CN113288346B

CN113288346B - Positioning and cutting device for treating liver cancer

Info

Publication number: CN113288346B
Application number: CN202110553357.2A
Authority: CN
Inventors: 陈磊峰; 杜云艳; 陈浩
Original assignee: Bosyan Biotechnology Suzhou Co ltd
Current assignee: Bosyan Biotechnology Suzhou Co ltd
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2023-12-29
Anticipated expiration: 2041-05-20
Also published as: CN113288346A

Abstract

Compared with the prior art, the invention further comprises an identification module for automatically identifying the specific position of a region to be cut of liver tissue cancer cells of a patient, an opening generation module for further generating the position of an operation opening of the patient based on the identification module and projecting the position to the corresponding region of the patient after checking and confirming by a doctor, a cutting prediction module for further generating at least one layer of operation cutting layer with the same thickness of the region to be cut based on the volume of the region to be cut of the patient identified by the identification module, a display auxiliary module for tracking the operation cutting process in real time through a display screen and displaying the mark of the cutting range corresponding to the corresponding cutting layer of the region to be cut of the patient, and an adjusting module for automatically adjusting the effective working length of the surgical knife according to the operation condition. The invention assists the positioning of the operation process, and has effective operation efficiency and accuracy.

Description

Positioning and cutting device for treating liver cancer

Technical Field

The invention relates to the technical field of medical treatment for treating liver cancer, in particular to a positioning and cutting device for treating liver cancer.

Background

Primary liver cancer is one of the common malignant tumors, and is next to lung cancer. Because of the clinical application of serum alpha fetoprotein and the progress of various imaging technologies, particularly AFP and ultrasonic imaging are used for monitoring high-risk groups of liver cancer, the liver cancer can be diagnosed in the sub-clinical period without symptoms and signs, and the prognosis of the liver cancer is obviously improved compared with the past due to the maturation of surgical operation technology and the development of various non-surgical treatment methods such as local treatment and the like.

The experimental team carries out browsing and researching of a large amount of relevant record data aiming at medical technical means and liver cancer treatment surgery for a long time, relies on relevant resources, carries out a large amount of relevant experiments, and finds existing prior technologies such as US08489177B2, US09302122B2, CN107569780B and WO2010008536A1 through a large amount of searches. A cancer treatment room fiducial marker system and method of use thereof as in the prior art, including a treatment room position determination/localization system based on fiducial marker-fiducial detectors and method of use thereof. Typically, a set of fiducial mark detectors detect photons emitted and/or reflected from a set of fiducial marks on one or more objects located in the treatment room, and the distance and/or calculated angle thus determined is used to determine the relative position of a plurality of objects or elements in the treatment room. The position of the rendered object is used to: (1) Imaging such as X-ray, positron emission tomography and/or proton beam imaging and/or (2) beam targeting and treatment, such as proton-based cancer treatment. Because the fiducial marker system is used to dynamically determine the relative position of objects in the treatment room, engineering and/or mathematical constraints of the treatment beam isocenter are removed.

The invention is designed for solving the problems that the positioning accuracy of the liver cancer operation auxiliary device is poor, the auxiliary effect of the auxiliary device is not obvious, the positioning excision device in the prior art needs a large amount of manual determination and judgment to cause long operation time consumption and the like in the prior art.

Disclosure of Invention

The invention aims at providing a positioning and cutting device for treating liver cancer, aiming at the defects existing at present.

In order to overcome the defects in the prior art, the invention adopts the following technical scheme:

optionally, a location excision device for treating liver cancer, including setting up in the organism of operating table upper end and carrying out fixed establishment to patient's chest, location excision system includes the recognition module that automatic to patient's liver tissue cancer cell waits to cut the specific position in region, based on recognition module further generates the operation open position of patient and projection to the opening generation module in the corresponding region of patient after doctor's inspection confirms, based on recognition module discerns the volume in the region of patient waiting to cut further generates the cutting prediction module in the same operation cutting layer of thickness of the region of waiting to cut, trace the operation cutting process in real time through the display screen and carry out the mark display of the corresponding cutting range of cutting layer to the region of waiting to cut of patient and further improve the display assistance module of operation accuracy and the regulation module of the effective working length of automatically regulated scalpel according to the operation condition.

Optionally, the identification module performs gray level processing by acquiring the liver image of the patient, and further marks the normal region of the liver and the region to be cut of the malignant lesion based on gray level value correspondence.

Optionally, the opening generating module includes an acquiring unit configured on the body for acquiring a body posture of the patient on the operation table, and a projection unit for further analyzing and processing the image acquired by the acquiring unit to acquire a body posture image of the patient on the operation table, identifying a region to be cut of the patient on the operation table based on the relative position relation model of the region to be cut of the patient acquired by the identifying module, and further projecting corresponding mark points to corresponding positions of the body of the patient to perform intelligent identification of the operation incision of the patient.

Optionally, the display auxiliary module includes a camera unit for acquiring image information at the surgical opening of the patient, a fitting unit for further identifying a corresponding region of the position to be cut of the patient in the image information acquired by the camera unit and marking the edge of the range to be cut of the cutting layer based on the cutting prediction module, and a display unit for projecting a picture marked by the edge of the cutting range of the fitting unit to the display device so as to accurately assist the surgeon.

Optionally, the projection unit is at least three light projectors that at least two kinds of different colours light projected and will each light projector is installed respectively on the shell plate of organism have the universal movable seat of automatically controlled drive corresponding direction of rotation, wherein the projection colour of light projector includes different colours's working colour and accomplishes the look and further is used for distinguishing the operation point projection condition of light projector, universal movable seat is controlled its position steering by controlling means respectively and is further adjusted the projection position of the mark projection point of light projector.

Optionally, the adjusting module includes the movable sleeve locates the handle of a knife of scalpel and is arranged in carrying out the butt with the liver tissue in the liver tissue cutting operation in order to establish stable incising depth and operational environment's spacing cap between liver tissue and cancer treatment cutting operation, set up in at least one play liquid hole on the spacing cap, set up in at least one inlet port on the spacing cap, with play the drainage tube that liquid hole is connected, with the air siphunculus that the inlet port is connected and drive spacing cap is in the displacement slip of handle of a knife further adjusts the telescopic machanism of the deep depth of scalpel tool bit in the liver tissue cutting operation.

In still another aspect, the present invention provides a computer readable storage medium, where a control method and a data processing program of the positioning and cutting system are included, where the control method and the data processing program of the positioning and cutting system are executed by a processor, and implement the steps of the control method and the data processing of the positioning and cutting system.

The beneficial effects obtained by the invention are as follows:

1. by identifying the region to be cut of the patient and generating the relative position information of the trunk of the patient and the region to be cut, the accuracy of positioning the region to be cut and the identification efficiency of the region to be cut of the patient are improved.

2. By projecting the operation opening on the body of the patient, the time for identifying and marking the operation opening of the medical staff is effectively reduced.

3. The accurate identification of the trunk of the patient and the region to be cut of the trunk of the patient is effectively improved through the matching of the three-dimensional reconstruction and the two-dimensional coordinate point reproduction.

Drawings

The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.

FIG. 1 is a modular schematic view of the positional ablation system of the present invention.

Fig. 2 is a schematic flow chart of the identification module of the present invention.

FIG. 3 is a flow chart of a processing unit according to the present invention.

Fig. 4 is a schematic flow chart of the fitting unit of the present invention.

FIG. 5 is a schematic illustration of an embodiment of a localized ablation system according to the present invention.

Detailed Description

The technical scheme and advantages of the present invention will become more apparent, and the present invention will be further described in detail with reference to the following examples thereof; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. Other systems, methods, and/or features of the present embodiments will be or become apparent to one with skill in the art upon examination of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the following detailed description.

The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc., based on the orientation or positional relationship shown in the drawings, this is for convenience of description and for simplification of the description, rather than to indicate or imply that the apparatus or component referred to must have a specific orientation.

Embodiment one:

the embodiment constructs a positioning and cutting system for identifying a region to be cut of the liver of a patient and further generating a tumor cutting plan of the patient;

the positioning and cutting device for treating liver cancer comprises a machine body arranged at the upper end of an operating table and a fixing mechanism for fixing the chest of a patient, wherein the positioning and cutting system comprises an identification module for automatically identifying the specific position of a region to be cut of liver tissue cancer cells of the patient, an opening generation module for further generating the position of an operation opening of the patient based on the identification module and projecting the position to the corresponding region of the patient after being checked and confirmed by a doctor, a cutting prediction module for further generating at least one layer of operation cutting layer with the same thickness of the region to be cut based on the volume of the region to be cut of the patient identified by the identification module, a display auxiliary module for tracking the operation cutting process in real time through a display screen and displaying the mark of the cutting range corresponding to the corresponding cutting layer of the region to be cut of the patient, and an adjusting module for automatically adjusting the effective working length of the operation knife according to the operation condition, the identification module carries out gray scale treatment by acquiring a liver image of the patient, further marks the normal area of the liver and the area to be cut of malignant lesions correspondingly based on gray scale values, the opening generation module comprises an acquisition unit which is arranged on the machine body and used for acquiring the body posture of the patient on an operation table, and a projection unit which is used for further analyzing and processing the pictures acquired by the acquisition unit to acquire the body posture image of the patient on the operation table, carrying out identification of the area to be cut of the patient on the operation table based on the relative position relation model of the area to be cut of the patient, further projecting corresponding mark points to corresponding positions of the body of the patient, and carrying out intelligent identification of the operation incision of the patient, the display auxiliary module comprises a camera unit for acquiring image information at a patient operation opening, a fitting unit for further identifying a corresponding region of a patient to be cut in the image information acquired by the camera unit based on the camera unit and marking the edge of a cutting range of the image information based on the cutting prediction module, and a display unit for projecting pictures marked by the edge of the cutting range of the fitting unit to the display device so as to be accurately auxiliary for a surgeon, wherein the projection unit comprises at least three light projectors for projecting at least two different colors of light and at least three universal movable seats for respectively installing each light projector on a shell plate of the body, wherein the projection colors of the light projectors comprise working colors of different colors and the projection conditions of a surgical site for further distinguishing the light projector, the universal movable seats are respectively controlled by a control device to drive the position of the marking site of the light projector, the adjusting module comprises a knife handle which can be movably sleeved on the knife and is arranged in a limited position of the surgical knife, and is further connected with a liver cut-in a limited tissue limiting cap, a liver cut-in the limited position and a telescopic cap which is arranged in the limited position of the liver cut cap, and a telescopic cap which is further connected with the cut-in the cut cap, and the cut cap is arranged in the cut cap of the cut cap, and the cut cap is further arranged in the cut cap, and the limited tissue limiting position is connected with the cut cap, in a further aspect, the present invention provides a computer readable storage medium, where the computer readable storage medium includes a control method and a data processing program of the positioning and cutting system, where the control method and the data processing program of the positioning and cutting system implement the steps of the control method and the data processing of the positioning and cutting system when executed by a processor;

The identification module comprises a recognition method for acquiring liver images of the patient for gray scale processing and further marking the normal liver region and the region to be cut of malignant tumor based on the corresponding distinction of gray scale values, and the identification module comprises the following steps:

s101: receiving chest CT image of a patient, marking a lesion to be cut region of the liver with a plurality of marking points,

s102: converting the CT image into a gray image, establishing the same plane coordinates with preset specifications for the gray image and the CT image,

s103: obtaining human body edge coordinates of the patient according to a preset gray value difference range obtained by a training library, further according to the coordinate point set on the human body edge line, wherein the coordinate point set on the human body edge line is a trunk point set,

s104: the gray level value of the marking point is obtained, and the region, which is the same as the gray level value of the position of the marking point, in the gray image is further marked, so that the range to be cut of the liver is obtained;

s105: simultaneously acquiring edge point coordinates of a region to be cut of the liver region and taking the edge point coordinates as a liver point set, inputting the edge coordinates of the liver point set to a preset program to generate a central line of the edge shape of the region to be cut and a coordinate set of the central line, namely the central point set, wherein the central line is used as a position of an operation opening of a patient, and the edge coordinates of the region to be cut are namely the liver point set;

S106: performing coordinate point reproduction on the center point set, the trunk point set and the liver point set to generate a relative position relation model of the trunk shape of the patient, the region to be cut and the operation opening of the patient;

the device comprises a machine body, an opening generating module and a processing unit, wherein the machine body comprises a medical support fixed on the ground and a shell plate fixedly arranged above an operation table through the medical support, a circuit structure communicated with a power supply is arranged in the shell plate, the opening generating module comprises an acquisition unit arranged on the machine body for acquiring the body posture of a patient on the operation table, a projection unit for projecting corresponding mark points to corresponding positions of the body of the patient for intelligently identifying operation incisions of the patient, and the processing unit for further analyzing and processing pictures acquired by the acquisition unit to acquire a trunk posture image of the patient on the operation table and further identify the region to be cut of the patient on the operation table based on a relative position relation model of a region to be cut of a liver focus of the patient, which is deep in the identification module, and further drive the projection unit to perform corresponding light projection angles;

the projection unit is at least three light projectors for projecting light rays with at least two different colors, wherein the projection colors of the light projectors comprise corresponding working colors of the light rays projected by one color and corresponding finishing colors of the light rays projected by the other color, the working colors and the finishing colors are different colors and are further used for distinguishing the projection condition of an operation point of the light projector, each light projector is respectively installed on the shell plate through a corresponding universal movable seat, the universal movable seat is a numerical control mechanical arm with multiple joints in the prior art, the universal movable seat is controlled by a control device to control the position of the universal movable seat to turn to further adjust the projection position of a marked projection point of the light projector, the acquisition unit comprises an imaging device arranged on the shell plate and used for taking an image of the trunk of a patient, and the processing unit further comprises the steps of:

S201: acquiring the picture information of the patient on the operating table, extracting the preset key points from the image of the patient, further dividing the image to obtain the trunk edge line of the patient,

s202: extracting the relative position relation model to perform corresponding scaling until a trunk shape diagram corresponding to the trunk point set overlaps with the key points, namely, the discrete value of the distance between the key points and the trunk shape diagram is within a preset range, further determining that the trunk of the patient overlaps with the trunk shape of the position relation, and taking the corresponding scaled relative position relation model as a comparison model;

s203: further obtaining a preset operation incision line corresponding to the display cutting operation from the comparison model, obtaining two end points of the operation incision line and a plurality of intermediate points between the two end points as operation points, and marking the operation points in the picture information respectively,

s204: the surgical points at different positions are correspondingly distributed to the universal movable seats with corresponding numbers through information binding, the universal movable seat with the distribution instruction is taken as a working movable seat,

s205: driving a light projector fixed on the working movable seat to project light rays with corresponding colors of working colors;

S206: performing position light projection angle adjustment of the corresponding light projector until the projection point of each light projector on the trunk of the patient coincides with the corresponding allocated operation point to determine that the universal movable seat completes adjustment work;

s207: driving a light projector corresponding to the universal movable seat for performing adjustment work to perform light color conversion to the color completion state;

s208: when the projection light of the all-working light projector is converted into a complete color state, medical staff performs marking marks of corresponding operation incisions on the skin of a patient based on the projection of the projected operation points so as to improve the accuracy of the cutting operation;

according to the invention, the surgical incision of the patient is further obtained by accurately positioning and identifying the region to be cut of the patient, and the accurate position mark is projected on the surface of the corresponding tissue of the patient through light rays so as to be used for doctors to carry out accurate position marks, so that the judgment time and judgment error of the position mark of the opening of medical staff are reduced, and the accuracy of liver cancer treatment cutting operation is further effectively improved.

Embodiment two:

the embodiment constructs a positioning and cutting system generated by performing a specific cutting step on a region to be cut of a patient;

s104: the gray level value of the marking point is obtained, the region with the same gray level value as the position of the marking point in the gray graph is further marked, the range of the liver to be cut is obtained,

s202: extracting the relative position relation model to perform corresponding scaling until a trunk shape diagram corresponding to the trunk point set overlaps with the key points, namely, the discrete value of the distance between the key points and the trunk shape diagram is within a preset range, further determining that the trunk of the patient overlaps with the trunk shape of the position relation, taking the corresponding scaled relative position relation model as a comparison model,

s205: the light projector fixed on the working movable seat is driven to project light rays with corresponding colors of working colors,

S206: performing position light projection angle adjustment of the corresponding light projector until the projection point of each light projector on the trunk of the patient coincides with the corresponding allocated operation point to determine that the universal movable seat completes adjustment work,

s207: driving the light projector corresponding to the universal movable seat to perform the adjustment work to perform the light color conversion to the color completion state,

according to the invention, the surgical incision of the patient is further obtained through accurate positioning identification of the region to be cut of the patient, and the accurate position mark is projected on the surface of the corresponding tissue of the patient through light rays so as to be used for doctors to carry out accurate position marks, so that the judgment time and judgment error of the position mark of the opening of medical staff are reduced, and the accuracy of liver cancer treatment cutting operation is further effectively improved;

the cutting prediction module further generates at least one surgical cutting layer with the same thickness based on the volume of the region to be cut of the patient identified by the identification module, and the cutting prediction module comprises the following method steps:

S301, segmenting a multi-layer liver two-dimensional CT image sequence of a patient, respectively extracting corresponding segmentation sequences of tissues in a region to be segmented of the liver of the patient,

s302, extracting an isosurface from a segmentation sequence corresponding to the liver by adopting a moving cube algorithm, and obtaining a three-dimensional image of the tissue to be cut of the patient through smoothing,

s303, carrying out three-dimensional reconstruction on the data information of the liver CT image by using modeling software according to the segmentation sequence of each tissue to be cut,

s304, establishing a space coordinate set of a preset specification for the tissue to be cut of the three-dimensional reconstruction,

s305, dividing the cutting layers of a plurality of unit cutting layers with the same thickness according to the thickness of the region to be cut of the liver, numbering the unit cutting layers, sequentially representing the unit cutting layers corresponding to the position of the liver approaching the opening to the inside of the human body as a first cutting layer and a second cutting layer … nth cutting layer,

s306, dividing the cutting range of each unit cutting layer to obtain a corresponding three-dimensional structure of the corresponding cutting layer, projecting the cutting section of the cutting layer to obtain a two-dimensional surface of the cutting layer, further obtaining an edge coordinate set of a coordinate point set corresponding to a closed edge line of the two-dimensional surface of the cutting layer,

S307: establishing a data model by the edge coordinate set of the unit cutting layer and the corresponding unit cutting layer number, and further obtaining cutting layers which are correspondingly divided in a region to be cut in a patient operation and cutting ranges corresponding to each cutting layer;

the cutting prediction module further obtains the cutting range of the corresponding cutting layer according to the distribution information of the pathological change tissues of the corresponding cutting layer by dividing the pathological change region to be cut of the liver cancer patient by a plurality of cutting layers with the same thickness, and further effectively improves the accuracy of liver resection operation, wherein modeling software can select SoftImage, maya or 3Dmax and the like according to actual requirements, and the method is not limited;

the display auxiliary module comprises an image pick-up unit for acquiring image information at a patient operation opening, a fitting unit for further identifying a corresponding patient to-be-cut position area in the image information acquired by the image pick-up unit and for carrying out marking of a to-be-cut range of a cutting layer on the image information based on the cutting prediction module, and a display unit for projecting pictures marked by the cutting range of the fitting unit to a display device so as to accurately assist an operator, wherein the image pick-up unit is a camera fixedly installed on the shell plate through a corresponding fixing seat, the camera tracks the picture information of an operation organ in cutting operation in real time and sends the picture information to the fitting unit, the display device is a mobile device for carrying out image display, the mobile device is electrically connected with the camera so as to receive the image information shot by the camera in real time, and the fitting unit is a relevant picture processing program pre-installed in the mobile device by a person skilled in the art, and the fitting unit comprises the following steps:

S401: receiving the picture information and further identifying a liver tissue image of the surgical incision area,

s402: extracting the three-dimensional structure of the first cutting layer, further carrying out matching fitting on the liver tissue image in the picture information to obtain the position information of the first cutting layer in the picture information,

s403: marking the edge closing line of the first cutting layer at the corresponding position in the picture information to obtain a marked picture with corresponding cutting range marking information,

s404: displaying the marking picture to the display device for assisting in identifying the cutting position of the doctor,

s405: tracking the cutting operation process in real time, performing position matching identification of a later cutting layer after the cutting operation is completed on the corresponding cutting layer, further obtaining a marking picture of the later cutting layer, and displaying the marking picture through the display device until the cutting operation of all the cutting layers is completed;

according to the invention, after the lesion region to be cut of the patient is divided into the pre-operation cutting layers, the lesion region of the organ to be operated of the patient in the operation process is further positioned through the display device, so that a doctor is assisted to quickly position the corresponding target point to further determine the operation cutting point, meanwhile, the display of the corresponding cutting layers is performed in real time according to the process tracking of the cutting operation, the operation difficulty is simplified, and compared with the prior art, the accuracy of the cutting operation position is improved, the doctor can be assisted to find the reference target point or the focus more conveniently and quickly, and the operation time is effectively shortened.

Embodiment III:

the embodiment constructs a positioning and identifying system for almost further adjusting the effective working area of the cutter head corresponding to the surgical knife of the patient according to the preset operation;

s105: simultaneously acquiring the coordinates of the edge points of the region to be cut of the liver region and taking the coordinates as a liver point set, inputting the coordinates of the edge points of the liver point set to a preset program to generate a central line of the shape of the edge of the region to be cut and a coordinate set of the central line, namely the central point set, wherein the central line is used as the position of an operation opening of a patient, the coordinates of the edge of the region to be cut are the liver point set,

according to the invention, after the lesion region to be cut of the patient is divided into the pre-operation cutting layers, the lesion region of the organ to be operated of the patient in the operation process is further positioned through the display device, so that a doctor is assisted to quickly position a corresponding target point to further determine an operation cutting point, meanwhile, the display of the corresponding cutting layers is performed in real time according to the process tracking of the cutting operation, the operation difficulty is simplified, and compared with the prior art, the accuracy of the cutting operation position is improved, the doctor can be assisted to find the position of a reference target point or focus more conveniently and quickly, and the operation time is effectively shortened;

The scalpel comprises a scalpel handle and a scalpel head, the adjusting module comprises a limit cap movably sleeved on the scalpel handle, at least one liquid outlet hole arranged on the limit cap, at least one air inlet hole arranged on the limit cap, a drainage tube connected with the liquid outlet hole and an air through pipe connected with the air inlet hole, the limit cap is suitable for being abutted to liver tissue in a liver tissue cutting operation to establish stable cutting depth and working environment between the liver tissue and a cancer therapeutic cutting operation, a sliding track protruding along the length direction of the scalpel handle is arranged at the edge of the scalpel handle, the limit cap is of a transparent crystal structure, a through hole structure is arranged in the middle of the limit cap, a sliding groove matched with the sliding track is arranged on the inner wall of the through hole, wherein the inside of the scalpel handle is of a cavity structure, wherein the middle cavity in the knife handle is provided with a movable rod, one end of the knife handle, which is far away from the knife head, is the top end of the knife handle, the top end of the knife handle is provided with a telescopic mechanism, the telescopic mechanism and the movable rod are further driven to displace relative to the knife handle cavity through welding, clamping and/or bolt fixing, one end of the movable rod, which is close to the knife head, is provided with a claw ring piece, the claw ring piece comprises a ring piece fixedly connected with one end of the movable rod at the center position of the claw ring piece and a plurality of hooked arch bars extending from the edges of the ring piece towards a sliding track on the outer part of the cavity structure, the middle part of the sliding track is an opening channel communicated with the inner part of the knife handle cavity, the opening channel is arranged in parallel along the length direction of the knife handle, the extending end of the arch bars extends towards the opening channel and is locked and fixed in the position of the limiting cap corresponding to the groove, the movable rod is driven by the telescopic mechanism to further drive the limit cap to move to a position with a corresponding distance from the cutter head by the claw ring piece, and the cutting deep position of the surgical cutter head is further limited by the abutting of the limit cap and liver tissue, so that the cutting work of a corresponding cutting layer is further accurately controlled;

The telescopic mechanism is a linear motor, the linear motor is in telescopic motion with an external control end through electric connection and control instructions of the control end to more precisely control the telescopic displacement of the telescopic mechanism to further precisely control the effective deep length of the scalpel in a cutting operation, the limit cap is at least one of polymethyl methacrylate, polyvinyl chloride, polyethylene, polypropylene, polyether polyurethane, polytetrafluoroethylene, nylon, polystyrene, polyethylene glycol, polyvinyl alcohol, silicone rubber, polyester, polylactic acid and the like serving as a raw material, the liquid outlet hole and the two ends of an air inlet hole penetrate through the limit cap respectively, one end of the liquid outlet hole is arranged on one side of the contact end of the limit cap with a patient and the other end of the liquid outlet hole is communicated with the drainage tube, the drainage tube is provided with a negative pressure driving mechanism for driving tissue liquid at the contact end of the limit cap to flow out of the liquid outlet hole, the negative pressure driving mechanism can be used for selecting a negative pressure bottle, a negative pressure bag and/or a medical suction machine according to actual requirements by a field technician, the air inlet hole and the air inlet hole are controlled by a drainage tube, the liquid outlet hole is communicated with the air inlet hole is further communicated with the air inlet hole of the air inlet hole, the air inlet hole is communicated with the air inlet hole of the air filter is prevented from being communicated with one side of the air inlet hole of the air filter, the air filter is further communicated with the air inlet hole is prevented, the relative pressure of air or fluid in the contact end is effectively equal to the external environment pressure through the air inlet hole, so that negative pressure adsorption of the liquid outlet hole on liver tissues is effectively avoided to influence the cutting operation process;

According to the invention, through identifying and modeling the region to be cut of the pathological tissue of the patient in the liver cancer treatment cutting operation, the cutting layer division corresponding to the region to be cut in the operation tangent operation process of the patient is further analyzed and obtained, the cutting line projection is carried out on the trunk surface of the patient through the corresponding projection device, the cutting region of the cutting layer is displayed in real time in an auxiliary manner through the corresponding display device, meanwhile, the accuracy of the cutting operation process is effectively improved through the cutting depth limitation of the scalpel, and meanwhile, the convenient assistance is brought to the operation process, and the operation duration is effectively reduced.

While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems and devices discussed above are examples. Various configurations may omit, replace, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in a different order than described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configurations may be combined in a similar manner. Furthermore, as the technology evolves, elements therein may be updated, i.e., many of the elements are examples, and do not limit the scope of the disclosure or the claims.

Specific details are given in the description to provide a thorough understanding of exemplary configurations involving implementations. However, the configuration may be practiced without these specific details, e.g., well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configuration. This description provides only an example configuration and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configuration will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.

It is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is intended that it be regarded as illustrative rather than limiting. Various changes and modifications to the present invention may be made by one skilled in the art after reading the teachings herein, and such equivalent changes and modifications are intended to fall within the scope of the invention as defined in the appended claims.

Claims

1. The positioning and cutting system for treating liver cancer comprises a machine body arranged at the upper end of an operating table and a fixing mechanism for fixing the chest of a patient, and is characterized by comprising an identification module for automatically identifying the specific position of a region to be cut of liver tissue cancer cells of the patient, an opening generation module for further generating the position of an operation opening of the patient based on the identification module and projecting the position to the corresponding region of the patient after being checked and confirmed by a doctor, a cutting prediction module for further generating at least one layer of operation cutting layer with the same thickness of the region to be cut based on the volume of the region to be cut of the patient identified by the identification module, a display auxiliary module for tracking the operation cutting process in real time through a display screen and displaying the mark of the cutting range corresponding to the corresponding cutting layer of the region to be cut of the patient, and an adjusting module for automatically adjusting the effective working length of a surgical knife according to the operation condition; the cutting prediction module comprises the following steps:

S301, segmenting a multi-layer liver two-dimensional CT image sequence of a patient, and respectively extracting corresponding segmentation sequences of tissues in a region to be segmented of the liver of the patient;

s302, extracting an isosurface from a segmentation sequence corresponding to the liver by adopting a moving cube algorithm, and obtaining a three-dimensional image of the tissue to be cut of the patient through smoothing treatment;

s303, performing three-dimensional reconstruction on the data information of the liver two-dimensional CT image by using modeling software according to the segmentation sequence of each tissue to be cut;

s304, establishing a space coordinate set of a preset specification for the three-dimensional reconstructed tissue to be cut;

s305, dividing the cutting layers of a plurality of unit cutting layers with the same thickness according to the thickness of the region to be cut of the liver, numbering the unit cutting layers, and sequentially representing the unit cutting layers corresponding to the position of the liver approaching the opening to the inside of the human body as a first cutting layer and a second cutting layer … nth cutting layer;

s306, dividing the cutting range of each unit cutting layer, obtaining a corresponding three-dimensional structure of the corresponding cutting layer, projecting the cutting section of the cutting layer to obtain a two-dimensional surface of the cutting layer, and further obtaining an edge coordinate set of a coordinate point set corresponding to a closed edge line of the two-dimensional surface of the cutting layer;

S307: and establishing a data model by the edge coordinate set of the unit cutting layer and the corresponding unit cutting layer number, and further obtaining a cutting layer which is divided correspondingly by the region to be cut in the operation of the patient and a cutting range corresponding to each cutting layer.

2. The positional resection system of claim 1, wherein the identification module performs a gray scale process by acquiring a liver image of the patient further distinguishes between marking the normal region of the liver and a region to be cut of a malignant lesion based on gray scale values.

3. The positioning and cutting system according to claim 2, wherein the opening generating module comprises an acquiring unit which is arranged on the machine body and used for acquiring the body posture of a patient on an operation table, and a projection unit which is used for further analyzing and processing pictures acquired by the acquiring unit, acquiring a trunk posture image of the patient on the operation table, identifying the region to be cut of the patient on the operation table based on the relative position relation model of the region to be cut of the patient, which is acquired by the identifying module, and further projecting corresponding mark points to corresponding positions of the body of the patient, so as to perform intelligent identification of the operation incision of the patient.

4. The positioning and cutting system according to claim 3, wherein the display assisting module comprises an image capturing unit for capturing image information of the surgical opening of the patient, a fitting unit for further identifying a corresponding region of the position to be cut of the patient in the image information obtained by the image capturing unit based on the image capturing unit and marking the edge of the range to be cut of the cutting layer based on the cutting prediction module, and a display unit for projecting a picture of the edge marking of the cutting range by the fitting unit to a display device to accurately assist the surgeon.

5. The positioning and cutting system according to claim 4, wherein the projection unit is at least three light projectors for projecting light rays with at least two different colors and a universal movable seat for respectively mounting each light projector on a shell plate of the machine body and having an electric control driving corresponding rotation direction, wherein the projection colors of the light projectors comprise working colors and finishing colors of different colors for further distinguishing the projection condition of the operation points of the light projectors, and the universal movable seat is respectively controlled by a control device to drive the position of the universal movable seat to be turned to further adjust the projection position of the marked projection points of the light projectors.

6. The positional resection system of claim 5, wherein the adjustment module comprises a limit cap movably sleeved on a handle of the scalpel and configured to abut liver tissue during a liver tissue cutting procedure to establish a stable incision depth and working environment between the liver tissue and a cancer treatment cutting procedure, at least one exit aperture provided on the limit cap, at least one air inlet aperture provided on the limit cap, a drain tube connected to the exit aperture, an air tube connected to the air inlet aperture, and a telescoping mechanism that drives the limit cap to slide in displacement of the handle to further adjust the depth of penetration of a tool bit of the scalpel during the liver tissue cutting procedure.