CN113648058B

CN113648058B - Operation auxiliary positioning method and system

Info

Publication number: CN113648058B
Application number: CN202110958856.XA
Authority: CN
Inventors: 张芷毓; 庞海峰
Original assignee: Suzhou Kangduo Robot Co ltd
Current assignee: Suzhou Kangduo Robot Co ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2023-01-13
Anticipated expiration: 2041-08-20
Also published as: CN113648058A

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 a 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

Operation auxiliary positioning method and system

Technical Field

The invention relates to the technical field of operation auxiliary positioning, in particular to an operation 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) and a robotic arm system (i.e., the slave). 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 position of the cross laser of the mechanical arm system and the operating table so that the cross laser is positioned in a preset area of the operating table;

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 mechanical arm system of the master-slave surgical robot and the calibration tissue; controlling an endoscope and a 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 is 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 assisted positioning system further comprises a human-computer interface for at least displaying information and/or for inputting information by a doctor.

Therefore, the surgical assistant positioning system can roughly judge the condition of the patient, such as whether the target tissue is hypertrophied, by acquiring the bioelectrical impedance information of the patient and by using the bioelectrical impedance information, and obtain the target tissue information of the patient by combining the basic information, the bioelectrical impedance information, the abdominal surgery information and the sample database, so that the recommended position of the wound can be obtained, a doctor can 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 learn to perform the wound position judgment training. 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 table 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, where the surgical assistant positioning system includes a detection device for detecting a bioelectrical impedance, and the method includes the following steps S1 to S4.

Step S1, 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.

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 retrieved from the database system (which may be a medical record system, for example). 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 S2, acquiring detection information of the detection device to obtain 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 be related to bioelectrical impedance detection equipment, 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.

And S3, 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.

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 difference in the size and location of the target tissue, there is also some difference 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 S4, determining the recommended position of the wound according to the tissue size information, the position information and the abdominal 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. Moreover, 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 a 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 patient, a matching manikin can be found in the sample database according to their sex, 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 may 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 adjusted 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.

Optionally, in the step S31, each of the human body models in the sample database is determined according to the sex of the human body, the section of the height, and the age of the age.

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 range should be considered, for example, the age range corresponding to teenagers should be divided into more detailed age ranges corresponding to middle age, and the size and age range should be divided into more detail.

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 the recommended location of the wound is to be revealed, 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 auxiliary 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 calibration tissue.

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 of the distal end of the surgical instrument 13 is similarly caused 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 auxiliary 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;

and adjusting the relative positions of the calibration tissue and the cross laser and aligning the cross laser to 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 operation generally includes 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, and the three incisions are collinear and spaced apart from the target tissue by 10-20cm, for example, 16-20cm. The distance between two adjacent wounds is 6-9cm, for example 8cm.

A further embodiment of the present invention provides a surgical assistant positioning system, which comprises a detection device and a control device as shown in fig. 3, wherein the detection device is used for measuring a bioelectrical impedance of a patient by using a bioelectrical impedance measuring method, and the detection device is communicatively connected with the control device; the control device comprises an acquisition module and a positioning module,

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. Moreover, 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 detection head is mounted on the armrest 23, for example, the detection head is connected to the upper surface of the armrest 23 through a snap-fit connection structure, and when a patient holds the detection head, the detection 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 operating bed 2 is a foldable wheelchair bed, which includes a first use state and a second use state, wherein in the first use state, the operating bed 2 is used as the operating bed, and in the second use state, the operating bed is used as a wheelchair, when the operating bed is used as the wheelchair, a patient sits on the operating bed, holds the armrests 23 with both hands, and steps on the pedals 24, so as to realize the detection of the bioelectrical impedance.

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 "an embodiment," "one embodiment," "some embodiments," "exemplary," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment or embodiment 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

1. A surgery auxiliary positioning method is characterized by being applied to a surgery auxiliary positioning system, wherein the surgery auxiliary positioning system comprises a detection device for detecting bioelectrical impedance, and the method comprises the following steps:

determining a recommended position of a wound according to the tissue size information, the position information and the abdominal operation information;

the obtaining of the target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal cavity operation information and the sample database comprises:

searching a matched human body model in the sample database according to the basic information and the abdominal cavity operation information so as to determine the position information and the initial tissue size information of the target tissue;

generating tissue size adjustment information of the target tissue according to the bioelectrical impedance information and the sample database;

generating the tissue size information of the target tissue according to the initial tissue size information and the tissue size adjustment information;

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; the sample database further comprises corresponding bioelectrical impedance information and tissue sizing information.

2. A surgical assisted positioning method according to claim 1 in which each said mannequin of the sample database is determined by sex, size and age of the person.

3. A surgical aid according to any one of claims 1 to 2 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 a 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).

4. The surgical assisted positioning method according to claim 3, characterized in that the surgical assisted positioning system further comprises an operating table (2), and the calibrating the spatial position relationship between the robotic arm 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);

5. 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 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; determining a recommended position of a wound according to the tissue size information, the position information and the abdominal operation information;

the obtaining of the target tissue information of the patient according to the basic information, the bioelectrical impedance information, the abdominal operation information and the sample database comprises:

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; the sample database also comprises the corresponding bioelectrical impedance information and the tissue size adjustment information.

6. The surgical assisted positioning system of claim 5, characterized in that the positioning module is further configured to calibrate a spatial positional relationship between a robotic arm 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).

7. 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.

8. The surgical auxiliary positioning system according to claim 7, wherein the surgical bed (2) comprises a bed body (21) and at least one connecting member, each connecting member is provided with one detection head, the connecting member is detachably connected with the bed body (21) or is arranged on the bed body (21) in a hidden manner, and at least one connecting member is an armrest (23) arranged on two sides of the bed body (21).

9. A surgical assisted positioning system according to any of claims 5 to 8, further comprising a human machine interface for at least displaying information and/or for entry of information by a physician.