阅读说明：本技术 基于三维重建的智能腹腔镜超视距术野导航系统 (Intelligent laparoscope over-the-horizon surgical field navigation system based on three-dimensional reconstruction ) 是由 汪涌 于 2020-05-02 设计创作，主要内容包括：本发明涉及医疗领域,尤其涉及基于三维重建的智能腹腔镜超视距术野导航系统。该系统包含操作部分、中控部分和图像显示部分,其中的操作部分和图像显示部分通信连接着中控部分,还包含信息综合导航部分,所述的信息导航部分包含三维成型定位系统和图像或者视频自动分析预警部分；达芬奇手术机器人或者是腹腔镜操作系统的操作部分的长度是一定的,在其进入肾脏的过程中,不断通过操作部分进入的距离长短,结合测算肾脏动脉、肾脏静脉以及输尿管的长度以及宽度来判断操作部分的头部,达芬奇手术机器人或者是腹腔镜操作系统端部的成像系统同时进行清晰的术野图像提供；根据判断的位置,实时在图像上显示操作头的位置。(The invention relates to the field of medical treatment, in particular to an intelligent laparoscope beyond-the-sight surgical field navigation system based on three-dimensional reconstruction. The system comprises an operation part, a central control part and an image display part, wherein the operation part and the image display part are in communication connection with the central control part, and the system also comprises an information comprehensive navigation part, and the information navigation part comprises a three-dimensional forming positioning system and an image or video automatic analysis early warning part; the length of the operation part of the DaVinci surgical robot or the laparoscope operation system is fixed, in the process of entering the kidney, the head of the operation part is judged by measuring and calculating the length and the width of the renal artery, the renal vein and the ureter continuously through the entering distance of the operation part, and the imaging system at the end part of the DaVinci surgical robot or the laparoscope operation system simultaneously provides a clear operation field image; and displaying the position of the operating head on the image in real time according to the judged position.)

1. The intelligent laparoscope beyond-the-horizon surgical field navigation system based on three-dimensional reconstruction is characterized by comprising an operation part, a central control part and an image display part, wherein the operation part and the image display part are in communication connection with the central control part, and the system also comprises an information comprehensive navigation part, and the information navigation part comprises a three-dimensional forming positioning system and an image or video automatic analysis and early warning part; the three-dimensional modeling positioning system can collect CT model information of a target kidney, can display basic shapes and main artery blood vessel information of the kidney in the CT model information, and further comprises a step of performing distance analysis on a CT image, namely measuring and calculating the lengths and widths of a renal artery, a renal vein and a ureter in a well-established three-dimensional model; the image or video automatic analysis early warning part comprises a step of analyzing the operation field image, and the step of analyzing the operation field image adopts the following method: calibrating a key region to define a range, wherein the key region comprises a renal artery, a renal vein and a ureter, and defining a safety range in the image region, wherein the range is N centimeters away from the renal artery, the renal vein and the ureter; the operation field image analysis can be displayed on a display screen in real time; the operation part is a DaVinci operation robot or a laparoscope operation system; because the length of the operation part of the DaVinci surgical robot or the laparoscope operation system is fixed, in the process of entering the kidney, the head of the operation part is judged by measuring and calculating the length and the width of the renal artery, the renal vein and the ureter continuously through the entering distance of the operation part, and the imaging system at the end part of the DaVinci surgical robot or the laparoscope operation system simultaneously provides clear operation field images; and displaying the position of the operating head on the image in real time according to the judged position.

2. The intelligent laparoscopic beyond-the-visual-distance surgical field navigation system based on three-dimensional reconstruction as claimed in claim 1, wherein when the operation part is a laparoscope, the mirror runs directly in the ureter, and an alarm is given once the tube of the mirror gradually approaches the boundary of the safe area; when the surgical operation arm is close to a safe area in the case of the DaVinci surgical robot, the voice reminds the important part to be close and the operation is noticed.

3. The intelligent laparoscope beyond-the-sight surgical field navigation system based on three-dimensional reconstruction as claimed in claim 1, further comprising a determination mode of surgical field emergencies, wherein the determination mode comprises the steps of determining that a large amount of red areas appear suddenly in the image or video automatic analysis and early warning part, and performing warning, wherein the warning mode is voice warning or acousto-optic warning.

4. An intelligent laparoscopic over-the-horizon surgical navigation system based on three-dimensional reconstruction as claimed in claim 1, further comprising a contrast agent positioning step, wherein a contrast agent sealing pipeline is attached to the operation part, and the position of the contrast agent is irregularly determined by the contrast device during the operation to assist in determining the position of the operation head.

5. The intelligent laparoscopic beyond-the-horizon surgical navigation system based on three-dimensional reconstruction as claimed in claim 4, wherein said visualization device is suspended above the operating table, mounted on a support and can be moved away.

6. The intelligent laparoscope beyond-the-sight surgical field navigation system based on three-dimensional reconstruction as claimed in claim 1, wherein the image or video automatic analysis and early warning part further comprises a step of broadcasting a specific distance from a target operation position in real time according to the judged position, namely, the dynamic distance between the current image or video and the specific target operation position is displayed in a picture, the target operation position is a focus area or an examination area defined in the image or video, and the broadcasted information can remind an operator at any time.

7. The intelligent laparoscope beyond-the-horizon surgical field navigation system based on three-dimensional reconstruction as recited in claim 1, wherein the image or video automatic analysis early warning part adopts an image analysis mode.

8. The intelligent laparoscope beyond-the-horizon surgical field navigation system based on three-dimensional reconstruction as recited in claim 1, wherein the image or video automatic analysis and early warning part further comprises a step of initial morphological analysis, which is used for learning and judging abnormal bulges in the surgical field as suspected tumors and reminding an operator to further implement.

9. The intelligent laparoscope beyond-the-horizon surgical field navigation system based on three-dimensional reconstruction as recited in claim 8, wherein the learning judgment means that the image or video automatic analysis and early warning part identifies more than N groups of tumor forms, including the tumor forms and the tumor surface textures, converts the learned part contents into pictures and data for storage, automatically compares the pictures and the data in the operation process, and reminds the user when finding abnormal similar positions.

Technical Field

The invention relates to the field of medical treatment, in particular to an intelligent laparoscope beyond-the-sight surgical field navigation system based on three-dimensional reconstruction.

Background

Urology surgery is a medicine for specially studying male and female urinary systems and male reproductive systems, is a specialized family of the following genera, which is subdivided from the field of surgery, and the treatment scope of urolithiasis and complex renal calculus; kidney and bladder tumors; prostatic hyperplasia and prostatitis; inflammation and tumor of the testicle epididymis; hydrocele of tunica vaginalis of testis; various urinary system injuries; congenital malformations of urinary system, such as hydronephrosis caused by hypospadia, cryptorchidism, and stenosis of renal pelvis ureter junction.

The da vinci robotic surgery system is based on a robotic surgical technique developed by the institute of technology, ma, province (formerly stanford research institute). The Intuitive scientific followed up with IBM, Massachusetts institute of technology and Heartport corporation to develop the system further. The FDA has approved the use of the da vinci robotic surgical system for general surgery in adults and children, thoracic surgery, urology, obstetrics and gynecology, head and neck surgery, and cardiac surgery. The da vinci surgical system is an advanced robotic platform designed in the concept of performing complex surgical procedures using minimally invasive methods.

In short, the da vinci robot is an advanced laparoscopic system. Minimally invasive treatments that are currently popular are likely to be: thoracoscopes, laparoscopes, gynecology scopes and the like are known, and the mechanical arm needs to penetrate through the chest and the abdominal wall when the DaVinci robot performs operation.

The laparoscope is similar to an electronic gastroscope and is an instrument with a miniature camera, and the laparoscopic surgery is a surgery performed by using the laparoscope and related instruments.

The current problems are: the operative field is very complicated, and though there is a device with very high precision, the manual operation is still required by a doctor, and the human body is very complicated, for example, stones may exist in the kidney due to a plurality of gaps, the position in the operative field cannot be determined, and sometimes the stones are easy to miss, and especially the shapes of the kidneys of different people may be inconsistent.

Disclosure of Invention

The purpose of the invention is as follows: in order to provide an intelligent laparoscope beyond-the-sight-distance surgical field navigation system with better three-dimensional reconstruction effect, the specific purpose is to embody a plurality of substantial technical effects of a part.

In order to achieve the purpose, the invention adopts the following technical scheme:

the intelligent laparoscope beyond-the-horizon surgical field navigation system based on three-dimensional reconstruction is characterized by comprising an operation part, a central control part and an image display part, wherein the operation part and the image display part are in communication connection with the central control part, and the system also comprises an information comprehensive navigation part, and the information navigation part comprises a three-dimensional forming positioning system and an image or video automatic analysis and early warning part; the three-dimensional modeling positioning system can collect CT model information of a target kidney, can display basic shapes and main artery blood vessel information of the kidney in the CT model information, and further comprises a step of performing distance analysis on a CT image, namely measuring and calculating the lengths and widths of a renal artery, a renal vein and a ureter in a well-established three-dimensional model; the image or video automatic analysis early warning part comprises a step of analyzing the operation field image, and the step of analyzing the operation field image adopts the following method: calibrating a key region to define a range, wherein the key region comprises a renal artery, a renal vein and a ureter, and defining a safety range in the image region, wherein the range is N centimeters away from the renal artery, the renal vein and the ureter; the operation field image analysis can be displayed on a display screen in real time; the operation part is a DaVinci operation robot or a laparoscope operation system; because the length of the operation part of the DaVinci surgical robot or the laparoscope operation system is fixed, in the process of entering the kidney, the head of the operation part is judged by measuring and calculating the length and the width of the renal artery, the renal vein and the ureter continuously through the entering distance of the operation part, and the imaging system at the end part of the DaVinci surgical robot or the laparoscope operation system simultaneously provides clear operation field images; and displaying the position of the operating head on the image in real time according to the judged position.

The invention has the further technical scheme that when the operation part is a laparoscope, the mirror directly runs in the ureter, and once the pipeline of the mirror gradually approaches the boundary of a safe area, an alarm is given; when the surgical operation arm is close to a safe area in the case of the DaVinci surgical robot, the voice reminds the important part to be close and the operation is noticed.

The invention further adopts the technical scheme that the method also comprises a judging mode of the emergency situation of the operative field, and comprises the steps that a large number of red areas appear suddenly in the image or video automatic analysis early warning part, so that the possibility of heavy bleeding is judged, and warning is carried out, wherein the warning mode is voice warning or acousto-optic warning.

The invention further adopts the technical scheme that the device also comprises a contrast agent positioning step, wherein a contrast agent sealing pipeline is attached to the operation part, and the position of the contrast agent is irregularly determined by a contrast device in the operation to assist in determining the position of the operation head.

The invention further provides that the radiography device is suspended above the operating table, is mounted on the support and can be moved away.

The invention further adopts the technical scheme that the automatic image or video analysis and early warning part also comprises a step of broadcasting the specific distance from the target operation position in real time according to the judged position, namely, the dynamic distance between the image or video and the specific target operation position is displayed in the picture at present, the target operation position is a focus area or an examination area defined in the image or video, and the broadcasted information can remind an operator at any time.

The invention further adopts the technical scheme that the image or video automatic analysis early warning part adopts an image analysis mode.

The invention further adopts the technical scheme that the image or video automatic analysis early warning part also comprises a step of initial morphological analysis, abnormal bulges in the operation field are learned and judged as suspected tumors, and an operator is reminded to further implement.

The further technical scheme of the invention is that the learning judgment refers to that an image or video automatic analysis early warning part identifies more than N groups of tumor forms, including tumor forms and tumor surface textures, converts part of learned contents into pictures and data for storage, automatically compares the pictures and the data in the operation process, and reminds when abnormal similar positions are found.

Compared with the prior art, the invention adopting the technical scheme has the following beneficial effects: A. the technical problem to be solved is that even the existing DaVinci surgical robot needs skilled operation and artificial skill of doctors for operation, and the patent creatively utilizes images, distances and three-dimensional modeling to carry out accurate position control; B. the method can utilize image analysis and data analysis to show the key position of the price on the image, judge the distance and the position between the operation part and the part at any time and give an alarm; D. in complex body cavities and organs, such as a complex internal environment of a kidney, the accurate positioning is realized, so that part of stones and the like cannot be lost due to operative field, and the operation cannot be lost.

Drawings

To further illustrate the present invention, further description is provided below with reference to the accompanying drawings:

FIG. 1 is a schematic representation of the kidney structure;

FIG. 2 is a schematic view of the surgical field;

FIG. 3 is a schematic illustration of a contrast image portion;

FIG. 4 is a schematic illustration of a three-dimensional angiographic image portion;

FIG. 5 is a schematic view of a surgical field of a surgical procedure;

FIG. 6 is a schematic view of the peripheral implementation of the operating bed;

FIG. 7 is one of the implementations of contrast media attached to an operative portion;

wherein: 1. the kidney; 2. medulla; 3. the renal pelvis; 4. a gap; 5 calyx Seu fructus Physalis; 6. a ureter; 7. an operation section; 8. a secure area; 9. a side bracket; 10. a display screen; 11. a support; 12. a contrast agent imaging scanning device; 13. the contrast agent encapsulates the sealed thin tube; 14. an operating head; 15. operating table, 16. change data display.

Detailed Description

The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The patent provides a plurality of parallel schemes, and different expressions belong to an improved scheme based on a basic scheme or a parallel scheme. Each solution has its own unique features.

The intelligent laparoscope beyond-the-horizon surgical field navigation system based on three-dimensional reconstruction is characterized by comprising an operation part, a central control part and an image display part, wherein the operation part and the image display part are in communication connection with the central control part, and the system also comprises an information comprehensive navigation part, and the information navigation part comprises a three-dimensional forming positioning system and an image or video automatic analysis and early warning part; the three-dimensional modeling positioning system can collect CT model information of a target kidney, can display basic shapes and main artery blood vessel information of the kidney in the CT model information, and further comprises a step of performing distance analysis on a CT image, namely measuring and calculating the lengths and widths of a renal artery, a renal vein and a ureter in a well-established three-dimensional model; the image or video automatic analysis early warning part comprises a step of analyzing the operation field image, and the step of analyzing the operation field image adopts the following method: calibrating a key region to define a range, wherein the key region comprises a renal artery, a renal vein and a ureter, and defining a safety range in the image region, wherein the range is N centimeters away from the renal artery, the renal vein and the ureter; the operation field image analysis can be displayed on a display screen in real time; the operation part is a DaVinci operation robot or a laparoscope operation system; because the length of the operation part of the DaVinci surgical robot or the laparoscope operation system is fixed, in the process of entering the kidney, the head of the operation part is judged by measuring and calculating the length and the width of the renal artery, the renal vein and the ureter continuously through the entering distance of the operation part, and the imaging system at the end part of the DaVinci surgical robot or the laparoscope operation system simultaneously provides clear operation field images; and displaying the position of the operating head on the image in real time according to the judged position. The technical scheme of the invention has the following substantial technical effects and the realization process thereof: A. the technical problem to be solved is that even the existing DaVinci surgical robot needs skilled operation and artificial skill of doctors for operation, and the patent creatively utilizes images, distances and three-dimensional modeling to carry out accurate position control; B. the method can utilize image analysis and data analysis to show the key position of the price on the image, judge the distance and the position between the operation part and the part at any time and give an alarm; D. in complex body cavities and organs, such as a complex internal environment of a kidney, the accurate positioning is realized, so that part of stones and the like cannot be lost due to operative field, and the operation cannot be lost.

When the operation part is a laparoscope, the mirror directly runs in the ureter, and once the pipeline of the mirror gradually approaches the boundary of the safe area, an alarm is given; when the surgical operation arm is close to a safe area in the case of the DaVinci surgical robot, the voice reminds the important part to be close and the operation is noticed. The technical scheme of the invention has the following substantial technical effects and the realization process: because the human body structure is complicated, doctors feel more attentive, and important parts can be warned through voice prompt.

As a further preference, when the operating head enters the safe area, the central control system forcibly halts the inquiry as to whether to continue, for example, in fig. 5, when the operating section is sufficiently close to the safe area 8, the robot arm movement is forcibly stopped, the display interface inquires whether to confirm the continuation of the operation, the operation right is given to the human, and at the same time, the forcible damage prevention confirmation is performed, and the method encounters an operation accident such as an aorta.

The method also comprises a judging mode of the emergency situation of the operative field, and comprises the steps that a large number of red areas appear suddenly in the image or video automatic analysis early warning part, so that the judgment that the area is possibly a large bleeding is made, a warning is given, and the warning mode is a voice alarm or a sound-light alarm. The technical scheme of the invention has the following substantial technical effects and the realization process: the original technology is not realized in the mode at all, and the image or video automatic analysis early warning part adopts the image analysis mode. Image analysis is of course a well established art including, but not limited to, color analysis, pixel analysis, color analysis, pixel separation techniques, and the like. The judgment here is that a large number of red pixels appear suddenly in the operative field, and it is judged that a large bleeding is likely. Avoid misjudgment of doctors.

The operation part is attached with a contrast agent sealing pipeline, and the contrast agent is irregularly determined by a contrast device in the operation to assist in determining the position of the operation head. The technical scheme of the invention has the following substantial technical effects and the realization process: with reference to fig. 6 and 7, the contrast agent can determine the distance even when the arm is operated by sealing, and it should be noted that this determination method is an aid for verifying the distance through multiple channels. An endoscopic eyepiece is used as the main basis. The imaging device is suspended above the operating table, is mounted on the support and can be moved away.

The image or video automatic analysis early warning part also comprises a step of broadcasting the specific distance from the target operation position in real time according to the judged position, namely, the dynamic distance between the current image or video and the specific target operation position is displayed in the picture, the target operation position is a focus area or an examination area defined in the image or video, and the broadcasted information can remind an operator at any time. The technical scheme of the invention has the following substantial technical effects and the realization process: referring to fig. 5, which shows the dynamic distance, there is a better indication if the safe zone 8 is a lesion.

The image or video automatic analysis early warning part also comprises a step of primary morphology analysis, abnormal bulges in the operation field are judged to be suspected tumors through learning, and an operator is reminded to further implement. The learning judgment means that the image or video automatic analysis early warning part identifies more than N groups of tumor forms including tumor forms and tumor surface textures, part of learned contents are converted into pictures and data to be stored, the pictures and the data are automatically compared in the operation process, and abnormal similar positions are found to be reminded. The technical scheme of the invention has the following substantial technical effects and the realization process: this technique is undoubtedly prior art, belonging to image similarity recognition, but it is not used endoscopically at all.

Creatively, the above effects exist independently, and the combination of the above results can be completed by a set of structure.

The technical effect that above structure was realized realizes clearly, if do not consider additional technical scheme, this patent name can also be a novel operation system. Some details are not shown in the figures.

It should be noted that the plurality of schemes provided in this patent include their own basic schemes, which are independent of each other and are not restricted to each other, but they may be combined with each other without conflict, so as to achieve a plurality of effects.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is to be limited to the embodiments described above.