CN113100934A - Operation assisting method, device, computer equipment and storage medium - Google Patents
Operation assisting method, device, computer equipment and storage medium Download PDFInfo
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- CN113100934A CN113100934A CN202110368979.8A CN202110368979A CN113100934A CN 113100934 A CN113100934 A CN 113100934A CN 202110368979 A CN202110368979 A CN 202110368979A CN 113100934 A CN113100934 A CN 113100934A
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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
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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
- A61B2034/101—Computer-aided simulation of surgical operations
Abstract
The application relates to a surgery assistance method, a surgery assistance device, a computer device and a storage medium. The method comprises the following steps: acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction; the operation planning path is generated between the operation planning path starting point and the operation planning path end point, so that path planning is well performed for the operation, more accurate operation is assisted, and the quality and the level of the operation are favorably improved.
Description
Technical Field
The present application relates to the field of medical technology, and in particular, to a surgical assistance method, apparatus, computer device, and storage medium.
Background
With the continuous development of medical technology, medical devices such as surgical devices and surgical auxiliary devices are promoted to come out, the medical level is continuously improved, patients are reduced, and of course, great progress is also made in the field of surgical auxiliary software, for example, the Mimics software focuses on medical image processing and surgical planning, and a three-dimensional rendering Engine of software such as Unity and non Engine can well perform three-dimensional model visualization display, but in the implementation process, the inventor finds that at least the following problems exist in the conventional technology: the traditional operation auxiliary technology has limited auxiliary performance and is not beneficial to improving the operation quality and level.
Disclosure of Invention
In view of the above, it is necessary to provide a surgical assistance method, an apparatus, a computer device and a storage medium capable of improving a surgical level.
A surgical assistance method comprising the steps of:
acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction;
generating a surgical planning path between a surgical planning path starting point and a surgical planning path end point; the surgical planned path is used to indicate the motion of the surgical device.
In one embodiment, the method further comprises the following steps:
acquiring dynamic space position information of an object to be operated and operation equipment in real time through a positioning system;
generating a surgical operation path of the surgical equipment according to the dynamic spatial position information;
and comparing the operation path with the operation planning path, and if deviation occurs, correcting the action of the operation equipment according to the operation planning path and the dynamic spatial position information so as to enable the operation path to conform to the operation planning path.
In one embodiment, the method further comprises the following steps:
and performing simulation demonstration on the operation flow according to the operation planning path.
In one embodiment, the step of performing simulation demonstration of the surgical operation procedure according to the surgical planning path includes the steps of:
placing simulated operation equipment in the three-dimensional model, and measuring the space coordinate of the simulated operation equipment relative to the starting point of the operation planning path;
simulating a motion track of the simulation operation equipment from the space coordinate to the starting point of the operation planning path;
and controlling the action of the simulated surgical equipment according to the motion track and the surgical planning path so as to simulate and demonstrate the surgical operation flow.
In one embodiment, the method further comprises the following steps:
performing inverse kinematics solution on the motion track, the operation planning path and the motion parameters of the simulation operation equipment to obtain joint corners corresponding to each point when the simulation operation equipment moves along the motion track and the operation planning path; the joint angle is used for indicating the simulated surgical equipment to twist the joint.
In one embodiment, the step of acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated includes the steps of:
extracting image characteristic information of the medical image, and reconstructing a three-dimensional model of the object to be operated according to the image characteristic information; the image characteristic information is gray scale or boundary information;
reading the geometric information of the three-dimensional model, and rendering the three-dimensional model according to the geometric information to obtain a rendered three-dimensional model; the geometric information includes vertices, mesh faces, and normal directions of the mesh faces.
In one embodiment, the step of generating the surgical planned path between the start point of the surgical planned path and the end point of the surgical planned path is followed by the steps of:
acquiring a starting point correction instruction, and correcting the starting point of the surgical planning path;
acquiring a terminal point correction instruction, and correcting the terminal point of the surgical planning path;
and acquiring a direction correction instruction, and correcting the direction of the surgical planning path.
A surgical assistance device comprising:
the three-dimensional modeling module is used for acquiring a medical image of the object to be operated and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
the marking module is used for sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction;
the path planning module is used for generating a surgical planning path between a surgical planning path starting point and a surgical planning path end point; the surgical planned path is used to indicate the motion of the surgical device.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction;
generating a surgical planning path between a surgical planning path starting point and a surgical planning path end point; the surgical planned path is used to indicate the motion of the surgical device.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction;
generating a surgical planning path between a surgical planning path starting point and a surgical planning path end point; the surgical planned path is used to indicate the motion of the surgical device.
One of the above technical solutions has the following advantages and beneficial effects:
the surgical assistance method provided by the embodiments of the present application comprises the following steps: acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction; the operation planning path is generated between the operation planning path starting point and the operation planning path end point, so that path planning is well performed for the operation, more accurate operation is assisted, and the quality and the level of the operation are favorably improved.
Drawings
FIG. 1 is a schematic flow chart of a surgical assistance method according to one embodiment;
FIG. 2 is a schematic flow chart of the steps of obtaining a three-dimensional model in one embodiment;
FIG. 3 is a schematic flow chart of a surgical assistance method according to another embodiment;
FIG. 4 is a schematic flow chart of a surgical assistance method according to yet another embodiment;
FIG. 5 is a schematic flow chart of the simulation steps in one embodiment;
FIG. 6 is a schematic flow chart illustrating a surgical assistance method according to still another embodiment;
FIG. 7 is a block diagram of the construction of a surgical assistant according to an embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In order to solve the problems of limited assistance performance and adverse improvement of the quality and level of the operation in the conventional operation assistance technology, in one embodiment, as shown in fig. 1, a method for assisting the operation is provided, which comprises the following steps:
step S110, acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT (Computed Tomography) image, an ultrasound image, or an MRI (Magnetic Resonance Imaging) image.
It should be noted that the surgical auxiliary method of the present application is used for assisting a doctor to operate a surgery, or for controlling a surgical device (such as a surgical robotic arm) to operate a surgery, and is particularly used in the field of bone surgery. The surgical assistance method of the present application may be run in a computer device.
The medical image is an image of an object to be operated taken by medical equipment, and before planning an operation path, a CT image is taken using a CT scanner, or an ultrasound image is taken using an ultrasound apparatus, or an MRI image is taken using a nuclear magnetic resonance apparatus. Wherein, the object to be operated is a human body or human tissue.
The operation assisting method establishes the three-dimensional model of the human body of the object to be operated or the human tissue of the object to be operated by processing the CT image, the ultrasonic image or the MRI image, the three-dimensional model is convenient for a doctor to observe the human body of the object to be operated or the human tissue of the object to be operated more intuitively, and after the three-dimensional model is established, the three-dimensional model needs to be displayed on a display screen in a visualized mode. In one example, the three-dimensional model is derived by segmenting, reconstructing, and rendering a medical image.
In another example, as shown in fig. 2, the step of acquiring a medical image of the object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated includes the steps of:
s210, extracting image characteristic information of the medical image, and reconstructing a three-dimensional model of the object to be operated according to the image characteristic information; the image characteristic information is gray scale or boundary information.
It should be noted that the image feature information is used to characterize the feature property of the image, specifically, the image feature information may be grayscale or boundary information, and in an example, the medical image is processed by using an open source library, and the image feature information of the medical image is extracted, for example, the open source library is itk (observation Segmentation and Registration Toolkit, visual analysis extension software tool) or Vtk (visualization Toolkit ), and the like. In one example, the three-dimensional model is obtained by processing the image property information using a reconstruction algorithm, such as Marching cube.
S220, reading the geometric information of the three-dimensional model, rendering the three-dimensional model according to the geometric information, and obtaining the rendered three-dimensional model; the geometric information includes vertices, mesh faces, and normal directions of the mesh faces.
It should be noted that the geometric information is used to characterize the shape characteristics of the three-dimensional model, and specifically, the geometric information includes vertices, mesh surfaces, and normal directions of the mesh surfaces. In one example, the geometric information of the three-dimensional model is read using an Open source Graphics Library, which may be openGL (Open Graphics Library), for example. In one example, the three-dimensional model is rendered by a rendering algorithm based on the geometric information, for example, the rendering algorithm is a ray tracing algorithm. The rendered three-dimensional model is then visually presented on a display screen.
And step S120, sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path end point in the three-dimensional model according to the second marking instruction.
It should be noted that, the first marking instruction and the second marking instruction are input through an instruction input device (for example, a mouse, a keyboard, etc.), and the operation planning path starting point and the operation planning path ending point are respectively marked in the three-dimensional model. The starting point of the operation planning path is the starting point of the operation, and the end point of the operation planning path is the end point of the operation, for example, in the operation of inserting the steel nail, the starting point of the operation planning path and the end point of the operation planning path can determine the inserting direction and depth, and for example, in the operation of cutting necrotic tissue, a path can be planned between the starting point of the operation planning path and the end point of the operation planning path.
Step S130, generating an operation planning path between the operation planning path starting point and the operation planning path end point; the surgical planned path is used to indicate the motion of the surgical device.
It should be noted that, in a simple operation (such as an operation of inserting a steel nail), a straight path between the start point of the operation planned path and the end point of the operation planned path may be directly used as the operation planned path. In complex surgery (such as orthopedic surgery or joint reduction), at least one control point is marked between the starting point of the surgical planning path and the end point of the surgical planning path (a control point pickup instruction is obtained, a control point is picked according to the control point pickup instruction, and a curve-shaped surgical planning path is generated between the starting point of the surgical planning path and the end point of the surgical planning path through the control point.
In order to correct the operation planning path, the method comprises the following steps after the step of generating the operation planning path between the starting point of the operation planning path and the end point of the operation planning path: acquiring a starting point correction instruction, and correcting the starting point of the surgical planning path; acquiring a terminal point correction instruction, and correcting the terminal point of the surgical planning path; and acquiring a direction correction instruction, and correcting the trend of the operation planning path, thereby realizing the correction of the operation planning path.
In each embodiment of the operation auxiliary method, a medical image of an object to be operated is obtained, and the medical image is processed to obtain a three-dimensional model of the object to be operated; sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction; the operation planning path is generated between the operation planning path starting point and the operation planning path end point, so that path planning is well performed for the operation, more accurate operation is assisted, and the quality and the level of the operation are favorably improved.
In one embodiment, as shown in fig. 3, there is provided a surgical assistance method comprising the steps of:
step S310, acquiring a medical image of the object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
step S320, sequentially acquiring a first marking instruction and a second marking instruction, generating a surgery planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgery planning path terminal point in the three-dimensional model according to the second marking instruction;
step S330, generating an operation planning path between the operation planning path starting point and the operation planning path end point; the operation planning path is used for indicating the action of the operation equipment;
step S340, acquiring dynamic space position information of the object to be operated and the operation equipment in real time through a positioning system;
step S350, generating a surgical operation path of the surgical equipment according to the dynamic spatial position information;
and S360, comparing the operation path with the operation planning path, and if deviation occurs, correcting the action of the operation equipment according to the operation planning path and the dynamic spatial position information so as to enable the operation path to conform to the operation planning path.
It should be noted that steps S310 to S330 in this embodiment are the same as steps S110 to S130 in the foregoing embodiment, and please refer to the foregoing embodiment for details, which is not repeated herein.
The positioning system is used for tracking and positioning the spatial positions of the object to be operated and the surgical equipment in real time so as to ensure that the operation can be safely and normally carried out, and the spatial positions of the object to be operated and the surgical equipment (such as a holding part of a surgical mechanical arm) for operating the operation are positioned. The positioning system transmits the collected dynamic spatial position information to the computer equipment through a TCP/IP (Transmission Control Protocol/Internet Protocol) Protocol. For example, the positioning system may be an electromagnetic positioning system or an optical positioning system, etc. The surgical equipment includes surgical equipment (such as a guide pin and a hand drill) and an operation execution module (such as a mechanical arm).
And identifying the motion track of the surgical equipment relative to the object to be operated, namely the surgical operation path, according to the acquired dynamic spatial position information of the object to be operated and the surgical equipment. It should be noted that the surgical operation path may be performed by a doctor by hand, or may be performed by a surgical execution device, such as a robot, in cooperation. And then the computer equipment compares the operation path with the operation planning path, detects whether the operation is implemented on the established operation planning path, and if the operation path is not consistent with the operation planning path, the operation is deviated, the action of the operation equipment is corrected according to the operation planning path and the dynamic spatial position information, so that the operation path is consistent with the operation planning path, and the operation of correcting the operation path in real time to ensure normal operation of the operation is realized.
In the embodiments of the surgical auxiliary method, the actual surgical operation path is obtained by monitoring the spatial positions of the object to be operated and the surgical equipment in the surgical process in real time, whether the surgical operation path conforms to the surgical planning path or not is compared, and when deviation occurs, the surgical operation path is corrected according to the surgical planning path and the dynamic spatial position information, so that the safety and the success rate of the surgery are improved.
In one embodiment, as shown in fig. 4, there is provided a surgical assistance method comprising the steps of:
step S410, acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
step S420, sequentially acquiring a first marking instruction and a second marking instruction, generating a surgery planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgery planning path terminal point in the three-dimensional model according to the second marking instruction;
step S430, generating an operation planning path between the operation planning path starting point and the operation planning path end point; the operation planning path is used for indicating the action of the operation equipment;
and step S440, simulating and demonstrating the operation flow according to the operation planning path.
It should be noted that steps S410 to S430 in this embodiment are the same as steps S110 to S130 in the foregoing embodiment, and please refer to the foregoing embodiment for details, which is not repeated herein.
It should be noted that, the simulation demonstration of the operation flow is performed through the pre-planned operation planning path, so as to facilitate teaching and communication with the object to be operated.
In one example, as shown in fig. 5, the step of performing the simulation demonstration of the surgical operation procedure according to the surgical planning path includes the steps of:
step S510, placing simulated operation equipment in the three-dimensional model, and measuring the space coordinate of the simulated operation equipment relative to the starting point of the operation planning path.
It should be noted that, the simulated surgical equipment is correspondingly placed in the three-dimensional model according to the surgical type, the specific placement position can be arbitrarily selected according to the actual requirement, and after the simulated surgical equipment is placed, the spatial coordinates of the simulated surgical equipment relative to the starting point of the surgical planning path are measured, specifically, the spatial coordinates from the part of the simulated surgical equipment where the surgery is performed to the starting point of the planning path are measured.
Step S520, simulating the motion track of the simulation operation equipment from the space coordinate to the starting point of the operation planning path.
It should be noted that the motion trajectory is used to indicate the path of the simulated surgical device close to the three-dimensional model.
And step S530, controlling the motion of the simulated surgical equipment according to the motion track and the surgical planning path so as to perform simulation demonstration of the surgical operation flow.
It should be noted that after the motion trajectory is obtained, the simulated operation equipment is controlled to act according to the motion trajectory and the operation planned path, so as to implement the operation and realize the simulation demonstration of the operation flow.
In one example, the present embodiment further comprises the steps of:
performing inverse kinematics solution on the motion track, the operation planning path and the motion parameters of the simulation operation equipment to obtain joint corners corresponding to each point when the simulation operation equipment moves along the motion track and the operation planning path; the joint angle is used for indicating the simulated surgical equipment to twist the joint.
It should be noted that, during the operation, joint rotation of the surgical equipment may be involved, and the motion trajectory, the operation planned path, and the motion parameters of the simulated surgical equipment obtain the joint rotation angle of the simulated surgical equipment, where the motion parameters are the joint motion range and the joint length.
In the embodiments of the operation assisting method, the operation is simulated and demonstrated through the simulation function, and the method can be used for teaching and can also be used for communicating with an object to be operated, so that the function diversification is realized.
In one embodiment, as shown in fig. 6, there is provided a surgical assistance method including the steps of:
step S610, acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
step S620, sequentially acquiring a first marking instruction and a second marking instruction, generating a surgery planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgery planning path terminal point in the three-dimensional model according to the second marking instruction;
step S630, generating an operation planning path between the operation planning path starting point and the operation planning path end point; the operation planning path is used for indicating the action of the operation equipment;
the following steps are included after step S630:
step S640, acquiring dynamic spatial position information of the object to be operated and the operation equipment in real time through a positioning system;
step S650, generating a surgical operation path of the surgical equipment according to the dynamic spatial position information;
step S660, comparing the operation path with the operation planning path, and if deviation occurs, correcting the action of the operation equipment according to the operation planning path and the dynamic spatial position information so as to enable the operation path to conform to the operation planning path;
the following steps may be further included after step S630:
and step S670, simulating and demonstrating the operation flow according to the operation planning path.
It should be noted that, the steps of the present embodiment are the same as the steps corresponding to the foregoing embodiments, and please refer to the foregoing embodiments in detail, which will not be described again here.
It should be understood that although the various steps in the flow charts of fig. 1-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 7, there is provided a surgical assistant including:
the three-dimensional modeling module 71 is used for acquiring a medical image of the object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
the marking module 73 is configured to sequentially obtain a first marking instruction and a second marking instruction, generate a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generate a surgical planning path ending point in the three-dimensional model according to the second marking instruction;
a path planning module 75, configured to generate a surgical planning path between a surgical planning path starting point and a surgical planning path ending point; the surgical planned path is used to indicate the motion of the surgical device.
In one embodiment, the surgical assistance device further comprises:
the information acquisition module is used for acquiring dynamic space position information of an object to be operated and the operation equipment in real time through a positioning system;
the path generation module is used for generating a surgical operation path of the surgical equipment according to the dynamic spatial position information;
and the correction module is used for comparing the operation path with the operation planning path, and if deviation occurs, correcting the action of the operation equipment according to the operation planning path and the dynamic spatial position information so as to enable the operation path to conform to the operation planning path.
In one embodiment, the method further comprises the steps of:
and the simulation module is used for simulating and demonstrating the operation flow according to the operation planning path.
In one embodiment, the simulation module includes:
an embedding unit for embedding the simulated operation equipment in the three-dimensional model,
the measuring unit is used for measuring the space coordinate of the simulated operation equipment relative to the starting point of the operation planning path;
the planning unit is used for simulating and planning the motion track of the simulated surgical equipment from the space coordinates to the starting point of the surgical planning path;
and the simulation unit is used for controlling the motion of the simulated surgical equipment according to the motion track and the surgical planning path so as to simulate and demonstrate the surgical operation flow.
In one embodiment, the simulation module further comprises:
the corner acquisition unit is used for performing inverse kinematics solution on the motion track, the operation planning path and the motion parameters of the simulation operation equipment to acquire the joint corners corresponding to all points when the simulation operation equipment moves along the motion track and the operation planning path; the joint angle is used for indicating the simulated surgical equipment to twist the joint.
In one embodiment, the three-dimensional modeling module includes:
the modeling unit is used for extracting image characteristic information of the medical image and reconstructing a three-dimensional model of the object to be operated according to the image characteristic information; the image characteristic information is gray scale or boundary information;
the rendering unit is used for reading the geometric information of the three-dimensional model, rendering the three-dimensional model according to the geometric information and acquiring the rendered three-dimensional model; the geometric information includes vertices, mesh faces, and normal directions of the mesh faces.
In one embodiment:
the correction module is also used for acquiring a starting point correction instruction and correcting the starting point of the surgical planning path;
the correction module is also used for acquiring a terminal point correction instruction and correcting the terminal point of the surgical planning path;
and the correction module is also used for acquiring a direction correction instruction and correcting the trend of the surgical planning path.
For specific limitations of the surgical assistance device, reference may be made to the above limitations of the surgical assistance method, which are not described herein again. The various modules in the surgical assistance device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a surgical assistance method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction;
generating a surgical planning path between a surgical planning path starting point and a surgical planning path end point; the surgical planned path is used to indicate the motion of the surgical device.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring dynamic space position information of an object to be operated and operation equipment in real time through a positioning system;
generating a surgical operation path of the surgical equipment according to the dynamic spatial position information;
and comparing the operation path with the operation planning path, and if deviation occurs, correcting the action of the operation equipment according to the operation planning path and the dynamic spatial position information so as to enable the operation path to conform to the operation planning path.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and performing simulation demonstration on the operation flow according to the operation planning path.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
placing simulated operation equipment in the three-dimensional model, and measuring the space coordinate of the simulated operation equipment relative to the starting point of the operation planning path;
simulating a motion track of the simulation operation equipment from the space coordinate to the starting point of the operation planning path;
and controlling the action of the simulated surgical equipment according to the motion track and the surgical planning path so as to simulate and demonstrate the surgical operation flow.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
performing inverse kinematics solution on the motion track, the operation planning path and the motion parameters of the simulation operation equipment to obtain joint corners corresponding to each point when the simulation operation equipment moves along the motion track and the operation planning path; the joint angle is used for indicating the simulated surgical equipment to twist the joint.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
extracting image characteristic information of the medical image, and reconstructing a three-dimensional model of the object to be operated according to the image characteristic information; the image characteristic information is gray scale or boundary information;
reading the geometric information of the three-dimensional model, and rendering the three-dimensional model according to the geometric information to obtain a rendered three-dimensional model; the geometric information includes vertices, mesh faces, and normal directions of the mesh faces.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a starting point correction instruction, and correcting the starting point of the surgical planning path;
acquiring a terminal point correction instruction, and correcting the terminal point of the surgical planning path;
and acquiring a direction correction instruction, and correcting the direction of the surgical planning path.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction;
generating a surgical planning path between a surgical planning path starting point and a surgical planning path end point; the surgical planned path is used to indicate the motion of the surgical device.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring dynamic space position information of an object to be operated and operation equipment in real time through a positioning system;
generating a surgical operation path of the surgical equipment according to the dynamic spatial position information;
and comparing the operation path with the operation planning path, and if deviation occurs, correcting the action of the operation equipment according to the operation planning path and the dynamic spatial position information so as to enable the operation path to conform to the operation planning path.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and performing simulation demonstration on the operation flow according to the operation planning path.
In one embodiment, the computer program when executed by the processor further performs the steps of:
placing simulated operation equipment in the three-dimensional model, and measuring the space coordinate of the simulated operation equipment relative to the starting point of the operation planning path;
simulating a motion track of the simulation operation equipment from the space coordinate to the starting point of the operation planning path;
and controlling the action of the simulated surgical equipment according to the motion track and the surgical planning path so as to simulate and demonstrate the surgical operation flow.
In one embodiment, the computer program when executed by the processor further performs the steps of:
performing inverse kinematics solution on the motion track, the operation planning path and the motion parameters of the simulation operation equipment to obtain joint corners corresponding to each point when the simulation operation equipment moves along the motion track and the operation planning path; the joint angle is used for indicating the simulated surgical equipment to twist the joint.
In one embodiment, the computer program when executed by the processor further performs the steps of:
extracting image characteristic information of the medical image, and reconstructing a three-dimensional model of the object to be operated according to the image characteristic information; the image characteristic information is gray scale or boundary information;
reading the geometric information of the three-dimensional model, and rendering the three-dimensional model according to the geometric information to obtain a rendered three-dimensional model; the geometric information includes vertices, mesh faces, and normal directions of the mesh faces.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a starting point correction instruction, and correcting the starting point of the surgical planning path;
acquiring a terminal point correction instruction, and correcting the terminal point of the surgical planning path;
and acquiring a direction correction instruction, and correcting the direction of the surgical planning path.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A surgical assistance method, comprising the steps of:
acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
sequentially acquiring a first marking instruction and a second marking instruction, generating a surgery planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgery planning path terminal point in the three-dimensional model according to the second marking instruction;
generating a surgical planning path between the surgical planning path starting point and the surgical planning path end point; the surgical planning path is used to indicate an action of a surgical device.
2. A surgical assistance method as claimed in claim 1, further comprising the steps of:
acquiring dynamic space position information of the object to be operated and the operation equipment in real time through a positioning system;
generating a surgical operation path of the surgical equipment according to the dynamic spatial position information;
and comparing the operation path with the operation planning path, and if deviation occurs, correcting the action of the operation equipment according to the operation planning path and the dynamic spatial position information so as to enable the operation path to conform to the operation planning path.
3. A surgical assistance method as claimed in claim 1, further comprising the steps of:
and performing simulation demonstration on the operation flow according to the operation planning path.
4. The surgical assistance method according to claim 3, wherein the step of performing the simulation demonstration of the surgical operation procedure according to the surgical planning path includes the steps of:
placing simulated operation equipment in the three-dimensional model, and measuring the space coordinate of the simulated operation equipment relative to the starting point of the operation planning path;
simulating and planning a motion track of the simulated surgical equipment from the space coordinates to the starting point of the surgery planning path;
and controlling the motion of the simulated surgical equipment according to the motion track and the surgical planning path so as to simulate and demonstrate the surgical operation flow.
5. A surgical assistance method as claimed in claim 4, further comprising the steps of:
performing inverse kinematics solution on the motion track, the operation planning path and the motion parameters of the simulated operation equipment to obtain joint corners corresponding to all points when the simulated operation equipment moves along the motion track and the operation planning path; the joint angle is used for indicating the torsion joint of the simulated surgical equipment.
6. The surgical assistance method according to any one of claims 1 to 5, wherein the step of acquiring a medical image of an object to be operated, and processing the medical image to obtain a three-dimensional model of the object to be operated comprises the steps of:
extracting image characteristic information of the medical image, and reconstructing the three-dimensional model of the object to be operated according to the image characteristic information; the image characteristic information is gray scale or boundary information;
reading the geometric information of the three-dimensional model, rendering the three-dimensional model according to the geometric information, and acquiring the rendered three-dimensional model; the geometric information includes vertices, mesh surfaces, and normal directions of the mesh surfaces.
7. The surgical assistance method according to any one of claims 1 to 5, characterized by comprising, after the step of generating a surgical planned path between the surgical planned path start point and the surgical planned path end point, the steps of:
acquiring a starting point correction instruction, and correcting the starting point of the surgical planning path;
acquiring a terminal point correction instruction, and correcting the surgical planning path terminal point;
and acquiring a direction correction instruction, and correcting the trend of the operation planning path.
8. A surgical assistance device, comprising:
the three-dimensional modeling module is used for acquiring a medical image of an object to be operated and processing the medical image to obtain a three-dimensional model of the object to be operated; the medical image is a CT image, an ultrasonic image or an MRI image;
the marking module is used for sequentially acquiring a first marking instruction and a second marking instruction, generating a surgical planning path starting point in the three-dimensional model according to the first marking instruction, and generating a surgical planning path terminal point in the three-dimensional model according to the second marking instruction;
the path planning module is used for generating a surgical planning path between the surgical planning path starting point and the surgical planning path end point; the surgical planning path is used to indicate an action of a surgical device.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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