CN-122006087-A - Spraying type medicine feeding equipment for obstetrics and gynecology clinic and medicine feeding compensation spraying method

CN122006087ACN 122006087 ACN122006087 ACN 122006087ACN-122006087-A

Abstract

The application provides a spraying type medicine feeding device for obstetrics and gynecology clinic and a medicine feeding compensation spraying method, which are characterized in that a spraying density distribution map for carrying out initial spraying on a target tissue area of a target patient is obtained; the method comprises the steps of controlling a spray head of spray type medicine feeding equipment to execute first-round spraying according to a spraying density distribution diagram, acquiring real-time monitoring images of a target tissue area after the first-round spraying is completed, identifying a first spraying coverage blind area and a second spraying coverage blind area of a target patient in a current position based on the real-time monitoring images, correcting a spraying angle interval corresponding to the spraying density distribution diagram according to the area characteristics of the first spraying coverage blind area and the second spraying coverage blind area to obtain a corrected spraying angle interval, and controlling the spray type medicine feeding equipment to execute medicine feeding compensation spraying of the coverage blind area according to the corrected spraying angle interval. The technical scheme provided by the application can realize the compensation injection of the liquid medicine under the influence of the complex three-dimensional shape of the target tissue.

Inventors

LING QIAN
Zhao Jiejing
SHI WEIQIN

Assignees

湖州市妇幼保健院(湖州市妇女儿童医院、湖州市计划生育技术服务中心)

Dates

Publication Date: 20260512
Application Date: 20260302

Claims (10)

1. The medicine feeding compensation spraying method of the spraying medicine feeding equipment for obstetrics and gynecology clinic is characterized by comprising the following steps of: Acquiring an injection density distribution map of initial injection of a target tissue region of a target patient; Controlling a spray head of the spraying type medicine feeding equipment to execute a first-round spraying according to the spraying density distribution diagram, and acquiring a real-time monitoring image of the target tissue area after the first-round spraying is completed; Identifying a first injection coverage blind area and a second injection coverage blind area of a target patient under the current body position based on the real-time monitoring image, and further correcting an injection angle interval under the condition corresponding to the injection density distribution map according to the area characteristics of the first injection coverage blind area and the second injection coverage blind area to obtain a corrected injection angle interval; and controlling a spray head of the spraying type medicine feeding equipment to execute medicine feeding compensation spraying of the coverage blind area according to the corrected spraying angle interval.
2. The method of claim 1, wherein controlling the spray head of the spray type application device to perform a first round of spraying according to the spray density profile comprises: Analyzing the injection density distribution map, and extracting injection density parameters and space coordinate information of all position points in a target tissue region; Planning a space motion path and injection time sequence parameters of a spray head of the injection type medicine feeding equipment based on the extracted injection density parameters and space coordinate information; According to the space motion path and the injection time sequence parameters, carrying out linkage parameter configuration on a displacement driving module and a liquid medicine injection module of the spray head; And driving the spray head to move to a corresponding position point along the space motion path through a displacement driving module of the spray head, controlling a liquid medicine spraying module of the spray head to spray according to the spraying time sequence parameter, and finishing the first-round spraying of the liquid medicine.
3. The method of claim 1, wherein identifying the first jet coverage hole and the second jet coverage hole of the target patient at the current position based on the real-time monitoring image specifically comprises: Extracting liquid medicine coverage characteristics of a target tissue area based on the real-time monitoring image; setting a characteristic threshold interval for identifying a dead zone according to the liquid medicine covering characteristic; Performing region traversing screening on the real-time monitoring image according to the characteristic threshold interval to obtain a candidate blind area pixel set of the target tissue region; Performing spatial clustering and topological structure analysis on the candidate blind area pixel set to distinguish a spatial shielding type blind area pixel group caused by the body position of the target tissue region and a permeation blocking type blind area pixel group caused by the difference of the wettability of the liquid medicine; And mapping the space shielding type blind area pixel group into a first spraying coverage blind area under the current position, and mapping the penetration blocking type blind area pixel group into a second spraying coverage blind area under the current position.
4. The method of claim 1, wherein correcting the injection angle interval under the correspondence of the injection density profile based on the area characteristics of the first and second injection coverage holes, the corrected injection angle interval comprising: Extracting corresponding region features from the first jet coverage dead zone and the second jet coverage dead zone respectively, wherein the region features comprise geometric center coordinates and morphological contours; Calculating a first theoretical compensation incidence angle set for compensating the first spray coverage blind area and a second theoretical compensation incidence angle set for compensating the second spray coverage blind area based on the geometric center coordinates of each spray coverage blind area and the space position of the spray head; According to morphological contours of all the jet coverage dead zones and kinematic constraints of the jet heads, carrying out motion accessibility correction on the first theoretical compensation incidence angle set and the second theoretical compensation incidence angle set to obtain a first actual compensation angle set and a second actual compensation angle set; Respectively determining a first angle deviation vector corresponding to the first injection coverage blind area and a second angle deviation vector corresponding to the second injection coverage blind area according to the first actual compensation angle set, the second actual compensation angle set and the reference injection angle in the injection density distribution map; And correcting an original injection angle interval corresponding to the injection density distribution map by using the first angle deviation vector and the second angle deviation vector, and generating the corrected injection angle interval.
5. The method of claim 1, wherein controlling the spray head of the spray type dosing device to perform the dosing compensating spray of the coverage hole according to the corrected spray angle interval comprises: analyzing the corrected spray angle interval to generate a spray head movement control signal and a spray trigger signal; driving a spray head of the spray type medicine feeding equipment to perform angle positioning according to the spray head movement control signal, so that the axis of the spray head is aligned with a target angle in a corrected spray angle interval; And matching preset differential injection parameters by combining the area characteristics of the first injection coverage blind area and the second injection coverage blind area, triggering a nozzle of the injection type medicine feeding equipment according to the injection trigger signals, and performing coverage blind area compensation according to the differential injection parameters until the coverage blind area is completely covered.
6. The method of claim 1 wherein the spray density profile of the initial spray on the target tissue region of the subject is obtained from a drug delivery spray instruction.
7. The method of claim 1, wherein the real-time monitoring image of the target tissue area is acquired by a miniature endoscopic camera integrated laterally of the spray head of the spray applicator device.
8. This clinical injection type medicine feeding equipment of using of gynaecology and obstetrics, this clinical injection type medicine feeding equipment of using of gynaecology and obstetrics is including the compensation injection unit that gets in charge, its characterized in that, the compensation injection unit that gets in charge includes: The acquisition module is used for acquiring an injection density distribution map for carrying out initial injection on a target tissue region of a target patient; The processing module is used for controlling a spray head of the spray type medicine feeding equipment to execute a first-round spray according to the spray density distribution diagram, and acquiring a real-time monitoring image of the target tissue area after the first-round spray is completed; The processing module is further used for identifying a first injection coverage blind area and a second injection coverage blind area of a target patient under the current body position based on the real-time monitoring image, and further correcting an injection angle interval under the condition that the injection density distribution map corresponds to according to the area characteristics of the first injection coverage blind area and the second injection coverage blind area to obtain a corrected injection angle interval; And the execution module is used for controlling the spray head of the spraying type medicine feeding equipment to execute medicine feeding compensation spraying of the coverage blind area according to the corrected spraying angle interval.
9. A computer device comprising a memory storing code and a processor configured to obtain the code and perform the method of loading compensating injections of the gynecological clinical injection type loading device of any one of claims 1 to 7.
10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements a medication delivery compensation injection method of a gynecological clinical medication delivery device according to any one of claims 1 to 7.

Description

Spraying type medicine feeding equipment for obstetrics and gynecology clinic and medicine feeding compensation spraying method Technical Field The application relates to the technical field of medicine feeding injection compensation, in particular to injection type medicine feeding equipment for obstetrics and gynecology clinic and a medicine feeding compensation injection method. Background The medicine spraying compensation technology mainly aims at the problems of medicine spraying dosage and spraying shielding caused by operation distance, angle deviation or irregular skin surface when a patient locally doses medicine, the traditional manual spraying is difficult to ensure the accuracy and consistency of each time of medicine spraying, and particularly, the medicine spraying compensation technology monitors spraying parameters in real time through an integrated sensor and dynamically adjusts spraying power or angle by utilizing a closed-loop control system, so that errors caused by artificial or physiological surface fluctuation are compensated, the preset medicine amount can still be ensured to be accurately and uniformly delivered to target tissues under a complex use scene, and the medicine spraying safety is improved. In the existing medicine feeding injection compensation, the existing medicine feeding injection compensation senses key injection working condition parameters in real time through sensors (such as laser ranging, vision or pressure sensors) integrated on an injection device, mainly the distance from a nozzle to a target surface, sometimes comprises angle information, compares acquired real-time data with preset ideal values (such as standard distance and pressure), calculates deviation, and performs medicine feeding injection compensation according to the deviation, however, in clinical operation of obstetrics and gynecology, the target tissue areas such as vagina, cervix and the like are not planar structures, physiological folds, fornix or focal pits are always present on the surfaces of the target tissue areas, the traditional injection medicine feeding is mostly based on a preset injection mode, or manual adjustment is dependent on doctor experience, but the body position of a patient can be caused by gravity effect to cause the low flow direction of medicine liquid, and injection coverage dead areas are easily formed at high positions or side wall areas, so that the problem of insufficient medicine liquid medicine coverage occurs when the nozzle performs medicine feeding control on the target tissue areas is solved under the complex three-dimensional influence of the target tissue. Disclosure of Invention The application provides a spraying type medicine feeding device and a medicine feeding compensation spraying method for obstetrics and gynecology clinic, which can realize the compensation spraying of medicine liquid under the influence of complex three-dimensional forms of target tissues. In a first aspect, the application provides a method for compensating and spraying medicine on a spraying medicine-applying device for obstetric and gynecologic clinic, comprising the following steps: Acquiring an injection density distribution map of initial injection of a target tissue region of a target patient; Controlling a spray head of the spraying type medicine feeding equipment to execute a first-round spraying according to the spraying density distribution diagram, and acquiring a real-time monitoring image of the target tissue area after the first-round spraying is completed; Identifying a first injection coverage blind area and a second injection coverage blind area of a target patient under the current body position based on the real-time monitoring image, and further correcting an injection angle interval under the condition corresponding to the injection density distribution map according to the area characteristics of the first injection coverage blind area and the second injection coverage blind area to obtain a corrected injection angle interval; and controlling a spray head of the spraying type medicine feeding equipment to execute medicine feeding compensation spraying of the coverage blind area according to the corrected spraying angle interval. In some embodiments, controlling the spray head of the spray type drug delivery device to perform a first round of spray according to the spray density profile specifically comprises: Analyzing the injection density distribution map, and extracting injection density parameters and space coordinate information of all position points in a target tissue region; Planning a space motion path and injection time sequence parameters of a spray head of the injection type medicine feeding equipment based on the extracted injection density parameters and space coordinate information; According to the space motion path and the injection time sequence parameters, carrying out linkage parameter configuration on a displacement driving module and