CN107440691A - A kind of pes anserinus synovial bursa based on modal coordinate damages automatic diagnosis and treatment apparatus and method - Google Patents
A kind of pes anserinus synovial bursa based on modal coordinate damages automatic diagnosis and treatment apparatus and method Download PDFInfo
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- CN107440691A CN107440691A CN201710819409.XA CN201710819409A CN107440691A CN 107440691 A CN107440691 A CN 107440691A CN 201710819409 A CN201710819409 A CN 201710819409A CN 107440691 A CN107440691 A CN 107440691A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3209—Incision instruments
- A61B17/3211—Surgical scalpels, knives; Accessories therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
Abstract
The invention discloses a kind of pes anserinus synovial bursa based on modal coordinate to damage automatic diagnosis and treatment apparatus and method, and device includes three-dimensional scanner, Micro operating knife, image display, hydraulic control module, blade direction controlling module, control system；Three-dimensional scanner carries out 3-D scanning to cucullaris tissue to be detected first, and transmits the result to control system, and the coordinate of each preset before and after damage occurs is obtained after processing；Then control Micro operating knife to work by hydraulic control module, blade direction controlling module, scan situation and working condition real-time display in image display.The present invention by the 3-D scanning to human body cucullaris, establishes the digitlization modal coordinate of cucullaris, then carries out three-dimensional grid division to cucullaris first, calculates the curvature that preset during lesion does not occur for cucullaris, determines that the position of lesion occurs for cucullaris；Finally carry out automatic diagnosis and treatment.The present invention, which realizes, quickly and efficiently carries out the automatic diagnosis and treatment of pes anserinus synovial bursa damage.
Description
Technical field
The invention belongs to technical field of medical instruments, is related to a kind of technique device and method of soft tissue injury diagnosis and treatment, tool
Body is related to a kind of pes anserinus synovial bursa based on modal coordinate and damages automatic diagnosis and treatment apparatus and method.
Background technology
Pes anserinus synovial bursa is located between the conjoint tendon stop and Medial collateral ligament of knee of sartorius, gracilis, semitendinosus.It is
An inter-adhesive lubricating arrangement of each soft tissue is prevented on the inside of knee joint.Knee joint frequent activities, the soft tissue pulling force of surrounding
It is abnormal, pes anserinus synovial bursa will compensatory hyperplasia, trigger clinical manifestation.This disease can be loosened soft tissue adhesion by closing operation,
Scar, contracture, bar rope etc. are treated.At present in treatment means, the physiotheraping effect such as the moxibustion of the lesion early stage hand-manipulating of needle, massage is preferable, in
Anaphase effect is poor.Another method is treated using the pin knife of metal material, and shortcoming is the bad control of dynamics and direction of pin knife,
Easily cut off blood vessel and nerve.Have no automatic clinical means at present, diagnosis and therapeutic efficiency heavy dependence doctor's ability, risk compared with
Height, effect are barely satisfactory.
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of pes anserinus synovial bursa damage based on modal coordinate to examine automatically
Control device and method.
Technical scheme is used by the device of the present invention：A kind of pes anserinus synovial bursa based on modal coordinate damages automatic diagnosis and treatment
Device, including three-dimensional scanner, Micro operating knife, image display, hydraulic control module, blade direction controlling module,
Control system；
The three-dimensional scanner is connected by wire with the control system, the control system respectively by wire with
Image display, the hydraulic control module, the connection of blade direction controlling module；The hydraulic control module, blade direction
Control module is connected by wire with the Micro operating knife respectively；
The three-dimensional scanner carries out 3-D scanning to cucullaris tissue to be detected first, and transmits the result to described
Control system, the coordinate of each preset before and after damage occurs is obtained after processing；Then the hydraulic control module, knife are passed through
Sword direction controlling module controls the Micro operating knife work, scans situation and working condition real-time display is shown in described image
In module.
Technical scheme is used by the method for the present invention：A kind of pes anserinus synovial bursa based on modal coordinate damages automatic diagnosis and treatment
Method, comprise the following steps：
Step 1：By the 3-D scanning to human body cucullaris, the digitlization modal coordinate of cucullaris is established；
Step 2：Three-dimensional grid division is carried out to cucullaris；
Step 3：Calculate the curvature that preset during lesion does not occur for cucullaris；
Step 4：Determine that the position of lesion occurs for cucullaris；
Step 5：Automatic diagnosis and treatment.
It is an advantage of the invention that：
1. the Curvature varying of preset displacement modes can be carried out accurate to damage position before and after being damaged using pes anserinus synovial bursa
Positioning；
2. because the blade of Micro operating knife uses transparent soft fibrous material, Micro operating knife can be made to follow in vivo
Soft tissue route moves, smaller to human injury compared to conventional metals hard blade；
3. automatic diagnosis and treatment identify and make a definite diagnosis positioning knife point, soft tissue adhesion, scar, contracture then are carried out to knife point
Stripping and cutting operation of loosening；
4. Micro operating knife passes through the effect Mutiple Targets of " pin ", too many levels restoring consciouness tune god, dredging the channel qi and blood, excitating organism
Regulating power, recover equilibrium between yin and yang；, utilize the focus points such as the cutting of " knife ", adhesion of loosening, scar, bar rope, it is more to realize whole body
Position deformity branch treats, and stimulates circulation, and accelerates metabolism, rebuilds total balance of the body.
Brief description of the drawings
Fig. 1 is the installation drawing of the embodiment of the present invention；
Fig. 2 is the structure chart of the Micro operating knife of the embodiment of the present invention；
Fig. 3 is the stereogram of the three-dimensional scanner of the embodiment of the present invention；
Fig. 4 is the surface texture figure of the storage box of the embodiment of the present invention；
Fig. 5 is distribution map of the cucullaris in position of human body of the embodiment of the present invention；
In figure, 1 is cucullaris tissue to be detected, and 2 be three-dimensional scanner, and 3 be scanning lens, and 4 be Micro operating knife, 5
It is image display for the storage box, 6,7 be hydraulic control module, and 8 be blade direction controlling module, and 9 be control system, and 10 are
Blade, 11 be fibre optical sensor, and 12 be minisize pick-up head, 13 is retractor device, 14 is blade, 15 is tubule, 16 is liquid, 17
It is sleeve pipe for sweep surface, 18,19 is waterproof coating.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment is to this hair
It is bright to be described in further detail, it will be appreciated that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
See Fig. 1, a kind of pes anserinus synovial bursa based on modal coordinate provided by the invention damages automatic diagnosis and treatment apparatus, including three
Tie up scanning means 2, Micro operating knife 4, image display 6, hydraulic control module 7, blade direction controlling module 8, control system
System 9；Three-dimensional scanner 2 is connected by wire with control system 9, and control system 9 passes through wire and image display respectively
6th, hydraulic control module 7, blade direction controlling module 8 connect；Hydraulic control module 7, blade direction controlling module 8 pass through respectively
Wire is connected with Micro operating knife 4；Three-dimensional scanner 2 carries out 3-D scanning to cucullaris tissue 1 to be detected first, and will knot
Fruit is transferred to control system 9, and the coordinate of each preset before and after damage occurs is obtained after processing；Then hydraulic control mould is passed through
Block 7, blade direction controlling module 8 control Micro operating knife 4 to work, and scan situation and working condition real-time display is shown in image
In module 6.
See Fig. 2, the Micro operating knife 4 of the present embodiment includes cutter head portion and blade portion；Cutter head portion is passed by blade 10, optical fiber
Sensor 11, minisize pick-up head 12 are formed, and blade portion is made up of blade 14, tubule 15, liquid 16；Cutter head portion and blade portion are by stretching
Compression apparatus 13 links together；Blade 10 is arranged on cutter head end surface, and fibre optical sensor 11 is arranged on behind blade 10, is used for
The resistance that monitoring blade 10 runs into during traveling, is then transmitted to hydraulic control module 7 by drag size, forms feedback machine
System；Minisize pick-up head 12 is arranged on cutter head portion outer wall, is connected by wire with control system 9；Blade 14 is internally provided with carefully
Pipe 15, hydraulic control module 7 inject liquid 16 into tubule 15, and the traveling for blade 10 provides power；Blade direction controlling mould
Block 8 realizes the real-time control in blade direction by adjusting the elongation of two retractor devices 13 up and down.Cutter head portion uses high intensity
Steel is made, and has straight type and curve profile；The length of blade 10 is 0.05~5mm；The surface of fibre optical sensor 11 is provided with
0.02~0.03mm waterproof coating 19；Blade 14 is made using soft material, can be folded, when Micro operating knife 4 does not have
During work, it can be ensconced by retractor device 13 in the sleeve pipe 18 in the storage box 5.
See Fig. 3, the three-dimensional scanner 2 of the present embodiment includes scanning lens 3, the storage box 5 and two sweep surfaces 17；
Two sweep surfaces 17 are symmetricly set on the outer wall of the storage box 5, and the upper surface of two inner surfaces of sweep surface 17 and the storage box 5 is equal
It is provided with scanning lens 3；When three-dimensional scanner 2 works, two sweep surfaces 17 and the storage box 5 start to rotate, so as to realize
To the 3-D scanning of cucullaris tissue 1 to be detected.
See Fig. 4, the storage box 5 of the present embodiment is by 4 ring groups into being provided with some sleeve pipes 18 and some on each ring
Scanning lens 3；Micro operating knife 4 is provided with each sleeve pipe 18；Each ring can rotate, so as to realize Micro operating knife 4
Position adjustment and scanning lens 3 scanning.
See Fig. 5, a kind of automatic diagnosis and treatment method of pes anserinus synovial bursa damage based on modal coordinate provided by the invention, including with
Lower step：
Step 1：By the 3-D scanning to human body cucullaris, the digitlization modal coordinate of cucullaris is established；
Step 2：Three-dimensional grid division is carried out to cucullaris；
First, cucullaris is respectively classified into m parts, n parts and p on the length and width of digitlization modal coordinate and high three directions
Part, cucullaris is divided into m × n × p parts；Then, 8 summits of every a cell cube are set to preset；Assuming that cucullaris exists
The length digitized on three directions of modal coordinate is respectively l0、h0And t0, then per a cell cube in digitlization modal coordinate
Three directions on length be respectively l1=l0/m、h1=h0/ n and t1=t0/ p, except cell cube in irregular shape.
Step 3：Calculate the curvature that preset during lesion does not occur for cucullaris；
When lesion does not occur for cucullaris, each preset digitlization modal coordinate displacement for y (i, j, k) (1≤i≤
M, 1≤j≤n, 1≤k≤p)；Then, according to the shift value of the preset on cucullaris, the curvature of preset is calculated；Tool
The computational methods of body are as follows：
In the length direction of modal coordinate, the derivative of the displacement modes of each preset is obtained using single order central difference method
For：
y′1(i, j, k)=[y (i+1, j, k)-y (i-1, j, k)]/(2l1)；
Wherein, 2≤i≤m, 1≤j≤n+1,1≤k≤p+1；
Then, the second dervative for the displacement modes that recycling Second-Order Central Difference method obtains each preset is：
y″1(i, j, k)=[y '1(i+1,j,k)-y′1(i-1,j,k)]/(2l1)；
Wherein, 3≤i≤m-1,1≤j≤n+1,1≤k≤p+1；
In the short transverse of modal coordinate, the single order and second dervative point of the displacement modes of each preset similarly can obtain
It is not：
y′2(i, j)=[y (i, j+1)-y (i, j-1)]/(2h1)；
Wherein, 1≤i≤m+1,2≤j≤n, 1≤k≤p+1；
y″2(i, j)=[y '2(i,j+1)-y′2(i,j-1)]/(2h1)；
Wherein, 1≤i≤m+1,3≤j≤n-1,1≤k≤p+1；
In the width of modal coordinate, the single order and second dervative point of the displacement modes of each preset similarly can obtain
It is not：
y′3(i, j, k)=[y (i, j, k+1)-y (i, j, k-1)]/(2t1)；
Wherein, 1≤i≤m+1,1≤j≤n+1,2≤k≤p；
y″3(i, j, k)=[y '3(i,j,k+1)-y′3(i,j,k-1)]/(2t1)；
Wherein, 1≤i≤m+1,1≤j≤n+1,3≤k≤p-1；
To y '1(i,j)、y′2(i, j) and y '3(i, j) carries out vector and tries to achieve y '4(i,j)；To y "1(i,j)、y″2(i,
And y " j)3(i, j) carries out vector and tries to achieve y "4(i,j)。
Finally, the curvature matrix that the displacement modes in modal coordinate face are calculated is：
Wherein, 3≤i≤m-1,3≤j≤n-1,3≤k≤p-1.
By the value for the curvature for calculating all presets；The curvature k of preset can be obtained1The interval of (i, j)
For [K1,K2]。
Step 4：Determine that the position of lesion occurs for cucullaris；
When lesion occurs for cucullaris, by the 3-D scanning to human body cucullaris, each preset on cucullaris is obtained
Displacement, the value that the curvature of all presets is calculated are k2(i,j)；Now, due to the displacement y (i, j, k) of preset
Interval will diminish, and according to the relation of the displacement of curvature matrix and preset, can obtain k2The interval of (i, j) also will contracting
It is small.The curvature of the preset for each cell cube that cucullaris occurs to be calculated before and after lesion is contrasted, span is bright
The cell cube of aobvious diminution is the position that lesion occurs.
Assuming that the interval of the curvature of preset before and after some unit bulk damage is from [K1,K2] it is changed into [K3,K4], then
Impairment value H can be defined to weigh the size of degree of injury；
From definition, impairment value H span is [0,1]；When H value level off to 1 when, show damage it is lighter,
That is H value is smaller, and damage is more serious.
Step 5：Automatic diagnosis and treatment.
After cucullaris all of the above lesion locations determine, it is possible to carry out automatic diagnosis and treatment using Micro operating knife.It is miniature
The access site of scalpel is the lesion locations of cucullaris all of the above, its depth of cut, feed dynamics and edge of a knife operation
Direction can automatically control, for the automatic identification of blood vessel and nerve；Micro operating knife can carry out soft tissue in lesion point and glue
Even, scar, the operation of loosening of stripping and the cutting of contracture.
Hydraulic control module 7 injects liquid 16 into tubule 15, and the traveling for blade 10 provides power；The size of power by
The impairment value H of diseased region is determined；Fibre optical sensor 11 can monitor the resistance that blade 10 runs into during traveling, then
Drag size is transmitted to hydraulic control module 7, forms feedback mechanism；Now, the control injection in real time of hydraulic control module 7 tubule 15
Liquid 16 amount；Blade 10 is controlled into depth by the area size of diseased region；
Blade direction controlling module 8 realizes the reality in the direction of blade 10 by adjusting the elongation of two retractor devices 13 up and down
When control；Blade direction controlling module 8 adjusts the direct of travel of blade 10, the resistance monitored with fibre optical sensor 11 and miniature
The image that camera 12 photographs is as adjustment foundation.
Although this specification has more used cucullaris tissue 1 to be detected, three-dimensional scanner 2, scanning lens 3, micro-
Type scalpel 4, the storage box 5, image display 6, hydraulic control module 7, blade direction controlling module 8, control system 9, knife
Sword 10, fibre optical sensor 11, minisize pick-up head 12, retractor device 13, blade 14, tubule 15, liquid 16, sweep surface 17, set
Pipe 18 and the grade term of waterproof coating 19, but it is not precluded from the possibility using other terms.It is used for the purpose of using these terms
The essence of the present invention is more easily described, being construed as any additional limitation is disagreed with spirit of the present invention
's.
It should be appreciated that the part that this specification does not elaborate belongs to prior art.
It should be appreciated that the above-mentioned description for preferred embodiment is more detailed, therefore can not be considered to this
The limitation of invention patent protection scope, one of ordinary skill in the art are not departing from power of the present invention under the enlightenment of the present invention
Profit is required under protected ambit, can also be made replacement or deformation, be each fallen within protection scope of the present invention, this hair
It is bright scope is claimed to be determined by the appended claims.
Claims (10)
1. a kind of pes anserinus synovial bursa based on modal coordinate damages automatic diagnosis and treatment apparatus, it is characterised in that：Including three-dimensional scanner
(2), Micro operating knife (4), image display (6), hydraulic control module (7), blade direction controlling module (8), control system
Unite (9)；
The three-dimensional scanner (2) is connected by wire with the control system (9), and the control system (9) passes through respectively
Wire is connected with image display (6), the hydraulic control module (7), blade direction controlling module (8)；The hydraulic pressure control
Molding block (7), blade direction controlling module (8) are connected by wire with the Micro operating knife (4) respectively；
The three-dimensional scanner (2) carries out 3-D scanning to cucullaris tissue (1) to be detected first, and transmits the result to institute
Control system (9) is stated, the coordinate of each preset before and after damage occurs is obtained after processing；Then the hydraulic control mould is passed through
Block (7), blade direction controlling module (8) control Micro operating knife (4) work, scan situation and working condition real-time display
In described image display module (6).
2. the pes anserinus synovial bursa according to claim 1 based on modal coordinate damages automatic diagnosis and treatment apparatus, it is characterised in that：Institute
Stating three-dimensional scanner (2) includes scanning lens (3), the storage box (5) and two sweep surfaces (17)；Described two sweep surfaces
(17) it is symmetricly set on the storage box (5) outer wall, the upper surface of two sweep surface (17) inner surfaces and the storage box (5) is equal
It is provided with scanning lens (3)；When three-dimensional scanner (2) works, two sweep surfaces (17) and the storage box (5) start to rotate,
So as to realize the 3-D scanning to cucullaris tissue (1) to be detected.
3. the pes anserinus synovial bursa according to claim 2 based on modal coordinate damages automatic diagnosis and treatment apparatus, it is characterised in that：Institute
The storage box (5) is stated by 4 ring groups into being provided with some sleeve pipes (18) and some scanning lens (3) on each ring；Each sleeve pipe
(18) Micro operating knife (4) is provided with；Each ring can rotate, so as to realize that the position of Micro operating knife (4) is adjusted
The whole and scanning of scanning lens (3).
4. the pes anserinus synovial bursa based on modal coordinate according to claim 1-3 any one damages automatic diagnosis and treatment apparatus, its
It is characterised by：The Micro operating knife (4) includes cutter head portion and blade portion；The cutter head portion is by blade (10), fibre optical sensor
(11), minisize pick-up head (12) is formed, and the blade portion is made up of blade (14), tubule (15), liquid (16)；The cutter head portion
Linked together with blade portion by retractor device (13)；
The blade (10) is arranged on the cutter head end surface, and the fibre optical sensor (11) is arranged on behind blade (10),
The resistance run into for monitoring blade (10) during traveling, drag size is then transmitted to hydraulic control module (7), formed
Feedback mechanism；The minisize pick-up head (12) is arranged on cutter head portion outer wall, is connected by wire and the control system (9)
Connect；The blade (14) is internally provided with tubule (15), the hydraulic control module (7) injection liquid into tubule (15)
(16), the traveling for blade (10) provides power；The blade direction controlling module (8) is by adjusting two retractor devices up and down
(13) elongation realizes the real-time control in blade direction.
5. the pes anserinus synovial bursa according to claim 4 based on modal coordinate damages automatic diagnosis and treatment apparatus, it is characterised in that：Institute
State cutter head portion to form using high strength steel making, there is straight type and curve profile；Blade (10) length is 0.05~5mm；Institute
The surface for stating fibre optical sensor (11) is provided with 0.02~0.03mm waterproof coating (19)；The blade (14) uses software material
Material is made, and can fold, and when Micro operating knife (4) does not work, can be ensconced by retractor device (13) in the storage box (5)
Sleeve pipe (18) in.
6. a kind of pes anserinus synovial bursa based on modal coordinate damages automatic diagnosis and treatment method, it is characterised in that comprises the following steps：
Step 1：By the 3-D scanning to human body cucullaris, the digitlization modal coordinate of cucullaris is established；
Step 2：Three-dimensional grid division is carried out to cucullaris；
Step 3：Calculate the curvature that preset during lesion does not occur for cucullaris；
Step 4：Determine that the position of lesion occurs for cucullaris；
Step 5：Automatic diagnosis and treatment.
7. the pes anserinus synovial bursa according to claim 6 based on modal coordinate damages automatic diagnosis and treatment method, it is characterised in that：Step
In rapid 2, first, cucullaris is respectively classified into m parts, n parts and p parts on the length and width of digitlization modal coordinate and high three directions,
Cucullaris is divided into m × n × p parts；Then, 8 summits of every a cell cube are set to preset；Assuming that cucullaris is in numeral
The length changed on three directions of modal coordinate is respectively l0、h0And t0, then per a cell cube the three of digitlization modal coordinate
Length on individual direction is respectively l1=l0/m、h1=h0/ n and t1=t0/ p, except cell cube in irregular shape.
8. the pes anserinus synovial bursa according to claim 7 based on modal coordinate damages automatic diagnosis and treatment method, it is characterised in that：Step
In rapid 3, when lesion does not occur for cucullaris, each preset is y (i, j, k), 1≤i≤m, 1 in the displacement of digitlization modal coordinate
≤ j≤n, 1≤k≤p；Then, according to the shift value of the preset on cucullaris, the curvature of preset is calculated；Specifically
Computational methods include following sub-step：
Step 3.1：In the length direction of modal coordinate, the displacement modes of each preset are obtained using single order central difference method
Derivative is：
y1' (i, j, k)=[y (i+1, j, k)-y (i-1, j, k)]/(2l1)；
Wherein, 2≤i≤m, 1≤j≤n+1,1≤k≤p+1；
The second dervative that the displacement modes of each preset are obtained using Second-Order Central Difference method is：
y1" (i, j, k)=[y1′(i+1,j,k)-y1′(i-1,j,k)]/(2l1)；
Wherein, 3≤i≤m-1,1≤j≤n+1,1≤k≤p+1；
Step 3.2：In the short transverse of modal coordinate, the single order and second order that similarly can obtain the displacement modes of each preset are led
Number is respectively：
y2' (i, j)=[y (i, j+1)-y (i, j-1)]/(2h1)；
Wherein, 1≤i≤m+1,2≤j≤n, 1≤k≤p+1；
y2" (i, j)=[y2′(i,j+1)-y2′(i,j-1)]/(2h1)；
Wherein, 1≤i≤m+1,3≤j≤n-1,1≤k≤p+1；
Step 3.3：In the width of modal coordinate, the single order and second order that similarly can obtain the displacement modes of each preset are led
Number is respectively：
y3' (i, j, k)=[y (i, j, k+1)-y (i, j, k-1)]/(2t1)；
Wherein, 1≤i≤m+1,1≤j≤n+1,2≤k≤p；
y3" (i, j, k)=[y3′(i,j,k+1)-y3′(i,j,k-1)]/(2t1)；
Wherein, 1≤i≤m+1,1≤j≤n+1,3≤k≤p-1；
Step 3.4：To y1′(i,j)、y2' (i, j) and y3' (i, j) carries out vector and tries to achieve y4′(i,j)；To y1″(i,j)、
y2" (i, j) and y3" (i, j) carries out vector and tries to achieve y4″(i,j)；
Step 3.5：The curvature matrix that the displacement modes in modal coordinate face are calculated is：
<mrow>
<msub>
<mi>k</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mo>|</mo>
<msubsup>
<mi>y</mi>
<mn>4</mn>
<mrow>
<mo>&prime;</mo>
<mo>&prime;</mo>
</mrow>
</msubsup>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
</mrow>
<msup>
<mrow>
<mo>&lsqb;</mo>
<mn>1</mn>
<mo>+</mo>
<msubsup>
<mi>y</mi>
<mn>4</mn>
<mrow>
<mo>&prime;</mo>
<mn>2</mn>
</mrow>
</msubsup>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mrow>
<mn>3</mn>
<mo>/</mo>
<mn>2</mn>
</mrow>
</msup>
</mfrac>
</mrow>
Wherein, 3≤i≤m-1,3≤j≤n-1,3≤k≤p-1；
Step 3.6：By the value for the curvature for calculating all presets；Obtain the curvature k of preset1The interval of (i, j) is
[K1,K2]。
9. the pes anserinus synovial bursa according to claim 6 based on modal coordinate damages automatic diagnosis and treatment method, it is characterised in that：Step
In rapid 4, when lesion occurs for cucullaris, by the 3-D scanning to human body cucullaris, the position of each preset on cucullaris is obtained
Move, the value that the curvature of all presets is calculated is k2(i,j)；Now, because displacement y (i, the j, k) of preset takes
Value section will diminish, and according to the relation of the displacement of curvature matrix and preset, obtain k2The interval of (i, j) will also reduce；
The curvature of the preset for each cell cube that cucullaris occurs to be calculated before and after lesion is contrasted, span substantially contracts
Small cell cube is the position that lesion occurs；
Assuming that the interval of the curvature of preset before and after some unit bulk damage is from [K1,K2] it is changed into [K3,K4], then definition is damaged
Wound value H weighs the size of degree of injury；
<mrow>
<mi>H</mi>
<mo>=</mo>
<mrow>
<mo>|</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mn>4</mn>
</msub>
<mo>-</mo>
<msub>
<mi>K</mi>
<mn>3</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>K</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>K</mi>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
<mo>|</mo>
</mrow>
<mo>;</mo>
</mrow>
Impairment value H span is [0,1]；When H value level off to 1 when, show damage it is lighter, i.e. H value is smaller, damage
Wound is more serious.
10. the pes anserinus synovial bursa according to claim 6 based on modal coordinate damages automatic diagnosis and treatment method, it is characterised in that：
In step 5, after cucullaris all of the above lesion locations determine, with regard to carrying out automatic diagnosis and treatment using Micro operating knife (4)；Miniature hand
The access site of art knife (4) is the lesion locations of cucullaris all of the above, its depth of cut, feed dynamics and edge of a knife operation
Direction automatically controls, for the automatic identification of blood vessel and nerve；Micro operating knife (4) carries out soft tissue adhesion, scar in lesion point
Trace, the operation of loosening of stripping and the cutting of contracture.
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| US20140142591A1 (en) * | 2012-04-24 | 2014-05-22 | Auris Surgical Robotics, Inc. | Method, apparatus and a system for robotic assisted surgery |
| CN104582624A (en) * | 2012-06-29 | 2015-04-29 | 儿童国家医疗中心 | Automated surgical and interventional procedures |
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