WO2024229961A1 - Lesion length measurement apparatus, and device and storage medium - Google Patents

Abstract

A lesion length measurement apparatus. An elongated medical instrument is pushed by means of an operator, such that a mark point coincides with a distal end of a lesion, and distance data of an encoder is recorded as zero; the elongated medical instrument is pushed according to a preset mode by means of the operator, such that the mark point moves in the direction of a proximal end of the lesion; when the mark point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical instrument, reads a plurality of pieces of distance data which are recorded in the encoder, and stores the plurality of pieces of distance data in a circular buffer; and the distance data in the circular buffer is calculated by using a median algorithm, so as to obtain a lesion length which is measured for the first time. The present application further relates to a device and a storage medium. The technical problems of insufficient accuracy and low fault tolerance of existing lesion length measurement methods can be solved.

Description

Lesion length measuring device, equipment and storage medium

This application claims the priority of the Chinese patent application filed with the China Patent Office on May 10, 2023, with application number CN202310520911.6, and invention name “Lesion length measurement device, equipment and storage medium”, all contents of which are incorporated by reference in this application.

Technical Field

The present application relates to the field of medical equipment, and in particular to a method, device, equipment and storage medium for measuring the length of a lesion.

Background Art

When controlling the delivery of a slender medical device, the existing interventional surgical system and/or interventional surgical robot determines the length of the lesion by the distance the long strip of medical device moves. The prior art, such as the application document US16997334, usually uses a single control speed mode to control the advance and retreat of the slender medical device, which may result in insufficient measurement accuracy when the slender medical device is delivered and/or withdrawn. In addition, only one measurement data can be saved at each measurement, which has a low error tolerance rate and cannot provide multiple data in one measurement process to reduce the risk of data errors.

Therefore, the existing lesion length measurement method lacks accuracy and has low error tolerance.

Technical issues

The main purpose of this application is to provide a lesion length measurement method, device, equipment and storage medium, aiming to solve the technical problems of insufficient accuracy and low fault tolerance of existing lesion length measurement methods.

Technical Solutions

The main purpose of the application is to provide a lesion length measurement method, device, equipment and storage medium, aiming to solve the technical problems of insufficient accuracy and low fault tolerance of existing lesion length measurement methods.

In order to achieve the above-mentioned invention object, the present application proposes a lesion length measurement method for a lesion length measurement system, wherein the lesion length measurement system comprises an operator, a driver, a slender medical device and an encoder, wherein the driver comprises a drive unit; the operator is used to control the drive unit, and the drive unit is used to push the slender medical device, wherein a marking point is provided on the slender medical device, and the encoder is used to measure the moving distance of the marking point, wherein the method comprises:

Pushing the elongated medical device through the operator so that the marking point coincides with the distal end of the lesion, and recording the distance data of the encoder as zero;

Pushing the elongated medical device according to a preset mode by the operator makes the marking point move toward the proximal end of the lesion;

When the marking point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical device, reads a plurality of distance data recorded by the encoder, and stores the plurality of distance data in a circular buffer;

The distance data in the circular buffer is calculated using a median algorithm to obtain the first measured lesion length.

Furthermore, after the step of using the median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length, the method further comprises:

Saving the lesion length measured for the first time;

Repeat the measurement of the length of the lesion according to a preset number of times, obtain the length of the lesion measured multiple times subsequently and save it;

The final lesion length is determined according to the lesion length measured for the first time and the lesion lengths measured for multiple times subsequently.

Furthermore, when the marking point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical device, and the step of reading a plurality of distance data recorded by the encoder comprises:

When the operator stops pushing the elongated medical device, the distance data recorded by the encoder is read at preset time intervals.

Furthermore, the step of storing the plurality of distance data in a circular buffer comprises:

Storing each of the distance data in a storage location of the circular buffer, and marking the storage location of each of the distance data according to an index value;

When the index value corresponding to the distance data is greater than a preset value, the distance data and the index value in the circular buffer are cleared, and the distance data is stored in the first storage position of the circular buffer, and the index value is recorded as 1.

Furthermore, the step of using a median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length includes:

The distance data whose index value in the circular buffer is a median of a preset value is obtained as the lesion length.

Further, the preset mode includes: at least one of a position movement mode, a fixed speed mode and a variable speed mode;

The position movement mode is to control the driving unit to move forward or backward through the operator;

The fixed speed mode is that when the operator moves to the first position, the drive unit moves forward or backward at a first preset speed, and when the operator moves to the second position, the drive unit moves forward or backward at a second preset speed;

The speed change mode is that when the moving distance of the operator is less than the third position, the drive unit does not move, and when the moving distance of the operator is greater than or equal to the third position, the drive unit moves forward or backward at a speed corresponding to the moving distance.

Furthermore, before the step of pushing the elongated medical device through the operator so that the marking point coincides with the distal end of the lesion, the method further comprises:

In the process of controlling the movement of the elongated medical device, determining whether the distance data recorded by the encoder changes;

If the distance data has not changed, a prompt message is generated;

If the distance data changes, the step of pushing the elongated medical instrument through the operator is performed so that the marking point coincides with the distal end of the lesion.

The present application also provides a device for measuring the length of a lesion, the device comprising:

A start measurement module is used to push the slender medical device through the manipulator so that the marking point coincides with the distal end of the lesion and the distance data of the encoder is recorded as zero;

A measurement and recording module, used to push the elongated medical device according to a preset mode through the operator, so that the marking point moves toward the proximal end of the lesion;

A stop measurement module, configured to, when the marking point coincides with the proximal end of the lesion, cause the operator to stop pushing the elongated medical device, read a plurality of distance data recorded by the encoder, and store the plurality of distance data in a circular buffer;

The lesion length calculation module is used to calculate the distance data in the circular buffer using a median algorithm to obtain the lesion length measured for the first time.

The present application also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

Beneficial Effects

The present application provides a method for measuring the length of a lesion, which can save multiple measurement data in each measurement, sort and save the multiple measurement data, and select the measurement data in the middle of the sort as the result of each measurement, thereby solving the problem of insufficient accuracy of the lesion length measurement result caused by operation jitter, etc. More data is provided as a choice, thereby improving the measurement error tolerance rate and reducing the risk of error in lesion data measurement.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a flow chart of a method for measuring lesion length according to an embodiment of the present application;

FIG2 is a schematic block diagram of the structure of a device for measuring lesion length according to an embodiment of the present application;

FIG3 is a schematic diagram of a flow chart of a method for measuring lesion length according to an embodiment of the present application;

FIG4 is a schematic flow chart of a method for measuring lesion length according to an embodiment of the present application;

FIG5 is a schematic block diagram of the structure of a computer device according to an embodiment of the present application.

The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Best Mode for Carrying Out the Invention

In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

It will be understood by those skilled in the art that, unless expressly stated, the singular forms "a", "an", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements, modules, and/or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and/or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and/or" used herein includes all or any module and all combinations of one or more associated listed items.

Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

1 , an embodiment of the present invention provides a method for measuring the length of a lesion, which is used in a lesion length measuring system. The lesion length measuring system includes an operator, a driver, a slender medical device and an encoder. The driver includes a driving unit. The operator is used to control the driving unit, and the driving unit is used to push the slender medical device. A marking point is provided on the slender medical device. The encoder is used to measure the moving distance of the marking point, including steps S1-S4, specifically:

S1, pushing the slender medical device through the operator so that the marking point coincides with the distal end of the lesion, and recording the distance data of the encoder as zero;

S2, pushing the elongated medical device according to a preset mode by the operator, so that the marking point moves toward the proximal end of the lesion;

When measuring the length of the lesion, the slender medical device is pushed and moved by controlling the operator, with the distal end of the lesion as the measurement starting point and the proximal end of the lesion as the measurement end point. When the position of the mark point on the slender medical device coincides with the distal end of the lesion, click the zeroing button of the lesion measurement device to set the distance data of the encoder to zero. Subsequently, the distance data on the encoder is updated as the slender medical device moves toward the proximal end of the lesion. When the mark point on the slender medical device coincides with the proximal end of the lesion, the pushing of the slender medical device is stopped. The preset mode may include at least one of a position movement mode, a constant speed mode, and a variable speed mode.

S3, when the marking point coincides with the proximal end of the lesion, the operator stops pushing the slender medical device, reads a plurality of distance data recorded by the encoder, and stores the plurality of distance data in a circular buffer;

S4. Calculate the distance data in the circular buffer using a median algorithm to obtain the first measured lesion length.

When the operator stops pushing, the distance data recorded by the encoder is read at preset intervals, and the obtained multiple distance data are sorted and stored in a circular buffer. Each time a distance data recorded by an encoder is read, the distance data is stored in the circular buffer, and the corresponding index value is added, so that each distance data stored in the circular buffer has its corresponding index value sequence number. Then the distance data sorted in the middle of the circular buffer is selected as the lesion length, which prevents the jitter at the moment of stopping the movement from affecting the accuracy of the lesion length measurement. After completing a lesion length measurement, the current measurement data can also be saved, and the lesion length can be repeatedly measured to obtain multiple measurement data results, thereby improving the measurement tolerance and reducing the risk of measurement errors.

As described above, the lesion length measurement method provided by the present application realizes that multiple measurement data can be saved in each measurement, and after sorting and saving the multiple measurement data, the measurement data sorted in the middle is selected as the result of each measurement, which solves the problem of insufficient accuracy of the lesion length measurement result caused by operation jitter, etc. More data is provided as a choice, thereby improving the measurement error tolerance rate and reducing the risk of error in lesion data measurement.

In one embodiment, after the step of using the median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length, the following steps are included:

S401, saving the lesion length measured for the first time;

S402, repeatedly measuring the length of the lesion according to a preset number of times, obtaining and saving the length of the lesion measured multiple times subsequently;

S403: Determine a final lesion length according to the lesion length measured for the first time and the lesion lengths measured for multiple times subsequently.

Referring to Figure 3, after obtaining a lesion length measurement result, the current measurement result is saved, and the lesion length is repeatedly measured. After completing the preset number of measurements, the measurement results of multiple lesion lengths are counted to determine the final lesion length, and the final lesion length can be obtained by calculating the average or median of multiple lesion lengths. The measurement results of multiple lesion lengths can provide more data references for the operator, prevent the influence of a certain measurement error on the determination of the final lesion length, and improve the fault tolerance rate. Among them, the preset number of times can be determined according to the actual situation. After the final lesion length is determined, the measurement results of multiple lesion lengths are cleared to avoid affecting the subsequent measurement process.

In one embodiment, when the marking point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical device and reads a plurality of distance data recorded by the encoder, including:

S301 , when the operator stops pushing the slender medical device, reading the distance data recorded by the encoder at preset time intervals.

At the moment when the operator stops pushing, jitter may occur due to the way the operator controls the operator, etc., causing the marking point on the slender medical device to be displaced at this time. In order to improve the accuracy of the measurement, starting from the moment when the operator stops pushing, the distance data recorded by the encoder is read at preset time intervals, and multiple distance data recorded by the encoder in a short period of time after the operator stops pushing are obtained. The distance data sorted in the middle position is selected as the lesion length, which prevents the jitter at the moment of stopping movement from affecting the accuracy of the lesion length measurement. Among them, the preset time can be set according to the actual situation, for example, the distance data recorded by the encoder is read every 10 milliseconds.

In one embodiment, the step of storing the plurality of distance data in a circular buffer comprises:

S302, storing each of the distance data in a storage location of the circular buffer, and marking the storage location of each of the distance data according to an index value;

S303: When the index value corresponding to the distance data is greater than a preset value, clear the distance data and the index value in the circular buffer, and store the distance data in the first storage location of the circular buffer, with the index value being 1.

Referring to Figure 4, each time a distance data recorded by an encoder is read, the distance data is stored in the circular buffer and the corresponding index value is added. For example, assuming that the first distance data read is 5, the data is stored in the first storage position of the circular buffer, and the index value is recorded as 1; assuming that the second distance data read is 5.1, the data is stored in the second storage position of the circular buffer, and the index value is recorded as 2. Each time a distance data is stored in the circular buffer, the index value is increased by one, and so on. Among them, the specific value of the preset value can be set according to the actual situation, and the preset value is used to indicate the upper limit of the number of distance data that the circular buffer can store. When the index value is greater than the preset value, the index value and the distance data in the circular buffer before it are cleared, and the corresponding distance data is stored in the first storage position of the circular buffer, and the index value is recorded as 1, and stored in sequence in a circular manner.

In one embodiment, the step of using the median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length includes:

S404, obtaining distance data in the circular buffer whose index value is a median of a preset value as the lesion length.

When the number of distance data stored in the circular buffer reaches the upper limit, each distance data in the circular buffer has its corresponding index value, and the distance data whose index value is the median of the preset value is taken as the lesion length. For example, when the preset value is set to 20, the median of the preset value is 10, so the distance data corresponding to the index value of 10 is taken as the lesion length. The distance data whose index value is the median of the preset value is not the first data generated when the operator stops pushing the slender medical device, but the distance data obtained after a period of stability. Therefore, selecting the distance data whose index value is the median of the preset value as the lesion length can make the lesion length measurement result more accurate.

In one embodiment, the preset mode includes at least one of a position movement mode, a fixed speed mode and a variable speed mode;

The position movement mode is to control the driving unit to move forward or backward through the operator;

The fixed speed mode is that when the operator moves to the first position, the drive unit moves forward or backward at a first preset speed, and when the operator moves to the second position, the drive unit moves forward or backward at a second preset speed;

The speed change mode is that when the moving distance of the operator is less than the third position, the drive unit does not move, and when the moving distance of the operator is greater than or equal to the third position, the drive unit moves forward or backward at a speed corresponding to the moving distance.

When the position mode is used to push the elongated medical device, if the operating rod advances or retreats a first preset distance, the driving unit is controlled to immediately advance or retreat the first preset distance. When the operating rod is released, the driving unit immediately stops moving.

When the slender medical device is pushed in the fixed speed mode, if the operating rod moves to the left or right to the bottom, the control driving unit will immediately move forward or backward at the first selected speed. Alternatively, it can be set that when the operating rod moves to the left or right by half the length of the operating rod, the control driving unit will immediately move forward or backward at the second selected speed. Secondly, it can also be set that when the operating rod moves to the left or right to the bottom, after staying for a first preset time, the control driving unit will move forward or backward at a third selected speed. When the operating rod is released, the driving unit stops moving immediately.

When the slender medical device is pushed using the variable speed mode, if the operating rod moves forward or backward by a second preset distance, the driving unit is controlled to move at a speed of 0, that is, the driving unit does not move at this time; if the moving distance of the operating rod is greater than or equal to the second preset distance, the driving unit is controlled to move at a speed corresponding to the moving distance. At this time, the greater the moving distance of the operating rod, the greater the moving speed of the driving unit. When the operating rod is released, the driving unit stops moving immediately. By providing a variety of control modes for measuring the length of the lesion, the operating habits of different operators are met, which helps to improve the accuracy of the measurement.

In one embodiment, before the step of pushing the elongated medical device by the operator so that the marking point coincides with the distal end of the lesion, the following steps are performed:

S101, in the process of controlling the movement of the slender medical device, determining whether the distance data recorded by the encoder changes;

S102, if the distance data has not changed, generating a prompt message;

S103: If the distance data changes, executing the step of pushing the slender medical device through the operator so that the marking point coincides with the distal end of the lesion.

When the driving unit is controlled by the mobile operator to push the slender medical device, the encoder should measure the moving distance of the marked point on the slender medical device, and the distance data will change compared to before the slender medical device moves. If the distance data recorded by the encoder does not change after the slender medical device moves, it may be that the operator used an operator that is not used to measure the lesion length among multiple operating instruments, or that the various components of the system have poor contact. When receiving the prompt message, you can confirm whether the correct operation quick delivery mode is selected to rule out measurement abnormalities caused by incorrect selection of the operation quick delivery mode. Before actually measuring the lesion length, a prompt message needs to be generated for abnormal situations in which the distance data cannot be recorded by the encoder, so as to promptly remind the operator of measurement abnormalities and avoid affecting the measurement accuracy.

2 is a block diagram of a device for measuring the length of a lesion in an embodiment of the present application, the device comprising:

The measurement module 100 is started, which is used to push the elongated medical device through the operator so that the marking point coincides with the distal end of the lesion, and the distance data of the encoder is recorded as zero;

The measurement and recording module 200 is used to push the elongated medical device according to a preset mode through the operator so that the marking point moves toward the proximal end of the lesion;

The stop measurement module 300 is used for, when the marking point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical device, reads a plurality of distance data recorded by the encoder, and stores the plurality of distance data in a circular buffer;

The lesion length calculation module 400 is used to calculate the distance data in the circular buffer using a median algorithm to obtain the lesion length measured for the first time.

In one embodiment, the above-mentioned lesion length measurement device further includes:

The lesion length determination module is used to save the lesion length measured for the first time; repeatedly measure the lesion length according to a preset number of times, obtain and save the lesion lengths measured multiple times subsequently; and determine the final lesion length based on the lesion length measured for the first time and the lesion lengths measured multiple times subsequently.

In one embodiment, the above-mentioned lesion length measurement device further includes:

The distance data reading module is used to read the distance data recorded by the encoder at preset time intervals when the operator stops pushing the slender medical device.

In one embodiment, the above-mentioned lesion length measurement device further includes:

A circular buffer storage module is used to store each of the distance data in a storage position of the circular buffer, and mark the storage position of each of the distance data according to an index value; when the index value corresponding to the distance data is greater than a preset value, the distance data and index value in the circular buffer are cleared, and the distance data is stored in a first storage position of the circular buffer, and the index value is recorded as 1.

In one embodiment, the above-mentioned lesion length measurement device further includes:

The lesion length calculation submodule is used to obtain the distance data whose index value in the circular buffer is the median of the preset value as the lesion length.

In one embodiment, the above-mentioned lesion length measurement device further includes:

A mobile control module, used for the position movement mode, that is, controlling the drive unit to move forward or backward through the operator; the fixed speed mode, that is, when the operator moves to the first position, the drive unit moves forward or backward at a first preset speed, and when the operator moves to the second position, the drive unit moves forward or backward at a second preset speed; the variable speed mode, that is, when the moving distance of the operator is less than the third position, the drive unit does not move, and when the moving distance of the operator is greater than or equal to the third position, the drive unit moves forward or backward at a speed corresponding to the moving distance.

In one embodiment, the above-mentioned lesion length measurement device further includes:

The movement detection module is used to determine whether the distance data recorded by the encoder changes during the process of controlling the movement of the slender medical device; if the distance data has not changed, a prompt message is generated; if the distance data has changed, the step of pushing the slender medical device through the operator is executed so that the marking point coincides with the distal end of the lesion.

Referring to Figure 5, a computer device is also provided in an embodiment of the present application. The computer device can be a server, and its internal structure can be as shown in Figure 5. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store usage data during the lesion length measurement method. The network interface of the computer device is used to communicate with an external terminal through a network connection. Furthermore, the above-mentioned computer device can also be provided with an input device and a display screen. When the above-mentioned computer program is executed by a processor, it realizes a lesion length measurement method, which is used in a lesion length measurement system. The lesion length measurement system includes an operator, a driver, a slender medical device and an encoder, and the driver includes a driving unit; the operator is used to control the driving unit, and the driving unit is used to push the slender medical device. A marking point is set on the slender medical device, and the encoder is used to measure the moving distance of the marking point, including the following steps: pushing the slender medical device through the operator so that the marking point coincides with the distal end of the lesion, and recording the distance data of the encoder as zero; pushing the slender medical device through the operator according to a preset mode so that the marking point moves toward the proximal end of the lesion; when the marking point coincides with the proximal end of the lesion, the operator stops pushing the slender medical device, reads multiple distance data recorded by the encoder, and stores the multiple distance data in a circular buffer; uses a median algorithm to calculate the distance data in the circular buffer to obtain the lesion length measured for the first time.

Those skilled in the art will appreciate that the structure shown in FIG. 5 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.

An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a method for measuring the length of a lesion is implemented, comprising the following steps: a lesion length measurement system is used, the lesion length measurement system comprising an operator, a driver, a slender medical device and an encoder, the driver comprising a driving unit; the operator is used to control the driving unit, the driving unit is used to push the slender medical device, a marking point is arranged on the slender medical device, and the encoder is used to measure the moving distance of the marking point, comprising the following steps: pushing the slender medical device through the operator so that the marking point coincides with the distal end of the lesion, and recording the distance data of the encoder as zero; pushing the slender medical device through the operator according to a preset mode so that the marking point moves toward the proximal end of the lesion; when the marking point coincides with the proximal end of the lesion, the operator stops pushing the slender medical device, reads a plurality of distance data recorded by the encoder, and stores the plurality of distance data in a circular buffer; and uses a median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, device, article or method including the element.

The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims (18)

A lesion length measuring device, used in a lesion length measuring system, the lesion length measuring system comprising an operator, a driver, a slender medical device and an encoder, the driver comprising a driving unit; the operator is used to control the driving unit, the driving unit is used to push the slender medical device, a marking point is provided on the slender medical device, and the encoder is used to measure the moving distance of the marking point, wherein the device comprises: A start measurement module is used to push the slender medical device through the manipulator so that the marking point coincides with the distal end of the lesion and the distance data of the encoder is recorded as zero; A measurement and recording module, used to push the elongated medical device through the operator according to a preset mode, so that the marking point moves toward the proximal end of the lesion; the preset mode includes: at least one of a position movement mode, a fixed speed mode and a variable speed mode; A stop measurement module, configured to, when the marking point coincides with the proximal end of the lesion, cause the operator to stop pushing the elongated medical device, read a plurality of distance data recorded by the encoder, and store the plurality of distance data in a circular buffer; A lesion length calculation module, used to calculate the distance data in the circular buffer using a median algorithm to obtain a first measured lesion length; A circular buffer storage module, used for storing each of the distance data in a storage position of the circular buffer, marking the storage position of each of the distance data according to an index value; when the index value corresponding to the distance data is greater than a preset value, clearing the distance data and the index value in the circular buffer, and storing the distance data in a first storage position of the circular buffer, wherein the index value is recorded as 1; A lesion length calculation submodule, used for obtaining distance data whose index value in the circular buffer is a median of a preset value as the lesion length; A mobile control module, used for the position movement mode, that is, controlling the drive unit to move forward or backward through the operator; the fixed speed mode, that is, when the operator moves to the first position, the drive unit moves forward or backward at a first preset speed, and when the operator moves to the second position, the drive unit moves forward or backward at a second preset speed; the variable speed mode, that is, when the moving distance of the operator is less than the third position, the drive unit does not move, and when the moving distance of the operator is greater than or equal to the third position, the drive unit moves forward or backward at a speed corresponding to the moving distance. The lesion length measuring device according to claim 1, further comprising: The lesion length determination module is used to save the lesion length measured for the first time; repeatedly measure the lesion length according to a preset number of times, obtain and save the lesion lengths measured multiple times subsequently; and determine the final lesion length based on the lesion length measured for the first time and the lesion lengths measured multiple times subsequently. The lesion length measuring device according to claim 1, further comprising: The distance data reading module is used to read the distance data recorded by the encoder at preset time intervals when the operator stops pushing the slender medical device. The lesion length measuring device according to claim 1, further comprising: The movement detection module is used to determine whether the distance data recorded by the encoder changes during the process of controlling the movement of the slender medical device; if the distance data has not changed, a prompt message is generated; if the distance data has changed, the step of pushing the slender medical device through the operator is executed so that the marking point coincides with the distal end of the lesion. According to the lesion length measuring device according to claim 1, wherein the movement control module is also used to control the driving unit to immediately advance or retreat the first preset distance if the operator advances or retreats the first preset distance, and when the operator is not controlled, the driving unit immediately stops moving. The lesion length measuring device according to claim 1, wherein the movement control module is further used to control the moving speed of the driving unit to be 0 if the operating rod moves forward or backward by a second preset distance, that is, the driving unit does not move at this time; If the moving distance of the operating rod forward or backward is greater than or equal to the second preset distance, the driving unit is controlled to move at a speed corresponding to the moving distance. At this time, the greater the moving distance of the operating rod, the greater the moving speed of the driving unit. A computer device comprises a memory and a processor, wherein the memory stores a computer program, wherein the processor implements a lesion length measurement method when executing the computer program, and is used in a lesion length measurement system, wherein the lesion length measurement system comprises an operator, a driver, a slender medical device and an encoder, wherein the driver comprises a driving unit; the operator is used to control the driving unit, and the driving unit is used to push the slender medical device, wherein a marking point is provided on the slender medical device, and the encoder is used to measure the moving distance of the marking point; the method comprises: Pushing the elongated medical device through the operator so that the marking point coincides with the distal end of the lesion, and recording the distance data of the encoder as zero; Pushing the elongated medical device according to a preset mode by the operator makes the marking point move toward the proximal end of the lesion; When the marking point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical device, reads a plurality of distance data recorded by the encoder, and stores the plurality of distance data in a circular buffer; Using a median algorithm to calculate the distance data in the circular buffer, to obtain the first measured lesion length; The step of storing the plurality of distance data in a circular buffer comprises: Storing each of the distance data in a storage location of the circular buffer, and marking the storage location of each of the distance data according to an index value; When the index value corresponding to the distance data is greater than a preset value, clearing the distance data and the index value in the circular buffer, and storing the distance data in the first storage position of the circular buffer, and the index value is recorded as 1; The step of using the median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length includes: Acquire the distance data whose index value in the circular buffer is the median of the preset value as the lesion length; The preset mode includes: at least one of a position movement mode, a fixed speed mode and a variable speed mode; The position movement mode is to control the driving unit to move forward or backward through the operator; The fixed speed mode is that when the operator moves to the first position, the drive unit moves forward or backward at a first preset speed, and when the operator moves to the second position, the drive unit moves forward or backward at a second preset speed; The speed change mode is that when the moving distance of the operator is less than the third position, the drive unit does not move, and when the moving distance of the operator is greater than or equal to the third position, the drive unit moves forward or backward at a speed corresponding to the moving distance. The computer device according to claim 7, wherein after the step of using the median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length, the step further comprises: Saving the lesion length measured for the first time; Repeat the measurement of the length of the lesion according to a preset number of times, obtain the length of the lesion measured multiple times subsequently and save it; The final lesion length is determined according to the lesion length measured for the first time and the lesion lengths measured for multiple times subsequently. The computer device according to claim 7, wherein when the marking point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical device and the step of reading a plurality of distance data recorded by the encoder comprises: When the operator stops pushing the elongated medical device, the distance data recorded by the encoder is read at preset time intervals. The computer device according to claim 7, wherein before the step of pushing the elongated medical device by the operator so that the marking point coincides with the distal end of the lesion, the step comprises: In the process of controlling the movement of the elongated medical device, determining whether the distance data recorded by the encoder changes; If the distance data has not changed, a prompt message is generated; If the distance data changes, the step of pushing the elongated medical instrument through the operator is performed so that the marking point coincides with the distal end of the lesion. The computer device according to claim 7, wherein the fixed speed mode is a step in which the driving unit moves forward or backward at a first preset speed when the operator moves to the first position, comprising: If the operator moves forward or backward by a first preset distance, the driving unit is controlled to move forward or backward by the first preset distance immediately. When the operator is not controlled, the driving unit stops moving immediately. The computer device according to claim 7, wherein the step of advancing or retreating the driving unit at a second preset speed when the operator moves to the second position comprises: If the operating rod moves forward or backward by a second preset distance, the driving unit is controlled to move at a speed of 0, that is, the driving unit does not move at this time; If the moving distance of the operating rod forward or backward is greater than or equal to the second preset distance, the driving unit is controlled to move at a speed corresponding to the moving distance. At this time, the greater the moving distance of the operating rod, the greater the moving speed of the driving unit. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, a method for measuring the length of a lesion is implemented, and the method is used in a lesion length measurement system, wherein the lesion length measurement system comprises an operator, a driver, a slender medical device and an encoder, wherein the driver comprises a driving unit; the operator is used to control the driving unit, and the driving unit is used to push the slender medical device, wherein a marking point is provided on the slender medical device, and the encoder is used to measure the moving distance of the marking point; the method comprises: Pushing the elongated medical device through the operator so that the marking point coincides with the distal end of the lesion, and recording the distance data of the encoder as zero; Pushing the elongated medical device according to a preset mode by the operator makes the marking point move toward the proximal end of the lesion; When the marking point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical device, reads a plurality of distance data recorded by the encoder, and stores the plurality of distance data in a circular buffer; Using a median algorithm to calculate the distance data in the circular buffer, to obtain the first measured lesion length; The step of storing the plurality of distance data in a circular buffer comprises: Storing each of the distance data in a storage location of the circular buffer, and marking the storage location of each of the distance data according to an index value; When the index value corresponding to the distance data is greater than a preset value, clearing the distance data and the index value in the circular buffer, and storing the distance data in the first storage position of the circular buffer, and the index value is recorded as 1; The step of using the median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length includes: Acquire the distance data whose index value in the circular buffer is the median of the preset value as the lesion length; The preset mode includes: at least one of a position movement mode, a fixed speed mode and a variable speed mode; The position movement mode is to control the driving unit to move forward or backward through the operator; The fixed speed mode is that when the operator moves to the first position, the drive unit moves forward or backward at a first preset speed, and when the operator moves to the second position, the drive unit moves forward or backward at a second preset speed; The speed change mode is that when the moving distance of the operator is less than the third position, the drive unit does not move, and when the moving distance of the operator is greater than or equal to the third position, the drive unit moves forward or backward at a speed corresponding to the moving distance. The computer-readable storage medium according to claim 13, wherein after the step of using the median algorithm to calculate the distance data in the circular buffer to obtain the first measured lesion length, the method further comprises: Saving the lesion length measured for the first time; Repeat the measurement of the length of the lesion according to a preset number of times, obtain the length of the lesion measured multiple times subsequently and save it; The final lesion length is determined according to the lesion length measured for the first time and the lesion lengths measured for multiple times subsequently. The computer-readable storage medium according to claim 13, wherein when the marking point coincides with the proximal end of the lesion, the operator stops pushing the elongated medical device, and the step of reading a plurality of distance data recorded by the encoder comprises: When the operator stops pushing the elongated medical device, the distance data recorded by the encoder is read at preset time intervals. The computer-readable storage medium according to claim 13, wherein before the step of pushing the elongated medical device by the operator so that the marking point coincides with the distal end of the lesion, the step comprises: In the process of controlling the movement of the elongated medical device, determining whether the distance data recorded by the encoder changes; If the distance data has not changed, a prompt message is generated; If the distance data changes, the step of pushing the elongated medical instrument through the operator is performed so that the marking point coincides with the distal end of the lesion. The computer-readable storage medium according to claim 13, wherein the fixed speed mode is a step in which the driving unit moves forward or backward at a first preset speed when the operator moves to the first position, comprising: If the operator moves forward or backward by a first preset distance, the driving unit is controlled to move forward or backward by the first preset distance immediately. When the operator is not controlled, the driving unit stops moving immediately. The computer-readable storage medium according to claim 13, wherein when the operator moves to the second position, the step of the drive unit moving forward or backward at a second preset speed comprises: If the operating rod moves forward or backward by a second preset distance, the driving unit is controlled to move at a speed of 0, that is, the driving unit does not move at this time; If the moving distance of the operating rod forward or backward is greater than or equal to the second preset distance, the driving unit is controlled to move at a speed corresponding to the moving distance. At this time, the greater the moving distance of the operating rod, the greater the moving speed of the driving unit.