CN113288346A

CN113288346A - Positioning and cutting device for treating liver cancer

Info

Publication number: CN113288346A
Application number: CN202110553357.2A
Authority: CN
Inventors: 陈磊峰; 杜云艳; 陈浩
Original assignee: Individual
Current assignee: Bosyan Biotechnology Suzhou Co ltd
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2021-08-24
Anticipated expiration: 2041-05-20
Also published as: CN113288346B

Abstract

The invention provides a positioning resection device for treating liver cancer, compared with the prior art, the invention also comprises an identification module for automatically identifying the specific position of the to-be-cut area of the liver tissue cancer cells of the patient, an opening generation module for further generating the position of the operation opening of the patient based on the identification module, projecting the position to the corresponding area of the patient after the examination and confirmation of a doctor, a cutting prediction module for further generating at least one operation cutting layer with the same thickness in the to-be-cut area based on the volume of the to-be-cut area of the patient identified by the identification module, a display auxiliary module for tracking the operation cutting process in real time through a display screen and marking and displaying the cutting range corresponding to the corresponding cutting layer in the to-be-cut area of the patient, and an adjusting module for automatically adjusting the effective working length of the scalpel according to the operation condition. The invention can assist the positioning of the operation process, thereby improving the operation efficiency and accuracy.

Description

Positioning and cutting device for treating liver cancer

Technical Field

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

Background

Primary liver cancer is one of the common malignant tumors, second only to lung cancer. Due to the clinical application of serum alpha-fetoprotein and the progress of various imaging technologies, especially the AFP and ultrasonic imaging are used for monitoring high risk group of liver cancer, so that the liver cancer can be diagnosed in the subclinical stage of no symptom and sign, and the prognosis of liver cancer is obviously improved compared with the past by the maturity of surgical operation technology and the development of various non-operative treatment methods such as local treatment and the like.

The experiment team conducts browsing and research on a large amount of relevant recorded data aiming at medical technical means and liver cancer treatment surgery for a long time, meanwhile depends on relevant resources, conducts a large amount of relevant experiments, and finds existing prior arts such as US08489177B2, US09302122B2, CN107569780B and WO2010008536A1 through a large amount of searches. A cancer treatment room fiducial marking system and method of use thereof, including fiducial mark-fiducial detector-based treatment room position determination/location system and method of use thereof, as in the prior art. Typically, a set of fiducial mark detectors detect photons emitted and/or reflected from a set of fiducial marks on one or more objects located in the treatment room, and the distances and/or angles calculated therefrom are used to determine the relative positions of multiple objects or elements in the treatment room. The positions of the rendered objects are used to: (1) imaging such as X-ray, positron emission tomography and/or proton beam imaging and/or (2) beam targeting and treatment, e.g., proton-based cancer treatment. Because the fiducial marker system is used to dynamically determine the relative position of objects in the treatment room, engineering and/or mathematical constraints on the isocenter of the treatment beam line are removed.

The invention aims to solve the problems that the positioning accuracy of the liver cancer surgery auxiliary device is poor, the auxiliary effect of the auxiliary device is not obvious, the positioning resection device in the prior art needs a large amount of manual determination and judgment, and the surgery time is long.

Disclosure of Invention

The invention aims to provide a positioning resection device for treating liver cancer, aiming at the defects at present.

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

optionally, a positioning and resection device for treating liver cancer, including set up in organism of operating table upper end and carry out fixed establishment to patient's chest, positioning and resection system includes the automatic identification module who discerns the specific position of patient's liver tissue cancer cell region of waiting to cut, based on identification module further generates the operation opening position of patient and passes through the opening generation module of doctor's inspection back projection to the corresponding region of patient, based on identification module discerns the volume of patient region of waiting to cut further generates the cutting prediction module of the operation cutting layer that is no less than the same thickness of one deck of region of waiting to cut, through the display screen real-time tracking operation cutting process and to the mark display of the patient region of waiting to cut carrying out the cutting scope that corresponding cutting layer corresponds, the demonstration auxiliary module that further improves the operation precision and the adjustment module of the effective working length of automatically regulated scalpel according to the operation condition .

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

Optionally, the opening generating module includes an acquiring unit disposed on the machine body for acquiring a body posture of a patient on an operating table, and a projecting unit for further analyzing and processing the image acquired by the acquiring unit to acquire a trunk posture image of the patient on the operating table, identifying a region to be cut of the patient on the operating table based on the relative position relationship model of the region to be cut of the patient acquired by the identifying module, and further projecting corresponding marking points to corresponding positions of the patient body for performing intelligent identification of the surgical incision of the patient.

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

Optionally, the projection unit includes at least three light projectors for projecting at least two different colors of light, and a universal moving seat having an electrically controlled driving corresponding rotation direction and respectively mounting each light projector on a shell plate of the machine body, wherein the projection colors of the light projectors include different colors of working colors and finishing colors, and are further used for distinguishing the projection conditions of the surgical sites of the light projectors, and the universal moving seat is respectively controlled by a control device to drive the position thereof to turn so as to further adjust the projection positions of the marker projection points of the light projectors.

Optionally, the adjusting module includes that the handle of a knife of scalpel is located to mobile cover and is arranged in the liver tissue cutting operation to carry out the butt with the liver tissue in order to establish stable cut-in degree of depth and operational environment between liver tissue and cancer treatment cutting operation spacing cap, set up in at least one goes out the liquid hole on the spacing cap, set up in at least one inlet port on the spacing cap, with go out the drainage tube that the liquid hole is connected, with the air siphunculus and the drive that the inlet port is connected spacing cap is in the displacement of handle of a knife slides and further adjusts the scalpel bit is in the telescopic machanism of the deep depth of in the liver tissue cutting operation.

Still another aspect of the present invention provides a computer-readable storage medium including a control method and a data processing program of the location ablation system, and when the control method and the data processing program are executed by a processor, the steps of the control method and the data processing of the location ablation system are implemented.

The beneficial effects obtained by the invention are as follows:

1. the area to be cut of the patient is identified, the body of the patient and the relative position information of the area to be cut are generated, and therefore the accuracy of positioning the area to be cut and the identification efficiency of the area to be cut of the patient are improved.

2. Through carrying out operation opening's projection to patient's body, effectively reduce medical personnel's operation opening discernment and mark the time of work.

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

Drawings

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

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

FIG. 2 is a flow chart of an identification module according to the present invention.

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

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

FIG. 5 is an experimental schematic of the localized ablation system of the present invention.

Detailed Description

In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or assembly referred to must have a specific orientation.

The first embodiment is as follows:

the embodiment constructs a positioning and excising system for identifying the region of the patient's liver to be excised and further generating a tumor excision plan of the patient;

a positioning and cutting device for treating liver cancer comprises a machine body arranged at the upper end of an operating table and a fixing mechanism for fixing the chest of a patient, wherein the positioning and cutting system comprises an identification module for automatically identifying the specific position of a liver tissue cancer cell region to be cut of the patient, an opening generation module for generating the surgical opening position of the patient based on the identification module, projecting the surgical opening position to the corresponding region of the patient after being checked and confirmed by a doctor, a cutting prediction module for further generating a surgical cutting layer with the same thickness of at least one layer of the region to be cut based on the volume of the region to be cut of the patient identified by the identification module, a display auxiliary module for tracking the surgical cutting process in real time through a display screen and displaying the mark of the cutting range corresponding to the corresponding cutting layer of the region to be cut of the patient, and an adjusting module for automatically adjusting the effective working length of a scalpel according to the surgical condition, the identification module is used for carrying out gray level processing by acquiring a liver image of the patient and correspondingly distinguishing and marking a normal liver region and a region to be cut of malignant lesion based on a gray level value, the opening generation module comprises an acquisition unit which is arranged on the body and is used for acquiring the body posture of the patient on an operation table, and a projection unit which is used for further analyzing and processing the picture acquired by the acquisition unit to acquire a trunk posture image of the patient on the operation table, identifying the region to be cut of the patient on the operation table based on a relative position relation model of the region to be cut of the patient acquired by the identification module and further projecting corresponding mark points to corresponding positions of the body of the patient to carry out intelligent identification on the operation cut of the patient, the display auxiliary module comprises a camera unit for acquiring image information at the operation opening of the patient, a projection unit for projecting corresponding mark points to the corresponding positions of the body of the patient, and a projection unit for carrying out intelligent identification on the operation cut of the patient, The imaging unit is used for further identifying a corresponding patient to-be-cut position area in image information obtained by the imaging unit and marking the edge of a to-be-cut range of a layer cut by the image information based on the cutting prediction module, and the fitting unit is used for marking the edge of the to-be-cut range of the image information based on the cutting prediction module, and the display unit is used for projecting pictures marked on the edge of the cutting range of the fitting unit to the display device so as to accurately assist surgeons, the projection unit comprises at least three light projectors for projecting at least two different colors of light rays and a universal moving seat which is respectively provided with at least two light projectors with corresponding rotation directions driven by an electric controller and is used for respectively mounting each light projector on a shell plate of the machine body, wherein the projection colors of the light projectors comprise working colors and finishing colors of different colors and are further used for distinguishing the projection conditions of the surgical sites of the light projectors, and the universal moving seat is respectively controlled by a control device to drive the position of the universal moving seat to be turned to further adjust the projection sites of the light projectors The projection position, the adjusting module comprises a limiting cap movably sleeved on a knife handle of the scalpel and used for abutting against the liver tissue in the liver tissue cutting operation to establish a stable incision depth and a working environment between the liver tissue and the cancer treatment cutting operation, at least one liquid outlet hole arranged on the limiting cap, at least one air inlet hole arranged on the limiting cap, a drainage tube connected with the liquid outlet hole, an air through tube connected with the air inlet hole and a telescopic mechanism for driving the limiting cap to slide in the displacement of the knife handle to further adjust the depth of a knife head of the scalpel in the liver tissue cutting operation, the invention also provides a computer readable storage medium, the computer readable storage medium comprises a control method and a data processing program of the positioning excision system, and when the control method and the data processing program of the positioning excision system are executed by the processor, implementing the control method and data processing of the positioning and cutting system;

the identification module comprises a step of acquiring a liver image of the patient to perform gray level processing, and further marks a normal liver region and a region to be cut of a malignant tumor based on the corresponding difference of gray level values, and the identification module comprises an identification method:

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

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

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

s104: acquiring the gray value of the mark point, further marking the area in the gray map, which is the same as the gray value of the position of the mark point, and acquiring the range to be cut of the liver;

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

s106: coordinate point reappearance is carried out on the central point set, the trunk point set and the liver point set, and a relative position relation model of the trunk shape of the patient, the area to be cut and the surgical opening of the patient is generated;

the body comprises a medical bracket fixed on the ground and a shell plate fixedly arranged above the operating bed through the medical bracket, a circuit structure communicated with a power supply is arranged in the shell plate, the opening generation module comprises an acquisition unit which is arranged on the machine body and used for acquiring the body posture of a patient on an operation table, a projection unit which projects corresponding mark points to corresponding positions of the body of the patient and used for intelligently identifying an operation incision of the patient, and a processing unit which is used for further analyzing and processing the picture acquired by the acquisition unit to acquire a trunk posture image of the patient on the operation table, further identifying a region to be cut of the patient on the operation table based on a relative position relation model of a region to be cut of the liver lesion of the patient in the deep layer of the identification module and further driving the projection unit to perform a corresponding light projection angle;

wherein the projection unit is at least three light projectors for projecting at least two different colored lights, wherein the projection colors of the light projector include a corresponding working color of one of the color projection rays and a corresponding finishing color of the other color projection ray, the working and finishing colors being different colors are further used for distinguishing between operating point projection situations of the light projector, each light projector is respectively arranged on the shell plate through a corresponding universal moving seat, wherein the universal moving seat is a numerical control mechanical arm with multiple joints in the prior art, the position of the universal moving seat is controlled by a control device to be turned so as to further adjust the projection position of the mark projection point of the light projector, the acquisition unit comprises a camera device arranged on the shell plate for taking an image of the trunk of the patient, and the processing unit further comprises the following steps:

s201: acquiring picture information of the patient on the operating table shot by the camera device, extracting preset key points from the image of the patient and further dividing the image to obtain the trunk edge line of the patient,

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

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

s204: correspondingly distributing the operation points at different positions to the universal movable seats with corresponding numbers through information binding, taking the universal movable seat with the distributed instruction as a working movable seat,

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

s206: adjusting the position light ray projection angle of the corresponding light projector until the projection point of each light projector on the trunk of the patient is coincided with the operation point correspondingly distributed, and the universal movable seat is determined to finish the adjustment work;

s207: driving a light projector corresponding to the universal moving seat which finishes the adjustment work to convert the color of the light into the color finishing state;

s208: when the projection light of the light projector which works completely is converted into a complete color state, medical staff perform marking marks of corresponding operation cuts on the skin of a patient based on the projection of the projected operation points so as to improve the accuracy of the cutting operation;

according to the invention, the surgical incision of the patient is further obtained through accurate positioning and identification of the region to be cut of the patient, and is projected on the corresponding tissue surface of the patient through light rays so as to provide accurate position marking for a doctor, so that the judgment time and judgment errors of the opening position marking of medical personnel are reduced, and the accuracy of the liver cancer treatment cutting operation is further effectively improved.

Example two:

the embodiment constructs a positioning excision system generated by carrying out specific excision steps on a region to be excised of a patient;

s104: acquiring the gray value of the mark point, further marking the area in the gray map, which is the same as the gray value of the position of the mark point, to acquire the range to be cut of the liver,

s202: extracting the relative position relation model to perform corresponding scaling until a trunk shape graph corresponding to the trunk point set is overlapped with the key points, namely the discrete value of the distance between the key points and the trunk shape graph is in a preset range, further determining the trunk shape overlap of the trunk of the patient and the position relation, and taking the relative position relation model which is correspondingly scaled as a comparison model,

s205: driving a light projector fixed on the working movable seat to project light with the color corresponding to the working color,

s206: adjusting the position light projection angle of the corresponding light projector until the projection point of each light projector on the trunk of the patient is coincided with the operation point correspondingly distributed to determine that the universal movable seat finishes the adjustment work,

s207: the light projector corresponding to the universal movable seat which is driven to finish the adjustment work carries out the light color conversion to the finished color state,

the invention further obtains the surgical incision of the patient by accurately positioning and identifying the region to be cut of the patient and projects the surgical incision on the corresponding tissue surface of the patient through light rays so as to provide accurate position marking for doctors, thereby reducing the judgment time and judgment error of the opening position marking of medical staff and further effectively improving the accuracy of the liver cancer treatment cutting operation;

the cutting prediction module further generates not less than one surgical cutting layer with the same thickness based on the volume of the area to be cut of the patient identified by the identification module, and the cutting prediction module comprises the following method steps:

s301, segmenting the multilayer liver two-dimensional CT image sequence of the patient, respectively extracting the corresponding segmentation sequence of each tissue in the region to be segmented of the liver of the patient,

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

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

s304, establishing a space coordinate set with a preset specification on the three-dimensional reconstructed tissue to be cut,

s305, dividing cutting layers of a plurality of unit cutting layers with the same thickness according to the thickness of the area to be cut of the liver, numbering the unit cutting layers, sequentially representing the unit cutting layers from the position close to the opening of the liver to the corresponding unit cutting layer in the human body as a first cutting layer and a second cutting layer …, namely an nth cutting layer,

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

s307: carrying out data model establishment on the edge coordinate set of the unit cutting layer and the corresponding unit cutting layer number, and further obtaining cutting layers correspondingly divided in the region to be cut in the patient operation and a cutting range corresponding to each cutting layer;

the cutting prediction module further obtains the cutting range of the corresponding cutting layer according to the distribution information of lesion tissues of the corresponding cutting layer by dividing the region to be cut of the lesion of the liver cancer patient by a plurality of cutting layers with the same thickness, so that the accuracy of the liver resection operation is further effectively improved, wherein SoftImage, Maya or 3Dmax and the like can be selected by the modeling software according to actual requirements, and the limitation is not made;

the display auxiliary module comprises a camera unit for acquiring image information at the operation site of the patient, a fitting unit for marking the to-be-cut range of the cutting layer of the image information based on the cutting prediction module and further identifying the corresponding to-be-cut position area of the patient in the image information acquired by the camera unit, and a display unit for projecting the picture marked by the cutting range of the fitting unit to a display device so as to accurately assist the surgeon, wherein the camera unit is a camera fixedly arranged on the shell plate through a corresponding fixing seat, the camera tracks the picture information of the surgical organ in the cutting operation in real time and sends the picture information to the fitting unit, the display device is a mobile device for displaying images, and the mobile device is electrically connected with the camera so as to receive the image information shot by the camera in real time, the fitting unit is a related picture processing program pre-installed in the mobile device by a person skilled in the art, wherein the fitting unit comprises a method of:

s401: receiving the picture information and further identifying a liver tissue image of the surgical incision region,

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

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

s404: displaying the marked picture to the display device to assist the doctor in recognizing the cutting position,

s405: tracking the cutting operation process in real time, matching and identifying the position of a later cutting layer after the corresponding cutting layer finishes the cutting operation, further obtaining a marking picture of the later cutting layer, and displaying the marking picture through the display device until the cutting operations of all the cutting layers are finished;

according to the invention, the lesion area of the organ to be operated of the patient in the operation process is further positioned through the display device after the area to be operated, which is diseased of the patient, is divided into the pre-operation cutting layer, so that a doctor is assisted to quickly position the corresponding target point to further determine the operation cutting point, and the display of the corresponding cutting layer is carried out in real time according to the tracking of the cutting operation process, so that the difficulty of the operation is simplified.

Example three:

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

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

according to the invention, after the area to be cut, which is diseased for the patient, is subjected to division of the pre-operation cutting layer, the diseased area of the organ to be operated of the patient in the operation process is further positioned through the display device, so that a doctor is assisted to quickly position a corresponding target point to further determine an operation cutting point, and the display of the corresponding cutting layer is carried out in real time according to the tracking of the cutting operation process, so that the difficulty of the operation is simplified, compared with the prior art, the accuracy of the cutting operation position is improved, the doctor can be assisted to find the position of a reference target point or a focus more conveniently and quickly, and the operation time is effectively shortened;

the scalpel comprises a scalpel handle and a scalpel head, wherein the adjusting module comprises a limiting cap which is sleeved with a movable body, a liquid outlet hole arranged on the limiting cap, at least one air inlet hole arranged on the limiting cap, a drainage tube connected with the liquid outlet hole and an air through tube connected with the air inlet hole, the limiting cap is suitable for being abutted with liver tissues in liver tissue cutting operation to establish stable cutting depth and working environment between the liver tissues and cancer treatment cutting operation, the edge of the scalpel handle is provided with a sliding track protruding along the length direction of the scalpel handle, the limiting cap is of a transparent crystal structure, the middle part of the limiting cap is of a through hole structure, the inner wall of the through hole is provided with a sliding groove matched with the sliding track, the inside of the scalpel handle is of a cavity structure, wherein a movable rod is arranged in the middle cavity of the scalpel handle, The utility model discloses a tool holder, including handle of a knife, tool bit, movable rod, handle of a knife, telescopic machanism with the movable rod is through welding, joint and/or bolt fixed connection further drive the movable rod is relative the handle of a knife cavity carries out the displacement, the movable rod is close tool bit one end is provided with the claw ring spare, claw ring spare include in its centre of a circle position with one of them end fixed connection's of movable rod ring piece and follow the ring piece edge court the hook-shaped a plurality of bows of the slip track extension on the cavity structure outside, just slip track middle part be with the opening way of the inside intercommunication of handle of a knife cavity, the opening way is followed handle of a knife length direction parallel arrangement just the extension end court of bows stretch out in the opening way and the closure is fixed in the stop cap corresponds in the groove position, through telescopic machanism drive movable rod further pass through claw ring spare drive stop cap displacement to with the drive The cutting deep position of the surgical knife head is further limited by the abutting of the limiting cap and the liver tissue at the position of the corresponding distance of the knife head, so that the cutting work of the corresponding cutting layer is further accurately controlled;

the telescopic mechanism is a linear motor, the linear motor is electrically connected with an external control end and performs telescopic motion through a control instruction of the control end so as to further accurately control the effective depth length of the telescopic mechanism in the cutting operation, the limiting cap is a transparent hard sheet-shaped structure which is prepared by at least one of medical materials such as polymethyl methacrylate, polyvinyl chloride, polyethylene, polypropylene, polyether polyurethane, polytetrafluoroethylene, nylon, polystyrene, polyethylene glycol, polyvinyl alcohol, silicon rubber, polyester, polylactic acid and the like as one of raw material materials, two ends of the liquid outlet hole and two ends of the air inlet hole respectively penetrate through the limiting cap, one end of the liquid outlet hole is arranged on one side of the contact end of the limiting cap and a patient, and the other end of the liquid outlet hole is communicated with the drainage tube, the drainage tube is provided with a negative pressure driving mechanism which drives the tissue fluid of the contact end of the limit cap to flow out of the liquid outlet hole, the negative pressure driving mechanism can select a negative pressure bottle, a negative pressure bag and/or a medical suction machine by technicians in the field according to actual requirements, the drainage tube is provided with a switch valve which further controls the communication of the negative pressure driving mechanism and the liquid outlet hole by controlling the pipeline communication condition of the drainage tube, one end of the air inlet hole is arranged at one side of the contact end of the limit cap and a patient, the other end of the air inlet hole is communicated with the air channel, the tail end of the air channel is connected with an air filter, the air filter prevents particulate foreign matters from entering the air channel, and when the negative pressure hole sucks the tissue fluid of the contact end of the limit cap to avoid the visual influence of a doctor, the relative pressure of air or fluid in the contact end is effectively equal to the pressure of the external environment through the air inlet, so that the negative pressure adsorption effect of the liquid outlet hole on liver tissues is effectively avoided to influence the cutting operation process;

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

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

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

In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.

Claims

1. The utility model provides a location resection device for treating liver cancer, including set up in the organism of operation table upper end and carry out fixed establishment to patient's chest, its characterized in that, location resection system is including the identification module who discerns the concrete position of the region of treating the cut of patient's liver tissue cancer cell automatically, based on the identification module further generates the operation opening position of patient and passes through the opening generation module of doctor's inspection after confirming projection to the corresponding region of patient, based on the identification module discerns the volume of the region of treating the cut of patient further generates the cutting prediction module of the same thickness of the region of treating the cut operation cutting layer of no less than one deck of the region of treating the cut, through the mark display screen real-time tracking operation cutting process and to the region of treating the cut of patient carry out the corresponding cutting layer's cutting scope show the supplementary module of demonstration further improvement operation precision and according to the effective working length of operation condition automatically regulated scalpel And an adjusting module.

2. The localized ablation system of claim 1, wherein the identification module performs a gray scale process by acquiring an image of the patient's liver to further mark the normal region of the liver and the region to be ablated of the malignant lesion based on a gray scale value correspondence.

3. The positional resection system of one of the preceding claims, wherein the opening generation module comprises an acquisition unit disposed on the body for acquiring the body posture of the patient on the operation table, and a projection unit for further analyzing and processing the images acquired by the acquisition unit to acquire the torso posture image of the patient on the operation table, recognizing the region to be cut of the patient on the operation table based on the relative position relationship model of the region to be cut of the patient acquired by the recognition module, and further projecting the corresponding mark points to the corresponding positions on the body of the patient for intelligent recognition of the operation cut of the patient.

4. A localized ablation system according to any of the preceding claims wherein the cut prediction module comprises the method steps of:

s301, segmenting a multilayer liver two-dimensional CT image sequence of a patient, and respectively extracting corresponding segmentation sequences of tissues in a to-be-segmented area of the liver of the patient;

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

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

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

s305, dividing cutting layers of a plurality of unit cutting layers with the same thickness according to the thickness of the area to be cut of the liver, numbering the unit cutting layers, and sequentially representing the unit cutting layers from the position close to the opening of the liver to the corresponding unit cutting layer in the human body as a first cutting layer and an nth cutting layer …;

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

s307: and carrying out data model establishment on the edge coordinate set of the unit cutting layer and the corresponding unit cutting layer number, and further obtaining cutting layers correspondingly divided in the area to be cut in the patient operation and a cutting range corresponding to each cutting layer.

5. The localized ablation system of any one of the preceding claims, wherein the display assistance module comprises a camera unit for acquiring image information at the surgical site of the patient, a fitting unit for marking the edge of the region to be cut of the layer to be cut based on the image information obtained by the camera unit and further identifying the corresponding region of the position to be cut of the patient in the image information acquired by the camera unit, and a display unit for projecting the picture of the marking of the edge of the cutting region of the fitting unit to the display device for precise assistance of the surgeon.

6. The positional resection system of one of the preceding claims, wherein the projection unit comprises at least three light projectors for projecting at least two different colors of light, and a universal movable mount having an electrically controlled driving of corresponding rotation directions for each of the light projectors respectively mounted on the housing plate of the body, wherein the projection colors of the light projectors comprise different colors of working colors and finishing colors for further distinguishing the projection conditions of the surgical site of the light projectors, and the universal movable mount is controlled by a control device respectively to drive the position thereof to rotate for further adjusting the projection position of the marked projection point of the light projector.

7. The localized resection system of one of the preceding claims, wherein the adjustment module comprises a limiting cap movably sleeved on a knife handle of the scalpel and used for abutting against the liver tissue in the liver tissue cutting operation to establish a stable incision depth and a stable working environment between the liver tissue and the cancer treatment cutting operation, at least one liquid outlet hole arranged on the limiting cap, at least one air inlet hole arranged on the limiting cap, a drainage tube connected with the liquid outlet hole, an air duct connected with the air inlet hole, and a telescopic mechanism for driving the limiting cap to slide in the displacement of the knife handle to further adjust the depth of the scalpel bit in the liver tissue cutting operation.

8. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a control method and a data processing program of the localized ablation system, and the control method and the data processing program, when executed by a processor, implement the steps of the control method and the data processing of the localized ablation system according to any one of claims 1 to 7.