CN113876427B - Detection device and method for intracavity clamp - Google Patents
Detection device and method for intracavity clamp Download PDFInfo
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
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- A—HUMAN NECESSITIES
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- 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
- A61B90/06—Measuring instruments not otherwise provided for
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Abstract
The invention relates to the technical field of medical equipment, and discloses a detection device and a detection method for an intracavity clamp. And the space positioning module is used for obtaining the coordinates of the clamp endpoint. The model building module is used for obtaining a three-dimensional model of the clamp and clamp three-dimensional model coordinates. The outlier determining module is used for determining the outlier and the coordinate thereof. The lesion point determination module is used for obtaining the type and the shape of a lesion model. The camera module is used for shooting the position of a disease point to obtain an image of the position of the disease point. The size analysis module is used for obtaining the size of the lesion. The distance measuring module is used for obtaining the coordinates of the closest point on the clamp to the disease point. The display module is used for three-dimensional display. The invention can display the three-dimensional environment model and the three-dimensional model of the clamp through the display module, is convenient for the operation of the clamp and can be observed in three dimensions.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a detection device and a detection method for an intracavity clamp.
Background
The pliers divide into industrial pliers and medical clamp, medical clamp is used for centre gripping article such as gauze, absorbent cotton, also is used for taking out foreign matter etc. in patient's inner chamber or the wound, especially when being used for taking out the foreign matter in the patient's inner chamber, because the very long and fixed unchangeable of handle of ordinary pliers, consequently to the different degree of depth foreign matters in patient's inner chamber, the activity space of pliers is great during the operation, because the operation is in invisible environment, not only it is big to stretch into the inner chamber degree of difficulty, still bring the misery for patient during the operation.
Disclosure of Invention
In order to solve the technical problem, the invention provides a detection device of an intracavity clamp, which comprises a three-dimensional scanning module, a space positioning module, a model construction module, a camera module and a display module;
the three-dimensional scanning module is used for scanning the intracavity environment, constructing an intracavity three-dimensional environment model and intracavity space coordinates and establishing a coordinate system;
the space positioning modules are arranged at the end parts of the clamps and used for sensing the positions of the clamps and acquiring coordinates of the end points of the clamps;
the model building module is used for receiving the coordinates of the clamp endpoint and obtaining a three-dimensional model of the clamp and the coordinates of the clamp three-dimensional model through a preset positioning-model building table;
the abnormal point determining module is used for receiving the three-dimensional environment model, comparing the three-dimensional environment model with the standard organization model and determining abnormal points and coordinates thereof;
the lesion site determination module is used for searching a preset coordinate-lesion model table to obtain a tissue standard model, and comparing the abnormal site with the tissue lesion model to obtain the type and the shape of the lesion model;
the camera module is used for shooting the position of a disease point to obtain an image of the position of the disease point;
the size analysis module is used for measuring the disease points to obtain the sizes of the disease points;
the distance measuring module is used for measuring the distance between the disease point and the clamp and obtaining the coordinate of the point on the clamp closest to the disease point;
and the display module is used for displaying the three-dimensional environment model, the intracavity space coordinates and the clamp three-dimensional model coordinates.
Preferably: the detection device of the intracavity clamp comprises a tissue type determination module which is used for analyzing the three-dimensional environment model, the intracavity space coordinates and the current cavity position to obtain the tissue type.
Preferably: the detection device of the intracavity clamp comprises a danger prediction module, wherein the danger prediction module is used for judging whether the moving speed of the clamp is greater than a preset speed threshold value or not; if so, predicting the moving track of the clamp, judging the collision probability of the tissue in the cavity, and calculating the tissue collision injury index according to the tissue type.
Preferably: the detection device of the intracavity clamp comprises a microscopic module, and the microscopic module is used for amplifying the disease point to obtain an amplified image of the disease point.
Preferably: the detection device of the intracavity clamp comprises an operation prejudging module, wherein the operation prejudging module is used for prejudging the clamping position of the disease point according to the type, size, coordinate and position image of the disease point and displaying the clamping position through a display module.
Preferably: the pre-judging method of the operation pre-judging module is to prepare a kind, size and coordinate-clamping position table in advance and determine the type, size and coordinate-clamping position table through table look-up.
Preferably: the detection device of the intracavity clamp also comprises a pre-judging and supplementing module, wherein the pre-judging and supplementing module is used for supplementing the information of the relation between the type, the size, the coordinate and the clamping position into a table of the type, the size, the coordinate and the clamping position.
The invention also provides a detection method of the intracavity clamp, which is applied to the detection device of the intracavity clamp, and the detection method of the intracavity clamp comprises the following steps:
s1, scanning the intracavity environment, and constructing an intracavity three-dimensional environment model, an intracavity space coordinate and a space coordinate system;
s2, obtaining coordinates of a clamp endpoint, and obtaining a three-dimensional model of the clamp and coordinates of the clamp three-dimensional model through a preset positioning-model building table;
s3, comparing the three-dimensional environment model with the standard organization model, and determining abnormal points and coordinates thereof;
s4, searching a preset coordinate-lesion model table to obtain a tissue standard model;
s5, comparing the abnormal point with the tissue lesion model to obtain the type and shape of the lesion model;
s6, acquiring a focus position image;
s7, measuring the disease points to obtain the sizes of the disease points;
s8, measuring the distance between the disease point and the clamp, and obtaining the coordinate of the point on the clamp closest to the disease point;
and S9, displaying the three-dimensional environment model, the coordinates of the intracavity space and the coordinates of the clamp three-dimensional model.
The invention also provides a computer terminal which is used for realizing the steps of the detection method of the intracavity clamp when executing the computer program stored in the memory.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for endoluminal clip detection.
The invention has the technical effects and advantages that: the display module is used for displaying the three-dimensional environment model and the three-dimensional model of the clamp, so that the clamp is convenient to operate and observe in a three-dimensional mode, and the operation is clear. The display module can display the distance from the disease point to the clamp, and obtain the coordinates of the closest point of the clamp to the disease point, so as to determine how to operate more accurately and reduce the operation error.
Drawings
Fig. 1 is a structural block diagram of a detection device for an endoluminal clamp according to the present invention.
Fig. 2 is a flowchart of a detection device for intraluminal clamp according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Example 1
Referring to fig. 1, in this embodiment, a device for detecting an intracavity clamp is provided, which is used to detect a position of the intracavity clamp, and the device for detecting an intracavity clamp includes a three-dimensional scanning module, a spatial positioning module, a model building module, a camera module, and a display module.
And the three-dimensional scanning module is used for scanning the intracavity environment, constructing an intracavity three-dimensional environment model and an intracavity space coordinate and establishing a coordinate system. The three-dimensional scanning module may be mounted on the clamp or on an insert, preferably an insert, inserted into the cavity. Being mounted on the insert prevents the three-dimensional scanning module from moving as the clamp moves. The embedded part can be a needle-shaped structure, the three-dimensional scanning module is arranged at the top of the needle-shaped structure, and before operation, the needle-shaped structure is inserted into a cavity to be operated to scan the environment in the cavity. The three-dimensional scanning module may be a camera, a laser scanner, or the like, and is not described herein in detail.
The space positioning module is provided with a plurality of space positioning modules, arranged at the end part of the clamp and used for sensing the position of the clamp and obtaining the coordinates of the end point of the clamp. For example, the space orientation module can be installed at the end part, the bending point, the rotation connection point and the like of the clamp clamping end, so that the omnibearing position of the clamp can be comprehensively obtained.
And the model building module is used for receiving the coordinates of the clamp endpoint and obtaining the three-dimensional model of the clamp and the coordinates of the clamp three-dimensional model through a preset positioning-model building table. The positioning-model can obtain a three-dimensional model of the whole clamp through various coordinates by the shape and the size of the clamp, the position of the space positioning module on the clamp and the like.
And the tissue type determining module is used for analyzing the three-dimensional environment model, the intracavity space coordinates and the current cavity position and distinguishing and obtaining the tissue type. For example, the inside of the abdominal cavity is currently operated, the current position of the inside of the abdominal cavity is determined, the shape, size, tissue surface environment and the like of each tissue inside the abdominal cavity can be obtained through the three-dimensional environment model, and each tissue inside the abdominal cavity can be determined through coordinates of the inside of the tissue inside the abdominal cavity. For example, the appendix is excised, the position of the appendix in the abdominal cavity is determined, the abdominal cavity wall, the cecum, the small intestine and the like in the abdominal cavity can be obtained through a three-dimensional environment model, and then each organ and the name around the operation point in the abdominal cavity can be determined according to the coordinates of the organ in the abdominal cavity.
And the abnormal point determining module is used for receiving the three-dimensional environment model, analyzing and scanning the three-dimensional environment model, comparing the three-dimensional environment model with the standard organization model and determining the abnormal point and the coordinates of the abnormal point. For example, when the appendix is operated, the three-dimensional environment model obtained is compared with the standard tissue model, and the position of the cecum end is compared with the standard tissue model, and the appendix is determined as an abnormal point because the appendix is found to have hyperplasia.
And the lesion point determining module searches a preset coordinate-lesion model table for the coordinates of the abnormal points to obtain a tissue standard model, compares the abnormal points with the tissue lesion model to obtain the type and the shape of the lesion model, and accordingly can determine the type of the lesion.
The camera module is used for shooting the position of a disease point to obtain a position image of the disease point, and the position image of the disease point is matched with the three-dimensional environment model to perform abstract and practical guidance and have strong guidance capability. The camera module can be installed on the embedding piece, and the shooting angle of the camera module is controlled by adjusting the position of the embedding piece.
And the microscopic module is used for amplifying the disease points to obtain amplified images of the disease points. The microscope module may be an electron microscope or a high-power camera module, and the magnification of the camera module may also be adjusted, which is not described herein in detail. By amplifying and analyzing the disease points, the operation details of the disease points can be displayed, so that the operation is accurate.
And the size analysis module is used for measuring the disease points to obtain the sizes of the disease points.
And the distance measuring module is used for measuring the distance between the disease point and the clamp and obtaining the coordinate of the point on the clamp closest to the disease point.
And the display module is used for receiving the three-dimensional environment model, the coordinates of the space in the cavity and the coordinates of the three-dimensional model of the clamp and displaying the three-dimensional environment model and the three-dimensional model of the clamp. The display module is used for displaying the three-dimensional environment model and the three-dimensional model of the clamp, so that the operation of the clamp is facilitated, the display module can display the distance from the diseased point to the clamp, the coordinate of the point on the clamp, which is closest to the diseased point, is obtained, and how to accurately operate is determined. The display module can be a touch screen display, and the display angle can be conveniently adjusted by operating the display module.
Example 2
The detection device of the intracavity clamp comprises a danger prediction module which judges whether the moving speed of the clamp is greater than a preset speed threshold value; if so, predicting the moving track of the clamp, judging the collision probability of the tissue in the cavity, and calculating the tissue collision injury index according to the tissue type. When the movement of the clamp exceeds a certain speed, the damage to the organ in the cavity may exist, and the speed threshold may be determined according to the shape and material of the clamp and the injury receiving degree of the organ, which is not described herein in detail.
The space positioning module records flying surrounding scenes of the clamp, if the space positioning module is a video camera, the recorded video images are stored into 1 … … t-1 frame images, 1 … … t-1 frame images are extracted, and the surrounding images are shot by taking the three-dimensional scanning module as a reference point in the 1 … … t-1 frame images, so that a clamp moving track is obtained through fitting, and a coordinate system can be constructed by taking the three-dimensional scanning module as a coordinate origin; the clamp moves in the coordinate system, and the moving relation between the clamp and the coordinate system is determined through the moving track of the clamp. When meeting the tissue, the clamp moves, the tissue appears in the closest frame image at the same time, and the position of the tissue in different images is changed and correlated, so that the tissue is determined and extracted. The method comprises the steps of (1) segmenting an outer contour line of the same tissue in a t-1 frame from a t-th frame image of moving state data and processing the outer contour line to obtain a tissue characteristic line segment; calculating the relative displacement and coordinate values of the clamp at the time t according to the coordinates of the moving state data of the clamp and the track estimation values of the clamp at the time t-1 and the time t; and calculating a collision danger area according to the estimated value of the clamp at the time t, the coordinate value of the tissue and the safe distance, which is not described herein in detail.
Example 3
And the operation pre-judging module is used for pre-judging the clamping position of the disease point according to the type, size, coordinate and position image of the disease point and displaying the clamping position through the display module. The pre-judging method can be set according to the experience of a doctor, a type, size and coordinate-clamping position table can be made in advance, and the determination is carried out through table lookup, which is not described in detail herein.
The detection device of the intracavity clamp also comprises a prejudgment supplement module, and the type, size, coordinate and clamping position relation information is supplemented into the type, size, coordinate and clamping position table, so that the type, size and coordinate and clamping position table can be enriched continuously.
Example 4
Referring to fig. 2, in the present embodiment, a method for detecting an endoluminal clamp is provided, which includes the following steps:
s1, scanning the intracavity environment, and constructing an intracavity three-dimensional environment model, intracavity space coordinates and a space coordinate system.
And S2, acquiring coordinates of the clamp endpoint, and acquiring a three-dimensional model of the clamp and coordinates of the clamp three-dimensional model through a preset positioning-model building table.
And S3, comparing the three-dimensional environment model with the standard organization model, and determining the abnormal point and the coordinates thereof.
And S4, searching a preset coordinate-lesion model table to obtain a tissue standard model.
And S5, comparing the abnormal point with the tissue lesion model to obtain the type and shape of the lesion model.
And S6, acquiring a focus position image.
And S7, measuring the lesion points to obtain the sizes of the lesion points.
And S8, measuring the distance between the disease point and the clamp, and obtaining the coordinate of the point on the clamp closest to the disease point.
And S9, displaying the three-dimensional environment model, the coordinates of the intracavity space and the coordinates of the clamp three-dimensional model.
Example 5
A computer terminal for carrying out the steps of a method for intraluminal detection of a clamp as described above when executing a computer program stored in a memory is provided as a preferred embodiment of the present invention. The computer terminal can be a computer, a smart phone, a control system, other internet of things equipment and the like. The detection method of the intracavity clamp can also be designed into an embedded running program and installed on a computer terminal, such as a singlechip.
A computer-readable storage medium is provided as a preferred embodiment of the present invention, which stores a computer program having the computer program stored thereon. The program, when executed by the processor, implements the steps of the method for detecting endoluminal clamps. When the method for detecting the intracavity clamp is applied, the method can be applied in the form of software, such as a program which is designed to be independently operated by a computer readable storage medium, wherein the computer readable storage medium can be a U disk which is designed to be a U shield, and the U disk is designed to be a program which starts the whole method through external triggering.
The computer program, when being executed by a processor, realizes the steps of the method for detecting endoluminal clamps as described above.
It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art and related arts based on the embodiments of the present invention without any creative effort, shall fall within the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (4)
1. The detection device of the intracavity clamp is characterized by comprising a three-dimensional scanning module, a space positioning module, a model building module, a camera module and a display module;
the three-dimensional scanning module is used for scanning the intracavity environment, constructing an intracavity three-dimensional environment model and intracavity space coordinates and establishing a coordinate system;
the space positioning modules are arranged at the end parts of the clamps and used for sensing the positions of the clamps and acquiring coordinates of the end points of the clamps;
the model building module is used for receiving the coordinates of the clamp endpoint and obtaining a three-dimensional model of the clamp and the coordinates of the clamp three-dimensional model through a preset positioning-model building table;
the abnormal point determining module is used for receiving the three-dimensional environment model, comparing the three-dimensional environment model with the standard organization model and determining abnormal points and coordinates thereof;
the lesion site determination module is used for searching a preset coordinate-lesion model table to obtain a tissue standard model, and comparing the abnormal site with the tissue lesion model to obtain the type and the shape of the lesion model;
the camera module is used for shooting the position of a disease point to obtain an image of the position of the disease point;
the size analysis module is used for measuring the disease points to obtain the sizes of the disease points;
the distance measuring module is used for measuring the distance between the disease point and the clamp and obtaining the coordinate of the point on the clamp closest to the disease point;
the tissue type determining module is used for analyzing the three-dimensional environment model, the intracavity space coordinates and the current cavity position to obtain a tissue type;
the danger prediction module is used for judging whether the moving speed of the clamp is greater than a preset speed threshold value or not; if so, predicting the moving track of the clamp, judging the collision probability of the tissues in the cavity, and calculating the tissue collision injury index according to the tissue type;
the operation pre-judging module is used for pre-judging the clamping position of the disease point according to the type, size, coordinate and position image of the disease point and displaying the clamping position through the display module;
and the display module is used for displaying the three-dimensional environment model, the intracavity space coordinates and the clamp three-dimensional model coordinates.
2. The device for detecting the intraluminal clamp of claim 1, wherein the device for detecting the intraluminal clamp comprises a microscopic module, and the microscopic module performs an amplification process on a lesion to obtain an amplified image of the lesion.
3. The device for detecting the endoluminal clamps as claimed in claim 1, wherein the pre-judging method of the operation pre-judging module is to prepare a kind, size, coordinate-clamping position table in advance and determine the type, size, coordinate-clamping position table by looking up the table.
4. The device for detecting the intracavity forceps as claimed in claim 3, wherein the device further comprises a pre-judging and supplementing module, and the pre-judging and supplementing module is used for supplementing the information on the relationship between the type, the size, the coordinate and the clamping position into a table of the type, the size, the coordinate and the clamping position.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109288591A (en) * | 2018-12-07 | 2019-02-01 | 微创（上海）医疗机器人有限公司 | Surgical robot system |
| CN110547867A (en) * | 2018-05-31 | 2019-12-10 | 上海联影医疗科技有限公司 | control method, device, equipment, storage medium and system of mechanical arm |
| CN112043383A (en) * | 2020-09-30 | 2020-12-08 | 复旦大学附属眼耳鼻喉科医院 | Ophthalmic surgery navigation system and electronic equipment |
| CN214549596U (en) * | 2020-10-16 | 2021-11-02 | 常州朗合医疗器械有限公司 | Medical system |
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| US10182875B2 (en) * | 2016-08-16 | 2019-01-22 | Ethicon Llc | Robotic visualization and collision avoidance |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547867A (en) * | 2018-05-31 | 2019-12-10 | 上海联影医疗科技有限公司 | control method, device, equipment, storage medium and system of mechanical arm |
| CN109288591A (en) * | 2018-12-07 | 2019-02-01 | 微创（上海）医疗机器人有限公司 | Surgical robot system |
| CN112043383A (en) * | 2020-09-30 | 2020-12-08 | 复旦大学附属眼耳鼻喉科医院 | Ophthalmic surgery navigation system and electronic equipment |
| CN214549596U (en) * | 2020-10-16 | 2021-11-02 | 常州朗合医疗器械有限公司 | Medical system |
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