CN115024805A - Method, system and storage medium for assisting puncture of endoscopic surgery - Google Patents
Method, system and storage medium for assisting puncture of endoscopic surgery Download PDFInfo
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Abstract
The invention discloses a method, a system and a storage medium for assisting puncture of an endoscopic surgery, which comprises the steps of S1, respectively attaching a first marker and a second marker at the marking positions of an endoscope B and a puncture needle A, then inserting the lower end of the endoscope B into a target object, and placing the puncture needle A on the surface layer of the target object; s2: shooting a scene by using a camera device to obtain a first target object image and transmitting the first target object image to an upper computer, and analyzing the first target object image by the upper computer to obtain a coordinate P at the lower end of a cavity mirror B endB And the coordinates P of the lower end of the puncture needle A endA (ii) a S3: the upper computer is according to P endB And P endA Calculating the insertion distance and angle of the puncture needle A, thereby simulating the puncture needle A in real timeA puncture path. S4: the insertion of the puncture needle a is completed according to the puncture route in S3.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a method, a system and a storage medium for assisting puncture in endoscopic surgery.
Background
When a doctor performs endoscopic surgery (such as joint surgery), the doctor cuts two to three incisions at corresponding positions, the endoscope is placed into a human body cavity from one incision, the endoscope is connected with a monitor through a lead, the internal structure can be directly displayed on the monitor, the doctor can make clear diagnosis on the state of an illness, meanwhile, a puncture needle is used for establishing an operation channel from the other incision, and an operation tool is placed to treat the pathological changes in the cavity.
When the puncture needle is used for puncturing a patient body to establish a channel, the puncturing position and the angle of the puncture needle need to be accurately adjusted so as to avoid damage to the body tissue of the patient when the puncture needle is punctured, and the correct puncturing position and angle can ensure that the puncture needle punctures a target tissue or a bone to perform an operation.
However, the endoscope part is inserted into the joint cavity of the human body, so that the specific position of the endoscope is unknown from the outside, and the puncture needle cannot be accurately placed from another incision, namely the puncture needle cannot accurately reach the placing place of the endoscope. The existing method generally depends on experience of operators and multiple attempts, so that the operation is complicated, and the efficiency is reduced.
Disclosure of Invention
Aiming at the problem of low matching precision of the puncture needle and the endoscope in the prior art, the invention provides a method and a system for assisting the puncture of an endoscope operation.
In order to achieve the above object, the present invention provides the following technical solutions:
a method for assisting puncture in endoscopic surgery specifically comprises the following steps:
s1: respectively attaching a first marker and a second marker to the marking positions of the endoscope B and the puncture needle A, inserting the lower end of the endoscope B into the target, and placing the puncture needle A on the surface layer of the target;
s2: shooting a scene by using a camera device to obtain a first target object image and transmitting the first target object image to an upper computer, and analyzing the first target object image by the upper computer to obtain a coordinate P at the lower end of a cavity mirror B endB And the coordinate P of the lower end of the puncture needle A endA ；
S3: upper positionMachine basis P endB And P endA And calculating the insertion distance and angle of the puncture needle A, thereby simulating the puncture path of the puncture needle A in real time.
S4: the insertion of the puncture needle a is completed according to the puncture route in S3.
Preferably, in S1, the marking positions of the endoscope B and the puncture needle a are both in a 30 mm-30 mm cube structure, and there are four faces, and each face is adhered with a marker.
Preferably, the marker is an Apriltag marker for identifying the position and angle of the endoscope B and the puncture needle a.
Preferably, the S2 includes:
s2-1: the camera device continuously shoots a target object to obtain a first target object image, wherein the first target object image comprises a cavity mirror B inserted into the incision, a puncture needle A positioned on the surface layer of the target object and the target object;
s2-2: the upper computer identifies pixel coordinates of four vertexes of a first marker in a first target object image and homography matrixes H corresponding to the four vertexes by using a python-based apriltags tool library;
s2-3: the upper computer decomposes the homography matrix H by using an opencv tool library to obtain a rotation matrix R and a translation matrix T from a coordinate system established on the first marker to a camera coordinate system;
s2-4: decomposing the rotation matrix R through a scipy tool library to obtain Euler angles of all marks in the first marker in a camera coordinate system, and taking the mark corresponding to the minimum Euler angle as an identification mark;
s2-5: according to the rotation matrix R and the translation matrix T of the identification mark, the coordinate P of the upper end of the cavity mirror B in the camera coordinate system is obtained in real time topB The coordinate of the lower end of the endoscope B under the camera coordinate system is P endB (ii) a The coordinate P of the upper end of the puncture needle A in the camera coordinate system can be obtained in the same way topA And the coordinate of the lower end of the puncture needle A under the camera coordinate system is P endA 。
Preferably, in the S2-5, the coordinate of the point of the upper end of the cavity mirror B under the world coordinate system is (X) w ,Y w ,Z w ) Directly identified by apriltags tool libraryThen, the transformation formula from the world coordinate system to the camera coordinate system is:
in the formula (1), X w ,Y w ,Z w Is the coordinate, X, of the upper end of the endoscope B in a world coordinate system c ,Y c ,Z c Is the coordinate of the upper end of the cavity mirror B at the lower point of the camera coordinate system.
Preferably, in the S2-5, the coordinate of the lower end of the cavity mirror B in the camera coordinate system is P endB ：
P endB ＝P topB +m×i (2)
In the formula (2), m represents the distance from the upper end to the lower end of the cavity mirror B; i represents a unit vector of the identification mark corresponding to the euler angle.
Preferably, the calculation formula of the insertion distance of the puncture needle a is as follows:
in the formula (3), D represents the distance of insertion of the puncture needle a, (X1, Y1, Z1) represents the coordinates of the lower end of the scope B in the camera coordinate system, and (X2, Y2, Z2) represents the coordinates of the lower end of the puncture needle a in the camera coordinate system.
Preferably, the insertion angle of the puncture needle A is as follows:
in the formula (4), β represents the insertion angle of the puncture needle a, D represents the vertical distance between the lower end of the scope B and the surface layer of the target object, and D represents the insertion distance of the puncture needle a.
The invention also provides a system for assisting the puncture of the endoscopic surgery, which comprises an endoscope B provided with a first marker, a puncture needle A provided with a second marker, a camera device and an upper computer;
the camera device is used for shooting a first marker of the endoscope B and a second marker of the puncture needle A to obtain a first target object image and uploading the first target object image to the upper computer;
and the upper computer identifies and analyzes the first target object image, calculates the lower end coordinate of the endoscope B and the lower end coordinate of the puncture needle A, and further calculates the insertion distance and the angle of the puncture needle A.
The invention also provides a storage medium on which a computer program is stored, the computer program being used for executing any one of the steps of the method for assisting laparoscopic surgery puncture.
In summary, due to the adoption of the technical scheme, compared with the prior art, the invention at least has the following beneficial effects:
according to the invention, the markers are attached to the endoscope B and the puncture needle A, and the markers are identified by the apriltags tool library to obtain the position coordinates of the lower end of the endoscope B and the lower end of the puncture needle A, so that the insertion angle and distance of the puncture needle A are calculated, the lower end of the puncture needle A and the lower end of the endoscope B are ensured to be intersected in the target, the puncture precision is improved, a doctor is assisted to complete the operation better, and the safety is improved.
Description of the drawings:
FIG. 1 is a schematic view of a method for assisting laparoscopic surgical penetration according to an exemplary embodiment of the present invention.
FIG. 2 is a schematic view of a tag according to an exemplary embodiment of the present invention.
Fig. 3 is a schematic view of a simulation of the insertion of the scope B and the puncture needle a into the subject according to an exemplary embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and embodiments. It should be understood that the scope of the above-described subject matter of the present invention is not limited to the following examples, and any technique realized based on the contents of the present invention is within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
As shown in FIG. 1, the invention provides a method for assisting puncture in endoscopic surgery, which specifically comprises the following steps:
s1, attaching a first marker and a second marker at the marked positions (at the upper ends) of the endoscope B and the puncture needle A respectively, inserting the lower end of the endoscope B into the target object, and marking the lower end as 'B1'.
In the embodiment, the mark positions of the endoscope B and the puncture needle A are the same, the endoscope B and the puncture needle A are both in a 30 mm-30 mm cube structure, the endoscope B and the puncture needle A have four faces, and each face is pasted with a marker.
In this example, the tag is an Apriltag tag, as shown in fig. 2. The marks (a) - (d) are pasted on the puncture needle A, and the marks (e) - (h) are pasted on the endoscope B; the computer can identify the 3D position and angle of the endoscope B and the puncture needle A through the Apriltag.
In this embodiment, as shown in fig. 3, the lower end of the scope B is inserted from the incision position (known position) into the inside of the object so that the lower end portion is not visible, but the marking position 1 with the marker attached in the scope B is outside the object and thus visible; the puncture needle a is not inserted inside the object and therefore the marker position 2 of the puncture needle a is also visible.
S2, acquiring a first target object image by using a camera device, preprocessing the first target object image, and identifying pixel coordinates of four vertexes of a first marker in the first target object image and a homography matrix H corresponding to the four vertexes based on an apriltags tool library of python.
In this embodiment, the first object image includes the endoscope B inserted into the incision site and the puncture needle a located at the point of the object surface layer a 1.
In this embodiment, the image pickup device is a general color camera; the object image is preprocessed by using an opencv-based image processing tool, and white balance, Gaussian blur and the like are included.
In this embodiment, the vertex pixel coordinates and the homography matrix of the first marker can be directly obtained through the apriltags tool library, which is the prior art.
And S3, decomposing the homography matrix H through an opencv tool library to obtain a rotation matrix R and a translation matrix T from a coordinate system (world coordinate system) established on the first marker to a camera coordinate system.
In this embodiment, the world coordinate system is established at the center of the first marker or the second marker
S4: and decomposing the rotation matrix R through a scipy tool library to obtain Euler angles of all the marks in the first marker in three directions of x, y and z of a camera coordinate system, and taking the mark corresponding to the minimum Euler angle as an identification mark.
In this embodiment, because two markers of the first marker may be simultaneously identified in some camera view angles, one marker has a larger rotation angle, i.e., has a larger deformation, the other marker has a smaller rotation angle, i.e., has a smaller deformation, and the deformation has a larger influence on the identification accuracy, the markers having the smaller rotation angles are screened out through the euler angles as the basis for calculating the distance in the subsequent step, i.e., the euler angles of the multiple markers are sorted and compared, and the marker corresponding to the smallest euler angle is selected as the identified marker.
S5: according to the rotation matrix R and the translation matrix T of the identification mark, the coordinate P of the upper end (the mark which can be considered as the visible part) of the cavity mirror B in the camera coordinate system is obtained in real time topB (ii) a The coordinate P of the upper end of the puncture needle A in the camera coordinate system can be obtained in the same way topA 。
In this embodiment, the coordinate of the upper end of the scope B in the world coordinate system is (X) w ,Y w ,Z w ) And can be directly identified by an apriltags tool library. The transformation formula from the world coordinate system to the camera coordinate system is as follows:
in the formula (1), X w ,Y w ,Z w As coordinates of the vertex in the world coordinate system, X c ,Y c ,Z c Is the coordinate of the point of the vertex in the camera coordinate system.
In this embodiment, the coordinate of the lower end of the cavity mirror B in the camera coordinate system is P endB The coordinate of the lower end of the puncture needle A under the camera coordinate system is P endA 。
P endB ＝P topB +m×i (2)
In the formula (2), m represents the distance from the upper end of the cavity mirror B to the lower end B1, and can be measured in advance; i denotes a unit vector of the three directions of the euler angle camera coordinate system X, Y, Z of the recognition mark.
S6: according to the coordinate P of the lower end B1 of the cavity mirror B endB And the coordinate P of the lower end A1 of the puncture needle A endA Obtaining the insertion distance D of the puncture needle A; according to the lower end B1 coordinate P of cavity mirror B endB The vertical distance d between the lower end B1 and the surface layer of the target object is obtained, and the insertion angle between the puncture needle A and the surface layer of the target object is obtained
Namely, the puncture needle A is controlled to be inserted into the cavity D at an angle beta, so that the lower end of the puncture needle A is intersected with the lower end of the cavity mirror.
In this embodiment, for example, the lower end B1 coordinate P endB Is (X1, Y1, Z1), the lower end A1 coordinate P of the puncture needle A endA Is (X2, Y2, Z2), then
Furthermore, a first inclination angle sensor is installed on the endoscope B, a second inclination angle sensor (which can be installed at the upper part) is installed on the puncture needle A, and the first inclination angle sensor and the second inclination angle sensor are both connected with the controller through a lead wire, so that a first angle alpha between the endoscope B and the X axis of the world coordinate system and a second angle beta between the puncture needle A and the X axis of the world coordinate system can be obtained, and alpha is beta +90 degrees.
In this embodiment, when the puncture needle a moves at any position of the surface layer, the upper computer can calculate the seat of the lower end B1 of the endoscope B in real timeMark P endB And the coordinate P of the lower end A1 of the puncture needle A endA And the real-time insertion angle and the real-time insertion distance are obtained, so that the puncture path of the puncture needle A is simulated in real time, the worker is guided to complete the in and out of the puncture needle A, the repeated plugging process is avoided, and the operation time is saved.
Based on the method, the invention also provides a system for assisting the puncture of the endoscopic surgery, which comprises an endoscope B provided with a first marker, a puncture needle A provided with a second marker, a camera device and an upper computer.
In the embodiment, the mark positions of the endoscope B and the puncture needle A are the same, and are both in a 30 mm-30 mm cube structure, and the endoscope B has four faces, and each face is pasted with a mark.
In this example, the tag is an Apriltag tag, as shown in fig. 2. The marks (a) - (d) are pasted on the puncture needle A, and the marks (e) - (h) are pasted on the endoscope B; the computer can identify the 3D position and angle of the endoscope B and the puncture needle A through the Apriltag.
In this embodiment, the camera device is used to photograph the markers on the endoscope B and the puncture needle a and upload the markers to the upper computer for identification, and calculate the lower end coordinate of the endoscope B and the lower end coordinate of the puncture needle a, so as to provide the insertion angle and distance of the puncture needle a.
The present invention also provides a storage medium having stored thereon a computer program for executing the steps of the method described in the above embodiments.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A method for assisting puncture in endoscopic surgery is characterized by comprising the following steps:
s1: respectively sticking a first marker and a second marker at the marking positions of an endoscope B and a puncture needle A, inserting the lower end of the endoscope B into a target object, and placing the puncture needle A on the surface layer of the target object;
s2: shooting a scene by using a camera device to obtain a first target object image and transmitting the first target object image to an upper computer, and analyzing the first target object image by the upper computer to obtain a coordinate P at the lower end of a cavity mirror B endB And the coordinates P of the lower end of the puncture needle A endA ；
S3: the upper computer is according to P endB And P endA And calculating the insertion distance and angle of the puncture needle A, thereby simulating the puncture path of the puncture needle A in real time.
S4: the insertion of the puncture needle a is completed according to the puncture route in S3.
2. The method for assisting laparoscopic surgery puncture as set forth in claim 1, wherein in said S1, the marking positions of the endoscope B and the puncture needle a are each a 30 mm-30 mm cube structure, and there are four faces each of which is stuck with a marker.
3. A method for assisting laparoscopic surgical penetration as set forth in claim 2, wherein said marker is Apriltag's marker for identifying the position and angle of the laparoscopic B and the piercing needle a.
4. A method for assisting laparoscopic surgical penetration as set forth in claim 1, wherein said S2 comprises:
s2-1: the camera device continuously shoots a target object to obtain a first target object image, wherein the first target object image comprises a cavity mirror B inserted into the incision, a puncture needle A positioned on the surface layer of the target object and the target object;
s2-2: the upper computer identifies pixel coordinates of four vertexes of a first marker in a first target object image and homography matrixes H corresponding to the four vertexes by using a python-based apriltags tool library;
s2-3: the upper computer decomposes the homography matrix H by using an opencv tool library to obtain a rotation matrix R and a translation matrix T from a coordinate system established on the first marker to a camera coordinate system;
s2-4: decomposing the rotation matrix R through a scipy tool library to obtain Euler angles of all marks in the first marker in a camera coordinate system, and taking the mark corresponding to the minimum Euler angle as an identification mark;
s2-5: according to the rotation matrix R and the translation matrix T of the identification mark, the coordinate P of the upper end of the cavity mirror B in the camera coordinate system is obtained in real time topB The coordinate of the lower end of the endoscope B under the camera coordinate system is P endB (ii) a The coordinate P of the upper end of the puncture needle A in the camera coordinate system can be obtained in the same way topA And the coordinate of the lower end of the puncture needle A under the camera coordinate system is P endA 。
5. The method for assisting laparoscopic surgical penetration as set forth in claim 4, wherein said S2-5, the coordinate of the point of the world coordinate system of the upper end of the scope B is (X) w ,Y w ,Z w ) And directly identifying by an apriltags tool library, wherein a transformation formula from a world coordinate system to a camera coordinate system is as follows:
in the formula (1), X w ,Y w ,Z w Is the coordinate, X, of the upper end of the endoscope B under a world coordinate system c ,Y c ,Z c Is the coordinate of the upper end of the cavity mirror B at the lower point of the camera coordinate system.
6. A method for assisting laparoscopic surgical penetration as set forth in claim 4, wherein in said S2-5, the coordinate of the lower end of the scope B in the camera coordinate system is P endB ：
P endB ＝P topB +m×i (2)
In the formula (2), m represents the distance from the upper end to the lower end of the cavity mirror B; i represents a unit vector of the identification mark corresponding to the euler angle.
7. A method for assisting laparoscopic surgical penetration as set forth in claim 1, wherein said penetration needle a is inserted a distance calculated by the formula:
in the formula (3), D represents the distance of insertion of the puncture needle a, (X1, Y1, Z1) represents the coordinates of the lower end of the scope B in the camera coordinate system, and (X2, Y2, Z2) represents the coordinates of the lower end of the puncture needle a in the camera coordinate system.
8. A method for assisting laparoscopic surgical puncture as claimed in claim 1, wherein said puncture needle a is inserted at an angle of:
in the formula (4), β represents the insertion angle of the puncture needle a, D represents the vertical distance between the lower end of the scope B and the surface layer of the target object, and D represents the insertion distance of the puncture needle a.
9. A system for assisting puncture of endoscopic surgery based on any one of the methods of claims 1 to 8, which is characterized by comprising an endoscope B provided with a first marker, a puncture needle A provided with a second marker, a camera device and an upper computer;
the camera device is used for shooting a first marker of the endoscope B and a second marker of the puncture needle A to obtain a first target object image and uploading the first target object image to the upper computer;
and the upper computer identifies and analyzes the first target object image, calculates the lower end coordinate of the endoscope B and the lower end coordinate of the puncture needle A, and further calculates the insertion distance and the angle of the puncture needle A.
10. A storage medium having stored thereon a computer program for performing the steps of the method of any one of claims 1 to 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117233667A (en) * | 2023-11-10 | 2023-12-15 | 速源芯(东莞)能源科技有限公司 | Intelligent monitoring system of intelligent charger |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117233667A (en) * | 2023-11-10 | 2023-12-15 | 速源芯(东莞)能源科技有限公司 | Intelligent monitoring system of intelligent charger |
| CN117233667B (en) * | 2023-11-10 | 2024-02-09 | 速源芯(东莞)能源科技有限公司 | Intelligent monitoring system of intelligent charger |
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