CN114376725B - Mastectomy incision projector based on 3D is rebuild - Google Patents
Mastectomy incision projector based on 3D is rebuild Download PDFInfo
- Publication number
- CN114376725B CN114376725B CN202110723482.3A CN202110723482A CN114376725B CN 114376725 B CN114376725 B CN 114376725B CN 202110723482 A CN202110723482 A CN 202110723482A CN 114376725 B CN114376725 B CN 114376725B
- Authority
- CN
- China
- Prior art keywords
- incision
- module
- breast
- skin
- nipple
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
Abstract
The invention discloses a 3D reconstruction-based mastectomy incision projector, which comprises a mastectomy incision projection system and is characterized in that: the breast resection operation incision projection system comprises a breast imaging module, an incision calculation module and a projection unit, wherein the breast imaging module is electrically connected with the incision calculation module, the incision calculation module is electrically connected with the projection unit, the breast imaging module is used for carrying out 3D modeling imaging on breast walls and mammary glands, the incision calculation module is used for calculating the optimal size position shape information of skin to be resected in an operation, the projection unit is used for projecting the incision appearance designed by the incision calculation module on the skin and drawing the incision appearance according to an image, and the breast imaging module comprises a CT image irradiation unit, a 3D reconstruction module, a feature extraction module, a 3D calibration module and a breast appearance judgment module.
Description
Technical Field
The invention relates to the technical field of medical imaging, in particular to a 3D reconstruction-based mastectomy incision projector.
Background
The incision of the mastectomy is in a sharp leaf shape at two sides, the size and the shape of the incision are planned to be completely in accordance with the experience of a doctor who withstands a main knife, the incision is too large, the skin is cut more, the skin tension is higher when the operation is finished and the suture is even difficult, and the healing of the incision is seriously influenced; the incision is too small, the difficulty of exposing the mammary gland is increased during the operation, the operation difficulty is increased, the operation time is prolonged, the skin in front of the chest is loose after the suture, the contact with the wound surface is not tight enough, and the healing of the incision is also not facilitated. The clinician chooses a smaller incision more, ensures that the incision can be closed after the operation, then uses more cotton sheets to line the armpit and the chest, and then uses the elastic bandage for binding, thereby ensuring the close contact of the skin and the wound surface. However, the elastic binding of the dressing band on the thoracic cavity is unfavorable for the breathing of a patient, and simultaneously, the patient is also uncomfortable, and the binding is too tight, even the wound surface and the skin blood circulation are reduced, so that the skin necrosis is caused. Therefore, it is desirable to design a 3D reconstruction based mastectomy incision projector that can simulate an optimal incision based on breast contour.
Disclosure of Invention
It is an object of the present invention to provide a 3D reconstruction based mastectomy incision projector to solve the problems set forth in the background above.
In order to solve the technical problems, the invention provides the following technical scheme: a mastectomy incision projector based on 3D reconstruction, comprising a mastectomy incision projection system, characterized in that: the incision projection system for the mastectomy comprises a breast imaging module, an incision calculating module and a projection unit, wherein the breast imaging module is electrically connected with the incision calculating module, the incision calculating module is electrically connected with the projection unit, the breast imaging module is used for carrying out 3D modeling imaging on a breast wall and a breast, the incision calculating module is used for calculating the optimal size position shape information of skin to be excised in an operation, and the projection unit is used for projecting the incision shape designed by the incision calculating module on the skin and drawing the incision shape according to an image.
According to the technical scheme, the breast imaging module comprises a CT image irradiation unit, a 3D reconstruction module, a feature extraction module, a 3D calibration module and a breast shape judgment module, the CT image irradiation unit is electrically connected with the 3D reconstruction module, the feature extraction module, the 3D calibration module and the breast shape judgment module, the CT influence irradiation unit is used for shooting and scanning breast areas of patients to generate CT image data, the 3D reconstruction module is used for reconstructing the breast wall and the breast in a 3D mode according to the CT image data and measuring the breast volume size, the breast skin area, the breast plane projection area and the breast volume information, the feature extraction module is used for extracting lesion positions and nipple positions according to the CT image data, the 3D calibration module is used for marking and recording the positions of the lesion positions and the nipple positions, and the breast shape judgment module is used for judging the breast shape and dividing the breast into a hemispherical shape, an upwarp shape and a warp shape.
According to the technical scheme, the working method of the breast imaging module comprises the following steps:
A. starting a CT image irradiation unit, and carrying out CT scanning on the breast of the patient to obtain CT image data of the breast of the patient;
B. 3D reconstruction is carried out on the chest wall and the mammary gland according to the obtained CT image data, and the breast information of the patient is obtained through the 3D reconstruction result;
C. extracting characteristics of nipples and lesion positions, and carrying out 3D calibration on the characteristics;
D. and judging the classified breast shape according to the 3D breast information.
According to the technical scheme, the incision calculation module comprises an incision skin area calculation module, an incision position adjustment module, an incision shape calculation module and an actual deviation reservation module, the incision area calculation module is electrically connected with the incision position adjustment module, the incision shape calculation module and the actual deviation reservation module, the incision skin area calculation module is used for accurately calculating the optimal incision skin area, the situation that the incision is too large, the incision skin is more, the skin tension is large even the incision skin is difficult to suture when the operation is finished, the incision healing is seriously influenced, or the incision is too small, the breast exposure difficulty during the operation is increased, the operation difficulty is increased, the operation time is prolonged, the skin in front of the chest is loose after the suture, the contact with a wound surface is not tight, and the healing of the incision is also unfavorable is achieved, the incision position adjustment module is used for specifically adjusting the incision angle position according to the lesion position, the incision shape calculation module is used for adjusting the incision length, the width and the arc curvature according to the breast shape and the size, and the actual deviation reservation module is used for evaluating the skin area of the incision edge necrosis caused by the fact that the breast tissue is exposed according to the incision edge.
According to the technical scheme, the skin excision area calculation module is electrically connected with the 3D reconstruction module, the skin excision area calculation module comprises a mammary gland volume introduction sub-module, a breast skin surface area introduction sub-module, a breast volume introduction sub-module and a breast plane projection sub-module, and the mammary gland volume introduction sub-module is used for introducing a volume value V measured by a mammary gland Gland The breast skin surface area importing submodule is used for importing the value S of the external wall surface area of the breast before resection Watch (A) The breast volume introduction submodule is used for introducing a total volume value V before mastectomy House The breast plane projection submodule is used for importing a breast-occupied precordial basal area value S Flat plate The calculation formula of the skin excision area calculation module is as follows:
wherein S Cutting machine To calculate the area value of the excised skin.
According to the technical scheme, the working method of the incision position adjusting module and the incision appearance calculating module comprises the following steps:
s1, designing an incision from the upper outer quadrant (close to one side of an armpit) of a breast to the lower inner quadrant of the breast at an angle of about 45 degrees;
s2, the cut is set to be leaf-shaped, the skin in the leaf is a cut part, and the leaf-shaped area is always equal to the area value S obtained by the cut skin area calculation module Cutting machine ；
S3, introducing the nipple and the position of a pathological change part calibrated by the 3D calibration module, and connecting a line segment between the nipple and the pathological change part;
s4, finely adjusting the position of the trefoil cut according to the position of the line segment to enable the line segment to be completely positioned in the trefoil cut, namely, the nipple and the lesion part are required to be cut off, and the nipple is a mammary gland center, so that the lesion is bound to be cut off;
s5, locking the lesion position again, wherein when the lesion position is inclined upwards, the long axis of the incision can rotate anticlockwise by a certain angle, otherwise, when the lesion position is inclined downwards, the incision rotates clockwise by a certain angle, the angle can be adjusted to be 45 degrees in each of two directions, and finally, the smaller the included angle between the long axis of the incision and the line segment is, the better the included angle is, and the situation that the lesion position and the nipple are on two sides of the trefoil-shaped incision to cause that the lesion position cannot be completely cleared is avoided;
s6, when the incision arc line on one side of the pathological change position is far away from the nipple, the incision arc line on one side of the nipple needs to be close to the nipple as far as possible, and meanwhile, the lengths of the two arc lines need to be consistent, so that the suturing is convenient.
According to the technical scheme, the incision width calculation formula of the incision outline calculation module is as follows:
M＝1.2i·sinθ
wherein M is the incision width value, i is the length value of a line segment connecting the nipple and the lesion, and theta is the included angle value of the long axis of the incision and the line segment;
the incision length calculation formula of the incision outline calculation module is as follows:
wherein L is the cut length value;
the incision radian calculation formula of the incision appearance calculation module is as follows:
wherein R is the incision curvature.
According to the technical scheme, the calculation formula of the skin reserved area of the actual deviation reserved module due to the incision edge necrosis is as follows:
wherein S Leave behind The method is characterized in that an area value is reserved for skin with necrotic incision edges, L and M are respectively the length and the width of an incision, k is a width value of a reserved edge in a ring shape, when a breast is hemispherical, k =1, when the breast is upwarped, the breast changes in an interval of 1 & lt k & lt 1.2 according to the upwarped degree, and when the breast is downwarped, the breast changes in an interval of 0.8 & lt k & lt 1 according to the downwarped degree.
According to the technical scheme, the projection unit comprises a calibration tracking unit, a distance correction module and a mapping mark module, the calibration tracking unit is used for tracking position and orientation information marked by the 3D calibration module, the distance correction module is used for correcting and adjusting the projection distance to ensure that the designed incision outline is projected on the skin surface in a one-to-one reduction mode, and the mapping mark module is used for locking and marking the projected skin to avoid displacement caused by movement in the operation process.
According to the technical scheme, the working method of the projection unit comprises the following steps:
u, receiving incision calculation module to calculate incision information;
v, tracking and locking the position of the 3D calibration module by a calibration tracking unit, and adjusting a projection angle after determining the relative position of the nipple and the lesion;
correcting the projection distance according to the imaging size;
locking the projection incision and starting the operation according to the projection incision.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, through the arrangement of the breast imaging module, the incision calculation module and the projection unit, 3D reconstruction of the chest wall and the mammary gland can be realized, the optimal size of skin for surgical excision is calculated according to the size of the breast, the shape of the breast and the position of lesion, the optimal incision shape is simulated according to the breast shape, and finally, the designed incision shape is projected on the skin through one-to-one reduction of the projector module, and the incision shape is drawn according to the projector for surgery, so that the effect of accurate control is realized, and the possibility of secondary injury to a patient is prevented.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of the system module composition of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a mastectomy incision projector based on 3D reconstruction, comprising a mastectomy incision projection system, characterized in that: the incision projection system for the mastectomy comprises a breast imaging module, an incision calculation module and a projection unit, wherein the breast imaging module is electrically connected with the incision calculation module, the incision calculation module is electrically connected with the projection unit, the breast imaging module is used for carrying out 3D modeling imaging on breast walls and mammary glands, the incision calculation module is used for calculating the optimal size position shape information of skin to be excised in the operation, and the projection unit is used for projecting the incision appearance designed by the incision calculation module on the skin and drawing the incision appearance according to the image; through being provided with breast imaging module, incision calculation module and projection unit, can chest wall and mammary gland 3D rebuild, calculate the best size of operation excision skin according to breast size, breast shape and pathological change position, again according to the breast appearance, simulate out the best incision appearance, through the one-to-one reduction of projector module at last, will design the incision appearance and project at skin, draw out the incision appearance operation according to the projector, realized the effect of accurate accuse, the prevention causes the possibility of secondary injury to patient.
The breast imaging module comprises a CT image irradiation unit, a 3D reconstruction module, a feature extraction module, a 3D calibration module and a breast shape judgment module, wherein the CT image irradiation unit is electrically connected with the 3D reconstruction module, the feature extraction module, the 3D calibration module and the breast shape judgment module, the CT influence irradiation unit is used for shooting and scanning a breast area of a patient to generate CT image data, the 3D reconstruction module is used for 3D reconstruction of a chest wall and a breast according to the CT image data, and measuring the information of the size of the breast volume, the area of the breast skin, the planar projection area of the breast and the breast volume, the feature extraction module is used for extracting a lesion position and a nipple position according to the CT image data, the 3D calibration module is used for marking and recording the positions of the lesion position and the nipple position, and the breast shape judgment module is used for judging the breast shape and dividing the breast into a hemispherical shape, an upwarp shape and a warp shape; the breast feature extraction function is realized, and the breast is automatically separated according to the shape of the breast, so that the later-period calculation excision is more accurate and practical.
The working method of the breast imaging module comprises the following steps:
A. starting a CT image irradiation unit, and carrying out CT scanning on the breast of the patient to obtain CT image data of the breast of the patient;
B. 3D reconstruction is carried out on the chest wall and the mammary gland according to the obtained CT image data, and the breast information of the patient is obtained through the 3D reconstruction result;
C. extracting characteristics of nipples and lesion positions, and carrying out 3D calibration on the characteristics;
D. and judging the classified breast shape according to the 3D breast information.
The incision calculation module comprises an incision area calculation module, an incision position adjustment module, an incision shape calculation module and an actual deviation reservation module, the incision area calculation module is electrically connected with the incision position adjustment module, the incision shape calculation module and the actual deviation reservation module, the incision skin area calculation module is used for accurately calculating the size of the optimal incision skin area, the situation that an incision is too large and the amount of the skin to be excised is high is avoided, when the operation is finished and the incision is sutured, the skin tension is high, even the suturing is difficult, the healing of the incision is seriously influenced, or the incision is too small, the difficulty of exposed mammary glands during the operation is increased, the operation time is prolonged, the skin in front of the chest is loose after the suturing and is not tightly contacted with a wound surface, the healing of the incision is also unfavorable, the incision position adjustment module is used for specifically adjusting the incision angle position according to the lesion position, the incision shape calculation module is used for adjusting and calculating the incision length, width and arc curvature according to the shape of the breast, and the actual deviation reservation module is used for evaluating the exposed skin area caused by the necrosis of the incision edge due to the mammary tissue during the traction operation according to the incision shape; the elastic connection of the two sides of the incision is proper, the wound surface can be wrapped, the tension is not too large, the length of the two arc lines is required to be consistent, and the suture is convenient.
The excised skin area calculation module is electrically connected with the 3D reconstruction module, the excised skin area calculation module comprises a mammary gland volume introduction sub-module, a breast skin surface area introduction sub-module, a breast volume introduction sub-module and a breast plane projection sub-module, and the mammary gland volume introduction sub-module is used for introducing a volume value V measured by a mammary gland Gland The breast skin surface area importing submodule is used for importing the breast outer wall surface area value S before resection Watch (A) The breast volume introduction submodule is used for introducing a total volume value V before mastectomy House The breast plane projection submodule is used for leading in the breast area S Flat plate The calculation formula of the skin excision area calculation module is as follows:
wherein S Cutting machine To calculate the area value of the excised skin.
The working methods of the incision position adjusting module and the incision appearance calculating module are as follows:
s1, designing an incision from the upper outer quadrant (close to one side of an armpit) of a breast to the lower inner quadrant of the breast at an angle of about 45 degrees;
s2, the cut is set to be leaf-shaped, the skin in the leaf is a cut part, and the leaf-shaped area is always equal to the area value S obtained by the cut skin area calculation module Cutting machine ；
S3, introducing the nipple and the position of a pathological change part calibrated by the 3D calibration module, and connecting a line segment between the nipple and the pathological change part;
s4, finely adjusting the position of the trefoil cut according to the position of the line segment to enable the line segment to be completely positioned in the trefoil cut, namely, the nipple and the lesion part are required to be cut off, and the nipple is a mammary gland center, so that the lesion is bound to be cut off;
s5, locking the lesion position again, wherein when the lesion position is inclined upwards, the long axis of the incision can rotate anticlockwise by a certain angle, otherwise, when the lesion position is inclined downwards, the incision rotates clockwise by a certain angle, the angle can be adjusted to be 45 degrees in each of two directions, and finally, the smaller the included angle between the long axis of the incision and the line segment is, the better the included angle is, and the situation that the lesion position and the nipple are on two sides of the trefoil-shaped incision to cause that the lesion position cannot be completely cleared is avoided;
s6, when the incision arc line on one side of the pathological change position is far away from the nipple, the incision arc line on one side of the nipple needs to be close to the nipple as far as possible, and meanwhile, the lengths of the two arc lines need to be consistent, so that the suturing is convenient.
The incision width calculation formula of the incision outline calculation module is as follows:
M＝1.2i·sinθ
wherein M is the incision width value, i is the length value of a line segment connecting the nipple and the lesion, and theta is the included angle value of the long axis of the incision and the line segment;
the incision length calculation formula of the incision outline calculation module is as follows:
wherein L is the cut length value;
the incision radian calculation formula of the incision appearance calculation module is as follows:
wherein R is the incision curvature.
The calculation formula of the skin reserved area of the actual deviation reserved module due to the incision edge necrosis is as follows:
wherein S Leave behind The method is characterized in that an area value is reserved for skin with necrotic incision edges, L and M are respectively the length and the width of an incision, k is a width value of a reserved edge in a ring shape, when a breast is hemispherical, k =1, when the breast is upwarped, the breast changes in an interval of 1 & lt k & lt 1.2 according to the upwarped degree, and when the breast is downwarped, the breast changes in an interval of 0.8 & lt k & lt 1 according to the downwarped degree.
The projection unit comprises a calibration tracking unit, a distance correction module and a mapping marking module, the calibration tracking unit is used for tracking position and orientation information marked by the 3D calibration module, the distance correction module is used for correcting and adjusting the projection distance to ensure that the designed incision appearance is projected on the skin surface in a one-to-one reduction mode, and the mapping marking module is used for locking and marking the projected skin, so that displacement caused by movement in the operation process is avoided.
The working method of the projection unit comprises the following steps:
u, receiving incision calculation module to calculate incision information;
v, tracking and locking the position of the 3D calibration module by a calibration tracking unit, and adjusting a projection angle after determining the relative position of the nipple and the lesion;
correcting the projection distance according to the imaging size;
locking the projection incision and starting the operation according to the projection incision.
It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A mastectomy incision projector based on 3D reconstruction, comprising a mastectomy incision projection system, characterized in that: the breast resection operation incision projection system comprises a breast imaging module, an incision calculation module and a projection unit, wherein the breast imaging module is electrically connected with the incision calculation module, the incision calculation module is electrically connected with the projection unit, the breast imaging module is used for carrying out 3D modeling imaging on a breast wall and a breast, the incision calculation module is used for calculating the optimal size position shape information of skin to be resected in an operation, and the projection unit is used for projecting the incision shape designed by the incision calculation module on the skin and drawing the incision shape according to an image;
the breast imaging module comprises a CT image irradiation unit, a 3D reconstruction module, a feature extraction module, a 3D calibration module and a breast shape judgment module, wherein the CT image irradiation unit is electrically connected with the 3D reconstruction module, the feature extraction module, the 3D calibration module and the breast shape judgment module, the CT influence irradiation unit is used for shooting and scanning a breast area of a patient to generate CT image data, the 3D reconstruction module is used for 3D reconstruction of a chest wall and a breast according to the CT image data to measure the size of the breast volume, the area of the breast skin, the projection area of a breast plane and the breast volume, the feature extraction module is used for extracting a lesion part and the position of a nipple according to the CT image data, the 3D calibration module is used for marking and recording the positions of the lesion part and the nipple, and the breast shape judgment module is used for judging the breast shape and dividing the breast into a hemispherical shape, an upwarp shape and a warp shape;
the working method of the breast imaging module comprises the following steps:
A. starting a CT image irradiation unit, and carrying out CT scanning on the breast of the patient to obtain CT image data of the breast of the patient;
B. 3D reconstruction is carried out on the chest wall and the mammary gland according to the obtained CT image data, and the breast information of the patient is obtained through the 3D reconstruction result;
C. extracting characteristics of nipples and lesion positions, and carrying out 3D calibration on the characteristics;
D. judging the classified breast shape according to the 3D breast information;
the incision calculation module comprises an incision skin area calculation module, an incision position adjustment module, an incision appearance calculation module and an actual deviation reservation module, the incision area calculation module is electrically connected with the incision position adjustment module, the incision appearance calculation module and the actual deviation reservation module, the incision skin area calculation module is used for accurately calculating the size of the optimal incision skin area, the situation that an incision is too large and the amount of the skin to be excised is large is avoided, skin tension is large when the operation is finished and the incision is difficult to sew up, the incision healing is seriously influenced, or the incision is too small, the difficulty of exposed breasts during the operation is increased, the operation difficulty is increased, the operation time is prolonged, the skin in front of the breasts is loosened and is not tightly contacted with a wound surface after the incision is sewed up, the incision angle position adjustment module is used for specifically adjusting the incision angle position according to the pathological change position, the incision appearance calculation module is used for adjusting and calculating the incision length, width and arc curvature according to the shape of the breast appearance, the actual deviation reservation module is used for evaluating the skin area of the incision traction in the actual operation process due to the fact that the incision edge is necrotic due to the breast tissue exposed at the incision edge.
2. A 3D reconstruction based mastectomy incision projector as set forth in claim 1, wherein: the working methods of the notch position adjusting module and the notch appearance calculating module are as follows:
s1, designing an incision from the upper outer quadrant (close to one side of an armpit) of a breast to the lower inner quadrant of the breast at an angle of about 45 degrees;
s2, the cut is set to be leaf-shaped, the skin in the leaf is a cut part, and the leaf-shaped area is always equal to the area value S obtained by the cut skin area calculation module Cutting machine ；
S3, introducing the nipple and the position of a pathological change part calibrated by the 3D calibration module, and connecting a line segment between the nipple and the pathological change part;
s4, finely adjusting the position of the trefoil cut according to the position of the line segment to enable the line segment to be completely positioned in the trefoil cut, namely, the nipple and the lesion part are required to be cut off, and the nipple is a mammary gland center, so that the lesion is bound to be cut off;
s5, locking the lesion position again, wherein when the lesion position is inclined upwards, the long axis of the incision can rotate anticlockwise by a certain angle, otherwise, when the lesion position is inclined downwards, the incision rotates clockwise by a certain angle, the angle can be adjusted to be 45 degrees in each of two directions, and finally, the smaller the included angle between the long axis of the incision and the line segment is, the better the included angle is, and the situation that the lesion position and the nipple are on two sides of the trefoil-shaped incision to cause that the lesion position cannot be completely cleared is avoided;
s6, when the incision arc line on one side of the pathological change position is far away from the nipple, the incision arc line on one side of the nipple needs to be close to the nipple as far as possible, and meanwhile, the lengths of the two arc lines need to be consistent, so that the suturing is convenient.
3. A 3D reconstruction based mastectomy incision projector as set forth in claim 1, wherein: the projection unit comprises a calibration tracking unit, a distance correction module and a mapping marking module, the calibration tracking unit is used for tracking position and orientation information marked by the 3D calibration module, the distance correction module is used for correcting and adjusting the projection distance to ensure that the designed incision outline is projected on the skin surface in a one-to-one reduction mode, and the mapping marking module is used for locking and marking the projected skin to avoid displacement caused by movement in the operation process.
4. A 3D reconstruction based mastectomy incision projector as set forth in claim 3, wherein: the working method of the projection unit comprises the following steps:
u, receiving incision calculation module to calculate incision information;
v, tracking and locking the position of the 3D calibration module by a calibration tracking unit, and adjusting a projection angle after determining the relative position of the nipple and the lesion;
correcting the projection distance according to the imaging size;
locking the projection incision and starting the operation according to the projection incision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110723482.3A CN114376725B (en) | 2021-06-29 | 2021-06-29 | Mastectomy incision projector based on 3D is rebuild |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110723482.3A CN114376725B (en) | 2021-06-29 | 2021-06-29 | Mastectomy incision projector based on 3D is rebuild |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114376725A CN114376725A (en) | 2022-04-22 |
| CN114376725B true CN114376725B (en) | 2023-02-10 |
Family
ID=81194693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110723482.3A Active CN114376725B (en) | 2021-06-29 | 2021-06-29 | Mastectomy incision projector based on 3D is rebuild |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114376725B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105578983A (en) * | 2013-09-24 | 2016-05-11 | 皇家飞利浦有限公司 | Method of calculating a surgical intervention plan |
| RU2017121811A (en) * | 2017-06-21 | 2017-08-10 | Федеральное государственное бюджетное учреждение "Национальный медицинский исследовательский радиологический центр" Министерства здравоохранения Российской Федерации (ФГБУ "НМИРЦ" Минздрава России) | METHOD FOR A SINGLE-PLASTED BREAST PLASTIC IN ORGAN-CONSERVING SURGICAL TREATMENT OF CANCER IN LOCALIZATION OF THE TUMOR IN INTERNAL QUADRANTS |
| CN107949337A (en) * | 2015-06-12 | 2018-04-20 | 达特默斯大学托管会 | The system and method for guiding cutting tissue |
| CN109152531A (en) * | 2016-04-05 | 2019-01-04 | 制定实验室公司 | Medical image system, device and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7440793B2 (en) * | 2004-07-22 | 2008-10-21 | Sunita Chauhan | Apparatus and method for removing abnormal tissue |
-
2021
- 2021-06-29 CN CN202110723482.3A patent/CN114376725B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105578983A (en) * | 2013-09-24 | 2016-05-11 | 皇家飞利浦有限公司 | Method of calculating a surgical intervention plan |
| CN107949337A (en) * | 2015-06-12 | 2018-04-20 | 达特默斯大学托管会 | The system and method for guiding cutting tissue |
| CN109152531A (en) * | 2016-04-05 | 2019-01-04 | 制定实验室公司 | Medical image system, device and method |
| RU2017121811A (en) * | 2017-06-21 | 2017-08-10 | Федеральное государственное бюджетное учреждение "Национальный медицинский исследовательский радиологический центр" Министерства здравоохранения Российской Федерации (ФГБУ "НМИРЦ" Минздрава России) | METHOD FOR A SINGLE-PLASTED BREAST PLASTIC IN ORGAN-CONSERVING SURGICAL TREATMENT OF CANCER IN LOCALIZATION OF THE TUMOR IN INTERNAL QUADRANTS |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114376725A (en) | 2022-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10548668B2 (en) | Method for producing patient-specific plate | |
| CN106821497A (en) | A kind of target site is accurately positioned and method of disposal and servicing unit | |
| Simpfendörfer et al. | Intraoperative computed tomography imaging for navigated laparoscopic renal surgery: first clinical experience | |
| CN203693762U (en) | Spine minimally invasive surgery positioner | |
| Cagimni et al. | Computerized analysis of the greater palatine foramen to gain the palatine neurovascular bundle during palatal surgery | |
| CN104720877A (en) | Application of digitization technology to oral approach mandibular condylar lesion surgical excision | |
| CA2816737A1 (en) | System and method for mapping anatomical structures and marking them on a substrate | |
| CN114376725B (en) | Mastectomy incision projector based on 3D is rebuild | |
| CN109700531B (en) | Individual mandible navigation registration guide plate and registration method thereof | |
| WO2019114824A1 (en) | Method and device for locating target on human body using superficial venous characteristics | |
| Choi et al. | Anatomical review of the mandibular lingula for inferior alveolar nerve block | |
| CN106875392A (en) | A kind of method for generating the description information of human body orthopaedics implant guider | |
| US20230181259A1 (en) | Method and system for pre-operative implant sizing | |
| CN109700532B (en) | Individualized craniomaxillary face navigation registration guide plate and registration method thereof | |
| CN108670362B (en) | Cutting guide plate prepared by digital space reconstruction and 3D printing technology | |
| CN114913124B (en) | Incisional edge path generation method and system for tumor surgery and storage medium | |
| CN111728689A (en) | Pelvic fracture posterior ring minimally invasive stabilization system guide plate | |
| CN106473816A (en) | A kind of pad pasting for lesion localization | |
| CN108354651B (en) | Cutting guide for sizing a replacement flap for a soft tissue surface | |
| CN113576641B (en) | Reduction system for deformity before and after fracture and fracture of lower limb | |
| Matsunaga et al. | Landmark structures to approach the internal auditory canal: a dimensional study related to the middle cranial fossa approach | |
| CN110913790B (en) | Method for positioning anatomical insertion point of medial patellar ligament | |
| CN110638523B (en) | Method for automatically cutting edges based on circular track curve profile | |
| WO2012112069A1 (en) | Method for locating a patient's mandible head axis | |
| CN208511148U (en) | Full spinal pedicle abutment sleeve |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |