, wherein prior to the controlling the target hemostatic instrument to enter the target object's internal hemorrhage site in accordance with the target motion path based on the target surgical strategy corresponding to the surgical advice instruction, the method further comprises one of:
determining a first surgical strategy carried in the surgical advice instruction as a target surgical strategy;
or acquiring current vital sign information of the target object, determining a second surgical strategy based on the vital sign information and the first surgical strategy carried in the surgical advice instruction, and determining the second surgical strategy as a target surgical strategy.
6. The method of claim 1, wherein prior to controlling the target hemostatic instrument to access the target object's internal hemorrhage site in accordance with the target motion path based on the target surgical strategy corresponding to the surgical advice instruction, the method further comprises:
Acquiring in-situ information of the target hemostatic instrument;
Determining that the target hemostatic instrument is mounted to a target location based on the presence information.
7. The method of claim 6, wherein prior to controlling the target hemostatic instrument to access the target object's internal hemorrhage site in accordance with the target motion path based on the target surgical strategy corresponding to the surgical advice instruction, the method further comprises:
And under the condition that the target hemostatic instrument is determined to be mounted to the target position based on the in-situ information, locking and fixing the target hemostatic instrument through an instrument locking assembly.
8. The method according to any one of claims 1 to 7, further comprising:
Upon determining that the hemostatic procedure is complete, controlling the removal of the target hemostatic instrument from the body of the target object.
9. An electronic device, the device comprising:
The device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring internal bleeding information of a target object, and the internal bleeding information at least comprises internal bleeding point position information and internal bleeding amount information;
An output unit configured to output a surgical advice instruction based on the in-vivo bleeding information and the historical vascular rupture data;
and the control unit is used for controlling the target hemostatic instrument to enter the internal bleeding position of the target object according to the target motion path based on the target operation strategy corresponding to the operation proposal instruction, and performing hemostatic operation on the internal bleeding position.
10. An electronic device, the device comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is adapted to perform the method steps of any of claims 1 to 8 when the computer program is run.
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| CN202410148245.2A CN117982189A (en) | 2024-02-01 | 2024-02-01 | Hemostatic method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118490343A (en) * | 2024-07-19 | 2024-08-16 | 华中科技大学同济医学院附属同济医院 | Hepatobiliary surgery hemostat structure and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118490343A (en) * | 2024-07-19 | 2024-08-16 | 华中科技大学同济医学院附属同济医院 | Hepatobiliary surgery hemostat structure and method |
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