CN109223060A - The control system and control method of auxiliary device in a kind of surgical operation - Google Patents
The control system and control method of auxiliary device in a kind of surgical operation Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention belongs to medical control system technical fields, the control system and control method of auxiliary device in a kind of surgical operation are disclosed, set-up of control system has: control handle, console, data disaply moudle, server, driver, mechanical device, inductive probe, first pressure sensor, image inductor, conduit, locating module, data encryption module.The present invention has effectively been avoided by the control system to be occurred because blood vessel the results such as is crashed through because collision generates immense pressure by conduit and blood vessel, is improved the precision and stability of doctor's operation, is greatly increased success rate of operation；Overcome the problems, such as to need repeatedly punching by locating module simultaneously；Shorten operating time；In addition, greatly improving the safety of data by data encryption module, the confidentiality of patient information is ensured.
Description
Technical field
The invention belongs to a kind of control systems of auxiliary device in medical control system technical field more particularly to surgical operation
System and control method.
Background technique
Currently, the prior art commonly used in the trade is such that
In recent years, the advantages of minimally invasive surgery technology has obtained more and more doctors and patient favors, Minimally Invasive Surgery is wound
Hurt the dream that small, pain is light, recovery is each patient for needing to perform the operation fastly, minimally invasive surgery makes this dream become reality.It is micro-
Invasive procedures are widely used in stomach, Colon and rectum, liver and gallbladder pancreas, spleen surgical operation, shorten the recovery period of patient, drop
The low health care costs of patient.
Currently, in stomach, Colon and rectum, liver and gallbladder pancreas, spleen surgical operation, Minimally Invasive Surgery is carried out manually by doctor due to being, although
Doctors' skill is consummate, doctor need it is manual conduit through being pushed into the therapentic part of patient, but remain unchanged in the course of surgery
The problems such as some operation precisions are lower, can not perceive small stress, so that the effect of stomach, Colon and rectum, liver and gallbladder pancreas, spleen surgical operation
And it is imperfect, it is unable to reach expected therapeutic effect.
Liver and gall surgical department patient is in carrying out treatment recovery process, for efficient surgical procedure, needs abdomen through device
Chamber strut convenient for operation, and multidigit medical worker is needed to carry out tissue retraction toggle action, to facilitate post-operative to grasp
To make, hydrops is usually in the presence of in carrying out surgical procedure, previous processing method mostly uses single human assistance to act on,
It can not realize the operation booster action of stable intelligent and high-efficiency, if things go on like this, increase the work difficulty of medical worker.
In conclusion problem of the existing technology is:
Stomach, Colon and rectum, liver and gallbladder pancreas, some operation precisions of spleen surgical operation are lower, and surgical effect is imperfect, are unable to reach pre-
The effect of phase；
But the miscellaneous function that existing surgical procedure environment and ancillary equipment are lack of pertinence cannot be stomach, Colon and rectum, liver
Gallbladder pancreas, the optimal environment of minimally-invasive treatment offer of spleen surgical operation and function, currently, it is powerful to lack one kind, and operate essence
Quasi- flexible Minimally Invasive Surgery operating device.
The localization method of the prior art cannot determine that one initial point of therapentic part surface region is coordinate origin very well, cannot
Effectively establish therapentic part surface region coordinate system；Foundation cannot be provided to anaphase.
Existing hologram preconditioning technique is cumbersome in the presence of design filter procedure, at high cost, and it is difficult to find frequency spectrum；It is difficult to really
Surely the range filtered；It is difficult to determine filtered amplitude；It is easily lost useful object light information；It needs to carry out filtered spectrogram
Inverse Fourier transform obtains treated hologram, the calculation amount doubled；It can not be applied in on-line continuous image procossing.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of control system of auxiliary device in surgical operation and
Control method.
The invention is realized in this way in a kind of surgical operation auxiliary device control method, it is auxiliary in the surgical operation
The control method for helping device includes:
It determines that one initial point of therapentic part surface region is coordinate origin by locating module, establishes therapentic part surface district
Domain coordinate system；Establish the sensing of a certain number of isomorphisms of random distribution in deployment region before therapentic part surface region coordinate system
Deployment region is divided into size not equal grid by device node；It is chosen in each grid according to the dump energy of node
Cluster head node in grid, remaining node is according to the addition cluster of nearby principle selectivity；Judge that the member node in cluster is collected into
Data whether meet Grubbs test method, meet, then it is assumed that node be it is effective, i.e., cluster head node sends data, otherwise, no
Send data；The number that cluster head node polymerize the data from effective member node according to adaptive aggregating algorithm and itself generates
According to；Cluster head node sends data until having run given wheel number to sink node in the form of multi-hop；In deployment region with
Machine needs to construct network model before being distributed the sensor node of a certain number of isomorphisms；Wherein, network model, wireless sensor
Network is deployed in a square area, and the apex coordinate of region left end bottommost is (o_x, o_y), is additionally needed:
Sink node and all nodes are all time synchronizations and fix that sink node is located at (sink_x, sink_y), and is in portion
It affixes one's name to except region；Two-way and each node adjusts its transmission according to the distance to receiving point when exchange between node
Power；All nodes in sink node and deployment region are all location awares；
The squeeze pressure and image data formed by pressure sensor and image inductor real-time detection therapentic part, and
Pressure data and image data feedback are sent to server；
Pressure data and image data are transmitted to after console is analyzed and processed by server, again return to server
On；
Server sends pressure data and image data on data disaply moudle, real-time display and by pressure data and
Image data carries out processing comparison, and when pressure data is greater than certain value or when detecting image abnormity, vibrational feedback is to control
Handle；
Image data carries out in processing comparison, is completed using the fast two-dimensional Fourier Transform Algorithm in display module to figure
The Fourier transformation of picture；Harmonic wave is the function for having the sine and cosine periodic distribution centainly biased, Fourier spectrum on the image
The mould of functional value is three symmetrical δ functions, one of them origin on frequency plane, other two is about origin symmetry
Distribution；The searching of harmonic spectrum: since δ function is infinitesimal point, the frequency spectrum of the harmonic wave on frequency plane is three very bright
Point, for the point of zero-frequency in origin, another two point symmetry is distributed in the two sides of origin；First analyze substantially area only comprising the bright spot
Domain, then found with the algorithm of successively maximizing；It reads the coordinate and complex values of harmonic spectrum: being obtained with the method for maximizing
To the frequency spectrum coordinate in the horizontal and vertical direction of the non-zero frequency spectral of harmonic wave, it is set to u1And v1；The pixel frequency spectrum function is read again
Value, real part and imaginary part are set to ErAnd Ei, then the mould of the frequency spectrum is the mould E of complex values1=| Er+jEi|, that is, the frequency spectrum
Energy or intensity；Another non-zero frequency spectral coordinate is symmetrical, and frequency spectrum function value is equal, does not have to read；Equally, the frequency spectrum of origin
Coordinate is (0,0), without reading, but needs to read the functional value of the frequency spectrum of origin, this functional value corresponds to the zero level of hologram
Frequency spectrum is positive real number, is set as E0；Calculate frequency and interference strength coefficient of the harmonic wave in horizontal vertical both direction: assuming that humorous
Coordinate of the wave frequency spectrum on frequency plane in horizontal direction is u1, frequency spectrum coordinate in the vertical direction is v1；Find out horizontal direction
Harmonic frequency and harmonic frequency f in the vertical directionxAnd fy；Assuming that the zero level of the corresponding non-zero frequency spectral of harmonic wave and hologram frequency
The mould of the functional value of spectrum is respectively E1And E0, then the interference strength Coefficient m of harmonic wave is acquired by the two parameters；Assuming that harmonic spectrum
The real and imaginary parts of respective function value are set to ErAnd Ei；Find out the corresponding initial phase of harmonic waveUtilize parameter building harmonic wave point
Cloth: the harmonic frequency and harmonic frequency and interference strength coefficient and first phase in the vertical direction of obtained horizontal direction are utilized
The parameter of position four sets up the intensity distribution of harmonic wave；Image rectification: it after finding out the intensity distribution of harmonic wave, is gone completely by image subtraction
Fall the harmonic components in intensity map, the interference pattern after the harmonic wave that is eliminated influence；
Data during surgery are encrypted by data encryption module.
Further, it also needs to construct energy before the sensor node of a certain number of isomorphisms of random distribution in deployment region
Consumption models are measured, sensor node energy consumption is divided into transmitting data energy consumption, receives data energy consumption and aggregated data energy consumption, and node is to connecing
The distance of sink is less than threshold value d0, then free space model is used, otherwise, using multipath attenuation model, to emit bit
Data to distance be d0Receiving point energy consumption it is as follows:
Wherein EelecFor transmit circuit energy consumption, εfsFor energy needed for power amplification circuit under free space model, εmp
For energy needed for power amplification circuit under multipath attenuation model, bit data energy consumption is received:
ERx(l)=l × Eelec；
It polymerize the energy consumption of bit data:
EA=l × EDA；
Wherein EDAIndicate the energy consumption of 1 bit data of polymerization.
Further, the frequency for calculating harmonic wave in horizontal vertical both direction and interference strength coefficient and first phase
Position, specifically includes:
Assuming that coordinate of the harmonic spectrum on frequency plane in horizontal direction is u1, frequency spectrum coordinate in the vertical direction is v1,
Find out the harmonic frequency of horizontal direction are as follows:
fx=u1
Harmonic frequency in the vertical direction are as follows:
fy=v1
Assuming that the mould of harmonic spectrum and hologram zero level frequency spectrum is respectively E1And E0, then harmonic wave is acquired by the two parameters
Interference strength coefficient are as follows:
M=2E1/(E0-2E1)
Assuming that the corresponding real and imaginary parts of harmonic spectrum complex values are respectively ErAnd Ei, then can find out corresponding with harmonic wave
Initial phase are as follows:
" arg () " indicates to take argument to plural number in formula；
It is distributed, is specifically included using parameter building harmonic wave:
The intensity distribution equation for setting up harmonic wave using four obtained parameters is as follows:
The expression of<>symbol is averaged all pixels in formula, and coordinate x and y is using pixel as coordinate unit.
Firstly, establish coordinate system using one initial point of therapentic part surface region as coordinate origin, using apart from step-length as Δ X,
Fan angle step-length is sampled, and sample space C { C is obtained1, C2…Cn}。
Secondly, setting takes a little as sight glass hole from sample space C, and using it as coordinate system punctuate M, establish human mould
Type surface coordinate system A；It is selected from the remaining sample of sample space C a little as the first punching for the first surgical instrument
Point, then select a little from the remaining sample of sample space C as the second drilling point for being used for the second surgical instrument；
Then, it after the coincidence space for obtaining two surgical instrument ends, is modeled with endoscopic visual, and calculates operation
The overlapping region of instrument end overlapping region, destination organization model and endoscopic visual model is overlapped volume VI to obtain；
Then, the working space for obtaining each instrument arm, endoscope arm upper joint is calculated, the working space in joint is taken simultaneously
Collection obtains the working space of corresponding instrument arm, endoscope arm, further takes working space, the second instrument arm of the first instrument arm
Working space and endoscope arm working space intersection VEi (i=1,2,3) between any two, and according to data statistical approach
Obtain interference space collection VEsum；
Reference value V=α * VI- β * VEsum is obtained finally, calculating, wherein α, β are weight coefficient, and value range is 0~1；
Sample space C is traversed, after obtaining reference value space, locating module takes reference value V maximum value corresponding three according to reference value space
A, as wound recommended location.
Further, data encryption mould method includes:
Firstly, acquisition operation source data；
Secondly, being ranked up to operation source data, so as to the data set after being sorted；With multivalue power function to the number
It is fitted according to collection, digital simulation parameter alpha 2, β 2；
Then, it is fitted with diadic power function enemy data and mantissa's evidence, digital simulation parameter alpha 1, β 1, wherein described
Head data are first data in the data set after sequence, and the mantissa is according to last number in the data set after being sequence
According to；
Finally, correcting α 1 according to calculated parameter value α 2, β 2 and β 1 to make the range of revised parameter alpha 1 ' exist
Between α 1 and α 2；And according to resulting four parameter alphas 2, β 2, α 1 ' and β 1, operator transformation is carried out to operation source data, is obtained
Encrypt output data.
Another object of the present invention is to provide a kind of calculating for realizing the control method of auxiliary device in the surgical operation
Machine program.
Another object of the present invention is to provide a kind of information data processing of the control method of auxiliary device in surgical operation
Terminal.
Another object of the present invention is to provide a kind of computer readable storage medium, including instruction, when its on computers
When operation, so that computer executes the control method of auxiliary device in the surgical operation.
Another object of the present invention is to provide a kind of control system of auxiliary device in surgical operation, is provided with
Control handle；
Control handle is connect by connecting line with server；Server is separately connected console by connecting line, data are shown
Show module, driver, data encryption module；Console connects locating module by connecting line；Server can give control handle
Return to vibrational feedback；Driver is connect by connecting line with mechanical device；Mechanical device can will be counted in real time by data feedback
It is believed that breath returns to server；
Mechanical device is provided with conduit, and the head integrated molding of conduit has inductive probe, inductive probe lower section two
Side passes through electronic welding respectively and is equipped with first pressure sensor and image inductor.
Further, the server gives control handle by vibrational feedback according to current data mode；
Driver pushes inner conduit to advance by the stepper motor on drive mechanism；
The pressure data that the supravasal first pressure sensor and image inductor will obtain, is given by data feedback
Server.
Advantages of the present invention and good effect are as follows:
The control system of auxiliary device in the surgical operation, passes through the inductive probe before conduit, first pressure sensor
Enter the intravascular of patient with image inductor guiding catheter, thus assist stomach, Colon and rectum, liver and gallbladder pancreas, spleen surgical operation it is complete
At.It has effectively been avoided by the control system and blood vessel such as is crashed through at the knot because collision generates immense pressure because of conduit and blood vessel
Fruit occurs, and improves the precision and stability of doctor's operation, greatly increases success rate of operation；The present invention passes through positioning mould simultaneously
Block overcomes traditional hole knockout position inaccurate, leads to that the working range of operating robot is limited and surgical procedure is frequent
The problem of there is the case where colliding between instrument, repeatedly punching needed when problem above occurs；Shorten operating time；Lead to simultaneously
The safety that data encryption module greatly improves data is crossed, ensures the confidentiality of patient information.
It determines that one initial point of therapentic part surface region is coordinate origin by locating module, establishes therapentic part surface district
Domain coordinate system；Establish the sensing of a certain number of isomorphisms of random distribution in deployment region before therapentic part surface region coordinate system
Deployment region is divided into size not equal grid by device node；It is chosen in each grid according to the dump energy of node
Cluster head node in grid, remaining node is according to the addition cluster of nearby principle selectivity；Judge that the member node in cluster is collected into
Data whether meet Grubbs test method, meet, then it is assumed that node be it is effective, i.e., cluster head node sends data, otherwise, no
Send data；The number that cluster head node polymerize the data from effective member node according to adaptive aggregating algorithm and itself generates
According to；Cluster head node sends data until having run given wheel number to sink node in the form of multi-hop；Treatment can be accurately positioned
Portion faces Regional coordinate system provides guarantee for the treatment in later period.
The present invention is not necessarily to obtain the range of harmonic wave corresponding spectrum.The present invention can accurate harmonic carcellation ingredient, will not be to original
The information of object light has any influence.The present invention does not need to carry out inverse Fourier transform to filtered spectrogram, can make to calculate
Speed improves nearly 60%.After the present invention obtains harmonic parameters using energy relationship, harmonic wave intensity distribution is constructed, directly subtracts each other and disappears
Harmonic wave calculates simple.If it is continuous recording image, a Fourier transformation only is carried out to piece image, finds out harmonic wave ginseng
After number, several images with harmonic wave can quickly be eliminated, the operation needed is an image subtraction.
After the present invention calculates harmonic parameters, it is finally inversed by harmonic wave intensity distribution, directly progress image subtraction, completes harmonic wave
It eliminates.Need to only a Fourier transformation be carried out to piece image, not need to carry out Fourier transformation and inverse to all images
Fourier transformation is greatly saved and calculates the time.Especially in terms of video is shown, filter method needs to carry out Fu to a large amount of pictures
In leaf transformation and inverse Fourier transform, computation burden is big, and the method proposed in the present invention, only carry out a Fourier transformation
Afterwards, it directly carries out picture to subtract each other, dramatically reduces the computation burden of video processing.Method of the invention is applicable not only to
The detection and elimination of medical holographic figure harmonic wave are also applied for Harmonic Detection and the processing of other digital pictures and video, processing side
Method is identical.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the control system of auxiliary device in surgical operation provided in an embodiment of the present invention；
Fig. 2 is the guide-tube structure schematic diagram of the control system of auxiliary device in surgical operation provided in an embodiment of the present invention；
In figure: 1, controlling handle；2, console；3, data disaply moudle；4, server；5, driver；6, mechanical device；
7, inductive probe；8, first pressure sensor；9, image inductor；10, conduit；11, locating module；12, data encryption module.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
Structure of the invention is explained in detail with reference to the accompanying drawing.
As depicted in figs. 1 and 2, there is the set-up of control system of auxiliary device in a kind of surgical operation provided by the invention: control
Handle 1 processed, console 2, data disaply moudle 3, server 4, driver 5, mechanical device 6, inductive probe 7, first pressure pass
Sensor 8, image inductor 9, conduit 10, locating module 11, data encryption module 12.
Control handle 1 is connect by connecting line with server 4, and server 4 is separately connected console 2, number by connecting line
According to display module 3, driver 5, data encryption module 12；Console 2 connects locating module 11 by connecting line；Server 4 can
To return to vibrational feedback to control handle 1；Driver 5 is connect by connecting line with mechanical device 6；Mechanical device 6 can pass through
Data information is returned to server 4 in real time by data feedback；
Mechanical device is provided with conduit 10, and the head integrated molding of conduit 10 has inductive probe 7, inductive probe 7
Lower section two sides pass through electronic welding respectively and are equipped with first pressure sensor 8 and image inductor 9.
The server 4 can give control handle 1 by vibrational feedback according to current data mode.
The driver 5 pushes inner conduit to advance by the stepper motor on drive mechanism.
The pressure data that first pressure sensor 8 and image inductor 9 on the conduit 10 will obtain, it is anti-by data
It feeds server 4.
11 method of locating module provided by the invention is as follows:
Firstly, establish coordinate system using one initial point of manikin surface region as coordinate origin, using apart from step-length as Δ X,
Fan angle step-length is sampled, and sample space C { C is obtained1, C2…Cn}。
Secondly, setting takes a little as sight glass hole from sample space C, and using it as coordinate system punctuate M, establish human mould
Type surface coordinate system A；It is selected from the remaining sample of sample space C a little as the first punching for the first surgical instrument
Point, then select a little from the remaining sample of sample space C as the second drilling point for being used for the second surgical instrument；
Then, it after the coincidence space for obtaining two surgical instrument ends, is modeled with endoscopic visual, and calculates operation
The overlapping region of instrument end overlapping region, destination organization model and endoscopic visual model is overlapped volume VI to obtain；
Then, the working space for obtaining each instrument arm, endoscope arm upper joint is calculated, the working space in joint is taken simultaneously
Collection obtains the working space of corresponding instrument arm, endoscope arm, further takes working space, the second instrument arm of the first instrument arm
Working space and endoscope arm working space intersection VEi (i=1,2,3) between any two, and according to data statistical approach
Obtain interference space collection VEsum；
Reference value V=α * VI- β * VEsum is obtained finally, calculating, wherein α, β are weight coefficient, and value range is 0~1；
Sample space C is traversed, after obtaining reference value space, locating module takes reference value V maximum value corresponding three according to reference value space
A, as wound recommended location.
12 encryption method of data encryption module provided by the invention is as follows:
Firstly, acquisition operation source data；
Secondly, being ranked up to operation source data, so as to the data set after being sorted；With multivalue power function to the number
It is fitted according to collection, digital simulation parameter alpha 2, β 2；
Then, it is fitted with diadic power function enemy data and mantissa's evidence, digital simulation parameter alpha 1, β 1, wherein described
Head data are first data in the data set after sequence, and the mantissa is according to last number in the data set after being sequence
According to；
Finally, correcting α 1 according to calculated parameter value α 2, β 2 and β 1 to make the range of revised parameter alpha 1 ' exist
Between α 1 and α 2；And according to resulting four parameter alphas 2, β 2, α 1 ' and β 1, operator transformation is carried out to operation source data, is obtained
Encrypt output data.
The working principle of the invention is: firstly, determining optimal wound position by locating module 11；Then, it is carrying out
When stomach, Colon and rectum, liver and gallbladder pancreas, spleen Minimally Invasive Surgery, conduit 10 is injected into the therapentic part of patient, pass through remote control handle 1
Control driver 5 drives the promotion conduit 10 of the stepper motor in mechanical device 6 bit by bit.The induction of 10 front end of conduit is visited
First 7 can be moved forward with guiding catheter 10.The two sides of conduit 10 are equipped with first pressure sensor 8 and image inductor 9 can be with
The squeeze pressure that 10 both sides of real-time detection conduit and therapentic part are formed, and pressure data is sent to service by data feedback
Device 4, server 4 are passed data to after console 2 is analyzed and processed, are again returned on server 4, and server 4 is by data
It is sent on data disaply moudle 3, real-time display is observed to doctor, and data are carried out processing comparison, when pressure data is greater than
When certain value, it will give control handle 1 by vibrational feedback, prompt doctor's conduit excessive with vascular pressure, need to pass through control
Handle 1 adjusts the direction that conduit advances, until reaching surrounding's therapentic part of the stomach of patient, Colon and rectum, liver and gallbladder pancreas, spleen；Finally,
Surgical data is encrypted by data encryption module 12 after operation.
Below with reference to concrete analysis, the invention will be further described.
The control method of auxiliary device in surgical operation provided in an embodiment of the present invention, comprising:
It determines that one initial point of therapentic part surface region is coordinate origin by locating module, establishes therapentic part surface district
Domain coordinate system；Establish the sensing of a certain number of isomorphisms of random distribution in deployment region before therapentic part surface region coordinate system
Deployment region is divided into size not equal grid by device node；It is chosen in each grid according to the dump energy of node
Cluster head node in grid, remaining node is according to the addition cluster of nearby principle selectivity；Judge that the member node in cluster is collected into
Data whether meet Grubbs test method, meet, then it is assumed that node be it is effective, i.e., cluster head node sends data, otherwise, no
Send data；The number that cluster head node polymerize the data from effective member node according to adaptive aggregating algorithm and itself generates
According to；Cluster head node sends data until having run given wheel number to sink node in the form of multi-hop；In deployment region with
Machine needs to construct network model before being distributed the sensor node of a certain number of isomorphisms；Wherein, network model, wireless sensor
Network is deployed in a square area, and the apex coordinate of region left end bottommost is (o_x, o_y), is additionally needed:
Sink node and all nodes are all time synchronizations and fix that sink node is located at (sink_x, sink_y), and is in portion
It affixes one's name to except region；Two-way and each node adjusts its transmission according to the distance to receiving point when exchange between node
Power；All nodes in sink node and deployment region are all location awares；
The squeeze pressure and image data formed by pressure sensor and image inductor real-time detection therapentic part, and
Pressure data and image data feedback are sent to server；
Pressure data and image data are transmitted to after console is analyzed and processed by server, again return to server
On；
Server sends pressure data and image data on data disaply moudle, real-time display and by pressure data and
Image data carries out processing comparison, and when pressure data is greater than certain value or when detecting image abnormity, vibrational feedback is to control
Handle；
Image data carries out in processing comparison, is completed using the fast two-dimensional Fourier Transform Algorithm in display module to figure
The Fourier transformation of picture；Harmonic wave is the function for having the sine and cosine periodic distribution centainly biased, Fourier spectrum on the image
The mould of functional value is three symmetrical δ functions, one of them origin on frequency plane, other two is about origin symmetry
Distribution；The searching of harmonic spectrum: since δ function is infinitesimal point, the frequency spectrum of the harmonic wave on frequency plane is three very bright
Point, for the point of zero-frequency in origin, another two point symmetry is distributed in the two sides of origin；First analyze substantially area only comprising the bright spot
Domain, then found with the algorithm of successively maximizing；It reads the coordinate and complex values of harmonic spectrum: being obtained with the method for maximizing
To the frequency spectrum coordinate in the horizontal and vertical direction of the non-zero frequency spectral of harmonic wave, it is set to u1And v1；The pixel frequency spectrum function is read again
Value, real part and imaginary part are set to ErAnd Ei, then the mould of the frequency spectrum is the mould E of complex values1=| Er+jEi|, that is, the frequency spectrum
Energy or intensity；Another non-zero frequency spectral coordinate is symmetrical, and frequency spectrum function value is equal, does not have to read；Equally, the frequency spectrum of origin
Coordinate is (0,0), without reading, but needs to read the functional value of the frequency spectrum of origin, this functional value corresponds to the zero level of hologram
Frequency spectrum is positive real number, is set as E0；Calculate frequency and interference strength coefficient of the harmonic wave in horizontal vertical both direction: assuming that humorous
Coordinate of the wave frequency spectrum on frequency plane in horizontal direction is u1, frequency spectrum coordinate in the vertical direction is v1；Find out horizontal direction
Harmonic frequency and harmonic frequency f in the vertical directionxAnd fy；Assuming that the zero level of the corresponding non-zero frequency spectral of harmonic wave and hologram frequency
The mould of the functional value of spectrum is respectively E1And E0, then the interference strength Coefficient m of harmonic wave is acquired by the two parameters；Assuming that harmonic spectrum
The real and imaginary parts of respective function value are set to ErAnd Ei；Find out the corresponding initial phase of harmonic waveUtilize parameter building harmonic wave point
Cloth: the harmonic frequency and harmonic frequency and interference strength coefficient and first phase in the vertical direction of obtained horizontal direction are utilized
The parameter of position four sets up the intensity distribution of harmonic wave；Image rectification: it after finding out the intensity distribution of harmonic wave, is gone completely by image subtraction
Fall the harmonic components in intensity map, the interference pattern after the harmonic wave that is eliminated influence；
Data during surgery are encrypted by data encryption module.
It also needs to construct energy consumption before the sensor node of a certain number of isomorphisms of random distribution in deployment region
Model, sensor node energy consumption are divided into transmitting data energy consumption, reception data energy consumption and aggregated data energy consumption, node and arrive receiving point
Distance is less than threshold value d0, then otherwise using multipath attenuation model, arrived to emit bit data using free space model
Distance is d0Receiving point energy consumption it is as follows:
Wherein EelecFor transmit circuit energy consumption, εfsFor energy needed for power amplification circuit under free space model, εmp
For energy needed for power amplification circuit under multipath attenuation model, bit data energy consumption is received:
ERx(l)=l × Eelec；
It polymerize the energy consumption of bit data:
EA=l × EDA；
Wherein EDAIndicate the energy consumption of 1 bit data of polymerization.
The frequency that harmonic wave is calculated in horizontal vertical both direction and interference strength coefficient and initial phase, specifically
Include:
Assuming that coordinate of the harmonic spectrum on frequency plane in horizontal direction is u1, frequency spectrum coordinate in the vertical direction is v1,
Find out the harmonic frequency of horizontal direction are as follows:
fx=u1
Harmonic frequency in the vertical direction are as follows:
fy=v1
Assuming that the mould of harmonic spectrum and hologram zero level frequency spectrum is respectively E1And E0, then harmonic wave is acquired by the two parameters
Interference strength coefficient are as follows:
M=2E1/(E0-2E1)
Assuming that the corresponding real and imaginary parts of harmonic spectrum complex values are respectively ErAnd Ei, then can find out corresponding with harmonic wave
Initial phase are as follows:
" arg () " indicates to take argument to plural number in formula；
It is distributed, is specifically included using parameter building harmonic wave:
The intensity distribution equation for setting up harmonic wave using four obtained parameters is as follows:
The expression of<>symbol is averaged all pixels in formula, and coordinate x and y is using pixel as coordinate unit.
Firstly, establish coordinate system using one initial point of therapentic part surface region as coordinate origin, using apart from step-length as Δ X,
Fan angle step-length is sampled, and sample space C { C is obtained1, C2…Cn}。
Secondly, setting takes a little as sight glass hole from sample space C, and using it as coordinate system punctuate M, establish human mould
Type surface coordinate system A；It is selected from the remaining sample of sample space C a little as the first punching for the first surgical instrument
Point, then select a little from the remaining sample of sample space C as the second drilling point for being used for the second surgical instrument；
Then, it after the coincidence space for obtaining two surgical instrument ends, is modeled with endoscopic visual, and calculates operation
The overlapping region of instrument end overlapping region, destination organization model and endoscopic visual model is overlapped volume VI to obtain；
Then, the working space for obtaining each instrument arm, endoscope arm upper joint is calculated, the working space in joint is taken simultaneously
Collection obtains the working space of corresponding instrument arm, endoscope arm, further takes working space, the second instrument arm of the first instrument arm
Working space and endoscope arm working space intersection VEi (i=1,2,3) between any two, and according to data statistical approach
Obtain interference space collection VEsum；
Reference value V=α * VI- β * VEsum is obtained finally, calculating, wherein α, β are weight coefficient, and value range is 0~1；
Sample space C is traversed, after obtaining reference value space, locating module takes reference value V maximum value corresponding three according to reference value space
A, as wound recommended location.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (10)
1. the control method of auxiliary device in a kind of surgical operation, which is characterized in that the control of auxiliary device in the surgical operation
Method processed includes:
It determines that one initial point of therapentic part surface region is coordinate origin by locating module, establishes therapentic part surface region seat
Mark system；Establish the sensor section of a certain number of isomorphisms of random distribution in deployment region before therapentic part surface region coordinate system
Deployment region is divided into size not equal grid by point；Grid is chosen according to the dump energy of node in each grid
Interior cluster head node, remaining node is according to the addition cluster of nearby principle selectivity；Judge the number that the member node in cluster is collected into
According to whether Grubbs test method is met, meet, then it is assumed that node is that effectively, i.e., cluster head node sends data and otherwise do not send
Data；The data that cluster head node polymerize the data from effective member node according to adaptive aggregating algorithm and itself generates；
Cluster head node sends data until having run given wheel number to sink node in the form of multi-hop；Divide at random in deployment region
It needs to construct network model before the sensor node of a certain number of isomorphisms of cloth；Wherein, network model, wireless sensor network
It is deployed in a square area, the apex coordinate of region left end bottommost is (o_x, o_y), is additionally needed: sink
Node and all nodes are all time synchronizations and fix that sink node is located at (sink_x, sink_y), and are in deployment area
Except domain；Two-way and each node adjusts its transmission function according to the distance to receiving point when exchange between node
Rate；All nodes in sink node and deployment region are all location awares；
The squeeze pressure and image data formed by pressure sensor and image inductor real-time detection therapentic part, and will pressure
Force data and image data feedback are sent to server；
Pressure data and image data are transmitted to after console is analyzed and processed by server, are again returned on server；
Server sends pressure data and image data on data disaply moudle, real-time display and by pressure data and image
Data carry out processing comparison, and when pressure data is greater than certain value or when detecting image abnormity, vibrational feedback gives control handle；
Image data carries out in processing comparison, is completed using the fast two-dimensional Fourier Transform Algorithm in display module to image
Fourier transformation；Harmonic wave is the function for having the sine and cosine periodic distribution centainly biased, Fourier spectrum function on the image
The mould of value is three symmetrical δ functions, one of them origin on frequency plane, other two is about origin symmetry point
Cloth；The searching of harmonic spectrum: since δ function is infinitesimal point, the frequency spectrum of the harmonic wave on frequency plane is three very bright points,
The point of zero-frequency is distributed in the two sides of origin in origin, another two point symmetry；General areas only comprising the bright spot is first analyzed, then
It is found with the algorithm of successively maximizing；It reads the coordinate and complex values of harmonic spectrum: being obtained with the method for maximizing humorous
The frequency spectrum coordinate in the horizontal and vertical direction of the non-zero frequency spectral of wave, is set to u1And v1；The pixel frequency spectrum functional value is read again,
Its real part and imaginary part are set to ErAnd Ei, then the mould of the frequency spectrum is the mould E of complex values1=| Er+jEi|, that is, the frequency spectrum
Energy or intensity；Another non-zero frequency spectral coordinate is symmetrical, and frequency spectrum function value is equal, does not have to read；Equally, the frequency spectrum of origin is sat
It is designated as (0,0), without reading, but needs to read the functional value of the frequency spectrum of origin, this functional value corresponds to the zero level frequency of hologram
Spectrum is positive real number, is set as E0；Calculate frequency and interference strength coefficient of the harmonic wave in horizontal vertical both direction: assuming that harmonic wave
Coordinate of the frequency spectrum on frequency plane in horizontal direction is u1, frequency spectrum coordinate in the vertical direction is v1；Find out the humorous of horizontal direction
Wave frequency rate and harmonic frequency f in the vertical directionxAnd fy；Assuming that the zero level frequency spectrum of the corresponding non-zero frequency spectral of harmonic wave and hologram
The mould of functional value be respectively E1And E0, then the interference strength Coefficient m of harmonic wave is acquired by the two parameters；
Assuming that the real and imaginary parts of harmonic spectrum respective function value are set to ErAnd Ei；Find out the corresponding initial phase of harmonic waveBenefit
With parameter building harmonic wave distribution: utilizing the harmonic frequency and harmonic frequency and interference in the vertical direction of obtained horizontal direction
Four parameters of strength factor and initial phase set up the intensity distribution of harmonic wave；Image rectification: after finding out the intensity distribution of harmonic wave, lead to
Cross image subtraction and remove harmonic components in intensity map completely, the harmonic wave that is eliminated influence after interference pattern；
Data during surgery are encrypted by data encryption module.
2. the control method of auxiliary device in surgical operation as described in claim 1, which is characterized in that random in deployment region
Also need to construct energy consumption model before being distributed the sensor node of a certain number of isomorphisms, sensor node energy consumption is divided into hair
It penetrates data energy consumption, receive data energy consumption and aggregated data energy consumption, the distance of node to receiving point is less than threshold value d0, then using freely
Spatial model, otherwise, using multipath attenuation model, thus emit bit data to distance be d0Receiving point energy consumption
It is as follows:
Wherein EelecFor transmit circuit energy consumption, εfsFor energy needed for power amplification circuit under free space model, εmpIt is more
Energy needed for power amplification circuit under path attenuation model receives bit data energy consumption:
ERx(l)=l × Eelec；
It polymerize the energy consumption of bit data:
EA=l × EDA；
Wherein EDAIndicate the energy consumption of 1 bit data of polymerization.
3. the control method of auxiliary device in surgical operation as described in claim 1, which is characterized in that
The frequency that harmonic wave is calculated in horizontal vertical both direction and interference strength coefficient and initial phase, specifically include:
Assuming that coordinate of the harmonic spectrum on frequency plane in horizontal direction is u1, frequency spectrum coordinate in the vertical direction is v1, find out
The harmonic frequency of horizontal direction are as follows:
fx=u1
Harmonic frequency in the vertical direction are as follows:
fy=v1
Assuming that the mould of harmonic spectrum and hologram zero level frequency spectrum is respectively E1And E0, then the interference of harmonic wave is acquired by the two parameters
Strength factor are as follows:
M=2E1/(E0-2E1)
Assuming that the corresponding real and imaginary parts of harmonic spectrum complex values are respectively ErAnd Ei, then first phase corresponding with harmonic wave can be found out
Position are as follows:
" arg () " indicates to take argument to plural number in formula；
It is distributed, is specifically included using parameter building harmonic wave:
The intensity distribution equation for setting up harmonic wave using four obtained parameters is as follows:
The expression of<>symbol is averaged all pixels in formula, and coordinate x and y is using pixel as coordinate unit.
4. the control method of auxiliary device in surgical operation as described in claim 1, which is characterized in that localization method includes:
Firstly, establish coordinate system using one initial point of therapentic part surface region as coordinate origin, using apart from step-length as Δ X, fan angle
Step-length is sampled, and sample space C { C is obtained1, C2…Cn}。
Secondly, setting takes a little as sight glass hole from sample space C, and using it as coordinate system punctuate M, establish manikin table
Areal coordinate system A；It is selected from the remaining sample of sample space C a little as the first drilling point for being used for the first surgical instrument, then
It is selected from the remaining sample of sample space C a little as the second drilling point for being used for the second surgical instrument；
Then, it after the coincidence space for obtaining two surgical instrument ends, is modeled with endoscopic visual, and calculates surgical instrument
The overlapping region of end overlapping region, destination organization model and endoscopic visual model is overlapped volume VI to obtain；
Then, the working space for obtaining each instrument arm, endoscope arm upper joint is calculated, union is taken to the working space in joint,
The working space for obtaining corresponding instrument arm, endoscope arm, further takes the working space of the first instrument arm, the work of the second instrument arm
Make the intersection VEi (i=1,2,3) of space and endoscope arm working space between any two, and is obtained according to data statistical approach
Interfere space collection VEsum；
Reference value V=α * VI- β * VEsum is obtained finally, calculating, wherein α, β are weight coefficient, and value range is 0~1；Traversal
Sample space C, after obtaining reference value space, locating module takes corresponding three points of reference value V maximum value according to reference value space,
Recommended location as wound.
5. the control method of auxiliary device in surgical operation as described in claim 1, which is characterized in that data encryption mould method packet
It includes:
Firstly, acquisition operation source data；
Secondly, being ranked up to operation source data, so as to the data set after being sorted；With multivalue power function to the data set
It is fitted, digital simulation parameter alpha 2, β 2；
Then, it is fitted with diadic power function enemy data and mantissa's evidence, digital simulation parameter alpha 1, β 1, wherein the head number
According to being first data in data set after sequence, the mantissa is according to the last one data in the data set after being sequence；
Finally, correcting α 1 according to calculated parameter value α 2, β 2 and β 1 to make the range of revised parameter alpha 1 ' in 1 He of α
Between α 2；And according to resulting four parameter alphas 2, β 2, α 1 ' and β 1, operator transformation is carried out to operation source data, is encrypted
Output data.
6. a kind of computer journey for realizing the control method of auxiliary device in surgical operation described in Claims 1 to 5 any one
Sequence.
7. a kind of information data for realizing the control method of auxiliary device in surgical operation described in Claims 1 to 5 any one
Processing terminal.
8. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer is executed as weighed
Benefit requires the control method of auxiliary device in surgical operation described in 1-5 any one.
9. a kind of realize in surgical operation described in claim 1 auxiliary device in the surgical operation of the control method of auxiliary device
Control system, which is characterized in that the control system of auxiliary device in the surgical operation is provided with control handle；
Control handle is connect by connecting line with server；Server is separately connected console by connecting line, data show mould
Block, driver, data encryption module；Console connects locating module by connecting line；Server can be returned to control handle
Vibrational feedback；Driver is connect by connecting line with mechanical device；Mechanical device in real time can be believed data by data feedback
Breath returns to server；
Mechanical device is provided with conduit, and the head integrated molding of conduit has inductive probe, two sides point below inductive probe
First pressure sensor and image inductor are not equipped with by electronic welding.
10. the control system of auxiliary device in surgical operation as claimed in claim 9, which is characterized in that the server root
According to current data mode, control handle is given by vibrational feedback；
Driver pushes inner conduit to advance by the stepper motor on drive mechanism；
The pressure data that the supravasal first pressure sensor and image inductor will obtain, by data feedback to service
Device.
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