CN113648058A - Operation auxiliary positioning method and system - Google Patents
Operation auxiliary positioning method and system Download PDFInfo
- Publication number
- CN113648058A CN113648058A CN202110958856.XA CN202110958856A CN113648058A CN 113648058 A CN113648058 A CN 113648058A CN 202110958856 A CN202110958856 A CN 202110958856A CN 113648058 A CN113648058 A CN 113648058A
- Authority
- CN
- China
- Prior art keywords
- information
- tissue
- surgical
- patient
- bioelectrical impedance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/053—Measuring electrical impedance or conductance of a portion of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/02—Adjustable operating tables; Controls therefor
- A61G13/08—Adjustable operating tables; Controls therefor the table being divided into different adjustable sections
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/1235—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/124—Hands or wrists
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
- A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
- A61G13/125—Ankles or feet
-
- 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
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
Abstract
The invention provides an operation auxiliary positioning method and system. The method is applied to a surgery-assisted positioning system which comprises a detection device for detecting bioelectrical impedance, and comprises the following steps: acquiring basic information and abdominal cavity operation information of a patient, wherein the basic information comprises the sex, the height and the age of the patient; acquiring detection information of the detection device to obtain bioelectrical impedance information of the patient; obtaining target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal cavity operation information and a sample database, wherein the target tissue information comprises position information and tissue size information of a target tissue relative to a calibration tissue; and determining the recommended position of the wound according to the tissue size information, the position information and the abdominal operation information. The method is convenient for doctors to quickly find the wound position according to the recommended position and correspondingly adjust according to actual needs, and the workload of the doctors is reduced.
Description
Technical Field
The invention relates to the technical field of surgery auxiliary positioning, in particular to a surgery auxiliary positioning method and system.
Background
The master-slave surgical robot is a novel medical instrument integrating a plurality of disciplines, is an important development direction for informatization, program control and intellectualization of the current medical instrument, and has wide application prospects in aspects of clinical minimally invasive surgery, remote surgery and the like.
Master-slave surgical robots generally include a console portion (i.e., the master end) and a robotic arm system (i.e., the slave end). The mechanical arm system comprises a scope holding arm and a plurality of mechanical arms, wherein the scope holding arm is used for mounting an endoscope, and the mechanical arms are used for mounting surgical instruments. The console portion includes controls such as a master hand and pedals for controlling the motion of the robotic arm and the surgical instrument.
In abdominal surgery, the surgeon determines the number of incisions (perforations) according to the number of arms of the instrument to be used in the surgery, which usually comprises two incisions for the insertion of surgical instruments and one incision for the insertion of an endoscope. Generally, doctors often select a wound position only by personal experience and surgical habits, and it takes a long time to determine the wound position. In addition, in some cases, the position of the wound is not suitable in the operation process, so that the operation space is limited, even the operation needs to be performed again, and the operation time is prolonged to influence the operation efficiency.
Disclosure of Invention
The invention aims to realize the auxiliary operation positioning of the master-slave operation robot to a certain extent and reduce the workload of doctors in determining wounds.
To solve or improve the above problems at least to a certain extent, a first aspect of the present invention provides a surgical assistant positioning method applied to a surgical assistant positioning system, the surgical assistant positioning system including a detection device for detecting bioelectrical impedance, the method including:
acquiring basic information and abdominal cavity operation information of a patient, wherein the basic information comprises the sex, the height and the age of the patient;
acquiring detection information of the detection device to obtain bioelectrical impedance information of the patient;
obtaining target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal cavity operation information and a sample database, wherein the target tissue information comprises position information and tissue size information of a target tissue relative to a calibration tissue;
and determining the recommended position of the wound according to the tissue size information, the position information and the abdominal operation information.
Optionally, the obtaining target tissue information of the target tissue of the patient according to the basic information, the bioelectrical impedance information, the abdominal surgery information, and the sample database includes:
searching a matched human body model in the sample database according to the basic information and the abdominal cavity operation information to determine the position information and the initial tissue size information of the target tissue, wherein the sample database comprises a plurality of human body models, and each human body model is determined according to the sex, the height and the age of a human body;
generating tissue size adjustment information of the target tissue according to the bioelectrical impedance information and the sample database, wherein the sample database also comprises the corresponding bioelectrical impedance information and the corresponding tissue size adjustment information;
and generating the tissue size information of the target tissue according to the initial tissue size information and the tissue size adjustment information.
Optionally, each said mannequin of said sample database is determined according to gender, size and age of a human being.
Optionally, the surgical assisted positioning system further comprises a master-slave surgical robot, and after determining the recommended position of the wound, the method further comprises:
calibrating a spatial position relationship between a mechanical arm system of the master-slave surgical robot and the calibration tissue;
controlling the endoscope and the surgical instrument connected with the mechanical arm system to move according to the spatial position relation and the recommended position of the wound, so as to indicate the corresponding recommended position of the wound through the positions of the endoscope and the surgical instrument.
Optionally, the surgical auxiliary positioning system further includes an operating table, and the calibrating the spatial position relationship between the mechanical arm system of the master-slave surgical robot and the calibration tissue includes:
adjusting the relative positions of the cross laser of the mechanical arm system and the operating bed so that the cross laser is positioned in a preset area of the operating bed;
adjusting the relative positions of the calibration tissue and the cross laser and enabling the cross laser to be aligned with the calibration tissue.
Compared with the related prior art, the invention has the following advantages:
according to the operation auxiliary positioning method, the bioelectrical impedance information of the patient is obtained, the condition of the patient, such as whether the target tissue is hypertrophic or not, can be roughly judged through the bioelectrical impedance information, and the target tissue information of the patient is obtained by combining the basic information, the bioelectrical impedance information, the abdominal cavity operation information and the sample database, so that the recommended position of the wound can be obtained, a doctor can conveniently and quickly find the wound position according to the recommended position and correspondingly adjust the wound position according to actual needs, the workload of the doctor is reduced, or the doctor can conveniently learn to perform wound position judgment training. And the bioelectrical impedance measurement mode basically has no radioactivity, less harm and high safety.
In a second aspect, the present invention provides a surgical assistant positioning system, which includes a detecting device and a control device, wherein the detecting device is used for measuring a bioelectrical impedance of a patient by using a bioelectrical impedance measuring method, and the detecting device is communicatively connected with the control device; the control device comprises an acquisition module and a positioning module,
the acquisition module is used for acquiring basic information and abdominal cavity operation information of a patient, wherein the basic information comprises the sex, the height and the age of the patient, and is used for acquiring detection information of the detection device to obtain bioelectrical impedance information;
the positioning module is used for obtaining target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal cavity operation information and the sample database, wherein the target tissue information comprises position information and tissue size information of a target tissue relative to a calibration tissue; and determining the recommended position of the wound according to the tissue size information, the position information and the abdominal operation information.
Optionally, the positioning module is further configured to calibrate a spatial position relationship between a manipulator system of the master-slave surgical robot and the calibration tissue; controlling the endoscope and the surgical instrument connected with the mechanical arm system to move according to the spatial position relation and the recommended position of the wound, so as to indicate the corresponding recommended position of the wound through the positions of the endoscope and the surgical instrument.
Optionally, the surgery auxiliary positioning system further comprises an operating table, the detection device is connected with the operating table, the detection device comprises at least four detection heads, and the four detection heads are respectively attached to the wrist and the ankle of the human body.
Optionally, the operation table includes a bed body and at least one connecting piece, every the connecting piece all is provided with one detect the head, the connecting piece with the bed body can be dismantled to be connected or the connecting piece hidden set up in the bed body, at least one the connecting piece be for set up in the handrail of bed body both sides.
Optionally, the surgical assistant positioning system further comprises a human-computer interaction interface, and the human-computer interaction interface is at least used for displaying information and/or providing information for a doctor to input.
Therefore, the surgery auxiliary positioning system can roughly judge the condition of a patient, such as whether target tissues are hypertrophic or not, by acquiring the bioelectrical impedance information of the patient and obtaining the target tissue information of the patient by combining the basic information, the bioelectrical impedance information, the abdominal cavity surgery information and the sample database, so that the recommended position of a wound can be obtained, a doctor can quickly find the position of the wound according to the recommended position and correspondingly adjust the position according to actual needs, the workload of the doctor is reduced, or the doctor can conveniently learn to judge and train the position of the wound. And the bioelectrical impedance measurement mode basically has no radioactivity, less harm and high safety.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for assisting in positioning in a surgical procedure according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating the steps of generating target tissue information of a patient according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a control device of the surgical assistant positioning system in an embodiment of the invention;
FIG. 4 is a schematic diagram of a robot system according to an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
fig. 6 is a schematic structural view of an operating bed according to an embodiment of the present invention;
fig. 7 is a schematic view of another state of the operating table according to the embodiment of the present invention.
Description of reference numerals:
1-mechanical arm system, 11-endoscope, 12-mechanical arm, 13-surgical instrument, 14-laser generator, 15-mirror holding arm, 2-surgical bed, 21-bed body, 22-guard plate, 22-pedal, 23-handrail and 24-pedal.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a surgical assistant positioning method, which is applied to a surgical assistant positioning system including a detection device for detecting a bioelectrical impedance, and the method includes the following steps S1 to S4.
Step S1, obtaining the basic information of the patient and the abdominal cavity operation information, wherein the basic information comprises the sex, the height and the age of the patient.
The basic information can be obtained by a database system, for example, by inputting the name or corresponding number of the patient, and the basic information of the patient can be called from the database system (for example, a medical record system). The basic information may also be obtained by physician input. The abdominal surgery information generally includes the type of surgery and the target tissue of the surgery.
Illustratively, the surgical assisted positioning system includes a screen for displaying and/or inputting basic information of the patient. The screen may be a screen arranged outside (e.g., above, or sharing a display screen) the console display.
Optionally, the basic information may further include weight, previous operation information, and the like. The information of all aspects of the patient is more accurate, and the subsequent matching with the sample database and the judgment of whether the wound position is proper or not are facilitated.
And step S2, acquiring the detection information of the detection device to obtain the bioelectrical impedance information of the patient.
The bioelectrical impedance measuring method is that slight current is led into human body, when the current passes through different human body tissues, the resistance values are different, the resistance of fat part and other tissues of the human body is higher according to the rule that fat in the human body is not conductive and water in the human body is conductive, and the conditions of fat in internal organs, enlargement of organs, organ positions and the like can be roughly judged by collecting electric signals and combining big data information.
The detection device may employ a related bioelectrical impedance detection apparatus, which is not limited. For example, the detection device is a detection plate installed on the ground, and when the patient stands on the detection device with bare feet, visceral fat can be detected, and information such as body weight and fat weight can be selectively measured.
Step S3, obtaining target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal cavity operation information and the sample database, wherein the target tissue information comprises position information and tissue size information of the target tissue relative to a calibration tissue.
It should be noted that, for people of different sexes, heights, and ages, the human body structures may be different, especially, the obesity degree of the human body is different, the sizes of organs such as the kidney or the gallbladder (i.e., the target tissue included in the information of the abdominal cavity operation, i.e., the tissue targeted by the abdominal cavity operation) are also different, in the related art, the size and the position of the target tissue may need to be determined through multiple CT shots, the radiation in the process may cause injury to the human body, and the analysis time required is longer. While there is some variation in the size and location of the target tissue, there is also some variation in the location of the wound.
The visceral fat condition can be known without damage through the bioelectrical impedance information, so that whether the target organ is enlarged or not and the condition such as the proportion of the enlarged target organ can be estimated, and more accurate target tissue information can be obtained.
The sample database may include information such as whether visceral fat is increased and the proportion of visceral fat increased corresponding to the bioelectrical impedance information, and may be obtained according to relevant research data and/or historical data.
The target tissue is generally a characteristic tissue that can be easily found on the body surface of a human body, for example, a navel, a shoulder joint, a nose bridge, and the like.
And step S4, determining the recommended position of the wound according to the tissue size information, the position information and the abdominal cavity operation information.
Therefore, according to the operation auxiliary positioning method, the bioelectrical impedance information of the patient is obtained, the condition of the patient, such as whether the target tissue is hypertrophic or not, can be roughly judged through the bioelectrical impedance information, and the target tissue information of the patient is obtained by combining the basic information, the bioelectrical impedance information, the abdominal operation information and the sample database, so that the recommended position of the wound can be obtained, a doctor can conveniently and quickly find the position of the wound according to the recommended position and correspondingly adjust the position according to actual needs, the workload of the doctor is reduced, or a beginner can conveniently conduct wound position judgment training. And the bioelectrical impedance measurement mode basically has no radioactivity, less harm and high safety.
As shown in fig. 2, optionally, the step S3 specifically includes:
step S31, searching matched human body models in the sample database according to the basic information and the abdominal cavity operation information to determine the position information and the initial tissue size information of the target tissue, wherein the sample database comprises a plurality of human body models, and each human body model is determined according to the sex, the height and the age of the human body.
In particular, the sample database comprises a plurality of mannequins, each mannequin corresponding to a determined gender, height and age. That is, for any one patient, a matching mannequin can be found in the sample database based on his gender, height and age. Therefore, the position information and the initial tissue size information of the corresponding target tissue can be found according to the human body model.
Step S32, generating tissue size adjustment information of the target tissue according to the bioelectrical impedance information and the sample database, wherein the sample database also comprises the corresponding bioelectrical impedance information and the corresponding tissue size adjustment information;
it should be noted that the initial tissue size may be understood as the tissue size of the target tissue in the theoretical case, and the tissue size adjustment information may be used to indicate the deviation degree of the actual size of the target tissue from the initial tissue size, for example, actual visceral fat data may be obtained according to the bioelectrical impedance information, so as to determine whether the viscera is enlarged or shriveled relative to the theoretical visceral fat data according to the actual visceral fat data, so that the tissue size adjustment information may be determined according to historical empirical data, for example, the tissue size adjustment information includes the adjustment percentage.
Step S33, generating the tissue size information of the target tissue according to the initial tissue size information and the tissue size adjustment information.
Illustratively, the tissue size information of the target tissue can be obtained by combining the initial tissue size information and the adjustment percentage, which will not be described in detail herein.
In this way, in this embodiment, first, the position information and the initial tissue size information of the target tissue are determined according to the basic information of the patient and the sample database, then, whether the initial tissue size information needs to be adjusted is further determined according to the bioelectrical impedance information and the sample database, and the recommended position of the wound is determined according to the tissue size information, the position information, and the abdominal surgery information (for example, the number of surgical instruments 13 that need to be used) of the target tissue obtained after adjustment.
Optionally, in the step S31, each of the human models in the sample database is determined according to the sex, the section of height and the age of the human body.
For example, gender has 2 different possibilities for male and female, dividing the age into N successive age groups, each with a corresponding and determined segment of limited number of heights (according to natural laws) for a certain age group, then the minimum number of manikins theoretically included in the sample database can be obtained.
Of course, the size and age group should be considered, for example, the age group corresponding to teenagers should be divided more in detail than the age group corresponding to middle age, and the size and age group should be considered.
Therefore, the information weight of the human body model in the sample database can be greatly reduced, the difficulty in collecting and processing data is reduced, large errors of the position information and the size information of the initial tissue of the target tissue cannot be caused, and the practicability is high.
In particular, after determining the recommended location of the wound, further considering how to present the recommended location of the wound, the recommended location of the wound and the associated data are displayed via a display screen in some embodiments.
In contrast to the embodiment only displayed by the display screen, in the above embodiment, the surgical assistant positioning system further includes a master-slave surgical robot, and after step S4, the method further includes:
and S5, calibrating the spatial position relation between the mechanical arm system 1 of the master-slave surgical robot and the calibrated tissues.
Illustratively, the surgery auxiliary positioning system further comprises a camera, and the spatial position relationship between the mechanical arm system 1 and the calibration tissue is calibrated through image information of the camera. Thereby enabling subsequent operations to be facilitated.
And S6, controlling the endoscope 11 and the surgical instrument 13 connected with the mechanical arm system 1 to move according to the spatial position relation and the recommended position of the wound, so as to indicate the recommended position of the corresponding wound through the positions of the endoscope 11 and the surgical instrument 13.
Illustratively, the distal end of the endoscope 11 is moved to the recommended position of the corresponding wound by controlling the actions of the joints of the endoscope holding arm 15, for example, to the position right above the recommended position of the corresponding wound and spaced by 10-20cm from the human body. Of course, may be moved to a position diagonally above the recommended location of the corresponding lesion, which may be indicated according to agreed rules.
The movement position of the distal end of the surgical instrument 13 is similarly achieved by controlling the movements of the joints of the instrument arm 12, and will not be described in detail here.
Therefore, on one hand, the recommended positions of the corresponding wounds are indicated through the positions of the endoscope 11 and the surgical instrument 13, the indication is clear, the reliability is high, and the recommended positions of the wounds are not required to be displayed to a doctor by means of other equipment; on the other hand, the incision site corresponding to the movement of the endoscope 11 and the surgical instrument 13 reduces the workload of manual operation of the doctor, improves the efficiency, and reduces the burden on the doctor.
Optionally, the surgical assistant positioning system further includes an operating bed 2, and step S5 includes:
adjusting the relative positions of the cross laser of the mechanical arm system 1 and the operating bed 2 so that the cross laser is positioned in a preset area of the operating bed 2;
adjusting the relative positions of the calibration tissue and the cross laser and enabling the cross laser to be aligned with the calibration tissue.
It should be understood that the cross laser is emitted from the laser generator 14 provided in the robot arm system 1, and the position adjustment of the cross laser is performed by adjusting the position of the laser generator 14, and when the position of the laser generator 14 is moved, the arms of the robot arm system 1 are moved integrally with the laser generator 14.
The predetermined area of the operating bed 2 is set considering that the patient should have a certain space on both left and right sides when lying on the bed, and generally, the predetermined area is a central area of the operating bed 2, and can be generally understood as the center of the operating bed 2.
Illustratively, the calibration tissue is the navel of the patient, so that the cross laser is aligned with the navel to realize the calibration of the spatial position relationship between the mechanical arm system 1 and the calibration tissue.
It should be noted that, in general, the abdominal surgery generally comprises three incisions, the first incision for the passage of the endoscope 11, the second incision and the third incision for the passage of one surgical instrument 13, respectively, the three incisions being collinear and spaced apart from the target tissue by 10-20cm, for example, 16-20 cm. The distance between two adjacent wounds is 6-9cm, for example 8 cm.
Yet another embodiment of the present invention provides a surgical assistant positioning system, which includes a detecting device and a control device as shown in fig. 3, wherein the detecting device is used for measuring bioelectrical impedance of a patient by using bioelectrical impedance measurement, and the detecting device is connected with the control device in communication; the control device comprises an acquisition module and a positioning module,
the acquisition module is used for acquiring basic information and abdominal cavity operation information of a patient, wherein the basic information comprises the sex, the height and the age of the patient, and is used for acquiring detection information of the detection device to obtain bioelectrical impedance information;
the positioning module is used for obtaining target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal cavity operation information and the sample database, wherein the target tissue information comprises position information and tissue size information of a target tissue relative to a calibration tissue; and determining the recommended position of the wound according to the tissue size information, the position information and the abdominal operation information.
It should be noted that the surgical assistant positioning system is used to implement the surgical assistant positioning method described in the above embodiments, and some contents related to the surgical assistant positioning system have been described above, and those skilled in the art can obtain more details of the assistant positioning system according to the contents of the method section, and vice versa.
Therefore, the surgery auxiliary positioning system can roughly judge the condition of a patient, such as whether target tissues are hypertrophic or not, by acquiring the bioelectrical impedance information of the patient and obtaining the target tissue information of the patient by combining the basic information, the bioelectrical impedance information, the abdominal cavity surgery information and the sample database, so that the recommended position of a wound can be obtained, a doctor can quickly find the position of the wound according to the recommended position and correspondingly adjust the position according to actual needs, the workload of the doctor is reduced, or the doctor can conveniently learn to judge and train the position of the wound. And the bioelectrical impedance measurement mode basically has no radioactivity, less harm and high safety.
As shown in fig. 4 and 5, further, the positioning module is also used for calibrating the spatial position relationship between the robotic arm system 1 of the master-slave surgical robot and the calibration tissue; controlling the endoscope 11 and the surgical equipment 13 connected with the mechanical arm system 1 to move according to the spatial position relation and the recommended positions of the wounds so as to indicate the recommended positions of the corresponding wounds through the positions of the endoscope 11 and the surgical equipment 13.
As shown in fig. 6, further, the surgery auxiliary positioning system further includes an operating table 2, the detection device is connected to the operating table 2, the detection device includes at least four detection heads, wherein the four detection heads are respectively used for being attached to wrists and ankles of a human body.
So, when the patient lies in operation table 2, laminate four detection heads to two wrists and two ankle departments of human body respectively to the realization detects the bioelectrical impedance of patient.
Further, the operation table 2 includes a bed body 21 and at least one connecting piece, every the connecting piece all is provided with one detect the head, the connecting piece with bed body 21 can be dismantled to be connected or the connecting piece is hidden set up in bed body 21, at least one the connecting piece be for set up in the handrail 23 of bed body 21 both sides.
Illustratively, the detecting head is mounted on the armrest 23, and is connected to the upper surface of the armrest 23 through a snap-fit connection structure, for example, when a patient holds the detecting head, the detecting head can be used for detecting the bioelectrical impedance, thereby simplifying the detection difficulty.
Furthermore, one end of the operating bed 2 is further provided with a guard plate 22, the guard plate 22 is movably provided with a pedal 24, and at least one connecting member is the pedal 24. The pedals 24 can be moved along the length of the operating bed 2. For example, a spring or other drive member is disposed between the footrests 24 and the apron 22.
Like this, when the patient lies in operation table 2, both hands are placed in the first department of detection on two handrails 23 about, and both feet detect with two first detection that set up on pedal 24 respectively to realize bioelectrical impedance's detection, should understand, the position that operation table 2 and human contact should adopt insulating material to make.
As shown in fig. 7, the operation table 2 is a foldable wheelchair table, which includes a first use state and a second use state, and in the first use state, the operation table 2 is used as the operation table, and in the second use state, the operation table is used as a wheelchair, when the operation table is used as the wheelchair, a patient sits on the operation table, holds the armrest 23 with both hands, and steps on the pedals 24 with feet, so that the bioelectrical impedance detection can be realized.
The operating bed 2 may also be in wireless communication with the positioning module. So, can perhaps accomplish the detection of bioelectrical impedance fast before getting into the operating room, reduce the occupation time of operating room, simple structure, the practicality is strong.
In the above embodiment, the surgical assistant positioning system further comprises a human-computer interaction interface, and the human-computer interaction interface is at least used for displaying information and/or providing information for a doctor to input.
Illustratively, the human-machine interface is disposed on the operating bed 2, and/or the human-machine interface is disposed on a side of a display of a console of the master-slave surgical robot.
Illustratively, the human-computer interface is used for a physician to input basic information about the patient.
Illustratively, the human-computer interface is used for displaying a recommended position image of the wound after determining the recommended position of the wound, and/or for a doctor to adjust the position of the wound.
In the description of the present specification, it is to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, and may be, for example, a fixed connection or a detachable connection. The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
In the description herein, references to the description of the terms "an embodiment," "one embodiment," "some embodiments," "exemplary," etc., mean that a particular feature, structure, etc., described in connection with the embodiment or embodiments is included in at least one embodiment or embodiment. The above schematic representations do not necessarily refer to the same embodiment or implementation. The particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.
Claims (10)
1. A surgical assistant positioning method is applied to a surgical assistant positioning system, the surgical assistant positioning system comprises a detection device for detecting bioelectrical impedance, and the method comprises the following steps:
acquiring basic information and abdominal cavity operation information of a patient, wherein the basic information comprises the sex, the height and the age of the patient;
acquiring detection information of the detection device to obtain bioelectrical impedance information of the patient;
obtaining target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal cavity operation information and a sample database, wherein the target tissue information comprises position information and tissue size information of a target tissue relative to a calibration tissue;
and determining the recommended position of the wound according to the tissue size information, the position information and the abdominal operation information.
2. The method of claim 1, wherein obtaining target tissue information of a target tissue of a patient from the basic information, the bioelectrical impedance information, the laparoscopic surgery information, and a sample database comprises:
searching a matched human body model in the sample database according to the basic information and the abdominal cavity operation information to determine the position information and the initial tissue size information of the target tissue, wherein the sample database comprises a plurality of human body models, and each human body model is determined according to the sex, the height and the age of a human body;
generating tissue size adjustment information of the target tissue according to the bioelectrical impedance information and the sample database, wherein the sample database also comprises the corresponding bioelectrical impedance information and the corresponding tissue size adjustment information;
and generating the tissue size information of the target tissue according to the initial tissue size information and the tissue size adjustment information.
3. A surgical assisted positioning method according to claim 2 in which each said mannequin of the sample database is determined by sex, size and age of the person.
4. A surgical aid according to any one of claims 1 to 3 wherein the surgical aid further comprises a master-slave surgical robot, and after determining the recommended location of the lesion, the method further comprises:
calibrating a spatial position relationship between the mechanical arm system (1) of the master-slave surgical robot and the calibration tissue;
controlling the endoscope (11) and the surgical instrument (13) connected with the mechanical arm system (1) to move according to the spatial position relation and the recommended position of the wound so as to indicate the recommended position of the corresponding wound through the positions of the endoscope (11) and the surgical instrument (13).
5. The surgical assisted positioning method according to claim 4, characterized in that the surgical assisted positioning system further comprises an operating table (2), and the calibrating the spatial position relationship between the manipulator system (1) of the master-slave surgical robot and the calibration tissue comprises:
adjusting the relative position of a cross laser of the robotic arm system (1) and the operating bed (2) such that the cross laser is located within a predetermined area of the operating bed (2);
adjusting the relative positions of the calibration tissue and the cross laser and enabling the cross laser to be aligned with the calibration tissue.
6. A surgical assistant positioning system is characterized by comprising a detection device and a control device, wherein the detection device is used for measuring bioelectrical impedance of a patient by adopting bioelectrical impedance measurement, and the detection device is in communication connection with the control device; the control device comprises an acquisition module and a positioning module,
the acquisition module is used for acquiring basic information and abdominal cavity operation information of a patient, wherein the basic information comprises the sex, the height and the age of the patient, and is used for acquiring detection information of the detection device to obtain bioelectrical impedance information;
the positioning module is used for obtaining target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal cavity operation information and the sample database, wherein the target tissue information comprises position information and tissue size information of a target tissue relative to a calibration tissue; and determining the recommended position of the wound according to the tissue size information, the position information and the abdominal operation information.
7. The surgical assisted positioning system of claim 6, characterized in that the positioning module is further configured to calibrate a spatial positional relationship between a manipulator system (1) of a master-slave surgical robot and the calibrated tissue; controlling the endoscope (11) and the surgical instrument (13) connected with the mechanical arm system (1) to move according to the spatial position relation and the recommended position of the wound so as to indicate the recommended position of the corresponding wound through the positions of the endoscope (11) and the surgical instrument (13).
8. The surgical assistant positioning system according to claim 6, further comprising an operating bed (2), wherein the detecting device is connected to the operating bed (2), and the detecting device comprises at least four detecting heads, wherein the four detecting heads are respectively used for being attached to wrists and ankles of a human body.
9. The surgical auxiliary positioning system according to claim 8, wherein the surgical bed (2) comprises a bed body (21) and at least one connecting member, each connecting member is provided with one of the detecting heads, the connecting member is detachably connected with the bed body (21) or is arranged on the bed body (21) in a concealed manner, and at least one connecting member is an armrest (23) arranged on two sides of the bed body (21).
10. A surgical assistant positioning system according to any one of claims 6 to 9, further comprising a human-machine interface at least for displaying information and/or for inputting information by a doctor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110958856.XA CN113648058B (en) | 2021-08-20 | 2021-08-20 | Operation auxiliary positioning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110958856.XA CN113648058B (en) | 2021-08-20 | 2021-08-20 | Operation auxiliary positioning method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113648058A true CN113648058A (en) | 2021-11-16 |
| CN113648058B CN113648058B (en) | 2023-01-13 |
Family
ID=78481518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110958856.XA Active CN113648058B (en) | 2021-08-20 | 2021-08-20 | Operation auxiliary positioning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113648058B (en) |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000107148A (en) * | 1998-10-05 | 2000-04-18 | Sekisui Chem Co Ltd | Body composition estimating method and apparatus therefor and memory medium storing body composition estimating program |
| US20020111559A1 (en) * | 2001-02-15 | 2002-08-15 | Tanita Corporation | Visceral fat measuring apparatus |
| US20030050570A1 (en) * | 2001-07-19 | 2003-03-13 | Tanita Corporation | Apparatus for measurement of living body |
| US20060085049A1 (en) * | 2004-10-20 | 2006-04-20 | Nervonix, Inc. | Active electrode, bio-impedance based, tissue discrimination system and methods of use |
| JP2008036449A (en) * | 2007-09-28 | 2008-02-21 | Tanita Corp | Visceral fat measuring system |
| US20090198300A1 (en) * | 2008-02-01 | 2009-08-06 | Siemens Medical Solutions Usa, Inc. | System for Characterizing Patient Tissue Impedance for Monitoring and Treatment |
| JP2009183746A (en) * | 2009-04-17 | 2009-08-20 | Tanita Corp | Visceral fat accumulation information presumption apparatus |
| CN103230272A (en) * | 2013-04-23 | 2013-08-07 | 中国科学院电工研究所 | Method and device for hepatopathy nutrition state detection |
| US20130218045A1 (en) * | 2011-08-22 | 2013-08-22 | Joel Ironstone | Method and System for Disease Risk Management |
| CN103750895A (en) * | 2014-01-07 | 2014-04-30 | 北京航空航天大学 | Full view vertebral pedicle operation assisting navigation device and method based on bioelectrical impedance |
| CN105534524A (en) * | 2016-02-05 | 2016-05-04 | 思澜科技（成都）有限公司 | Device and method for quickly recognizing parathyroid gland in thyroid surgery |
| CN105943161A (en) * | 2016-06-04 | 2016-09-21 | 深圳市前海康启源科技有限公司 | Surgical navigation system and method based on medical robot |
| CN106691491A (en) * | 2017-02-28 | 2017-05-24 | 赛诺威盛科技（北京）有限公司 | CT (computed tomography) positioning system implemented by using visible light and infrared light and CT positioning method |
| CN107767957A (en) * | 2017-10-27 | 2018-03-06 | 秦皇岛市惠斯安普医学系统股份有限公司 | A kind of health risk assessment system based on bio-electrical impedance technology |
| CN107811710A (en) * | 2017-10-31 | 2018-03-20 | 微创（上海）医疗机器人有限公司 | Operation aided positioning system |
| CN109223180A (en) * | 2018-10-15 | 2019-01-18 | 河北医科大学第三医院 | Orthopaedics operation navigation system |
| CN111477327A (en) * | 2020-05-22 | 2020-07-31 | 中国人民解放军东部战区总医院 | Individualized epilepsy quantitative imaging auxiliary diagnosis system based on big data |
| CN111568545A (en) * | 2020-04-13 | 2020-08-25 | 利辛县儒康医药有限公司 | Medical operation auxiliary device and working method thereof |
| CN212140442U (en) * | 2019-01-04 | 2020-12-15 | 沈阳市康预来科技有限公司 | Noninvasive bioelectrical impedance blood oxygen-adding collection sub-health screening risk assessment instrument |
| CN112998686A (en) * | 2019-12-20 | 2021-06-22 | 金上达科技股份有限公司 | Human body biological information detection device and method thereof |
| US20210186358A1 (en) * | 2019-12-20 | 2021-06-24 | Goldensunda Technology Co., Ltd. | Bioelectrical impedance measurement device and method thereof |
-
2021
- 2021-08-20 CN CN202110958856.XA patent/CN113648058B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000107148A (en) * | 1998-10-05 | 2000-04-18 | Sekisui Chem Co Ltd | Body composition estimating method and apparatus therefor and memory medium storing body composition estimating program |
| US20020111559A1 (en) * | 2001-02-15 | 2002-08-15 | Tanita Corporation | Visceral fat measuring apparatus |
| US20030050570A1 (en) * | 2001-07-19 | 2003-03-13 | Tanita Corporation | Apparatus for measurement of living body |
| US20060085049A1 (en) * | 2004-10-20 | 2006-04-20 | Nervonix, Inc. | Active electrode, bio-impedance based, tissue discrimination system and methods of use |
| JP2008036449A (en) * | 2007-09-28 | 2008-02-21 | Tanita Corp | Visceral fat measuring system |
| US20090198300A1 (en) * | 2008-02-01 | 2009-08-06 | Siemens Medical Solutions Usa, Inc. | System for Characterizing Patient Tissue Impedance for Monitoring and Treatment |
| JP2009183746A (en) * | 2009-04-17 | 2009-08-20 | Tanita Corp | Visceral fat accumulation information presumption apparatus |
| US20130218045A1 (en) * | 2011-08-22 | 2013-08-22 | Joel Ironstone | Method and System for Disease Risk Management |
| CN103230272A (en) * | 2013-04-23 | 2013-08-07 | 中国科学院电工研究所 | Method and device for hepatopathy nutrition state detection |
| CN103750895A (en) * | 2014-01-07 | 2014-04-30 | 北京航空航天大学 | Full view vertebral pedicle operation assisting navigation device and method based on bioelectrical impedance |
| CN105534524A (en) * | 2016-02-05 | 2016-05-04 | 思澜科技（成都）有限公司 | Device and method for quickly recognizing parathyroid gland in thyroid surgery |
| CN105943161A (en) * | 2016-06-04 | 2016-09-21 | 深圳市前海康启源科技有限公司 | Surgical navigation system and method based on medical robot |
| CN106691491A (en) * | 2017-02-28 | 2017-05-24 | 赛诺威盛科技（北京）有限公司 | CT (computed tomography) positioning system implemented by using visible light and infrared light and CT positioning method |
| CN107767957A (en) * | 2017-10-27 | 2018-03-06 | 秦皇岛市惠斯安普医学系统股份有限公司 | A kind of health risk assessment system based on bio-electrical impedance technology |
| CN107811710A (en) * | 2017-10-31 | 2018-03-20 | 微创（上海）医疗机器人有限公司 | Operation aided positioning system |
| CN109223180A (en) * | 2018-10-15 | 2019-01-18 | 河北医科大学第三医院 | Orthopaedics operation navigation system |
| CN212140442U (en) * | 2019-01-04 | 2020-12-15 | 沈阳市康预来科技有限公司 | Noninvasive bioelectrical impedance blood oxygen-adding collection sub-health screening risk assessment instrument |
| CN112998686A (en) * | 2019-12-20 | 2021-06-22 | 金上达科技股份有限公司 | Human body biological information detection device and method thereof |
| US20210186358A1 (en) * | 2019-12-20 | 2021-06-24 | Goldensunda Technology Co., Ltd. | Bioelectrical impedance measurement device and method thereof |
| CN111568545A (en) * | 2020-04-13 | 2020-08-25 | 利辛县儒康医药有限公司 | Medical operation auxiliary device and working method thereof |
| CN111477327A (en) * | 2020-05-22 | 2020-07-31 | 中国人民解放军东部战区总医院 | Individualized epilepsy quantitative imaging auxiliary diagnosis system based on big data |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113648058B (en) | 2023-01-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2019352792B2 (en) | Indicator system | |
| US20240245387A1 (en) | Anatomical Attachment Device and Associate Methods of Use | |
| JP7317723B2 (en) | Electromagnetic field distortion detection | |
| JP6626110B2 (en) | Devices and systems including mechanical arms | |
| JP6659547B2 (en) | Simulator system for medical procedure training | |
| KR102476150B1 (en) | Systems and methods of steerable elongated devices | |
| JP3608448B2 (en) | Treatment device | |
| KR101324868B1 (en) | Systems and methods for performing surface electromyography and range-of-motion tests | |
| EP2233099B1 (en) | Computer-assisted system for guiding a surgical instrument during percutaneous diagnostic or therapeutic operations | |
| KR20240035632A (en) | Biopsy apparatus and system | |
| US20140031668A1 (en) | Surgical and Medical Instrument Tracking Using a Depth-Sensing Device | |
| EP3926639A1 (en) | Machine learning system for navigated orthopedic surgeries | |
| KR20180058656A (en) | Reality - Enhanced morphological method | |
| CN106456148A (en) | Medical devices, systems, and methods using eye gaze tracking | |
| KR101403968B1 (en) | Medical Surgery Simulation Apparatus and Method therefor | |
| US10849602B2 (en) | Method of conducting a minimally invasive surgical procedure and rkh-i apparatus for the implementation thereof | |
| JP2015528713A (en) | Surgical robot platform | |
| WO2012033739A2 (en) | Surgical and medical instrument tracking using a depth-sensing device | |
| CN113648058B (en) | Operation auxiliary positioning method and system | |
| JP2021153773A (en) | Robot surgery support device, surgery support robot, robot surgery support method, and program | |
| Yang et al. | Enhancement of spatial orientation and haptic perception for master-slave robotic Natural Orifice Transluminal Endoscopic Surgery | |
| EP3607885A1 (en) | Ultrasonic diagnostic apparatus | |
| JP7427136B2 (en) | one dimensional position indicator | |
| JP7182127B2 (en) | ROBOT SURGERY SUPPORT DEVICE, INFORMATION OUTPUT METHOD, AND PROGRAM | |
| Robles-Bykbaev | Anthropometric Evaluation and Operation Room Design Analysis for Laparoscopic Surgeries in Cuenca, Ecuador |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |