CN114305689B - Surgical navigation positioning method and device and surgical trolley - Google Patents
Surgical navigation positioning method and device and surgical trolley Download PDFInfo
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- CN114305689B CN114305689B CN202111677812.6A CN202111677812A CN114305689B CN 114305689 B CN114305689 B CN 114305689B CN 202111677812 A CN202111677812 A CN 202111677812A CN 114305689 B CN114305689 B CN 114305689B
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Abstract
The embodiment of the invention provides a surgical navigation positioning method and device and a surgical trolley, and relates to the technical field of data processing. The specific implementation scheme is as follows: receiving monitoring data of an operation object sent by a first medical instrument, wherein the first medical instrument is in communication connection with the operation trolley through a data communication interface arranged on the operation trolley, and the first medical instrument is as follows: a medical device for monitoring a physiological state of a surgical subject; analyzing the monitoring data according to the information of the operation to be carried out on the operation object to obtain an analysis result; and generating the indicative information of the operation according to the analysis result. By applying the surgical navigation positioning scheme provided by the embodiment of the invention, the convenience of medical instruments can be improved.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a surgical navigation positioning method and device and a surgical trolley.
Background
When a doctor performs an operation on an operation object, medical equipment is required to perform operation navigation positioning to assist the doctor in completing the operation. In the process of surgical navigation and positioning, a plurality of medical instruments are needed, and each medical instrument completes the setting function. At present, various medical instruments are independently provided with setting functions, so that a doctor needs to operate various medical instruments in the process of surgical navigation and positioning, and the convenience of the various medical instruments in the process of surgical navigation and positioning is poor.
Disclosure of Invention
The embodiment of the invention aims to provide a surgical navigation positioning method, a surgical navigation positioning device and a surgical trolley, which are used for improving the convenience of medical instruments in a surgical process. The specific technical scheme is as follows:
the embodiment of the invention provides a surgical navigation positioning method which is applied to a surgical trolley, wherein the surgical trolley is provided with a plurality of different data communication interfaces, and the method comprises the following steps:
receiving monitoring data of an operation object sent by a first medical instrument, wherein the first medical instrument is in communication connection with the operation trolley through a data communication interface arranged on the operation trolley, and the first medical instrument is as follows: a medical device for monitoring a physiological state of a surgical subject;
analyzing the monitoring data according to the information of the operation to be carried out on the operation object to obtain an analysis result;
generating a surgical navigation positioning path according to the analysis result;
and executing the operation navigation positioning according to the operation navigation positioning path.
Optionally, the generating a surgical navigation positioning path according to the analysis result includes:
determining the type of surgery according to the analysis result;
generating a surgical navigation positioning path according to the surgical type and the analysis result;
The performing surgical navigation positioning according to the surgical navigation positioning path includes:
generating a control instruction aiming at surgical execution equipment according to the surgical navigation positioning path, and controlling the surgical execution equipment to move according to the control instruction, wherein the surgical execution equipment is as follows: the robot is used for executing the operation, and the operation execution equipment is in communication connection with the operation trolley through the data communication interface or is directly connected with the operation trolley.
Optionally, the generating a surgical navigation positioning path according to the surgical type and the analysis result includes:
converting the analysis result into a coordinate system where the operation execution equipment is located;
and generating a surgical navigation positioning path according to the analysis result after the coordinate system conversion and the surgical type.
Optionally, after generating the surgical navigation positioning path according to the surgical type and the analysis result, the method further includes:
and displaying the surgical navigation positioning path on a display device which is in communication connection with the surgical trolley through the data communication interface, so that an operator of the surgical execution device controls the surgical execution device to move according to the surgical navigation positioning path.
Optionally, the analyzing the monitoring data according to the information of the operation to be performed on the operation object to obtain an analysis result includes:
determining a surgical execution device that executes the surgery from among medical instruments that have been communicatively connected to the surgical trolley through the data communication interface according to information of the surgery to be performed on the surgical object;
determining an analysis mode for analyzing the monitoring data according to the function of the operation execution equipment and the type of the monitoring data;
and analyzing the monitoring data according to the analysis mode to obtain an analysis result.
Optionally, the analyzing the monitoring data according to the information of the operation to be performed on the operation object to obtain an analysis result includes:
determining a normal range of the monitoring data in the surgical process according to the information of the surgery to be performed on the surgical object and the type of the monitoring data;
judging whether the monitoring data are normal data according to the normal range, and taking the judging result as an analysis result.
Optionally, the analyzing the monitoring data according to the information of the operation to be performed on the operation object, after obtaining the analysis result, further includes:
And generating a surgical opinion and/or a surgical scheme according to the analysis result.
The embodiment of the invention also provides a surgical navigation positioning device which is applied to the surgical trolley, wherein the surgical trolley is provided with a plurality of different data communication interfaces, and the device comprises:
the monitoring data acquisition module is used for receiving monitoring data of an operation object sent by a first medical instrument, wherein the first medical instrument is in communication connection with the operation trolley through a data communication interface arranged on the operation trolley, and the first medical instrument is as follows: a medical device for monitoring a physiological state of a surgical subject;
the monitoring data analysis module is used for analyzing the monitoring data according to the information of the operation to be carried out on the operation object to obtain an analysis result;
the surgical navigation positioning path generation module is used for generating a surgical navigation positioning path according to the analysis result;
and the operation navigation positioning module is used for executing operation navigation positioning according to the operation navigation positioning path.
Optionally, the surgical navigation positioning path generating module includes:
the operation type determining unit is used for determining the operation type according to the analysis result;
The surgical navigation positioning path generating unit is used for generating a surgical navigation positioning path according to the surgical type and the analysis result;
the surgical navigation positioning module is specifically configured to generate a control instruction for a surgical execution device according to the surgical navigation positioning path, and control the surgical execution device to move according to the control instruction, where the surgical execution device is: the robot is used for executing the operation, and the operation execution equipment is in communication connection with the operation trolley through the data communication interface or is directly connected with the operation trolley.
Optionally, the surgical navigation positioning path generating unit is specifically configured to perform coordinate system conversion on the analysis result, and convert the analysis result to a coordinate system where the surgical execution device is located; and generating a surgical navigation positioning path according to the analysis result after the coordinate system conversion and the surgical type.
Optionally, the surgical navigation positioning path generating module further includes:
and the path display unit is used for displaying the surgical navigation positioning path on a display device which is in communication connection with the surgical trolley through the data communication interface after the surgical navigation positioning path generation unit generates the surgical navigation positioning path according to the surgical type and the analysis result, so that an operator of the surgical execution device controls the surgical execution device to move according to the surgical navigation positioning path.
Optionally, the monitoring data analysis module is configured to determine, according to information of a surgery to be performed on the surgery object, a surgery execution device that performs the surgery from medical instruments that have been communicatively connected to the surgery trolley through the data communication interface; determining an analysis mode for analyzing the monitoring data according to the function of the operation execution equipment and the type of the monitoring data; and analyzing the monitoring data according to the analysis mode to obtain an analysis result.
Optionally, the monitoring data analysis module is specifically configured to determine a normal range of the monitoring data in the surgical procedure according to information of a surgery to be performed on the surgical object and a type of the monitoring data; judging whether the monitoring data are normal data according to the normal range, and taking the judging result as an analysis result.
Optionally, the apparatus further includes:
the operation auxiliary information generation module is used for analyzing the monitoring data according to the information of the operation to be carried out on the operation object by the monitoring data analysis module, and generating operation opinion and/or operation scheme according to the analysis result after the analysis result is obtained.
The embodiment of the invention also provides an operation trolley, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface, and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the steps of the surgical navigation positioning method when executing the program stored in the memory.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program realizes the steps of the surgical navigation positioning method when being executed by a processor.
The embodiment of the invention has the beneficial effects that:
in view of the foregoing, in the solution provided by the embodiments of the present invention, since the surgical trolley is provided with a plurality of different data communication interfaces, various monitoring data sent by the first medical device for monitoring the physiological state of the surgical object can be received through these data communication interfaces. On the basis, the operation trolley combines the monitoring data and the operation information of the operation to be carried out on the operation object to generate an operation navigation positioning path, and then performs operation navigation positioning according to the generated operation navigation positioning path. Therefore, even if a doctor does not operate various medical instruments in the operation process, the operation trolley can still generate an operation navigation positioning path to assist the doctor to finish the operation, so that the convenience of the operation instruments in the operation process is improved.
Of course, it is not necessary for any one product or method of practicing the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and other embodiments may be obtained according to these drawings to those skilled in the art.
Fig. 1 is a flowchart of a first surgical navigation positioning method according to an embodiment of the present invention.
Fig. 2 is a flow chart of a second surgical navigation positioning method according to an embodiment of the present invention.
Fig. 3 is a flowchart of a third surgical navigation positioning method according to an embodiment of the present invention.
Fig. 4 is a flowchart of a fourth surgical navigation positioning method according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a first surgical navigation positioning device according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a second surgical navigation positioning device according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of an operation trolley according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.
In one embodiment of the present application, referring to fig. 1, a flow chart of a first surgical navigation positioning method is provided, applied to a surgical trolley provided with a plurality of different data communication interfaces.
The data communication interface may be an ethernet interface, a USB interface, an RS (recommend standard, recommended standard) -232 standard interface, a VGA (Video Graphics Array ) interface, a DVI (Digital Visual Interface, digital video interface) standard interface, an HDMI (High Definition Multimedia Interface ), a controller area network interface, or the like, and the data communication interface may also be an interface for providing WIFI or bluetooth functions, which is not limited by the embodiment of the present application.
In one embodiment of the present invention, the surgical trolley includes a trolley body and a plurality of rollers disposed at the bottom of the trolley body, wherein a placement area is formed on the trolley body, and the placement area can be used for placing electronic devices, such as a host, a display, a keyboard, a mouse, and the like. And the operation trolley can provide various communication data interfaces, so that the medical instrument can communicate with the electronic equipment through the communication data interfaces.
Specifically, the surgical navigation positioning method includes the following steps S101 to S104.
Step S101: and receiving the monitoring data of the surgical object sent by the first medical instrument.
Wherein, the above-mentioned first medical instrument is through the data communication interface and the above-mentioned operation platform truck communication connection that the above-mentioned operation platform truck set up, and the above-mentioned first medical instrument is: a medical device for monitoring a physiological state of a surgical subject. In one embodiment of the present invention, the first medical device may be an electrocardiograph, a sphygmomanometer, a digital hospital bed, a binocular vision system, etc.
The monitoring data is data reflecting the physiological state of the surgical object obtained by monitoring the surgical object by the first medical instrument. For example, if the first medical device is an electrocardiograph, the monitoring data may be data of heart beat and blood oxygen of the operation subject; if the first medical device is a digital sickbed, the monitoring data may be data of the body weight and posture of the surgical object.
The surgical object may be a human, animal or the like requiring surgery.
Step S102: and analyzing the monitoring data according to the information of the operation to be carried out on the operation object to obtain an analysis result.
Before performing an operation on an operation object, information of the operation needs to be obtained, and a reference is provided for the operation implementation process, so that the operation implementation process is more effectively aimed at the condition of the operation object.
For example, the information of the operation may be a pre-operation examination image, so that a doctor performing the operation may determine a lesion position based on the pre-operation examination image, so that the surgical instrument may process the lesion position during the operation. The information of the operation may also be basic information of the operation subject, such as height, weight, etc. of the operation subject. The information of the operation can also be preoperative examination information, operation type, doctor's advice and the like.
The above can show that the information of the operation is rich, and the information of the operation object can be reflected from different angles, so that the operation to be performed on the operation object can be completed by combining the information of the operation to be performed on the operation object when the monitoring data is analyzed.
Because the specific content of the monitoring data is different, the analysis content corresponding to the different monitoring data is also different, and the analysis content corresponding to each monitoring data can be preset by a doctor according to the specific content of the monitoring data.
For example, the monitoring data may be blood pressure data of the operation subject monitored by the sphygmomanometer, and the analysis content corresponding to the monitoring data may be analysis of whether the operation subject has a hypertension phenomenon. The information of the operation may include blood glucose level and age of the operation subject, and since blood pressure standard values for judging whether the operation subject has hypertension may be different in different age groups and different blood glucose levels, it is necessary to select an appropriate blood pressure standard value according to the blood glucose level and age of the operation subject, and then compare the monitoring data with the selected blood pressure standard value, thereby analyzing whether the operation subject has hypertension. Thus, whether the operation object has hypertension or not can be analyzed more accurately.
The specific implementation of analysis of the monitored data can be found in the embodiments of fig. 3 and 4 described below, and is not described in detail herein.
Step S103: and generating a surgical navigation positioning path according to the analysis result.
The analysis result can be used for determining the focus position of the operation object needing to perform the operation and generating different operation navigation positioning paths according to different focus positions.
In the case of bone surgery, for example, the focal site includes a plurality of sites on the bone of the surgical object to be repaired, but the modes of generating the surgical navigation positioning paths are different due to the different positions of the sites, and in this case, the navigation positioning paths of the surgical execution device are required to be generated in different modes according to the structural characteristics of the different sites.
In addition, the analysis result can reflect the physiological state of the operation object, and when the operation navigation positioning path is generated, different operation navigation positioning paths can be selected by combining the physiological state of the operation object.
The specific manner in which the surgical navigational positioning paths are generated may be described in detail below with respect to steps S103A and S103B in the embodiment shown in fig. 2.
Step S104: and executing the operation navigation positioning according to the operation navigation positioning path.
In one embodiment of the invention, after the surgical trolley determines the surgical navigation positioning path, the surgical trolley can send a moving instruction to the surgical execution device, and the surgical execution device is controlled to move along the surgical navigation positioning path through the moving instruction. Of course, in the process of controlling the movement of the operation execution device, the doctor can interrupt the control of the operation execution device by the device at any time so as to adjust the travel path of the operation execution device in time.
In view of the foregoing, in the solution provided by the embodiments of the present invention, since the surgical trolley is provided with a plurality of different data communication interfaces, various monitoring data sent by the first medical device for monitoring the physiological state of the surgical object can be received through these data communication interfaces. On the basis, the operation trolley combines the monitoring data and the operation information of the operation to be carried out on the operation object to generate an operation navigation positioning path, and then performs operation navigation positioning according to the generated operation navigation positioning path. Therefore, even if a doctor does not operate various medical instruments in the operation process, the operation trolley can still generate an operation navigation positioning path to assist the doctor to finish the operation, so that the convenience of the operation instruments in the operation process is improved.
In addition, the operation trolley is provided with a plurality of data communication interfaces, so that a plurality of operation instruments can be simultaneously connected into the operation trolley, and the cooperative work of the plurality of operation instruments is realized in the operation process.
Furthermore, the data of the operation trolley can be transmitted to the operation trolley by accessing the data of the operation trolley through the data communication interface, and the operation trolley can be communicated with each accessed operation instrument, so that the data sharing among multiple operation instruments can be realized.
The following describes a surgical navigation positioning scheme provided by the embodiment of the invention by a specific example.
The first medical device is an endoscope, the monitoring data is image data of soft tissue monitored by the endoscope, and the information of the operation to be performed on the operation subject is a history of the operation subject. In this case, three-dimensional reconstruction may be performed using the image data to obtain three-dimensional data of the soft tissue, and then lesion information of the surgical object may be determined through the three-dimensional data, wherein the lesion information may include information of a lesion position, a lesion size, and the like. The medical history and lesion information may then be combined to determine the type of procedure to be performed on the subject and the path of travel of the surgical implement, for example, a soft tissue resection.
On the basis of the above, the surgical execution device to be operated may be determined according to the type of surgery, and the indicative information for controlling the operation of the selected surgical execution device, for example, an instruction for controlling the movement of the selected surgical execution device, an instruction for controlling the rotation of the selected surgical execution device, etc., may be generated according to the travel path.
In addition, in a case where the endoscope is used in a different usage scenario, the obtained monitoring data is different, and for example, the monitoring data may be image data of bones of a joint portion or image data of bones of a lumbar portion, and in this case, similar to the above case, surgical navigation positioning for arthroscopic surgery or foraminal surgery may be performed.
In an embodiment of the present invention, referring to fig. 2, a flow chart of a second surgical navigation positioning method is provided, and in this embodiment, step S103 includes the following steps S103A-S103B, compared with the embodiment shown in fig. 1.
Step S103A: based on the analysis results, the type of surgery is determined.
In one embodiment of the invention, the focus position of the operation object can be obtained from the analysis result, and as the focus position reflects the specific position of the focus on the object body of the operation object, different positions on the object body correspond to different focus types, the focus types can be obtained according to the focus position. Because the focuses of different focus types have different characteristics, the adopted operation schemes are generally different when the focuses of different focus types are operated, and a doctor can set different operation schemes for the focuses of different types before operation, so after the focus types are determined, the operation scheme to be adopted in operation can be obtained according to the corresponding relation between the focus types and the operation schemes, and then the operation type needing to operate an operation object is determined according to the operation type preset in the operation scheme.
Step S103B: and generating a surgical navigation positioning path according to the surgical type and the analysis result.
The physiological structures, the corresponding operation complexity and the acceptable operation wound scale of the operation sites related to different operation types are different, and the operation navigation positioning path needs to be generated in a targeted manner by considering the factors when the operation navigation positioning path is generated. For example, when determining a surgical navigation positioning path for two types of surgery, i.e., tibial fracture internal fixation surgery and femoral fracture internal fixation surgery, because the bone structures of the tibia and femur are different, when generating the surgical navigation positioning path, paths with different bending forms need to be set according to the different structures of the bones so as to reduce the damage of surgical execution equipment to the bones of the surgical objects. Therefore, it can be seen that the manner of generating the surgical navigation positioning path is different for different surgical types, and when performing surgical navigation positioning, the manner of generating the surgical navigation positioning path needs to be determined according to the surgical type.
In addition, the analysis result can be used for determining the focus part of the operation required by the operation object, so that the operation navigation positioning path generated according to the analysis result can effectively ensure the path leading to the focus part of the operation object.
By way of specific example, a specific implementation of generating a surgical navigational positioning path based on a surgical type and analysis results is described below.
For example, in the case where the surgical type is a spinal staple surgical type and the surgical focal site determined from the analysis result is the spinal column, the manner of generating the navigation positioning path may be determined as: and generating an operation navigation positioning path according to the central position of the area where the pedicle is positioned.
In this case, spine image data related to the spine may be obtained from the analysis result, and the spine image data may be input into a preset segmentation network model to obtain sectional image data of the region where the segmented pedicle is located, which is output from the segmentation network model. And then, obtaining the central position of the region where the corresponding pedicle is located according to the obtained section image data, and generating the surgical navigation positioning path by taking the obtained central position as the path parameter of the surgical navigation positioning path.
The segmentation network model can be a segmentation network model obtained by training sample vertebra image data of the region where the pedicle is located, and the network model is used for segmenting vertebra image data to obtain section image data of the region where the pedicle is located, wherein the section image data is contained in the vertebra image data.
For another example, when the operation type is a tibial osteotomy type and the operation focus portion determined from the analysis result is a tibia, the navigation positioning path may be determined to be generated according to the tibial osteotomy type by: obtaining the position of the operation target point, and generating an operation navigation positioning path through the obtained position of the target point.
Wherein the target point position includes: target point positions at three places of hip joint, knee joint and ankle joint. The target point position can be marked manually by a doctor according to an analysis result, and can also be obtained by carrying out image recognition on image data related to a focus position in the analysis result by a preset deep neural network model; the deep neural network model may be a neural network model which is obtained by training using sample tibia image data marked with the target point position and is used for identifying the target point position in the image data.
In this case, a surgical navigational positioning path may be generated based on the obtained target point location. Specifically, the surgical navigational positioning path may be generated as follows:
calculating a target value representing the force line position and the tibia proximal inner angle measurement based on the obtained target point position; and taking the target value as a path parameter of the surgical navigation positioning path to generate the surgical navigation positioning path.
For another example, when the operation type is a femoral joint replacement operation and the operation focal site determined from the analysis result is a joint between the femur and the pelvis, the manner of generating the operation navigation positioning path may be determined according to the operation type as follows: feature points of the femur and pelvis locations are determined, and a surgical navigational positioning path is generated from the determined feature points.
In this case, image data of the joint between the femur and the pelvis may be obtained from the analysis result, a three-dimensional image of the surgical lesion site may be generated, and feature points of the femur and the pelvis may be determined from the generated three-dimensional image. After the feature points are obtained, the feature points can be used as path parameters of the surgical navigation positioning path to generate the surgical navigation positioning path.
The step S104 performs the surgical navigation positioning according to the surgical navigation positioning path based on the steps S103A to S103B, and may be specifically implemented by the following step S104A.
Step S104A: and generating a control instruction aiming at the operation execution equipment according to the operation navigation positioning path, and controlling the operation execution equipment to move according to the control instruction.
Wherein, the operation execution equipment is: the robot is used for performing the operation, and the operation performing device is in communication connection with the operation trolley through the data communication interface or is directly connected with the operation trolley.
From the above, in the surgical navigation positioning scheme provided by the embodiment of the invention, the surgical type is determined according to the analysis result of the monitoring data, and the surgical navigation positioning path is generated according to the surgical type and the analysis result, so that the navigation positioning is completed according to the surgical navigation positioning path, the explicit navigation positioning path meeting the surgical type requirement is used as a reference in the navigation positioning process, and the accuracy of the surgical navigation positioning is improved.
In addition, when the surgical navigation positioning path is generated in the scheme provided by the embodiment of the invention, the navigation positioning path can be obtained without manual participation, so that the determined navigation positioning path is not influenced by other factors such as experience of doctors, and the accuracy of the determined navigation positioning path can be improved, and the accuracy of surgical navigation positioning is further improved.
In one embodiment of the invention, after the surgical navigation positioning path is generated according to the surgical type and the analysis result, the surgical navigation positioning path can be displayed on a display device which is in communication connection with the surgical trolley through a data communication interface, so that an operator of the surgical execution device can control the surgical execution device to move according to the surgical navigation positioning path.
From the above, in the solution provided by the embodiment of the present invention, the generated surgical navigation positioning path may be displayed on a display device communicatively connected to the surgical trolley, so that an operator of the surgical execution device may determine, according to the displayed surgical navigation positioning path, an actual movement path of the surgical execution device in combination with an actual condition of an object body of the surgical object, thereby improving accuracy of controlling the surgical execution device.
A specific mode of generating the surgical guidance positioning path in step S103B will be described below.
In one embodiment of the present invention, the step S103B may be implemented as follows:
converting the analysis result into a coordinate system where the operation execution equipment is located; and generating a surgical navigation positioning path according to the analysis result and the surgical type after the coordinate system conversion.
Wherein, the coordinate system of the focus position in the operation image can be determined based on the operation image of the focus, for example, the CT image, and the conversion relation between the coordinate system and the coordinate system of the operation execution device is determined; wherein, the coordinate system where the operation execution device is located can be: the pose data of the surgical execution device in the image acquired by the surgical camera is determined, the pose data can comprise position coordinates, rotation angles and the like of the surgical execution device relative to each motion axis of the surgical camera, and the pose data can be determined by a control system of the surgical camera. Wherein, the operation camera is: a camera for collecting images of a surgical scene during a surgical procedure.
After the conversion relation is determined, the focus position is subjected to space geometric operation based on the conversion relation, so that the corresponding position of the focus position in the coordinate system of the operation execution equipment can be determined, and the analysis result is converted into the coordinate system of the operation execution equipment.
After the coordinate system conversion, a surgical navigation positioning path is generated according to the type of surgery and the analysis result, similar to the above step S103B, which will not be described in detail here.
From the above, according to the analysis result and the operation type after the coordinate system conversion, the operation navigation positioning path is generated, so that the generated operation navigation positioning path and the operation execution device are also positioned in the coordinate system where the operation execution device is positioned, and the accuracy of controlling the operation execution device can be improved when the operation execution device is controlled to move according to the operation navigation positioning path.
In an embodiment of the present invention, referring to fig. 3, a flow chart of a third surgical navigation positioning method is provided, and in this embodiment, step S102 includes the following steps S102A-S102C, compared with the embodiment shown in fig. 1.
Step S102A: according to information of a surgery to be performed on a surgery object, a surgery execution device that executes the surgery is determined from among medical instruments that have been communicatively connected to a surgery trolley through a data communication interface.
The above-mentioned operation execution device is used for executing the operation, and the operation to be executed is different for different conditions of the operation object, and in view of this, in one embodiment of the present invention, the condition characteristics of the operation object can be obtained from the information of the operation to be executed to the operation object, and then the operation execution device for executing the operation is determined from the medical devices which have been communicatively connected to the operation trolley through the data communication interface according to the above-mentioned characteristics. For example, the condition characteristic of the subject is a fracture of the leg bone, which is known from information of the operation to be performed on the subject, and the operation performing device for performing the operation may be an orthopedic operation robot.
Step S102B: and determining an analysis mode for analyzing the monitoring data according to the function of the operation execution device and the type of the monitoring data.
The function of the surgical execution device is determined by the surgical execution device itself. For example, the surgical execution device is an orthopedic surgical robot, then its function may be to implant a surgical prosthesis.
The monitoring data is acquired by the first medical device, and the data type of the monitoring data is generally related to the first medical device for acquiring the monitoring data. For example, the monitoring data is data collected by an electrocardiograph, the type of the monitoring data is electrocardiograph data, the monitoring data is data collected by a B-ultrasonic machine, and the type of the monitoring data is B-ultrasonic data.
The above analysis may specify algorithms and/or purposes for analyzing the monitored data. For example, the analysis method may be to generate a navigation path, generate a three-dimensional model, or the like.
Because the operation execution device needs to work according to the analysis result determined by the analysis mode, the analysis mode needs to accord with the actual work content of the operation execution device in operation; in addition, the types of monitoring data described above should be available to the surgical execution device; it is therefore necessary to determine the above analysis according to the function of the surgical execution device and the type of monitoring data.
In one implementation manner, a correspondence relationship among the function of the operation execution device, the type of the monitoring data and the analysis manner may be established in advance, and then, when the step S102B is executed, the correspondence relationship including the function of the operation execution device and the type of the monitoring data may be searched from the correspondence relationship, and the analysis manner recorded in the searched correspondence relationship may be used as the analysis manner for analyzing the monitoring data.
For example, the above-mentioned operation execution device is a 3D printing device, the function of the operation execution device is 3D printing, the monitoring data is two-dimensional image data about the focus position provided by the intra-operation imaging device, and the type of the monitoring data is an image. Since the 3D printing device can complete 3D printing based on the two-dimensional image data, the analysis mode can be to perform three-dimensional modeling on the two-dimensional image data to generate a three-dimensional model.
Step S102C: and analyzing the monitoring data according to an analysis mode to obtain an analysis result.
This step will be described by way of specific examples.
If the analysis mode is focus image recognition and the monitoring data is two-dimensional image data about focus positions provided by the intra-operation influencing equipment, the analysis result can be the actual positions of focuses determined according to the two-dimensional image data.
As can be seen from the above, in the solution provided in this embodiment, according to the information of the operation to be performed on the operation object, the operation execution device for executing the operation is determined, and according to the function of the operation execution device and the type of the monitoring data, the analysis mode for analyzing the monitoring data is determined, and the monitoring data is analyzed in the analysis mode, so as to obtain the analysis result, so that the operation navigation positioning in this solution can cope with different kinds of monitoring data, and the obtained analysis result can be adapted to the function of the medical apparatus, so that the versatility is further improved.
In an embodiment of the present invention, referring to fig. 4, a flow chart of a fourth surgical navigation positioning method is provided, and in this embodiment, the step S102 includes the following steps S102D-S102E, compared with the embodiment shown in fig. 1.
Step S102D: the normal range of the monitoring data during the operation is determined according to the information of the operation to be performed on the operation object and the type of the monitoring data.
As can be seen from the foregoing description, the information of the operation to be performed on the operation subject may include not only information of the type of operation, medical instruments required to be used during the operation, and the like, but also information related to the operation subject. The monitoring data is data obtained by monitoring the physiological state of the surgical object by the first medical device. Because different operations have different requirements on the physiological state of the operation object, after the type of the monitoring data and the information of the operation to be carried out on the operation object are determined, the normal range of the monitoring data in the operation process can be determined, so that whether the monitoring data are in the normal range or not can be monitored in real time in the operation process, and accidents of the operation object in the operation process are prevented.
For example, there is no diabetes nor serious complications, and the normal range of blood pressure values is below 140/90mmHg in subjects with hypertension under 65 years old; patients with hypertension aged 65 and older, the normal range of blood pressure values is below 150/90mmHg.
Step S102E: judging whether the monitoring data are normal data according to the normal range, and taking the judging result as an analysis result.
In one embodiment of the present invention, the determination result obtained after determining whether the monitoring data is normal data according to the normal range obtained in step S102D may be used as the analysis result, and then the analysis result may be output to the display screen as reference information in the operation process of the doctor.
As can be seen from the above, in the solution provided in this embodiment, according to the information of the operation to be performed on the operation object and the type of the monitoring data, the normal range of the monitoring data in the operation process is determined, and the monitoring data is determined according to the normal range, so that the obtained analysis result can be adaptively adjusted according to the characteristics of the operation object and the type of the monitoring data, and the normal range and the corresponding analysis result which are more in line with the specific situation of the operation object are obtained, thereby improving the accuracy of data analysis.
In one embodiment of the present invention, the step S102 analyzes the monitoring data according to the information of the operation to be performed on the operation object, and may further provide an operation assisting function after obtaining the analysis result according to the following manner:
Based on the analysis results, a surgical opinion and/or surgical plan is generated.
In particular, the analysis result may be information representing the physical condition of the operation subject, in which case the operation opinion and/or the operation plan may be generated according to the following two ways.
In one case, a database of preset recorded surgical opinions and/or surgical plans may be retrieved based on information representing the physical condition of the surgical object, the surgical opinion and/or surgical plan matching the above information may be obtained from the database, and then a new surgical opinion and/or surgical plan may be generated based on the obtained surgical opinion and/or surgical plan. For example, the obtained surgical opinions are integrated to form a new complete surgical opinion; and perfecting the obtained operation scheme according to the operation information, thereby generating a new operation scheme.
In another case, feature data representing the condition of the operation object in the analysis result can be extracted, and the feature data is input into the information detection model to obtain the operation opinion and/or the operation scheme output by the information detection model. The information detection model is a neural network model which is trained by using sample disease characteristics and is used for detecting operation opinion and/or operation scheme.
From the above, in the solution provided in this embodiment, the surgical opinion and/or the surgical solution can be generated according to the analysis result, so that the doctor can refer to the generated surgical opinion and/or the generated surgical solution in the process of performing the surgery, and can more accurately process the actual situation of the surgical object reflected by the analysis result when the surgery is specifically implemented, thereby improving the accuracy of the surgery.
In one embodiment of the present invention, referring to fig. 5, there is provided a schematic structural diagram of a first surgical navigation positioning device applied to a surgical trolley provided with a plurality of different data communication interfaces, the device comprising:
the monitoring data obtaining module 501 is configured to receive monitoring data of an operation object sent by a first medical device, where the first medical device is in communication connection with the operation trolley through a data communication interface set by the operation trolley, and the first medical device is: a medical device for monitoring a physiological state of a surgical subject;
the monitoring data analysis module 502 is configured to analyze the monitoring data according to information of a surgery to be performed on the surgical object, and obtain an analysis result;
A surgical navigation positioning path generating module 503, configured to generate a surgical navigation positioning path according to the analysis result;
and the surgical navigation positioning module 504 is configured to perform surgical navigation positioning according to the surgical navigation positioning path.
In view of the foregoing, in the solution provided by the embodiments of the present invention, since the surgical trolley is provided with a plurality of different data communication interfaces, various monitoring data sent by the first medical device for monitoring the physiological state of the surgical object can be received through these data communication interfaces. On the basis, the operation trolley combines the monitoring data and the operation information of the operation to be carried out on the operation object to generate an operation navigation positioning path, and then performs operation navigation positioning according to the generated operation navigation positioning path. Therefore, even if a doctor does not operate various medical instruments in the operation process, the operation trolley can still generate an operation navigation positioning path to assist the doctor to finish the operation, so that the convenience of the operation instruments in the operation process is improved.
In addition, the operation trolley is provided with a plurality of data communication interfaces, so that a plurality of operation instruments can be simultaneously connected into the operation trolley, and the cooperative work of the plurality of operation instruments is realized in the operation process.
Furthermore, the data of the operation trolley can be transmitted to the operation trolley by accessing the data of the operation trolley through the data communication interface, and the operation trolley can be communicated with each accessed operation instrument, so that the data sharing among multiple operation instruments can be realized.
In an embodiment of the present invention, referring to fig. 6, a schematic structural diagram of a second surgical navigation positioning device is provided, and in this embodiment, compared to the embodiment shown in fig. 5, the surgical navigation positioning path generating module 503 includes:
a surgery type determination unit 5031 for determining a surgery type based on the analysis result;
a surgical navigation positioning path generating unit 5032 configured to generate a surgical navigation positioning path according to the surgical type and the analysis result;
the surgical navigation positioning module 504 is specifically configured to generate a control instruction for a surgical execution device according to the surgical navigation positioning path, and control the surgical execution device to move according to the control instruction, where the surgical execution device is: the robot is used for executing the operation, and the operation execution equipment is in communication connection with the operation trolley through the data communication interface or is directly connected with the operation trolley.
From the above, in the surgical navigation positioning scheme provided by the embodiment of the invention, the surgical type is determined according to the analysis result of the monitoring data, and the surgical navigation positioning path is generated according to the surgical type and the analysis result, so that the navigation positioning is completed according to the surgical navigation positioning path, the explicit navigation positioning path meeting the surgical type requirement is used as a reference in the navigation positioning process, and the accuracy of the surgical navigation positioning is improved.
In addition, when the surgical navigation positioning path is generated in the scheme provided by the embodiment of the invention, the navigation positioning path can be obtained without manual participation, so that the determined navigation positioning path is not influenced by other factors such as experience of doctors, and the accuracy of the determined navigation positioning path can be improved, and the accuracy of surgical navigation positioning is further improved.
In one embodiment of the present invention, the surgical navigation positioning path generating unit 5032 is specifically configured to perform coordinate system conversion on the analysis result, and convert the analysis result to a coordinate system where the surgical execution device is located; and generating a surgical navigation positioning path according to the analysis result after the coordinate system conversion and the surgical type.
From the above, according to the analysis result and the operation type after the coordinate system conversion, the operation navigation positioning path is generated, so that the generated operation navigation positioning path and the operation execution device are also positioned in the coordinate system where the operation execution device is positioned, and the accuracy of controlling the operation execution device can be improved when the operation execution device is controlled to move according to the operation navigation positioning path.
In one embodiment of the present invention, the surgical navigation positioning path generating module 503 further includes:
and a path display unit, configured to display, after the surgical navigation positioning path generating unit 5032 generates a surgical navigation positioning path according to the surgical type and the analysis result, the surgical navigation positioning path on a display device communicatively connected to the surgical trolley through the data communication interface, so that an operator of the surgical execution device controls the surgical execution device to move according to the surgical navigation positioning path.
From the above, in the solution provided by the embodiment of the present invention, the generated surgical navigation positioning path may be displayed on a display device communicatively connected to the surgical trolley, so that an operator of the surgical execution device may determine, according to the displayed surgical navigation positioning path, an actual movement path of the surgical execution device in combination with an actual condition of an object body of the surgical object, thereby improving accuracy of controlling the surgical execution device.
In one embodiment of the present invention, the monitoring data analysis module 502 is configured to determine, according to information of a surgery to be performed on the surgical object, a surgery execution device that executes the surgery from medical instruments that have been communicatively connected to the surgical trolley through the data communication interface; determining an analysis mode for analyzing the monitoring data according to the function of the operation execution equipment and the type of the monitoring data; and analyzing the monitoring data according to the analysis mode to obtain an analysis result.
As can be seen from the above, in the solution provided in this embodiment, according to the information of the operation to be performed on the operation object, the operation execution device for executing the operation is determined, and according to the function of the operation execution device and the type of the monitoring data, the analysis mode for analyzing the monitoring data is determined, and the monitoring data is analyzed in the analysis mode, so as to obtain the analysis result, so that the operation navigation positioning in this solution can cope with different kinds of monitoring data, and the obtained analysis result can be adapted to the function of the medical apparatus, so that the versatility is further improved.
In one embodiment of the present invention, the monitoring data analysis module 502 is specifically configured to determine a normal range of the monitoring data during the operation according to information of an operation to be performed on the operation object and a type of the monitoring data; judging whether the monitoring data are normal data according to the normal range, and taking the judging result as an analysis result.
As can be seen from the above, in the solution provided in this embodiment, according to the information of the operation to be performed on the operation object and the type of the monitoring data, the normal range of the monitoring data in the operation process is determined, and the monitoring data is determined according to the normal range, so that the obtained analysis result can be adaptively adjusted according to the characteristics of the operation object and the type of the monitoring data, and the normal range and the corresponding analysis result which are more in line with the specific situation of the operation object are obtained, thereby improving the accuracy of data analysis.
In one embodiment of the invention, the apparatus further comprises:
the operation auxiliary information generation module is used for analyzing the monitoring data according to the information of the operation to be carried out on the operation object by the monitoring data analysis module, and generating operation opinion and/or operation scheme according to the analysis result after the analysis result is obtained.
From the above, in the solution provided in this embodiment, the surgical opinion and/or the surgical solution can be generated according to the analysis result, so that the doctor can refer to the generated surgical opinion and/or the generated surgical solution in the process of performing the surgery, and can more accurately process the actual situation of the surgical object reflected by the analysis result when the surgery is specifically implemented, thereby improving the accuracy of the surgery.
The embodiment of the invention also provides an operation trolley, as shown in fig. 7, which comprises a processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702 and the memory 703 complete communication with each other through the communication bus 704,
a memory 703 for storing a computer program;
the processor 701 is configured to implement the steps of the surgical navigation positioning method described in the foregoing method embodiment when executing the program stored in the memory 703.
The communication bus mentioned by the above-mentioned operation trolley may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the operation trolley and other devices.
The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In yet another embodiment of the present invention, a computer readable storage medium is provided, in which a computer program is stored, which when executed by a processor implements the steps of any of the above-described surgical navigation positioning methods.
In yet another embodiment of the present invention, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the surgical navigation positioning methods of the above embodiments.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus, electronic device, storage medium, and program product embodiments, the description is relatively simple, as it is substantially similar to the method embodiments, with reference to the partial description of the method embodiments being relevant.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (12)
1. A surgical navigational positioning method, characterized by being applied to a surgical trolley provided with a plurality of different data communication interfaces, the method comprising:
receiving monitoring data of an operation object sent by a first medical instrument, wherein the first medical instrument is in communication connection with the operation trolley through a data communication interface arranged on the operation trolley, and the first medical instrument is as follows: a medical device for monitoring a physiological state of a surgical subject;
analyzing the monitoring data according to the information of the operation to be carried out on the operation object to obtain an analysis result;
generating a surgical navigation positioning path according to the analysis result;
according to the surgical navigation positioning path, performing surgical navigation positioning;
the generating a surgical navigation positioning path according to the analysis result comprises the following steps:
determining the type of surgery according to the analysis result;
Generating a surgical navigation positioning path according to the surgical type and the analysis result;
the performing surgical navigation positioning according to the surgical navigation positioning path includes:
generating a control instruction aiming at surgical execution equipment according to the surgical navigation positioning path, and controlling the surgical execution equipment to move according to the control instruction, wherein the surgical execution equipment is as follows: the robot is used for executing the operation, and the operation execution equipment is in communication connection with the operation trolley through the data communication interface or is directly connected with the operation trolley;
the step of analyzing the monitoring data according to the information of the operation to be performed on the operation object to obtain an analysis result includes:
determining a surgical execution device that executes the surgery from among medical instruments that have been communicatively connected to the surgical trolley through the data communication interface according to information of the surgery to be performed on the surgical object;
determining an analysis mode for analyzing the monitoring data according to the function of the operation execution equipment and the type of the monitoring data;
and analyzing the monitoring data according to the analysis mode to obtain an analysis result.
2. The method of claim 1, wherein generating a surgical navigational positioning path based on the surgical type and the analysis result comprises:
converting the analysis result into a coordinate system where the operation execution equipment is located;
and generating a surgical navigation positioning path according to the analysis result after the coordinate system conversion and the surgical type.
3. The method of claim 1, wherein after generating a surgical navigational positioning path based on the surgical type and the analysis result, further comprising:
and displaying the surgical navigation positioning path on a display device which is in communication connection with the surgical trolley through the data communication interface, so that an operator of the surgical execution device controls the surgical execution device to move according to the surgical navigation positioning path.
4. The method according to claim 1, wherein analyzing the monitoring data according to information of a procedure to be performed on the surgical object to obtain an analysis result includes:
determining a normal range of the monitoring data in the surgical process according to the information of the surgery to be performed on the surgical object and the type of the monitoring data;
Judging whether the monitoring data are normal data according to the normal range, and taking the judging result as an analysis result.
5. The method according to claim 1, wherein the analyzing the monitoring data according to the information of the operation to be performed on the operation object, after obtaining the analysis result, further comprises:
and generating a surgical opinion and/or a surgical scheme according to the analysis result.
6. A surgical navigational positioning apparatus for use with a surgical trolley, the surgical trolley being provided with a plurality of different data communication interfaces, the apparatus comprising:
the monitoring data acquisition module is used for receiving monitoring data of an operation object sent by a first medical instrument, wherein the first medical instrument is in communication connection with the operation trolley through a data communication interface arranged on the operation trolley, and the first medical instrument is as follows: a medical device for monitoring a physiological state of a surgical subject;
the monitoring data analysis module is used for analyzing the monitoring data according to the information of the operation to be carried out on the operation object to obtain an analysis result;
the surgical navigation positioning path generation module is used for generating a surgical navigation positioning path according to the analysis result;
The surgical navigation positioning module is used for executing surgical navigation positioning according to the surgical navigation positioning path;
the surgical navigation positioning path generation module comprises:
the operation type determining unit is used for determining the operation type according to the analysis result;
the surgical navigation positioning path generating unit is used for generating a surgical navigation positioning path according to the surgical type and the analysis result;
the surgical navigation positioning module is specifically configured to generate a control instruction for a surgical execution device according to the surgical navigation positioning path, and control the surgical execution device to move according to the control instruction, where the surgical execution device is: the robot is used for executing the operation, and the operation execution equipment is in communication connection with the operation trolley through the data communication interface or is directly connected with the operation trolley;
the monitoring data analysis module is used for determining operation execution equipment for executing the operation from medical equipment which is in communication connection with the operation trolley through the data communication interface according to the information of the operation to be executed on the operation object; determining an analysis mode for analyzing the monitoring data according to the function of the operation execution equipment and the type of the monitoring data; and analyzing the monitoring data according to the analysis mode to obtain an analysis result.
7. The apparatus of claim 6, wherein the device comprises a plurality of sensors,
the surgical navigation positioning path generation unit is specifically configured to perform coordinate system conversion on the analysis result, and convert the analysis result to a coordinate system where the surgical execution device is located; and generating a surgical navigation positioning path according to the analysis result after the coordinate system conversion and the surgical type.
8. The apparatus of claim 6, wherein the surgical navigational positioning path generation module further comprises:
and the path display unit is used for displaying the surgical navigation positioning path on a display device which is in communication connection with the surgical trolley through the data communication interface after the surgical navigation positioning path generation unit generates the surgical navigation positioning path according to the surgical type and the analysis result, so that an operator of the surgical execution device controls the surgical execution device to move according to the surgical navigation positioning path.
9. The apparatus of claim 6, wherein the device comprises a plurality of sensors,
the monitoring data analysis module is specifically configured to determine a normal range of the monitoring data in the surgical procedure according to information of a surgery to be performed on the surgical object and a type of the monitoring data; judging whether the monitoring data are normal data according to the normal range, and taking the judging result as an analysis result.
10. The apparatus of claim 6, wherein the apparatus further comprises:
the operation auxiliary information generation module is used for analyzing the monitoring data according to the information of the operation to be carried out on the operation object by the monitoring data analysis module, and generating operation opinion and/or operation scheme according to the analysis result after the analysis result is obtained.
11. The surgical trolley is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for carrying out the method steps of any one of claims 1-5 when executing a program stored on a memory.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-5.
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