CN119214786A

CN119214786A - Endoscopic laser lithotripsy system and control method thereof, and endoscopic imaging catheter

Info

Publication number: CN119214786A
Application number: CN202411392967.9A
Authority: CN
Inventors: 汪永俊; 李洋; 左鹏飞
Original assignee: Wuhan Mindray Biomedical Technology Co ltd; Shenzhen Mindray Bio Medical Electronics Co Ltd
Current assignee: Wuhan Mindray Biomedical Technology Co ltd; Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority date: 2024-09-30
Filing date: 2024-09-30
Publication date: 2024-12-31

Abstract

The embodiment of the application provides an endoscope laser lithotripsy system, a control method thereof and an endoscope imaging catheter, wherein the method comprises the steps of controlling a perfusion pump to perfuse liquid into a target area and controlling a suction pump to pump the liquid in the target area; at least any one of the parameters including an image of the target area obtained by the imaging device, a temperature of the target area obtained by the detecting unit, and a pressure of the target area obtained by the detecting unit is collected, and when the laser outputs laser light into the target area by the optical fiber, the control unit controls the perfusion pump, the suction pump, and the laser light according to the collected parameters. The linkage control of the flow velocity of the perfusion liquid, the flow velocity of the suction liquid and the laser output laser can be realized, and the safety and the effectiveness of the lithotripsy operation can be improved.

Description

Endoscope laser lithotripsy system, control method thereof and endoscope imaging catheter

Technical Field

The application relates to the technical field of medical equipment, in particular to an endoscope laser lithotripsy system, a control method thereof and an endoscope imaging catheter.

Background

In the medical field, laser lithotripsy is a common minimally invasive procedure, for example, ureteroscope holmium laser lithotripsy can be used to treat kidney stones. In the case of kidney stone lithotripsy, soft kidney inner cavity is opened by perfusion and blood and tissue fragments are washed away to obtain clear operation vision, but the related technology has the condition of excessive perfusion, which can cause rise of internal renal pressure, and excessive internal renal pressure can cause injury of renal pelvis or countercurrent infection, which affects the safety of patients. In addition, in the laser lithotripsy process, the continuous excitation of high-energy laser can lead to the rise of the water temperature in the kidney, and the excessive temperature can lead to the exponential increase of the cytotoxicity effect, which can cause irreversible damage to the kidney.

Disclosure of Invention

The application provides an endoscope laser lithotripsy system, a control method thereof and an endoscope imaging catheter, which can improve the safety of the endoscope laser lithotripsy system.

In a first aspect, an embodiment of the present application provides a control method of an endoscope laser lithotripsy system, where the endoscope laser lithotripsy system includes an imaging catheter, a detection unit, a control unit, a perfusion pump, a suction pump, and a laser, the imaging catheter is provided with an imaging device, the detection unit is used for detecting temperature and pressure, and the laser is connected with an optical fiber;

The method comprises the following steps:

Controlling the perfusion pump to perfuse liquid into a target area, and controlling the suction pump to suck the liquid in the target area;

Acquiring at least any one of the following parameters, namely acquiring an image in the target area through the imaging device, acquiring the temperature in the target area through the detection unit, and acquiring the pressure in the target area through the detection unit;

when the laser outputs laser light into the target area through the optical fiber, the control unit controls the perfusion pump, the suction pump and the laser according to the acquired parameters.

In a second aspect, embodiments of the present application provide an endoscopic laser lithotripsy system, comprising:

an imaging catheter, wherein an imaging device is arranged on the imaging catheter;

a detection unit for detecting temperature and pressure;

The perfusion pump is used for perfusing liquid into a target area, and the suction pump is used for sucking the liquid in the target area;

The laser is used for being connected with the optical fiber;

a control unit for:

And when the laser outputs laser into the target area through the optical fiber, controlling the perfusion pump, the suction pump and the laser according to the acquired parameters.

In a third aspect, embodiments of the present application provide an imaging catheter, comprising:

a catheter body including a head end portion, an operation portion, and a working passage penetrating the head end portion and the operation portion;

An imaging device provided at the head end portion;

A detection unit for detecting temperature and pressure, the detection unit being provided at the head end;

and a transmission assembly, wherein a first end of the transmission assembly is connected with the imaging device, the temperature sensor and the pressure sensor, and a second end of the transmission assembly is connected with the operation part.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a control method of an endoscope laser lithotripsy system provided by an embodiment of the application;

FIG. 2 is a schematic view of an endoscopic laser lithotripsy system according to an embodiment of the application;

FIG. 3 is a schematic diagram of a control flow of an endoscopic laser lithotripsy system during a probing phase in accordance with an embodiment of the present application;

FIG. 4 is a schematic diagram of a control flow of an endoscopic laser lithotripsy system during a lithotripsy preparation phase in accordance with one embodiment of the present application;

FIG. 5 is a schematic diagram of a control flow of an endoscopic laser lithotripsy system during a lithotripsy stage in accordance with one embodiment of the present application;

FIG. 6 is a schematic diagram of a control flow of an endoscopic laser lithotripsy system in a lithotripsy stage according to an embodiment of the application;

FIG. 7 is a schematic illustration of an endoscopic laser lithotripsy system provided in an embodiment of the present application;

FIG. 8 is a schematic diagram of a control unit of an endoscopic laser lithotripsy system provided in an embodiment of the present application;

Fig. 9 is a schematic block diagram of an imaging catheter provided by an embodiment of the present application.

Reference numerals illustrate:

10. Imaging catheter, 11, imaging device, 111, camera, 112, light source, 12, catheter body, 121, head end, 122, operation part, 123, working channel, 20, detection unit, 21, temperature sensor, 22, pressure sensor, 30, control unit, 41, perfusion pump, 42, suction pump;

50. Laser, 51, optical fiber, 60, suction sheath, 61, hollow passage, 71, first flow sensor, 72, second flow sensor, 81, transmission component.

Detailed Description

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

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a flow chart of a control method of an endoscope laser lithotripsy system according to an embodiment of the application. The control method of the endoscope laser lithotripsy system can be applied to the endoscope laser lithotripsy system or a control device of the endoscope laser lithotripsy system and is used for controlling the endoscope laser lithotripsy system to carry out lithotripsy treatment and other processes on stones in a target area. For convenience of explanation, the embodiment of the application mainly takes the control method applied to the endoscope laser lithotripsy system as an example.

Fig. 2 is a schematic diagram of an endoscopic laser lithotripsy system, as shown in fig. 2, comprising an imaging catheter 10, a detection unit 20, a control unit 30, a perfusion pump 41, a suction pump 42, a laser 50, wherein the laser 50 is connected to an optical fiber 51, in some embodiments.

Wherein the imaging catheter 10 is provided with an imaging device 11. Illustratively, the imaging device 11 includes at least a camera 111, and may further include a light source 112, where light output by the light source 112 may illuminate the target area, so that the camera 111 acquires image information of the target area.

For example, the imaging catheter 10 includes a catheter body 12, and the catheter body 12 may be a soft catheter body 12 or may be a hard catheter body 12. As shown in fig. 2, the catheter body 12 includes a head end portion 121 and an operation portion 122, wherein the head end portion 121 of the catheter body 12 is configured to extend into a target area. Optionally, the operation portion 122 is formed with a hand-holding portion for the user to hold, and input devices such as keys and rollers, and output devices such as a display screen and an indicator light may be further disposed on the operation portion 122.

Alternatively, as shown in fig. 2, the camera 111 and/or the light source 112 in the imaging device 11 may be provided at the head end 121 of the catheter main body 12.

Optionally, the camera 111 and/or the light source 112 in the imaging device 11 may also be disposed on the operation portion 122 of the catheter body 12, for example, the imaging device 11 may further include a first light guiding structure, where one end of the first light guiding structure is connected to the light source 112, and the other end is disposed in the target area, and the light source 112 may provide light to the target area through the first light guiding structure, and the first light guiding structure includes, for example, a light guiding fiber 51. For example, the imaging device 11 may further include a second light guiding structure, where the second light guiding structure includes, for example, an image conducting fiber, one end of which is disposed at the head end 121 of the catheter body 12, and the other end of which is connected to the camera 111, and the camera 111 may obtain image information of the target area through the second light guiding structure.

The laser 50 is, for example, a holmium laser, but is not limited to this, and may be, for example, a thulium laser. The laser 50 can output laser light into the target area through the optical fiber 51, and the laser light acts on the stones in the target area to break the stones. It should be noted that during laser lithotripsy, continuous excitation of the high energy laser may cause a temperature rise within the target area.

The perfusion pump 41 is used to perfuse a liquid into the target area. In some embodiments, as shown in fig. 2, the catheter body 12 includes a working channel 123 penetrating the head end 121 and the operation portion 122, and the optical fiber 51 connected to the laser 50 may be inserted through the working channel 123. Alternatively, the working channel 123 may be used to provide fluid to a target area, for example, the perfusion pump 41 may be connected to the working channel 123, and the perfusion pump 41 may be capable of perfusing fluid into the target area through the working channel 123.

A suction pump 42 can be used to aspirate liquid within the target area. In some embodiments, as shown in fig. 2, the endoscopic laser lithotripsy system may further comprise an aspiration sheath 60. Optionally, the suction sheath 60 has one or more hollow passages 61, and the imaging catheter 10 may be disposed through one of the hollow passages 61, although not limited thereto, for example, the imaging catheter 10 may be integrated with the suction sheath 60, for example, the operation portion 122 of the catheter body 12 may be integrated with the suction sheath 60, and it is understood that the catheter body 12 is detachably connected with the suction sheath 60 or the catheter body 12 may be integrally disposed with the suction sheath 60. Alternatively, the suction pump 42 may be connected to at least one hollow passage 61 of the suction sheath 60, and the suction pump 42 may be capable of sucking the liquid in the target area through the at least one hollow passage 61.

Alternatively, at least one of the camera 111, the light source 112, and the detection unit 20 may be disposed on the suction sheath 60, for example, the light source 112 disposed on the suction sheath 60 may provide light to the target area through the first light guiding structure, and the camera 111 disposed on the suction sheath 60 may acquire image information of the target area through the second light guiding structure.

Alternatively, the perfusion pump 41 and the suction pump 42 may include separate pump bodies, or the perfusion pump 41 and the suction pump 42 may be different parts of a dual-fluid-path pump body. For example, the dual-liquid-path pump body has the functions of perfusion and suction, and the flow rates of the perfusion path and the suction path can be independently controlled.

Optionally, the endoscopic laser lithotripsy system may further comprise a first flow sensor 71 and a second flow sensor 72, wherein the first flow sensor 71 is capable of monitoring in real time the flow rate of the perfusion liquid from the perfusion pump 41 into the target area, and the second flow sensor 72 is capable of monitoring in real time the flow rate of the liquid from the suction pump 42 into the target area. For example, the first flow sensor 71, the second flow sensor 72 may be provided on the corresponding liquid passage, or may be provided on the corresponding pump body as shown in fig. 2. In other embodiments, the flow rate of the perfusion fluid in the target area by the perfusion pump 41 may be determined according to the operation parameter of the perfusion pump 41, and/or the flow rate of the liquid in the target area by the suction pump 42 may be determined according to the operation parameter of the suction pump 42, where the operation parameter includes, for example, the rotation speed of the motor on the pump body or the driving signal of the motor, or the first flow sensor 71 and the second flow sensor 72 may not be required.

The detection unit 20 is used for detecting temperature and pressure. In some embodiments, the detection unit 20 may include a temperature sensor 21 and a pressure sensor 22 that are independent from each other, or may include an integrated temperature and pressure sensor. Alternatively, the temperature of the detecting unit 20 is measured in a range of 0 ℃ to 100 ℃ and the pressure is measured in a range of-30 mmHg to 400mmHg.

Alternatively, at least one sensor of the detection unit 20 may be provided on the imaging catheter 10, for example, at the head end 121 of the catheter body 12 as shown in fig. 2, by which detection unit 20 the pressure and temperature changes in the target area, such as the kidney, can be monitored in real time.

Alternatively, at least one sensor of the detection unit 20 may be arranged in the liquid path for pouring liquid into the target area and/or in the liquid path for sucking liquid in the target area, for example the detection unit 20 may be arranged in the suction sheath 60 for monitoring the temperature of liquid sucked from the target area.

The control unit 30 may be provided on the imaging catheter 10, for example, on the operation portion 122 of the catheter main body 12, but is not limited thereto, and may be provided on the suction sheath 60, for example, or the endoscopic laser lithotripsy system may further include a host on which the control unit 30 may be provided. Optionally, at least one of the camera 111 and the light source 112 may also be disposed on the host and provide light to the target area through the first light guiding structure, and/or obtain image information of the target area through the second light guiding structure. Optionally, at least one of the perfusion pump 41 and the suction pump 42 may also be provided on the host and communicate with the target area through a corresponding liquid passage.

As shown in fig. 2, the control unit 30 is connected to the imaging device 11, the detection unit 20, the perfusion pump 41, the suction pump 42, the laser 50 to transmit information, and the connection may include a wired connection or a wireless connection, wherein the wired connection may include an electric cable connection or an optical cable connection. For example, the imaging device 11 is connected to the control unit 30 through an electric cable or an optical cable, for example, the temperature sensor 21 and the pressure sensor 22 in the detection unit 20 are connected to the control unit 30 through two electric cables, or the temperature and pressure integrated sensor is connected to the control unit 30 through an optical cable.

Alternatively, the control unit 30 may also be connected to a display, which is arranged, for example, on the host computer. The control unit 30 may output at least one of an image in the target area acquired by the imaging device 11, a temperature in the target area acquired by the detection unit 20, and a pressure in the target area acquired by the detection unit 20 through a display.

In some embodiments, the control unit 30 includes one or more processors that work individually or jointly to perform the steps of the method of controlling an endoscopic laser lithotripsy system of the endoscopic laser lithotripsy system. The endoscopic laser lithotripsy system also includes a memory, for example, where the processor and the memory may be connected by a bus, such as an I2C (I nter-I NTEGRATED CI rcu it) bus. The processor is used for executing a computer program stored in the memory, and when executing the computer program, the steps of the control method of the endoscope laser lithotripsy system of any one of the endoscope laser lithotripsy systems provided by the embodiment of the application are realized.

As shown in fig. 1, the control method of the endoscope laser lithotripsy system according to the embodiment of the application comprises steps S110 to S130.

Step S110, controlling the perfusion pump 41 to perfuse the liquid into the target area, and controlling the suction pump 42 to suck the liquid in the target area.

The target area may be distracted by pouring liquid into the target area and flushing blood and tissue fragments from the target area, which may then be expelled by aspiration pump 42 to aspirate liquid from the target area so that the target area fills and is clean to obtain a clear surgical field. The target area may include an intra-renal lumen, although not limited thereto, i.e., the target area may be any biological tissue that can contain a fluid.

In some embodiments, the method of controlling an endoscopic laser lithotripsy system includes a probing phase. As shown in fig. 3, in the initial stage of the probing stage, in step S110, the flow rate of the perfusion liquid into the target area is greater than the flow rate of the liquid in the target area, the flow rate is the flow rate in unit time, the target area can be opened by using the difference between the flow rates of the perfusion liquid and the suction liquid, the pressure in the target area gradually rises during the slow opening of the target area, when the pressure in the target area rises to a set value, such as 30mmHg, the flow rate of the perfusion liquid into the target area is controlled to be equal to the flow rate of the liquid in the target area, for example, the suction pump 42 is controlled to reduce the flow rate of the liquid in the target area, so that the perfusion and suction in the target area reach balance, and the pressure in the target area can be stabilized within a set threshold range, so that the target area is filled and the patient is not damaged.

Step S120 is to acquire at least any one of the parameters of acquiring an image in the target area by the imaging device 11, acquiring a temperature in the target area by the detection unit 20, and acquiring a pressure in the target area by the detection unit 20.

In some embodiments, at least one of the image, temperature, pressure within the target area may be displayed via a display, which may guide the user to perform a safe surgical procedure, avoiding potential surgical risks.

Alternatively, the image information acquired by the imaging device 11 in real time may be transmitted to the control unit 30, and the control unit 30 may perform a preset image processing on the image information to obtain an image in the target area, and display the image through the display to provide the user with an intraoperative view.

By displaying an image within the target area, the user may adjust the imaging catheter 10, for example, to adjust the position and orientation of the imaging device 11 within the target area so that stones within the target area are within the field of view of the imaging device 11 to explore the stones and to facilitate disruption of the stones by the laser.

The display displays the temperature and/or pressure in the target area, can display the temperature and/or pressure acquired in real time currently, can also display the temperature and/or pressure acquired at different time, such as displaying a temperature curve and/or a pressure curve, and accurately provides temperature and/or pressure information in the target area for doctors, so that the users can monitor the temperature and/or the pressure in the target area in real time, misjudgment of the users in the operation process is prevented, and the perfusion is increased or the laser output is reduced at inappropriate time so as to influence the operation effect, and even extra injury to the patients is possible.

In step S130, when the laser 50 outputs laser light into the target area through the optical fiber 51, the control unit 30 controls the perfusion pump 41, the suction pump 42, and the laser 50 according to the acquired parameters.

In some embodiments, the control unit 30 controls the perfusion pump 41, the suction pump 42 and the laser 50 according to one or more parameters acquired in real time, so that linkage control on the flow rate of the perfusion liquid, the flow rate of the suction liquid and the laser output by the laser 50 can be realized, and the safety and the effectiveness of the lithotripsy operation can be improved.

For example, the control unit 30 may automatically and dynamically adjust the flow rate of the perfusion fluid, the flow rate of the suction fluid, and the laser light output by the laser 50 according to the image, the temperature, and the pressure in the target area acquired in real time, so as to maintain the current temperature and the pressure in the target area within the corresponding safe ranges. Compared with the prior art, which mainly depends on the control mode of clinical experience of doctors, the embodiment of the application has more scientificity and accuracy, can effectively reduce the risk caused by improper perfusion or laser output to a patient, and compared with the scheme of independently controlling the perfusion pump 41, or independently controlling the suction pump 42 or independently controlling the laser 50, the embodiment of the application can realize the linkage control of the perfusion pump 41, the suction pump 42 and the laser 50 so as to more comprehensively and accurately regulate and control the temperature and the pressure in a target area and the laser output, can provide a better operation environment, improve the operation success rate and reduce the pain of the patient.

In some embodiments, the method further comprises releasing the locked state of the laser 50 to enable the laser 50 to output laser light through the optical fiber 51 when the pressure in the target area is within a preset pressure range, determining that the positional relationship between the optical fiber 51 and the imaging catheter 10 in the target area is within a preset relationship range based on the image captured by the imaging device 11, determining that the flow rate of the perfusion liquid by the perfusion pump 41 is within a corresponding flow rate range, and determining that the flow rate of the liquid sucked by the suction pump 42 is within a corresponding flow rate range.

Illustratively, the control method of the endoscopic laser lithotripsy system includes a lithotripsy preparation phase, which may be a phase of determining a position of a stone during a probing phase and prior to releasing the locked state of the laser 50. It is possible to determine whether the optical fiber 51, the perfusion pump 41, the suction pump 42, and the laser 50 can support safe lithotripsy in the lithotripsy preparation stage, and to release the locked state of the laser 50 to enable the laser 50 to output laser light through the optical fiber 51 if it is determined that safe lithotripsy can be supported.

As shown in fig. 4, the perfusion pump 41 may be controlled to perfuse the liquid into the target area and the suction pump 42 may be controlled to suck the liquid into the target area during the lithotripsy preparation stage so that the pressure in the target area is within a preset pressure range, so that the imaging device 11 may clearly acquire an image in the target area. From the image taken by the imaging device 11 of the target area, it is determined whether the optical fiber 51 to which the laser 50 is connected extends out of the imaging catheter 10, and the tip of the optical fiber 51 is within a preset area in the image. If the tip of the optical fiber 51 is in the preset area in the image, it is further determined whether the perfusion pump 41 and the suction pump 42 are already started, for example, whether the perfusion pump 41 and the suction pump 42 are already started or not can be determined according to the monitoring data of the corresponding flow sensors, the flow rate of the perfusion pump 41 to the target area is controlled to be in the corresponding flow rate range under the condition that the perfusion pump 41 and the suction pump 42 are already started, and the flow rate of the liquid sucked by the suction pump 42 in the target area is controlled to be in the corresponding flow rate range, and then the locking state of the laser 50 can be released so that the laser 50 can output laser through the optical fiber 51.

Optionally, the flow rate of the perfusion liquid may be greater in the lithotripsy preparation phase than in the probing phase, and the flow rate of the suction liquid may be greater in the lithotripsy preparation phase than in the probing phase, so as to timely bring out blood and tissue fragments in the target area during the lithotripsy phase, and to reduce the temperature in the target area, preventing the temperature in the target area from being too high. Illustratively, the flow rate of the perfusion liquid during the lithotripsy preparation phase is equal to the flow rate of the suction liquid such that the perfusion and suction within the target area are balanced and the pressure within the target area can stabilize within a set threshold range.

Illustratively, as shown in fig. 4, the method further comprises outputting third prompt information for prompting a user to adjust the optical fiber 51 and/or the imaging catheter 10 when the positional relationship between the optical fiber 51 and the imaging catheter 10 in the target area is not within the preset relationship range.

If the optical fiber 51 is not included on the image of the target area or the length of the optical fiber 51 extending out of the imaging catheter 10 is insufficient so that the tip of the optical fiber 51 is out of the preset area in the image in the lithotripsy preparation stage, the locked state of the laser 50 can be maintained, the laser 50 does not output laser light in the locked state, and damage to the patient caused by outputting laser light to the non-lithotripsy area of the target area can be prevented. Outputting a third prompt message to prompt a user to adjust the optical fiber 51 and/or the imaging catheter 10 when the position relationship between the optical fiber 51 and the imaging catheter 10 is not in the preset relationship range until the optical fiber 51 connected with the laser 50 extends out of the imaging catheter 10 and the locking state of the laser 50 can not be released after the tip of the optical fiber 51 is in the preset region in the image.

Illustratively, as shown in FIG. 4, the method further includes outputting a fourth prompt message for prompting a user to start the perfusion pump 41 when the flow rate of the perfusion liquid of the perfusion pump 41 is less than or equal to a threshold of perfusion on. When the flow rate of the liquid poured by the pouring pump 41 is less than or equal to the threshold value of the pouring opening, if it is determined that the pouring pump 41 is not started or fails, the locking state of the laser 50 can be maintained, the laser 50 does not output laser in the locking state, and damage to the patient caused by outputting laser when the liquid is not poured into the target area can be prevented. A fourth prompt may also be output to prompt the user to activate the perfusion pump 41, so that the flow rate of the perfusion liquid into the target area by the perfusion pump 41 is within the corresponding flow rate range.

After the locked state of the laser 50 is released in the crushed stone preparation stage, the laser 50 may output laser light through the optical fiber 51 to crush the stone, which may be referred to as a crushed stone stage. In step S130, the perfusion pump 41, the suction pump 42 and the laser 50 are controlled according to the acquired parameters, at least in the lithotripsy stage, the perfusion pump 41, the suction pump 42 and the laser 50 are controlled according to the acquired parameters.

In some embodiments, the controlling of the perfusion pump 41, the suction pump 42, and the laser 50 according to the acquired parameters in step S130 includes determining preset information of stones in the target region according to the image in the target region, where the preset information includes at least one of a type, a size, a color, and a texture, and controlling the perfusion pump 41, the suction pump 42, and the laser 50 according to the preset information of stones.

The preset information of the calculus in the target area, such as the type and the volume of the calculus, can be determined according to the calculus pixels in the image in the target area, and the perfusion pump 41, the suction pump 42 and the laser 50 are controlled according to the type and the volume of the current calculus in the calculus crushing stage, so that corresponding control parameters can be more targeted, and the safety and the effectiveness of the calculus are improved.

Illustratively, controlling the perfusion pump 41, the aspiration pump 42, and the laser 50 based on the preset information of the stone includes determining a power range of the output power of the laser 50 based on the preset information of the stone. Of course, the present invention is not limited thereto, and the flow rate range of the perfusion liquid by the perfusion pump 41 and/or the flow rate range of the suction liquid by the suction pump 42 may be determined based on preset information of the stones, for example.

For example, different laser output parameters are selected for different stone types. For example, in the case that the stone is of a soft type, such as uric acid stone, magnesium ammonium phosphate stone, or cystine stone, the user may be prompted to control the laser 50 to decrease the output power or the control unit 30 may control the laser 50 to decrease the output power so as to decrease damage to biological tissues while breaking the stone, and in the case that the stone is of a hard type, such as calcium oxalate stone or calcium phosphate stone, the user may be prompted to control the laser 50 to increase the output power or the control unit 30 may be prompted to control the laser 50 to increase the output power so as to effectively break the stone.

In the lithotripsy stage, according to the calculus pixels in the image in the target area, the volume of the calculus in the target area can be estimated, and different lithotripsy modes are selected for the calculus with different volumes. Optionally, the stone crushing mode comprises at least one of a powderized stone crushing mode, a morselized stone crushing mode and a popcorn stone crushing mode, wherein the morselized stone crushing mode can accelerate the stone crushing process, tiny bubbles can be generated on the surface of stones when the popcorn stone crushing mode is used for crushing the stones, impact force is generated by rapid expansion and cracking of the bubbles, the stones are crushed into small fragments, and the powderized stone crushing mode can gradually crush the stones into fine sand-shaped small particles when the stones are crushed, so that the stones are discharged out of the body. Wherein the control parameters of one or more of the perfusion pump 41, the suction pump 42 and the laser 50 are different in different lithotripsy modes, such as different output powers of the laser 50 in different lithotripsy modes, and/or different flow rates of the perfusion liquid by the perfusion pump 41 and/or different flow rates of the suction liquid by the suction pump 42 in different lithotripsy modes.

Alternatively, the operator selection or control unit 30 is recommended to automatically select the crushed and agglomerated stone breaking mode when the stone is large in size to accelerate the stone breaking process, the operator selection or control unit 30 is recommended to automatically select the popcorn stone breaking mode when the stone is large in size and hard in texture, and the operator selection or control unit 30 is recommended to automatically select the powdered stone breaking mode when the stone is soft in texture and small in size.

In some embodiments, the controlling the perfusion pump 41, the suction pump 42, and the laser 50 according to the acquired parameters in step S130 includes controlling the perfusion pump 41 to increase the flow rate of the perfusion liquid and/or controlling the laser 50 to decrease the output power when the temperature in the target area is greater than or equal to a first temperature threshold.

In the lithotripsy stage, the laser 50 can output laser light to a target region through an optical fiber 51. Referring to fig. 5, the laser lithotripsy process may cause a temperature rise in the target area. During the operation of the laser 50, the temperature in the target area is monitored in real time, and when the temperature in the target area is greater than or equal to the first temperature threshold, for example, 40 ℃, the control unit 30 may automatically control the perfusion pump 41 to increase the flow rate of the perfusion liquid, and/or control the laser 50 to reduce the output power, so as to effectively reduce the temperature in the target area, and prevent the damage to biological tissues such as kidneys caused by the cytotoxic effect due to the too high temperature in the target area during the laser lithotripsy. Wherein the temperature of the perfusion liquid of the perfusion pump 41 is less than the first temperature threshold to reduce the temperature within the target region, e.g. the temperature of the perfusion liquid of the perfusion pump 41 is substantially the same as the temperature of the biological tissue of the target region.

Illustratively, as shown in FIG. 5, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid in the case that the temperature in the target area is greater than or equal to the first temperature threshold, including controlling the perfusion pump 41 to increase the flow rate of the perfusion liquid in the case that the temperature in the target area is greater than or equal to the first temperature threshold and the flow rate of the perfusion liquid by the perfusion pump 41 is less than the flow rate threshold. For example, in the case that the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 preferably controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, and reduces the output power compared to preferably controlling the laser 50 to ensure that laser with sufficient power is output to the stone, thereby ensuring the effectiveness of the stone.

Illustratively, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid and/or controls the laser 50 to decrease the output power when the temperature in the target area is greater than or equal to a first temperature threshold, including controlling the laser 50 to decrease the output power when the temperature in the target area is greater than or equal to the first temperature threshold and the flow rate of the perfusion liquid by the perfusion pump 41 is greater than or equal to a flow rate threshold. In the case that the flow rate of the perfusion liquid of the perfusion pump 41 is greater than or equal to the flow rate threshold, the perfusion pump 41 is not controlled to increase the flow rate of the perfusion liquid, but the temperature in the target area can be reduced by controlling the laser 50 to reduce the output power, so that the discomfort of a patient or the damage to the biological tissue caused by the impact of the excessive flow rate of the perfusion liquid on the biological tissue in the target area can be prevented.

Illustratively, in the case that the temperature in the target area is greater than or equal to a first temperature threshold, controlling the perfusion pump 41, the suction pump 42, and the laser 50 according to the acquired parameters further includes controlling the suction pump 42 to increase the flow rate of the sucked liquid. For example, in the case that the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, and controls the suction pump 42 to increase the flow rate of the suction liquid, so that the perfusion amount and the suction amount of the liquid in the target area can be balanced, and the pressure in the target area can be stabilized within the preset pressure range.

For example, the controlling the suction pump 42 to increase the flow rate of the sucked liquid includes controlling the suction pump 42 to increase the flow rate of the sucked liquid when the pressure in the target area is greater than or equal to a first pressure threshold value, and controlling the suction pump 42 to stop increasing the flow rate of the sucked liquid when the pressure in the target area is less than a second pressure threshold value, which is less than or equal to the first pressure threshold value. When the temperature in the target area is greater than or equal to the first temperature threshold, the control unit 30 controls the perfusion pump 41 to increase the flow rate of the perfusion liquid, and as the perfusion rate increases, the pressure in the target area gradually increases to be greater than or equal to the first pressure threshold, when the pressure in the target area is greater than or equal to the first pressure threshold, the pressure in the target area can be reduced by increasing the flow rate of the sucked liquid, and the temperature reduction efficiency can be improved by increasing the discharge of the liquid with higher temperature in the target area, and when the flow rate of the sucked liquid increases to be equal to the flow rate of the perfusion liquid, that is, the perfusion rate and the suction amount reach balance, the pressure in the target area can be stabilized within a preset pressure range. It will be appreciated that during operation of the perfusion pump 41 and the suction pump 42, the flow rate of the perfusion fluid and the flow rate of the suction fluid may be automatically adjusted according to the pressure change in the target area to maintain the pressure in the target area within a safe range.

Optionally, referring to FIG. 5, the controlling the perfusion pump 41, the suction pump 42 and the laser 50 according to the collected parameters further includes controlling the perfusion pump 41 to reduce the flow rate of the perfusion liquid and controlling the suction pump 42 to reduce the flow rate of the suction liquid when the temperature in the target area decreases from greater than or equal to the first temperature threshold to less than or equal to the second temperature threshold, so that the pressure in the target area is stably maintained within the target threshold interval. For example, the target threshold interval may be the aforementioned preset pressure range, or at least partially overlap with the aforementioned preset pressure range. When the temperature in the target area is reduced to the second temperature threshold value, the flow rate of the perfusion liquid and the flow rate of the suction liquid are synchronously reduced, so that discomfort caused by the perfusion liquid and the suction liquid to a patient can be reduced, and the pressure in the target area can be stably kept in the target threshold value range, so that the target area is full and the patient cannot be damaged.

In some embodiments, the controlling the laser 50 to reduce the output power includes controlling the laser 50 to reduce the duration of a single output laser and/or to increase the time interval between two adjacent outputs of laser light when the power of the laser 50 output laser light is less than a power threshold. The power of the laser 50 outputs laser light is the energy of the laser light in a unit time, and the unit of the power of the laser 50 outputs laser light is, for example, watt or kw. The product of the duration of time that the laser 50 reduces the laser light output once and the power of the laser light output by the laser 50 is the energy of the laser light output once by the laser 50 in joules or kilojoules, for example.

As shown in fig. 5, in the case where the temperature in the target area is greater than or equal to the first temperature threshold and the flow rate of the perfused liquid by the perfusion pump 41 has reached the flow rate threshold, if the power of the laser light output by the laser 50 is less than the power threshold, that is, the power of the laser light output by the laser 50 does not reach the upper limit, the duration of the single output of the laser light may be reduced by controlling the laser 50 to reduce the energy of the single output of the laser light 50 to reduce the temperature of the target area, and/or the time interval between two adjacent output of the laser light may be increased to cool the target area with the perfused and sucked liquid at the time interval. In the case that the power of the laser 50 outputting the laser is smaller than the power threshold, the power of the laser 50 outputting the laser is not reduced any more, and the effectiveness of laser lithotripsy can be ensured.

In some embodiments, the controlling the laser 50 to reduce the output power includes controlling the laser 50 to reduce the power of the output laser when the power of the laser 50 output laser is greater than or equal to the power threshold. As shown in fig. 5, in the case where the temperature in the target area is greater than or equal to the first temperature threshold value and the flow rate of the perfusion liquid by the perfusion pump 41 has reached the flow rate threshold value, if the power of the laser light output by the laser 50 is greater than or equal to the power threshold value, that is, the power of the laser light output by the laser 50 has reached the upper limit value, the power of the laser light output by the laser 50 can be reduced, preventing the temperature in the target area from being excessively high.

Optionally, controlling the laser 50 to reduce the power of the output laser includes controlling the laser 50 to adjust at least one of the parameters of reducing the width of the laser pulse, reducing the frequency of the laser pulse, and reducing the energy peak of the laser pulse. Wherein, the laser 50 may output one or more laser pulses each time it outputs laser light, for example, the laser 50 outputs one or more laser pulses each time a laser light transmission instruction is sent to the laser 50, which may be referred to as the laser 50 outputting laser light once. The laser transmission instruction may be generated according to a user operation or may be automatically generated by the control unit 30.

In some embodiments, the controlling the laser 50 to reduce the output power includes outputting a prompt message related to the reduction of the output power, and controlling the laser 50 to reduce the output power according to a user operation. For example, the laser 50 or the control unit 30 includes an input device such as a button, a knob, a touch pad, etc., and the laser 50 may be controlled to reduce the output power according to the user's operation of the input device. I.e. the user has control over the laser 50, improving the safety and accuracy of the procedure and reducing the potential risk to the patient.

The outputting the prompt information for reducing the output power includes outputting an alarm prompt and/or a first prompt information when the power of the laser 50 for outputting the laser is less than a power threshold, where the first prompt information is used for prompting a user that the duration of the laser 50 for outputting the laser once is too long and/or the time interval between two adjacent laser outputs of the laser 50 is too short. For example, the user may reduce the duration of the single output laser according to the first prompt information, intermittently excite the laser 50 for multiple times to output the laser, so as to reduce the energy of the single output laser of the laser 50, and reduce the temperature of the target area by using the poured and sucked liquid at the time interval between two adjacent output lasers.

The outputting the prompt information for reducing the output power includes outputting an alarm prompt and/or a second prompt information when the power of the laser 50 for outputting the laser is greater than or equal to a power threshold, where the second prompt information is used to prompt a user that the power of the laser 50 for outputting the laser is too high. For example, the user may reduce the power of the laser 50 output according to the second prompt, e.g. adjust at least one of the parameters of the laser 50, such as reducing the width of the laser pulse, reducing the frequency of the laser pulse, reducing the energy peak of the laser pulse.

In some embodiments, the control method of the endoscopic laser lithotripsy system further comprises a lithotripsy stage, which exits the laser, which may include a stage after turning off the laser 50 or re-switching the laser 50 to a locked state or withdrawing the optical fiber 51 from the imaging catheter 10. As shown in fig. 6, in the stone removing stage, the perfusion pump 41 may be controlled to increase the flow rate of the perfusion liquid, and the suction pump 42 may be controlled to increase the flow rate of the suction liquid so as to sufficiently discharge the blood and the tissue fragments in the target area, where the flow rate of the perfusion liquid and the flow rate of the suction liquid in the stone removing stage are both within the corresponding flow rate threshold ranges, so as to prevent discomfort to the user caused by the excessively high flow rate, and simultaneously increase the flow rate of the perfusion liquid and the flow rate of the suction liquid, that is, the perfusion and the suction reach balance, so that the pressure of the target area is stabilized within the set threshold range.

The control method of the endoscope laser lithotripsy system comprises an imaging catheter 10, a detection unit 20, a control unit 30, a perfusion pump 41, a suction pump 42 and a laser 50, wherein the imaging catheter 10 is provided with an imaging device 11, the detection unit 20 is used for detecting temperature and pressure, the laser 50 is connected with an optical fiber 51, the method comprises the steps of controlling the perfusion pump 41 to perfuse liquid into a target area and controlling the suction pump 42 to suck the liquid in the target area, and at least any parameter is acquired, wherein the imaging device 11 is used for acquiring an image in the target area, the detection unit 20 is used for acquiring the temperature in the target area and the detection unit 20 is used for acquiring the pressure in the target area, and when the laser 50 outputs laser to the target area through the optical fiber 51, the control unit 30 controls the perfusion pump 41, the suction pump 42 and the laser 50 according to the acquired parameter. The linkage control of the flow rate of the perfusion liquid, the flow rate of the suction liquid and the laser output by the laser 50 can be realized, and the safety and the effectiveness of the lithotripsy operation can be improved.

Referring to fig. 7 in combination with the above embodiments, fig. 7 is a schematic block diagram of an endoscopic laser lithotripsy system according to an embodiment of the present application. An endoscopic laser lithotripsy system comprising:

an imaging catheter 10, wherein an imaging device 11 is arranged on the imaging catheter 10;

a detection unit 20, the detection unit 20 being configured to detect temperature and pressure;

A perfusion pump 41 and a suction pump 42, wherein the perfusion pump 41 is used for perfusing liquid into a target area, and the suction pump 42 is used for sucking the liquid in the target area;

a laser 50, the laser 50 being for connection with an optical fiber 51;

a control unit 30, the control unit 30 being configured to:

Controlling the perfusion pump 41 to perfuse liquid into a target area, and controlling the suction pump 42 to suck the liquid in the target area;

at least any one of the parameters of acquiring an image in the target area by the imaging device 11, acquiring a temperature in the target area by the detection unit 20, acquiring a pressure in the target area by the detection unit 20;

When the laser 50 outputs laser light into the target area through the optical fiber 51, the perfusion pump 41, the suction pump 42, and the laser 50 are controlled according to the acquired parameters.

The specific principle and implementation manner of the endoscope laser lithotripsy system provided by the embodiment of the application are similar to those of the control method of the endoscope laser lithotripsy system in the previous embodiment, and are not repeated here.

Referring to fig. 8 in combination with the above embodiments, fig. 8 is a schematic block diagram of a control unit 30 of an endoscopic laser lithotripsy system according to an embodiment of the present application. The control unit 30 of the endoscopic laser lithotripsy system comprises one or more processors, working individually or jointly, for performing the steps of the method of controlling the endoscopic laser lithotripsy system of the endoscopic laser lithotripsy system.

The endoscopic laser lithotripsy system also includes a memory, for example, where the processor and the memory may be connected by a bus, such as an I2C (I nter-I NTEGRATED CI rcu it) bus. The processor is used for executing a computer program stored in the memory, and when executing the computer program, the steps of the control method of the endoscope laser lithotripsy system of any one of the endoscope laser lithotripsy systems provided by the embodiment of the application are realized.

The specific principle and implementation manner of the control unit 30 of the endoscope laser lithotripsy system provided in the embodiment of the present application are similar to those of the control method of the endoscope laser lithotripsy system in the foregoing embodiment, and are not repeated here.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program when executed by a processor causes the processor to realize the steps of the control method of the endoscope laser lithotripsy system provided by the embodiment.

The computer readable storage medium may be an internal storage unit of the control unit 30 according to any of the foregoing embodiments, for example, a hard disk or a memory of the control unit 30. The computer readable storage medium may also be an external storage device of the control unit 30, such as a plug-in hard disk, a smart memory card (SMART MED I A CARD, SMC), a secure digital (Secure Di gi ta l, SD) card, a flash memory card (F L ASH CARD) or the like, which are provided on the control unit 30.

Referring to fig. 9 in combination with the above embodiments, fig. 9 is a schematic diagram of an imaging catheter 10 according to an embodiment of the present application.

The imaging catheter 10 includes:

A catheter body 12, wherein the catheter body 12 includes a head end 121, an operation portion 122, and a working channel 123 penetrating the head end 121 and the operation portion 122;

an imaging device 11, the imaging device 11 being disposed at the head end 121;

a detection unit 20 for detecting temperature and pressure, the detection unit 20 being provided at the head end 121;

A transmission member 81, a first end of the transmission member 81 is connected to the imaging device 11 and the temperature sensor 21 and the pressure sensor 22, and a second end of the transmission member 81 is connected to the operation portion 122.

The transmission assembly 81 may include an electric cable and/or an optical cable, that is, the imaging device 11 and the temperature sensor 21 and the pressure sensor 22 may be connected to the operation part 122 through the electric cable and/or the optical cable, for example, may be connected to the control unit 30 provided at the operation part 122, or connected to a host connected to the operation part 122, for example, the imaging device 11 is connected to the control unit 30 through the electric cable or the optical cable, for example, the temperature sensor 21 and the pressure sensor 22 in the detection unit 20 are connected to the control unit 30 through two electric cables, or the temperature and pressure integrated sensor is connected to the control unit 30 through the optical cable.

The specific principles and implementation manner of the imaging catheter 10 provided in the embodiment of the present application have been described in the foregoing description of the control method of the endoscopic laser lithotripsy system in the foregoing embodiment, and will not be repeated here.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in the present application and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. The control method of the endoscope laser lithotripsy system is characterized in that the endoscope laser lithotripsy system comprises an imaging catheter, a detection unit, a control unit, a perfusion pump, a suction pump and a laser, wherein the imaging catheter is provided with an imaging device, the detection unit is used for detecting temperature and pressure, and the laser is connected with an optical fiber;

The method comprises the following steps:

2. The control method according to claim 1, wherein the controlling the perfusion pump, the suction pump, and the laser according to the acquired parameters includes:

determining preset information of stones in the target area according to the image in the target area, wherein the preset information comprises at least one of type, size, color and texture;

And controlling the perfusion pump, the suction pump and the laser according to preset information of the stones.

3. The control method according to claim 2, wherein the controlling the perfusion pump, the suction pump, and the laser according to the preset information of the stones includes:

and determining the power range of the output power of the laser according to the preset information of the calculus.

4. The control method according to claim 1, wherein the controlling the perfusion pump, the suction pump, and the laser according to the acquired parameters includes:

the control unit controls the perfusion pump to increase the flow rate of the perfusion liquid and/or controls the laser to decrease the output power in case the temperature in the target area is greater than or equal to a first temperature threshold.

5. The control method according to claim 4, wherein the control unit controls the perfusion pump to increase the flow rate of the perfusion liquid and/or controls the laser to decrease the output power in the case where the temperature in the target area is greater than or equal to a first temperature threshold, comprising:

and controlling the laser to reduce output power under the condition that the temperature in the target area is greater than or equal to a first temperature threshold value and the flow rate of the perfusion liquid of the perfusion pump is greater than or equal to a flow rate threshold value.

6. The control method according to claim 4, wherein the control unit controls the perfusion pump to increase the flow rate of the perfusion liquid in the case where the temperature in the target region is greater than or equal to a first temperature threshold value, comprising:

And controlling the perfusion pump to increase the flow rate of the perfusion liquid under the condition that the temperature in the target area is greater than or equal to a first temperature threshold value and the flow rate of the perfusion liquid of the perfusion pump is smaller than a flow rate threshold value.

7. The control method according to claim 4, wherein, in the case where the temperature in the target area is greater than or equal to a first temperature threshold, the controlling the perfusion pump, the suction pump, and the laser according to the acquired parameters further includes:

controlling the suction pump to increase the flow rate of the sucked liquid.

8. The control method according to claim 7, characterized in that the controlling the suction pump to increase the flow rate of the sucked liquid includes:

when the pressure in the target area is greater than or equal to a first pressure threshold value, controlling the suction pump to increase the flow rate of the sucked liquid;

And when the pressure in the target area is smaller than a second pressure threshold value, controlling the suction pump to stop increasing the flow rate of the sucked liquid, wherein the second pressure threshold value is smaller than or equal to the first pressure threshold value.

9. The control method according to claim 7 or 8, characterized in that the controlling of the perfusion pump, the suction pump, and the laser according to the acquired parameters further comprises:

When the temperature in the target area is reduced from being greater than or equal to the first temperature threshold to being less than or equal to the second temperature threshold, controlling the perfusion pump to reduce the flow rate of perfusion liquid, and controlling the suction pump to reduce the flow rate of suction liquid, so that the pressure in the target area is stably kept in a target threshold interval.

10. The control method according to claim 4, characterized in that the controlling the laser to reduce the output power includes:

And when the power of the laser output laser is smaller than a power threshold value, controlling the laser to reduce the duration of the single output laser and/or improve the time interval of two adjacent output lasers.

11. The control method according to claim 4, characterized in that the controlling the laser to reduce the output power includes:

And when the power of the laser output laser is greater than or equal to the power threshold, controlling the laser to reduce the power of the output laser.

12. The control method according to claim 11, characterized in that the controlling the laser to reduce the power of the output laser includes:

controlling the laser to adjust at least one of the parameters of reducing the width of the laser pulse, reducing the frequency of the laser pulse, and reducing the energy peak of the laser pulse.

13. The control method according to any one of claims 4-8, 10-12, characterized in that the controlling the laser to reduce output power includes:

Outputting prompt information related to the reduction of output power;

And controlling the laser to reduce the output power according to the operation of a user.

14. The control method according to claim 13, wherein the outputting of the prompt information to decrease the output power includes:

When the power of the laser output laser is smaller than a power threshold value, outputting an alarm prompt and/or first prompt information, wherein the first prompt information is used for prompting a user that the duration of the laser output laser once is overlong and/or the time interval of the laser output laser twice is too short.

15. The control method according to claim 13, wherein the outputting of the output power lowering notification includes

When the power of the laser output laser is greater than or equal to a power threshold value, outputting an alarm prompt and/or second prompt information, wherein the second prompt information is used for prompting a user that the power of the laser output laser is too high.

16. The control method according to any one of claims 1 to 8, 10 to 12, characterized in that the method further comprises:

In the case where the pressure in the target area is within a preset pressure range, releasing the locked state of the laser to enable the laser to output laser light through the optical fiber when the following conditions are simultaneously satisfied:

according to the image in the target area shot by the imaging device, determining that the position relationship between the optical fiber and the imaging catheter in the target area is in a preset relationship range;

determining that the flow rate of the perfusion liquid of the perfusion pump is in a corresponding flow rate range;

and determining that the flow rate of the liquid sucked by the suction pump is in a corresponding flow rate range.

17. The control method of claim 16, further comprising at least one of:

Outputting third prompt information for prompting a user to adjust the optical fiber and/or the imaging catheter under the condition that the position relation between the optical fiber and the imaging catheter in the target area is not in the preset relation range;

and outputting fourth prompt information when the flow rate of the perfusion liquid of the perfusion pump is smaller than or equal to a perfusion opening threshold value, wherein the fourth prompt information is used for prompting a user to start the perfusion pump.

18. An endoscopic laser lithotripsy system, the system comprising:

a detection unit for detecting temperature and pressure;

The laser is used for being connected with the optical fiber;

a control unit for:

19. An imaging catheter, the imaging catheter comprising:

An imaging device provided at the head end portion;