CN103815972A - Automatic tracking system for operative region of laparothoracoscope and method - Google Patents
Automatic tracking system for operative region of laparothoracoscope and method Download PDFInfo
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- CN103815972A CN103815972A CN201410078973.7A CN201410078973A CN103815972A CN 103815972 A CN103815972 A CN 103815972A CN 201410078973 A CN201410078973 A CN 201410078973A CN 103815972 A CN103815972 A CN 103815972A
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Abstract
The invention discloses an automatic tracking system for an operative region of a laparothoracoscope. The automatic tracking system comprises a controller, an operative instrument, an image collecting module, an image caching module, an operative region identifying module and an image display module, wherein the controller is used for monitoring a minimally invasive surgery process in enterocoelia and thoracic cavity; the operative instrument is arranged in an instrument channel of the laparothoracoscope, is connected with the controller and is used for performing the minimally invasive surgery in the enterocoelia and thoracic cavity; the image collecting module is arranged in a shooting channel of the laparothoracoscope, is connected with the controller and is used for shooting the images of the organs and the minimally invasive surgery process in the enterocoelia and thoracic cavity; the image caching module is connected with the controller and is used for storing the images in the enterocoelia and thoracic cavity; the operative region identifying module is connected with the controller and the image caching module and is used for identifying the image of the operative instrument in the shot images; the image display module comprises a whole image display module and an operative region image display module and is used for displaying the image of the minimally invasive surgery process. The automatic tracking system for the operative region of the laparothoracoscope can automatically track the local image of the operative region in real time while realizing the panorama image display and also can freely amplify the local image.
Description
Technical field
The present invention relates to a kind of Wicresoft and hinder the laparothoracoscope system of surgical medicine for inside of human body inspection Clinics and Practices, the operative region automatic tracking system of a kind of laparothoracoscope of specific design.The invention still further relates to the operative region automatic tracking method of laparothoracoscope.
Background technology
As depicted in figs. 1 and 2, application number is that 201110166358.8 Chinese invention patent discloses a kind of OCT electronic laparothoracoscope, comprises display 1, cold light source 2, controller 3, computer 4, printer 5, OCT union joint 6, manipulation handwheel 7, pincers road junction 8, rotating detector 9, rigid feeler lever 10, main frame 11, manipulation button 12, image collection passage 13, OCT passage 14, instrument channel 15 and illuminating lamp passage 16; This laparothoracoscope has a handheld main machine 11 that facilitates holding operation; Described main frame 11 is connected with the OCT joint 6 on cold light source 2 and controller 3 respectively by wire; Described controller 3, display 1, computer 4 and printer 5 connect by wire; One side of described main frame 11 is provided with manipulation handwheel 7; The bottom of described main frame 11 is provided with the pincers road junction 8 of inserting operating theater instruments, and top is provided with pressing type manipulation button 12; The front end of described main frame 11 the be linked in sequence rigid feeler lever 10 of oval rod and rotating detector 9, described rotating detector 9 is connected by steel wire rope with manipulation handwheel 7, and manipulation handwheel 7 can conveniently be controlled direction and the angle that rotating detector 9 rotates, and realizes comprehensive observation; The front end of described rotating detector 9 has illuminating lamp passage 16, instrument channel 15, OCT passage 14 and image collection passage 13.
The operation tracking of existing laparothoracoscope, comprises the steps:
(1) in shooting passage, put into photographic head;
(2) dollying head, the image of track up field of operation;
Because the laparothoracoscope of most adopts common photographic head, precision and the field range of shooting are limited, so doctor need to manually adjust shooting angle and position in operation process, for patients, have increased distress level.And for doctor, there is following defect:
1, cannot the intrathoracic full-view image of preview abdomen, find the field of operation inconvenience of focus, and the broad perspectives of operation is understood not enough;
2,, to the local image of field of operation track and extract automatically, increased personnel and the complexity of operation;
3, cannot freely amplify the observation of image operation process to the local image of field of operation.
To sum up, the operation tracking of existing laparothoracoscope need to operate by doctor, intelligence not, and the time of corrective surgery is more of a specified duration, and distress level is large, and therefore, a kind of operative region automatic tracking system of laparothoracoscope and method just seem very necessary.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of operative region automatic tracking system and method for laparothoracoscope, automatically the local image of real-time automatic tracking operative region when can realizing full-view image and show, and can freely amplify local image.
In order to solve above technical problem, the invention provides a kind of operative region automatic tracking system of laparothoracoscope, comprising:
Controller, for monitoring the intrathoracic minimal invasive surgical procedures of abdomen;
Operating theater instruments, is arranged in the instrument channel of laparothoracoscope and is connected with described controller, for carry out Minimally Invasive Surgery in splanchnocoel;
Image collecting module, is arranged in the shooting passage of laparothoracoscope and is connected with described controller, for taking organ in splanchnocoel and the image of described minimal invasive surgical procedures;
Image cache module, is connected with described controller, and for storing the image in splanchnocoel, its outfan is connected with the overall image display module of image display module;
Field of operation identification module, is connected with described controller and described image cache module, and for identifying the operating theater instruments image of filmed image, its outfan is connected with the field of operation image display module of described image display module;
Described image display module, comprises described overall image display module and field of operation image display module, for showing the image of described minimal invasive surgical procedures.
Preferably, the operative region automatic tracking system of laparothoracoscope of the present invention, also comprise an image synthesis module being connected with described controller and described image cache module, described image collecting module comprises 2 or 2 above photographic head, and described image synthesis module is used for the image of described each photographic head shooting being synthesized and outputing to described image cache module.
Further, the operative region automatic tracking system of laparothoracoscope of the present invention, described photographic head is the high-definition camera that resolution is identical, and take time frame speed identical.
Further, the operative region automatic tracking system of laparothoracoscope of the present invention, the depth of field of described photographic head is 0-200mm.
Further, the operative region automatic tracking system of laparothoracoscope of the present invention, also comprise the image zoom control module being connected with described controller and described field of operation image display module, for by local field of operation image zoom, described in be enlarged into continuous amplification.
Closer, the operative region automatic tracking system of laparothoracoscope of the present invention, also comprise voice acquisition module, be connected with described controller, described image zoom control module respectively and described field of operation identification module connects, for regulating zooming in or out of field of operation local image according to phonetic order, and according to the position of phonetic order corrective procedure district image.
Preferably, the operative region automatic tracking system of laparothoracoscope of the present invention, described field of operation identification module comprises operating theater instruments identification module and mobile object identification module, described operating theater instruments identification module is for identifying the operating theater instruments of full-view image, and described mobile object identification module is for identifying the movement of operating theater instruments position.
Further, the operative region automatic tracking system of laparothoracoscope of the present invention, described operating theater instruments adopts the color different from organ in splanchnocoel.
Further, the operative region automatic tracking system of laparothoracoscope of the present invention, is used color lump or the colour circle of labeled in described operating theater instruments.
The operative region automatic tracking method that the invention also discloses a kind of laparothoracoscope, comprising:
(1) image capture module is taken the full-view image of the minimal invasive surgical procedures in splanchnocoel, and stores described full-view image into image cache module;
(2) operating theater instruments in full-view image described in identification, and the local image that comprises described operating theater instruments is extracted;
(3) the described full-view image of image display module while step display (1) and the local image that comprises operating theater instruments of step (2).
Preferably, the operative region automatic tracking method of laparothoracoscope of the present invention, the image capture module described in step (1) adopts high-definition camera to be fixed shooting, and the depth of field of described high-definition camera is 0-200mm.
Further, the operative region automatic tracking method of laparothoracoscope of the present invention, step (1) is used 2 or 2 above described high-definition cameras, and the resolution of each high-definition camera is identical with photographed frame speed, the image of in shooting, each high-definition camera being taken stores described image cache module into after synthesizing full-view image.
Preferably, the operative region automatic tracking method of laparothoracoscope of the present invention, step (2) comprises according to the labeled color lump of operating theater instruments or colour circle identification operating theater instruments, and extracts the local image that comprises described operating theater instruments.
Further, the operative region automatic tracking method of laparothoracoscope of the present invention, step (2) also comprises whether the position of operating theater instruments is moved described in identification, if it is extract new field of operation local image, if otherwise the local image that previous frame is comprised to described operating theater instruments output.
Preferably, the operative region automatic tracking method of laparothoracoscope of the present invention, when the local image that comprises operating theater instruments of step (3) step display (2) in described full-view image position and the scope of labelling local image.
Preferably, the operative region automatic tracking method of laparothoracoscope of the present invention, amplifies described local image when the local image that comprises operating theater instruments of step (3) step display (2).
Further, the operative region automatic tracking method of laparothoracoscope of the present invention, step (3) is amplified continuously to described local image.
Operative region automatic tracking system and the method for laparothoracoscope of the present invention, can show that full-view image in splanchnocoel is simultaneously from motion tracking field of operation local image, and local image can freely amplify, promote the intelligent degree of splanchnocoel mirror, being convenient to operation carries out, very convenient doctor's operation, alleviates the distress level in corrective surgery.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is laparothoracoscope system schematic;
Fig. 2 is the probe access diagram of laparothoracoscope;
Fig. 3 is the operative region automatic tracking system structure chart of laparothoracoscope of the present invention;
Fig. 4 is the image collection access diagram with the laparothoracoscope of high-definition camera;
Fig. 5 is the image collection access diagram with the laparothoracoscope of two photographic head;
Fig. 6 is the image collection access diagram with the laparothoracoscope of multiple photographic head.
Reference numeral in figure is: 1, display, 2, cold light source, 3, controller, 4, computer, 5, printer, 6, OCT union joint, 7, manipulation handwheel, 8, pincers road junction, 9, rotating detector, 10, rigid feeler lever, 11, main frame, 12, manipulation button, 13, image collection passage, 14, OCT passage, 15, instrument channel, 16, illuminating lamp passage, 17, high-definition camera.
The specific embodiment
Embodiment mono-
As shown in Figure 3, the invention provides a kind of operative region automatic tracking system of laparothoracoscope, comprising:
(1) controller, for monitoring the intrathoracic minimal invasive surgical procedures of abdomen.
(2) operating theater instruments, is arranged in the instrument channel of laparothoracoscope and is connected with described controller, for carry out Minimally Invasive Surgery in splanchnocoel.
(3) image collecting module, is arranged in the shooting passage of laparothoracoscope and is connected with described controller, for taking organ in splanchnocoel and the image of described minimal invasive surgical procedures.Be illustrated in figure 4 the example that adopts a high-definition camera 17 in image collecting module, for can be in operation the position of fixing camera, photographed full-view image, (described standard high-definition camera is 1080P need to adopt high-definition camera, also can adopt 4k/8k or higher level higher than standard high-definition camera, thereby after acquiring a certain degree, magnification level can see micron order, be equivalent to microscope operation), and need to adopt the deep photographic head of the depth of field (focal length), the field depth of conventional common photographic head is at 0-50mm, preferred field depth of the present invention is 0-200mm.
(4) image cache module, is connected with described controller, and for storing the image in splanchnocoel, its outfan is connected with the overall image display module of image display module.
(5) field of operation identification module, is connected with described controller and described image cache module, and for identifying the operating theater instruments image of filmed image, its outfan is connected with the field of operation image display module of described image display module.Described field of operation identification module comprises operating theater instruments identification module and mobile object identification module, and described operating theater instruments identification module is for identifying the operating theater instruments of full-view image, and described mobile object identification module is for identifying the movement of operating theater instruments position.For the ease of identification, described operating theater instruments can adopt the color different from organ in splanchnocoel, or on it, uses the color lump of labeled or colour circle (for example chequered with black and white or many diversityes color is alternate).
(6) described image display module, comprises described overall image display module and field of operation image display module, for showing the image of described minimal invasive surgical procedures.
(7) preferred embodiment also comprise image synthesis module, be connected with described controller and described image cache module, comprise that more than 2 or 2 photographic head (are 3 photographic head shown in Fig. 3, each photographic head is the high-definition camera that resolution is identical, and the frame speed while shooting is identical, Fig. 5 and Fig. 6 are respectively the examples that adopts 2 and 4 high-definition cameras 17, correspondingly around each high-definition camera 17, need to arrange illuminating LED light source), described image synthesis module is used for the image of described each photographic head shooting being synthesized and outputing to described image cache module.Adopt the quantity difference of photographic head, the shooting field-of-view angle scope of corresponding each photographic head is also different, for example can adopt 2 photographic head to take, need to choose each photographic head shooting angle 120-140 degree, choose 3 photographic head, each photographic head shooting angle is greater than 100 degree and both can have realized panorama.
(8) preferred embodiment also comprise the image zoom control module being connected with described controller and described field of operation image display module, for by local field of operation image zoom, amplification process is continuous.System can also comprise voice acquisition module in addition, be connected with described controller, described image zoom control module respectively and described field of operation identification module connects, for regulating zooming in or out of field of operation local image according to phonetic order, and according to the position of phonetic order corrective procedure district image.Such as in operation process, doctor manipulates the local image of control system by phonetic orders such as " amplification ", " dwindling ", " left ", " to the right ".
Preferably, the operative region automatic tracking system of laparothoracoscope of the present invention, further, the operative region automatic tracking system of laparothoracoscope of the present invention
Based on the system shown in Fig. 3, the invention also discloses a kind of operative region automatic tracking method of laparothoracoscope, comprising:
(1) image capture module is taken the full-view image of the minimal invasive surgical procedures in splanchnocoel, and stores described full-view image into image cache module; Described image capture module adopts high-definition camera to be fixed shooting, and the depth of field of described high-definition camera is 0-200mm.Preferably use 2 or 2 above described high-definition cameras, and the resolution of each high-definition camera is identical with photographed frame speed, the image of in shooting, each high-definition camera being taken stores described image cache module into after synthesizing full-view image.
(2) operating theater instruments in full-view image described in identification, and the local image that comprises described operating theater instruments is extracted; Can be according to the labeled color lump of operating theater instruments or colour circle identification operating theater instruments, then described in identification, whether the position of operating theater instruments is moved compared with previous frame, if it is extract new field of operation local image, if otherwise the local image that previous frame is comprised to described operating theater instruments output.
(3) the described full-view image of image display module while step display (1) and the local image that comprises operating theater instruments of step (2), the position of labelling local image and scope in described full-view image, and can amplify continuously described local image.
Operative region automatic tracking system and the method for laparothoracoscope of the present invention, can show that full-view image in splanchnocoel is simultaneously from motion tracking field of operation local image, and local image can freely amplify, promote the intelligent degree of splanchnocoel mirror, being convenient to operation carries out, very convenient doctor's operation, alleviates the distress level in corrective surgery.
The above is the preferred embodiments of the present invention, is not limited to the present invention, to one skilled in the art, can have various modifications and variations.Within the spirit and scope of the present invention all, any modification of making and be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (17)
1. an operative region automatic tracking system for laparothoracoscope, is characterized in that, comprising:
Controller, for monitoring the intrathoracic minimal invasive surgical procedures of abdomen;
Operating theater instruments, is arranged in the instrument channel of laparothoracoscope and is connected with described controller, for carry out Minimally Invasive Surgery in splanchnocoel;
Image collecting module, is arranged in the shooting passage of laparothoracoscope and is connected with described controller, for taking organ in splanchnocoel and the image of described minimal invasive surgical procedures;
Image cache module, is connected with described controller, and for storing the image in splanchnocoel, its outfan is connected with the overall image display module of image display module;
Field of operation identification module, is connected with described controller and described image cache module, and for identifying the operating theater instruments image of filmed image, its outfan is connected with the field of operation image display module of described image display module;
Described image display module, comprises described overall image display module and field of operation image display module, for showing the image of described minimal invasive surgical procedures.
2. the operative region automatic tracking system of laparothoracoscope as claimed in claim 1, it is characterized in that, also comprise an image synthesis module being connected with described controller and described image cache module, described image collecting module comprises 2 or 2 above photographic head, and described image synthesis module is used for the image of described each photographic head shooting being synthesized and outputing to described image cache module.
3. the operative region automatic tracking system of laparothoracoscope as claimed in claim 2, is characterized in that, described photographic head is the high-definition camera that resolution is identical, and take time frame speed identical.
4. the operative region automatic tracking system of laparothoracoscope as claimed in claim 2, is characterized in that, the depth of field of described photographic head is 0-200mm.
5. the operative region automatic tracking system of laparothoracoscope as claimed in claim 1, it is characterized in that, also comprise the image zoom control module being connected with described controller and described field of operation image display module, for by local field of operation image zoom, described in be enlarged into continuous amplification.
6. the operative region automatic tracking system of laparothoracoscope as claimed in claim 5, it is characterized in that, also comprise voice acquisition module, be connected with described controller, described image zoom control module respectively and described field of operation identification module connects, for regulating zooming in or out of field of operation local image according to phonetic order, and according to the position of phonetic order corrective procedure district image.
7. the operative region automatic tracking system of laparothoracoscope as claimed in claim 1, it is characterized in that, described field of operation identification module comprises operating theater instruments identification module and mobile object identification module, described operating theater instruments identification module is for identifying the operating theater instruments of full-view image, and described mobile object identification module is for identifying the movement of operating theater instruments position.
8. the operative region automatic tracking system of laparothoracoscope as claimed in claim 7, is characterized in that, described operating theater instruments adopts the color different from organ in splanchnocoel.
9. the operative region automatic tracking system of laparothoracoscope as claimed in claim 7, is characterized in that, uses color lump or the colour circle of labeled in described operating theater instruments.
10. an operative region automatic tracking method for laparothoracoscope, is characterized in that, comprising:
(1) image capture module is taken the full-view image of the minimal invasive surgical procedures in splanchnocoel, and stores described full-view image into image cache module;
(2) operating theater instruments in full-view image described in identification, and the local image that comprises described operating theater instruments is extracted;
(3) the described full-view image of image display module while step display (1) and the local image that comprises operating theater instruments of step (2).
The operative region automatic tracking method of 11. laparothoracoscopes as claimed in claim 10, is characterized in that, the image capture module described in step (1) adopts high-definition camera to be fixed shooting, and the depth of field of described high-definition camera is 0-200mm.
The operative region automatic tracking method of 12. laparothoracoscopes as claimed in claim 11, it is characterized in that, step (1) is used 2 or 2 above described high-definition cameras, and the resolution of each high-definition camera is identical with photographed frame speed, the image of in shooting, each high-definition camera being taken stores described image cache module into after synthesizing full-view image.
The operative region automatic tracking method of 13. laparothoracoscopes as claimed in claim 10, it is characterized in that, step (2) comprises according to the labeled color lump of operating theater instruments or colour circle identification operating theater instruments, and extracts the local image that comprises described operating theater instruments.
The operative region automatic tracking method of 14. laparothoracoscopes as described in claim 113, it is characterized in that, step (2) also comprises whether the position of operating theater instruments is moved described in identification, if it is extract new field of operation local image, if otherwise the local image that previous frame is comprised to described operating theater instruments output.
The operative region automatic tracking method of 15. laparothoracoscopes as claimed in claim 10, it is characterized in that, when the local image that comprises operating theater instruments of step (3) step display (2) in described full-view image position and the scope of labelling local image.
The operative region automatic tracking method of 16. laparothoracoscopes as claimed in claim 10, is characterized in that, when the local image that comprises operating theater instruments of step (3) step display (2), described local image is amplified.
The operative region automatic tracking method of 17. laparothoracoscopes as claimed in claim 16, is characterized in that, step (3) is amplified continuously to described local image.
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| CN112932663B (en) * | 2021-03-02 | 2021-10-22 | 成都与睿创新科技有限公司 | Intelligent auxiliary system for improving safety of laparoscopic cholecystectomy |
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Application publication date: 20140528 |