阅读说明：本技术 一种医疗器械控制与数据融合的手术全流程赋能方法及系统 (Medical instrument control and data fusion operation full-process enabling method and system ) 是由 张大宏 薛翀 冯再麟 赵一宇 谢桂林 缪国超 于 2021-01-22 设计创作，主要内容包括：本发明公开了一种医疗器械控制与数据融合的手术全流程赋能方法及系统,方法包括：接收外部数据并转化为标准格式数据；对标准格式数据进行归档和自我学习,并在术前根据信息数据和图像数据得到规划路径和手术操作指导,在术中根据器械位姿数据获取实时位置,并且根据规划路径和手术操作指导结合实时位置在手术中得到手术意见；在手术全流程展示对应的图像数据,并在手术前在图像数据上叠加所述规划路径以及手术操作指导进行展示,在手术中实时在图像数据上叠加所述实时位置以及手术意见进行展示；根据医生输入的控制指令控制手术器械改变相应的器械位姿以进行手术。本发明为外科手术提供高效率、多视角的数据呈现方式,显著提高数据利用率。(The invention discloses a medical instrument control and data fusion operation full-process enabling method and system, wherein the method comprises the following steps: receiving external data and converting the external data into standard format data; filing and self-learning the standard format data, obtaining a planning path and operation guidance before an operation according to the information data and the image data, obtaining a real-time position in the operation according to the instrument pose data, and obtaining operation opinions in the operation according to the planning path and the operation guidance in combination with the real-time position; displaying corresponding image data in the whole operation flow, overlapping the planning path and the operation instruction on the image data for display before the operation, and overlapping the real-time position and the operation suggestion on the image data for display in real time in the operation; and controlling the surgical instrument to change the corresponding instrument pose according to the control instruction input by the doctor so as to perform the operation. The invention provides a high-efficiency and multi-view data presentation mode for the surgical operation, and the data utilization rate is obviously improved.)

1. A medical instrument control and data fusion surgical full-flow enabling method, comprising:

receiving external data and converting the external data into standard format data, wherein the external data comprises instrument data from medical instruments and information data from a hospital information system, and the instrument data comprises image data of iconography and instrument pose data of surgical instruments;

filing and self-learning the standard format data, obtaining a planning path and an operation guide before an operation according to the information data and the image data, tracking the surgical instrument in real time to obtain a real-time position during the operation according to the instrument pose data, and obtaining an operation suggestion in the operation according to the planning path and the operation guide in combination with the real-time position;

displaying corresponding image data in the whole operation process, overlapping the planning path and the operation instruction on the image data for displaying before the operation for preoperative reference of a doctor, and overlapping the real-time position and the operation suggestion on the image data in real time in the operation for displaying so as to assist the doctor in performing the operation;

and controlling the surgical instrument to change the corresponding instrument pose according to the control instruction input by the doctor so as to perform the operation.

2. The method of full-flow surgical energization for medical instrument control and data fusion according to claim 1, wherein said deriving planned paths and surgical procedure guidance from informative and image data comprises:

receiving a focus area marked on the image data by a doctor, and generating a group of position information B of the focus area;

calling operation records of the same kind of operations from the information data, determining a group of operation starting point position information aiming at the current focus area, and determining final operation starting point position information A according to the designation of a doctor in the group of operation starting point position information; or receiving the operation starting point position information input by the doctor as final operation starting point position information A;

calculating the posture of the surgical instrument from the position information A of the surgical starting point to the position information B, and selecting the optimal 1-2 postures of the surgical instrument to generate a preoperative planned path of the surgical instrument;

taking the position information B as an operation range, calling operation records of the same kind of operations from the information data, and determining operation steps aiming at the current focus area to be displayed on the image data;

and receiving operation range adjustment information and operation step adjustment information input by a doctor to adjust the operation range and the operation steps to obtain a final operation range and operation steps as operation instructions.

3. The method of claim 2, wherein the obtaining of intraoperative comments in combination with real-time location based on the planned path and surgical procedure guidance comprises:

in the process from the operation starting position to the lesion area, if the real-time position is located on the preoperative planned path, providing a next operation suggestion according to the real-time position and the preoperative planned path; otherwise, giving a risk prompt according to the degree of the real-time position deviating from the planned path before the operation;

in the process of performing an operation in a focus area, if the real-time position is a position point in the operation guide, giving a next operation suggestion according to the real-time position and the operation guide; otherwise, different risk prompts are given according to the degree of deviation of the real-time position from the operation guidance.

4. The method of claim 1, wherein the acquiring real-time positions in performing real-time tracking of a surgical instrument from the instrument pose data comprises:

position alignment before surgery: acquiring a plurality of position information C marked by a doctor in a body surface image of a patient, acquiring position information D synchronously marked by the doctor in an imaging image of the patient, and calculating according to the position information C and the position information D corresponding to the positions to obtain a calibration deviation;

and correcting the instrument pose data by using the calibration deviation during real-time tracking to obtain a corresponding real-time position.

5. The medical instrument control and data fusion surgical full-flow enabling method of claim 1, wherein the archiving the standard-format data comprises: acquiring pose data and real-time positions of all instruments in the operation process, storing the pose data and the real-time positions of the instruments as an operation set in a relational database, and taking an operation ID and an operation type as a unique identifier;

the self-learning, comprising: screening the archived data regularly, integrating the data of the same operation type, wherein the integration comprises arranging points with similar positions to form normal distribution, and counting the point positions with concentrated positions in the positions of the surgical instruments and the surgical starting points in the operation; the point locations in the position set and the corresponding operation types are independently stored in another relational database table, and the relational database table is continuously supplemented for a long time, so that operation planning data helpful for doctors are formed.

6. A medical instrument control and data fusion surgical full flow enabling system, comprising a data subsystem, an imaging subsystem, a control subsystem, and an access module, wherein:

the access module is used for receiving external data, converting the external data into standard format data and sending the standard format data to the data subsystem, the imaging subsystem and the control subsystem, wherein the external data comprises instrument data from medical instruments and information data from a hospital information system, and the instrument data comprises image data of iconography and instrument pose data of surgical instruments;

the data subsystem is used for filing and self-learning the standard format data, obtaining a planning path and an operation guide before an operation according to the information data and the image data, tracking an operation instrument in real time according to the instrument pose data to obtain a real-time position during the operation, and obtaining an operation suggestion in the operation according to the planning path and the operation guide in combination with the real-time position;

the imaging subsystem is used for displaying corresponding image data in the whole operation process, superposing the planning path and the operation instruction on the image data for displaying before an operation, so that a doctor can refer to the image data before the operation, and superposing the real-time position and the operation suggestion on the image data in real time in the operation to display so as to assist the doctor in performing the operation;

and the control subsystem is used for controlling the surgical instruments to change the corresponding instrument poses according to the control instructions input by the doctor so as to perform the operation.

7. The medical instrument control and data fusion surgical full procedure enabling system according to claim 6, wherein the planning path and surgical operation guidance are derived from the informative data and the image data by performing the following operations:

receiving a focus area marked on the image data by a doctor, and generating a group of position information B of the focus area;

calling operation records of the same kind of operations from the information data, determining a group of operation starting point position information aiming at the current focus area, and determining final operation starting point position information A according to the designation of a doctor in the group of operation starting point position information; or receiving the operation starting point position information input by the doctor as final operation starting point position information A;

calculating the posture of the surgical instrument from the position information A of the surgical starting point to the position information B, and selecting the optimal 1-2 postures of the surgical instrument to generate a preoperative planned path of the surgical instrument;

taking the position information B as an operation range, calling operation records of the same kind of operations from the information data, and determining operation steps aiming at the current focus area to be displayed on the image data;

and receiving operation range adjustment information and operation step adjustment information input by a doctor to adjust the operation range and the operation steps to obtain a final operation range and operation steps as operation instructions.

8. The medical instrument control and data fusion surgical full flow enabling system of claim 7, wherein the intraoperative opinion is derived from the planned path and surgical procedure guidance in combination with real-time location, performing the following operations:

in the process from the operation starting position to the lesion area, if the real-time position is located on the preoperative planned path, providing a next operation suggestion according to the real-time position and the preoperative planned path; otherwise, giving a risk prompt according to the degree of the real-time position deviating from the planned path before the operation;

in the process of performing an operation in a focus area, if the real-time position is a position point in the operation guide, giving a next operation suggestion according to the real-time position and the operation guide; otherwise, different risk prompts are given according to the degree of deviation of the real-time position from the operation guidance.

9. The medical instrument control and data fusion surgical full flow enabling system of claim 6, wherein said acquiring real time position in performing real time tracking of a surgical instrument from said instrument pose data is performed by:

position alignment before surgery: acquiring a plurality of position information C marked by a doctor in a body surface image of a patient, acquiring position information D synchronously marked by the doctor in an imaging image of the patient, and calculating according to the position information C and the position information D corresponding to the positions to obtain a calibration deviation;

and correcting the instrument pose data by using the calibration deviation during real-time tracking to obtain a corresponding real-time position.

10. The medical instrument control and data fusion surgical full process enabling system of claim 6, wherein the archiving of the standard format data performs the following operations: acquiring pose data and real-time positions of all instruments in the operation process, storing the pose data and the real-time positions of the instruments as an operation set in a relational database, and taking an operation ID and an operation type as a unique identifier;

the self-learning performs the following operations: screening the archived data regularly, integrating the data of the same operation type, wherein the integration comprises arranging points with similar positions to form normal distribution, and counting the point positions with concentrated positions in the positions of the surgical instruments and the surgical starting points in the operation; the point locations in the position set and the corresponding operation types are independently stored in another relational database table, and the relational database table is continuously supplemented for a long time, so that operation planning data helpful for doctors are formed.

Technical Field

The application belongs to the field of medical instruments, and particularly relates to a medical instrument control and data fusion operation full-process enabling method and system.

Background

With the development of social technology, surgery has gone through a process from traditional open surgery to minimally invasive surgery to robotic surgery. The development that can be so dramatic is not open to the development of several important technical pillars, respectively: image enhancement, instrument intelligence, medical robot, data analysis and machine learning and cloud interconnection, but at present these technical support are relative occlusion between them, and their respective action domains are also disjoint. For example, image enhancement has its own independent medical system, which is more reflected in preoperative diagnosis and is less helpful to the operation. The intelligent instruments and the medical robot act on the operation process more, but the judgment of the operation difficulty, the formulation of the operation scheme and even the guidance of the operation process more depend on the experience of doctors.

Therefore, the existing instruments are independent, a unified technology fusion interaction platform is not formed, interconnection cannot be formed, the utilization rate of data is low, the ecological cycle of the whole instrument industry is hindered, and a single system or instrument cannot meet the operation requirement more and more. The application proposes to integrate these technologies into one system, and to utilize their respective core capabilities to achieve preoperative surgical planning; tracking and guiding in real time during operation to assist in guiding the operation process; reviewing and archiving postoperative data; finally, by recording a large amount of operation data, the system learns by itself, so as to achieve the effects of guiding teaching clinical training in the future, shortening the culture period of doctors, improving the operation precision and reducing the operation risk.

Disclosure of Invention

The application aims to provide a full-flow operation enabling method and system for medical instrument control and data fusion, which provide a high-efficiency and multi-view data presentation mode for a surgical operation and obviously improve the data utilization rate.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

a medical instrument control and data fusion surgical full-flow enabling method, comprising:

receiving external data and converting the external data into standard format data, wherein the external data comprises instrument data from medical instruments and information data from a hospital information system, and the instrument data comprises image data of iconography and instrument pose data of surgical instruments;

filing and self-learning the standard format data, obtaining a planning path and an operation guide before an operation according to the information data and the image data, tracking the surgical instrument in real time to obtain a real-time position during the operation according to the instrument pose data, and obtaining an operation suggestion in the operation according to the planning path and the operation guide in combination with the real-time position;

displaying corresponding image data in the whole operation process, overlapping the planning path and the operation instruction on the image data for displaying before the operation for preoperative reference of a doctor, and overlapping the real-time position and the operation suggestion on the image data in real time in the operation for displaying so as to assist the doctor in performing the operation;

and controlling the surgical instrument to change the corresponding instrument pose according to the control instruction input by the doctor so as to perform the operation.

Several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.

Preferably, the obtaining of the planned path and the surgical operation guidance according to the information data and the image data includes:

receiving a focus area marked on the image data by a doctor, and generating a group of position information B of the focus area;

calling operation records of the same kind of operations from the information data, determining a group of operation starting point position information aiming at the current focus area, and determining final operation starting point position information A according to the designation of a doctor in the group of operation starting point position information; or receiving the operation starting point position information input by the doctor as final operation starting point position information A;

calculating the posture of the surgical instrument from the position information A of the surgical starting point to the position information B, and selecting the optimal 1-2 postures of the surgical instrument to generate a preoperative planned path of the surgical instrument;

taking the position information B as an operation range, calling operation records of the same kind of operations from the information data, and determining operation steps aiming at the current focus area to be displayed on the image data;

and receiving operation range adjustment information and operation step adjustment information input by a doctor to adjust the operation range and the operation steps to obtain a final operation range and operation steps as operation instructions.

Preferably, the obtaining of the operation opinion in the operation according to the planned path and the operation guidance in combination with the real-time position includes:

in the process from the operation starting position to the lesion area, if the real-time position is located on the preoperative planned path, providing a next operation suggestion according to the real-time position and the preoperative planned path; otherwise, giving a risk prompt according to the degree of the real-time position deviating from the planned path before the operation;

in the process of performing an operation in a focus area, if the real-time position is a position point in the operation guide, giving a next operation suggestion according to the real-time position and the operation guide; otherwise, different risk prompts are given according to the degree of deviation of the real-time position from the operation guidance.

Preferably, the tracking and acquiring a real-time position of the surgical instrument in real time according to the instrument pose data includes:

position alignment before surgery: acquiring a plurality of position information C marked by a doctor in a body surface image of a patient, acquiring position information D synchronously marked by the doctor in an imaging image of the patient, and calculating according to the position information C and the position information D corresponding to the positions to obtain a calibration deviation;

and correcting the instrument pose data by using the calibration deviation during real-time tracking to obtain a corresponding real-time position.

Preferably, the archiving the data in the standard format includes: acquiring pose data and real-time positions of all instruments in the operation process, storing the pose data and the real-time positions of the instruments as an operation set in a relational database, and taking an operation ID and an operation type as a unique identifier;

the self-learning, comprising: screening the archived data regularly, integrating the data of the same operation type, wherein the integration comprises arranging points with similar positions to form normal distribution, and counting the point positions with concentrated positions in the positions of the surgical instruments and the surgical starting points in the operation; the point locations in the position set and the corresponding operation types are independently stored in another relational database table, and the relational database table is continuously supplemented for a long time, so that operation planning data helpful for doctors are formed.

The application also provides a medical instrument control and data fusion surgical full-process enabling system, which comprises a data subsystem, an imaging subsystem, a control subsystem and an access module, wherein:

the access module is used for receiving external data, converting the external data into standard format data and sending the standard format data to the data subsystem, the imaging subsystem and the control subsystem, wherein the external data comprises instrument data from medical instruments and information data from a hospital information system, and the instrument data comprises image data of iconography and instrument pose data of surgical instruments;

the data subsystem is used for filing and self-learning the standard format data, obtaining a planning path and an operation guide before an operation according to the information data and the image data, tracking an operation instrument in real time according to the instrument pose data to obtain a real-time position during the operation, and obtaining an operation suggestion in the operation according to the planning path and the operation guide in combination with the real-time position;

the imaging subsystem is used for displaying corresponding image data in the whole operation process, superposing the planning path and the operation instruction on the image data for displaying before an operation, so that a doctor can refer to the image data before the operation, and superposing the real-time position and the operation suggestion on the image data in real time in the operation to display so as to assist the doctor in performing the operation;

and the control subsystem is used for controlling the surgical instruments to change the corresponding instrument poses according to the control instructions input by the doctor so as to perform the operation.

Preferably, the planning path and the surgical operation guidance are obtained according to the information data and the image data, and the following operations are performed:

receiving a focus area marked on the image data by a doctor, and generating a group of position information B of the focus area;

calling operation records of the same kind of operations from the information data, determining a group of operation starting point position information aiming at the current focus area, and determining final operation starting point position information A according to the designation of a doctor in the group of operation starting point position information; or receiving the operation starting point position information input by the doctor as final operation starting point position information A;

calculating the posture of the surgical instrument from the position information A of the surgical starting point to the position information B, and selecting the optimal 1-2 postures of the surgical instrument to generate a preoperative planned path of the surgical instrument;

taking the position information B as an operation range, calling operation records of the same kind of operations from the information data, and determining operation steps aiming at the current focus area to be displayed on the image data;

and receiving operation range adjustment information and operation step adjustment information input by a doctor to adjust the operation range and the operation steps to obtain a final operation range and operation steps as operation instructions.

Preferably, the operation opinion is obtained in the operation by combining the planning path and the operation guidance with the real-time position, and the following operations are executed:

in the process from the operation starting position to the lesion area, if the real-time position is located on the preoperative planned path, providing a next operation suggestion according to the real-time position and the preoperative planned path; otherwise, giving a risk prompt according to the degree of the real-time position deviating from the planned path before the operation;

in the process of performing an operation in a focus area, if the real-time position is a position point in the operation guide, giving a next operation suggestion according to the real-time position and the operation guide; otherwise, different risk prompts are given according to the degree of deviation of the real-time position from the operation guidance.

Preferably, the real-time tracking of the surgical instrument according to the instrument pose data is performed to obtain a real-time position, and the following operations are performed:

position alignment before surgery: acquiring a plurality of position information C marked by a doctor in a body surface image of a patient, acquiring position information D synchronously marked by the doctor in an imaging image of the patient, and calculating according to the position information C and the position information D corresponding to the positions to obtain a calibration deviation;

and correcting the instrument pose data by using the calibration deviation during real-time tracking to obtain a corresponding real-time position.

Preferably, the archiving the data in the standard format performs the following operations: acquiring pose data and real-time positions of all instruments in the operation process, storing the pose data and the real-time positions of the instruments as an operation set in a relational database, and taking an operation ID and an operation type as a unique identifier;

the self-learning performs the following operations: screening the archived data regularly, integrating the data of the same operation type, wherein the integration comprises arranging points with similar positions to form normal distribution, and counting the point positions with concentrated positions in the positions of the surgical instruments and the surgical starting points in the operation; the point locations in the position set and the corresponding operation types are independently stored in another relational database table, and the relational database table is continuously supplemented for a long time, so that operation planning data helpful for doctors are formed.

The application provides a method and a system for enabling medical instrument control and data fusion operation full flow, which is an integrated and platform-based system for medical instrument data fusion communication, provides high efficiency for surgical operations, can be docked with a big data operation analysis platform, completes intelligent equipment with functions of image reconstruction, image enhancement, intelligent navigation, data analysis, operation suggestion, instrument control and the like, provides a series of optimized treatment measures which are verified to be effective through evidence-based verification, so as to reduce psychological and physiological wound stress reactions of patients, thereby reducing complications, shortening hospitalization time, reducing risk of readmission and death, and simultaneously reducing medical expenses and operation difficulty.

Drawings

FIG. 1 is a flow chart of a method of full-flow surgical energization of medical device control and data fusion of the present application;

FIG. 2 is a schematic diagram of the medical device control and data fusion surgical full flow enabling system of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

In one embodiment, a method for full-flow enabling of a medical instrument control and data fusion operation is provided. The control and data of the medical instrument come from hardware and software, and the hardware refers to medical auxiliary equipment such as the medical instrument, the medical robot and the CT equipment; the software includes but is not limited to hospital-matured or to-be-matured information systems such as HIS, CIS, PACS, RIS. The embodiment fuses mutually independent hardware and software, enables the whole operation process by utilizing the multidimensional information, and enables the process to be understood as a process combining technology and practice.

Specifically, as shown in fig. 1, the method for enabling the medical instrument control and data fusion in the full surgical procedure of the embodiment includes the following steps:

the method comprises the following steps of 1, receiving external data and converting the external data into standard format data, wherein the external data comprises instrument data from medical instruments and information data from a hospital information system, and the instrument data comprises image data of the iconography and instrument pose data of surgical instruments.

The embodiment uniformly converts the external data from different objects into the data in the standard format so as to comprehensively utilize the multidimensional information. It should be noted that, the present application emphasizes fusion of external data, rather than technical research on the external data itself, and unification of data formats is also a conventional technology in the data processing field, and how to standardize for each data format is not specifically analyzed in this embodiment.

The present embodiment classifies external data into three types of information data, image data, and instrument pose data, according to the external data having different roles, wherein the information data is data derived from a hospital information system, and is generally used as historical data, which may include historical image data, historical procedure type, historical procedure path, historical procedure operation, and the like.

The image data and the instrument pose data acquired at this time are image data and instrument position data for the operation at this time, and specifically, which type of image data and instrument is determined according to the imaging instruments (CT, MRI, etc.) and the surgical instruments (conventional surgical instruments, surgical robots, etc.) involved in the operation at this time.

In order to comprehensively reflect the instrument pose, the instrument pose data generally comprises 4 parts: β X (X-direction rotation angle), β Y (Y-direction rotation angle), β Z (self-rotation angle), and Dz (Z-direction stroke). Meanwhile, the image format is a standard DICOM format, and in addition to the image data itself, regions such as organ regions and lesion regions on the image are stored in a relational database in the form of Xw (X-direction coordinate), Yw (Y-direction coordinate), and Zw (Z-direction coordinate) in the world coordinate system. DICOM, world coordinate system, is a widely used standard concept, and the conversion between them is not specifically given.

And 2, archiving and self-learning the data in the standard format, obtaining a planning path and an operation instruction before an operation according to the information data and the image data, tracking the surgical instrument in real time to obtain a real-time position during the operation according to the instrument pose data, and obtaining an operation suggestion in the operation according to the planning path and the operation instruction combined with the real-time position.

The method is used for planning two aspects before operation, namely planning a path from an operation starting position to a lesion area, and guiding operation of operation in the lesion area. The embodiment plans the two aspects in advance so that the doctor can determine the operation scheme intuitively.

Wherein obtaining the planned path and the surgical operation guidance according to the information data and the image data comprises:

a lesion region marked on image data (e.g., a CT image) by a doctor is received, and a set of position information B of the lesion region is generated.

Calling operation records of the same kind of operations from the information data, determining a group of operation starting point position information aiming at the current focus area, and determining final operation starting point position information A according to the designation of a doctor in the group of operation starting point position information; or receives the surgical origin position information input by the doctor as the final surgical origin position information a.

And calculating the surgical instrument postures from the surgical starting point position information A to the position information B, wherein the position information B is a set of position information, so that the calculated surgical instrument postures are also a set of sets, and comparing the motion ranges related to different surgical instrument postures in the set of sets and selecting the optimal 1-2 surgical instrument postures to generate the preoperative planning path of the surgical instrument.

After the planned path is obtained, a predetermined surgical field can be reached, and then the surgical process can be simulated under the predetermined surgical field, specifically: and taking the position information B as an operation range, calling operation records of the same kind of operation from the information data, and determining that operation steps aiming at the current focus area are displayed on the image data.

And receiving operation range adjustment information and operation step adjustment information input by a doctor to adjust the operation range and the operation steps to obtain a final operation range and operation steps as operation instructions.

It is easy to understand that the planning path and the operation guidance are essentially composed of a group of position points and the sequence of reaching the position points, and different position points correspond to different postures of the surgical instrument, so that the whole operation process can be displayed in animation for the reference of medical staff after the planning is finished.

After the preoperative planning is completed, if the doctor can be reminded and corrected in real time to perform the operation in the operation process, the operation pressure of the doctor can be reduced to a greater extent, and the operation risk can be reduced. The guidance in the surgical process needs to depend on the real-time position of the surgical instrument, so the embodiment also tracks the position of the surgical instrument:

firstly, the position is aligned before the operation: acquiring a plurality of position information C marked by a doctor in a body surface image of a patient, acquiring position information D synchronously marked by the doctor in an imaging image of the patient, and calculating according to the position information C and the position information D corresponding to the positions to obtain a calibration deviation; and then, correcting the instrument pose data by using the calibration deviation during real-time tracking to obtain a corresponding real-time position.

For ease of understanding, the acquisition of real-time locations is further described in one embodiment with the example of CT images:

step a: calibrating the position information of the internal organs of the patient with the position information in the image; before the operation is started, doctors manually mark 5-10 pieces of body surface position information of patients in a human-computer interface respectively, which is equivalent to a world coordinate system recording the positions, and simultaneously mark the position information in a CT image. The position deviation caused by individual difference is calibrated through the transformation of DICOM and world coordinate system. The calibration method mainly comprises the following steps of adjusting the dot positions of a time coordinate system: a world coordinate system dot A is obtained through the marked point position of the human-computer interface, a world coordinate system dot B is obtained through the CT image marking, and the deviation of X, Y and Z between the A and the B is the position deviation generated due to individual difference.

Step b: and (2) acquiring instrument pose data of the surgical instrument in real time after the surgical instrument enters a human body (aiming at the traditional surgical instrument, the instrument pose data can be acquired by an external sensor or by additionally arranging an electric mechanical arm (a surgical robot is provided by itself), and the instrument pose data is adjusted to a corresponding position in a world coordinate system according to the deviation in the step (1), so that the real-time tracking of the instrument position is realized.

Based on the obtained real-time position, the reminding and correcting of the doctor in the operation process of the embodiment can be in the following form:

in the process from the operation starting position to the lesion area, if the real-time position is located on the preoperative planned path, providing a next operation suggestion according to the real-time position and the preoperative planned path; otherwise, a risk prompt is given according to the degree of deviation of the real-time position from the planned path before the operation.

In the process of performing an operation in a focus area, if the real-time position is a position point in the operation guide, giving a next operation suggestion according to the real-time position and the operation guide; otherwise, different risk prompts are given according to the degree of deviation of the real-time position from the operation guidance.

And 3, displaying the corresponding image data in the whole operation process, overlaying the planning path and the operation instruction on the image data for displaying before the operation for preoperative reference of a doctor, and overlaying the real-time position and the operation suggestion on the image data in real time in the operation for displaying so as to assist the doctor in performing the operation.

The image data or the planned path planned before the operation, the operation guidance, the real-time vision, the operation suggestion and the like in the operation are visually displayed to the doctor in the form of the image, so that the doctor can check, modify and refer to the operation before and during the operation, and the operation is ensured to be effectively and safely carried out.

And 4, controlling the surgical instrument to change the corresponding instrument pose according to the control instruction input by the doctor so as to perform the operation. The control instruction input by the doctor can be the same control instruction as the operation suggestion, or can be the control instruction output by the subjective judgment of the doctor, the operation suggestion is only used for assisting the doctor to perform the operation, and is not directly used as the basis for controlling the surgical instrument to perform the operation, the safety of the operation can be ensured by controlling the surgical instrument to perform the operation through the control instruction input by the doctor, and meanwhile, the operation suggestion is combined to ensure the optimal operation of the operation.

The embodiment can be used for energizing the whole operation process from preoperative and intraoperative to postoperative and in each stage of the operation; all the data required by the operation are fused into a whole, and the function display and use are carried out on the same data, so that the data integration and the operation integration are realized.

Moreover, the operation data is continuously collected and planning guidance is optimized based on filing and self-learning after the operation, so that the functional effects before and during the operation are improved, and self-improvement and improvement are realized.

The method for archiving the data in the standard format comprises the following steps: the method comprises the steps of obtaining all instrument pose data and real-time positions in the operation process, storing the instrument pose data and the real-time positions in a relational database as an operation set, using an operation ID and an operation type as unique identifiers (the operation ID automatically generates 1 non-repetitive value before an operation; the operation type is obtained through a data interface relevant to a patient through HIS information), and providing data for follow-up self-learning and postoperative review.

Wherein self-learning, comprising: screening the archived data regularly, integrating the data of the same operation type, wherein the integration comprises arranging points with similar positions to form normal distribution, and counting the point positions with concentrated positions in the positions of the surgical instruments and the surgical starting points in the operation; the point locations in the position set and the corresponding operation types are independently stored in another relational database table, and the relational database table is continuously supplemented for a long time, so that operation planning data helpful for doctors are formed.

In another embodiment, as shown in fig. 2, there is also provided a medical instrument control and data-fused surgical full flow enabling system comprising a data subsystem, an imaging subsystem, a control subsystem, and an access module, wherein:

the access module is used for receiving external data, converting the external data into standard format data and sending the standard format data to the data subsystem, the imaging subsystem and the control subsystem, wherein the external data comprises instrument data from medical instruments and information data from a hospital information system, and the instrument data comprises image data of iconography and instrument pose data of surgical instruments.

The data subsystem is used for filing and self-learning the standard format data, obtaining a planning path and an operation guide before an operation according to the information data and the image data, tracking the operation instrument in real time according to the instrument pose data to obtain a real-time position during the operation, and obtaining an operation suggestion in the operation according to the planning path and the operation guide in combination with the real-time position.

The imaging subsystem is used for displaying corresponding image data in the whole operation process, overlaying the planning path and the operation instruction on the image data for display before an operation, so that a doctor can refer preoperatively, and overlay the real-time position and the operation suggestion on the image data in real time in the operation to display so as to assist the doctor in performing the operation.

And the control subsystem is used for controlling the surgical instruments to change the corresponding instrument poses according to the control instructions input by the doctor so as to perform the operation.

The carrier of the system of this embodiment is not limited to a certain form, and may be a pure hardware scheme; or a pure software solution; or even a combination of hardware and software schemes.

Due to the fusion characteristic of the system, the access and control interface for external data can be quincunx (the data formats of instruments, images or information systems produced by different manufacturers can be inconsistent), so the application introduces an access module which mainly converts the external data into instrument posture or position information in a standard format, and the conversion processes of different external data are different.

If each pair of external data is connected with one another, a new access module is required to be added, which inevitably causes instability of the system, so in order to ensure stability of the system, different access modules are adopted for external different types of data sources, that is, each access module is used for receiving external data in different formats. In this way, it can be ensured that new types of external data are added in the system operation process without modifying the existing system architecture, and only one access module needs to be added, and one access module can be connected with a plurality of external data sources of the same type, similar to a router.

For specific limitations of the medical instrument control and data fusion surgical full-process enabling system, reference may be made to the above limitations of the medical instrument control and data fusion surgical full-process enabling method, and details thereof are not repeated here.

In another embodiment, the planning path and the surgical operation guidance are obtained according to the information data and the image data, and the following operations are performed:

receiving a focus area marked on the image data by a doctor, and generating a group of position information B of the focus area;

calling operation records of the same kind of operations from the information data, determining a group of operation starting point position information aiming at the current focus area, and determining final operation starting point position information A according to the designation of a doctor in the group of operation starting point position information; or receiving the operation starting point position information input by the doctor as final operation starting point position information A;

calculating the posture of the surgical instrument from the position information A of the surgical starting point to the position information B, and selecting the optimal 1-2 postures of the surgical instrument to generate a preoperative planned path of the surgical instrument;

taking the position information B as an operation range, calling operation records of the same kind of operations from the information data, and determining operation steps aiming at the current focus area to be displayed on the image data;

and receiving operation range adjustment information and operation step adjustment information input by a doctor to adjust the operation range and the operation steps to obtain a final operation range and operation steps as operation instructions.

In another embodiment, the obtaining of the operation opinion in the operation according to the planning path and the operation guidance and the real-time position performs the following operations:

in the process from the operation starting position to the lesion area, if the real-time position is located on the preoperative planned path, providing a next operation suggestion according to the real-time position and the preoperative planned path; otherwise, giving a risk prompt according to the degree of the real-time position deviating from the planned path before the operation;

in the process of performing an operation in a focus area, if the real-time position is a position point in the operation guide, giving a next operation suggestion according to the real-time position and the operation guide; otherwise, different risk prompts are given according to the degree of deviation of the real-time position from the operation guidance.

In another embodiment, the real-time tracking of the surgical instrument according to the instrument pose data to acquire a real-time position performs the following operations:

position alignment before surgery: acquiring a plurality of position information C marked by a doctor in a body surface image of a patient, acquiring position information D synchronously marked by the doctor in an imaging image of the patient, and calculating according to the position information C and the position information D corresponding to the positions to obtain a calibration deviation;

and correcting the instrument pose data by using the calibration deviation during real-time tracking to obtain a corresponding real-time position.

In another embodiment, the archiving of the standard format data is performed by: acquiring pose data and real-time positions of all instruments in the operation process, storing the pose data and the real-time positions of the instruments as an operation set in a relational database, and taking an operation ID and an operation type as a unique identifier;

the self-learning performs the following operations: screening the archived data regularly, integrating the data of the same operation type, wherein the integration comprises arranging points with similar positions to form normal distribution, and counting the point positions with concentrated positions in the positions of the surgical instruments and the surgical starting points in the operation; the point locations in the position set and the corresponding operation types are independently stored in another relational database table, and the relational database table is continuously supplemented for a long time, so that operation planning data helpful for doctors are formed.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.