CN115414116B - Simulation positioning selection system for optimal site of laparoscope stab card - Google Patents

Simulation positioning selection system for optimal site of laparoscope stab card Download PDF

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CN115414116B
CN115414116B CN202211381783.3A CN202211381783A CN115414116B CN 115414116 B CN115414116 B CN 115414116B CN 202211381783 A CN202211381783 A CN 202211381783A CN 115414116 B CN115414116 B CN 115414116B
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simulation
target object
optimal
coordinate system
chip
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CN115414116A (en
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熊力
彭彦缙
侯木舟
曹聪
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Central South University
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Central South University
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    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A61G13/06—Adjustable operating tables; Controls therefor raising or lowering of the whole table surface
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Abstract

The invention discloses a laparoscope stab card optimal site simulation positioning selection system, which belongs to the technical field of medical assistance and comprises the following components: the operating table is used for bearing a target object, body surface labels are arranged at a plurality of anatomical positions of the target object, an auxiliary positioning chip is arranged in the body surface labels, a simulation positioning chip is also arranged at the simulation position of the target object, and a plurality of detection devices are arranged on the operating table; a display; the position calculation module is connected with the detection device and the display, and is used for: constructing a coordinate system by taking any point in the operating room as an origin; determining the positions of a plurality of auxiliary positioning chips in the coordinate system; converting the three-dimensional reconstructed model of the target object to the coordinate system; the positions of the three-dimensional reconstruction model and the simulation position in the coordinate system; the determine location simulation determines whether it is the optimal location. The method and the device can simulate the optimal site of the laparoscope stab card.

Description

Simulation positioning selection system for optimal site of laparoscope stab card
Technical Field
The invention relates to the technical field of medical auxiliary instruments, in particular to a laparoscope stab card optimal site simulation positioning selection system.
Background
The medical digital three-dimensional reconstruction technology is used for reconstructing a virtual three-dimensional model by performing digital processing on image data such as CT (computed tomography), MR (magnetic resonance) and the like. The virtual model obtained by three-dimensional reconstruction can visually display the anatomical structure relationship of each tissue and organ in the human body and the position of a focus in the human body.
The laparoscopic surgery is a main component of the existing minimally invasive surgery, and a poking and clamping hole for the subsequent endoscopic instrument to pass through is punctured on the body surface of an abdominal cavity, a thoracic cavity and the like by using a poking and clamping puncture device, so that the first step of the laparoscopic surgery is performed. The poke card area is the area where the whole belly is located. The first step of the operation is to select 5 points in the belly region of the abdomen for perforation, pierce the skin and the abdominal wall at these 5 points and make 5 holes to the inside of the abdominal cavity. The 5 holes are relatively fixed, except one hole for placing the camera, and the other 4 holes are used for placing operating instruments.
Because the standing position of the human body, the wrist joint of the human body and the holding handle of the laparoscopic operation instrument have a certain angle, the hand-held laparoscopic operation instrument can not freely rotate for 360 degrees. When the endoscope operation is carried out, the punching hole punching device can be influenced by the punching hole punching position, so that the operation range of the endoscope instrument inside the endoscope operation device is limited to a certain extent, and the position beyond the limited range can not be used for carrying out effective surgical operation on the endoscope operation device. Meanwhile, in an accessible operation range, due to the physiological habit of human motion, an operation space with the best comfort level for human activities exists. If the focus is located in this space, then will make the accurate operation under the endoscope that carries out that the operator can be more nimble, handy, reduce unnecessary operation damage.
In reality, the selection of the hole site of the poking card often depends on experience, and different poking card hole sites are often used by different endoscope operators according to different positions of focuses, different habits of the operators and cognition on endoscope operation instruments. Because of lack of visualization tools for selecting the position and the optimal operation range of the poking hole position for simulation punching, the primary endoscope operator with partial immature experience often faces the situation of poor poking hole position selection. Therefore, the operation is finished by using a different posture, or the punching position is readjusted, and a new card poking hole position is added. The former or the latter with a new hole brings adverse effects to the patient and increases the risk of surgical complications.
Disclosure of Invention
In view of the above disadvantages, the present invention provides a laparoscope stab card optimal site simulation positioning selection system, which can be used for simulating an optimal site, so that the operation is more convenient and comfortable, and the risk of complications is reduced.
In order to achieve the above object, the present invention provides a laparoscope stab card optimal site simulation positioning selection system, comprising:
the operating table is used for bearing a target object, body surface labels are arranged at a plurality of anatomical positions of the target object, an auxiliary positioning chip is arranged in the body surface labels, a simulation positioning chip is also arranged at the simulation position of the target object, and a plurality of detection devices are arranged on the operating table;
a display;
a position calculation module connected to the detection device and the display, the position calculation module configured to:
constructing a coordinate system by taking any point in an operating room where the operating bed is located as an origin;
determining the positions of a plurality of auxiliary positioning chips in the coordinate system according to the first signals detected by the detection device; the first signal is a signal transmitted by a plurality of auxiliary positioning chips;
converting a pre-constructed three-dimensional reconstruction model of the target object into the coordinate system; the position corresponding to the anatomical position in the three-dimensional reconstruction model is superposed with the position of the anatomical position in the coordinate system;
according to the second signal detected by the detection device, the position of the simulated positioning chip in the coordinate system is determined, and the position of the coordinate system, the three-dimensional reconstruction model and the position of the simulated positioning chip in the coordinate system are displayed through the display; the second signal is a signal transmitted by the analog positioning chip;
and simulating and determining whether the position of the simulated positioning chip is the optimal position according to the position of the simulated positioning chip in the three-dimensional reconstruction model.
According to one aspect of the invention, further comprising:
a laser connected to the position calculation module, the laser configured to:
and irradiating the laser of the laser to the corresponding position of the target object according to the optimal position simulated by the position calculation module in the three-dimensional reconstruction model.
According to one aspect of the present invention, the simulation of the position of the positioning chip in the three-dimensional reconstructed model to determine whether it is the optimal position is performed by the following function
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Is confirmed wherein >>
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Is a set of three-dimensional spatial coordinate points, corresponding to:
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wherein the content of the first and second substances,
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optimal operating spaces for 4 different simulation positions respectively; />
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A convergence space which is the optimal operating space for 4 different simulation positions; />
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Spatial coordinates for any simulated location; h is the vertical thickness of the trunk measured when the target object lies flat; />
Figure 124659DEST_PATH_IMAGE007
Mapping a straight line formed by the position to be punched and the origin of coordinates O at an anticlockwise included angle between an XOY plane and the positive direction of an X axis;
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；/>
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(ii) a When/is>
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When, is greater or less>
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(ii) a When in use
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，/>
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(ii) a The central axis of the target object is parallel to the YOZ plane of the standard operating bed coordinate system and is/is>
Figure 545271DEST_PATH_IMAGE014
And the coordinate value of the central axis of the target object corresponding to the X axis is obtained.
According to one aspect of the invention, the operating bed comprises a bed board, a liftable bedpost is arranged below the bed board, the bottom of the liftable bedpost is connected with a bottom plate, one end of the bottom plate is vertically connected with a vertical rod, the upper end of the vertical rod is connected with a rectangular support parallel to the bed board, and the rectangular support is positioned right above the bed board; every angle of rectangular support all is equipped with a detection device, the both sides limit of rectangular support is equipped with first guide rail, and sliding connection has first pulley on the first guide rail, and first pulley on the first guide rail of both sides is connected through the second guide rail, and sliding connection has the second pulley on the second guide rail, and the second pulley is connected with the laser instrument, all is equipped with driving motor on first pulley and the second pulley, driving motor is connected with position calculation module.
In accordance with an aspect of the invention, the position calculation module is further configured to:
and controlling the motion quantity of a driving motor of the first pulley and the motion quantity of a driving motor of the second pulley according to the position of the optimal position simulated by the three-dimensional reconstruction model in the coordinate system, so that the laser beam of the laser vertically points to the optimal position in the target object body.
In accordance with an aspect of the invention, the position calculation module is further configured to:
and simulating the operating space of the target object in the non-inflated state to generate a three-dimensional reconstruction model in the inflated state.
According to one aspect of the invention, the body surface label comprises a first shell, a radio frequency chip circuit board wrapped in the first shell and a metal antenna board connected with the radio frequency chip circuit board, wherein the metal antenna board is wirelessly connected with the detection device.
According to one aspect of the invention, the analog positioning chip comprises a second housing and a positioning chip contained within the second housing and a chip anchor connecting the positioning chip and the second housing, the positioning chip being wirelessly connected to the probing device.
According to one aspect of the invention, the detection device comprises a base, a spherical shell arranged on the base, a signal transceiver arranged in the spherical shell, and a transceiver antenna arranged on the base, wherein the transceiver antenna is respectively connected with the signal transceiver and the position calculation module.
According to one aspect of the invention, the back surfaces of the analog positioning chips are provided with double-sided adhesive tapes, and the double-sided adhesive tapes are made of anti-allergic adhesive.
The scheme of the invention has the following beneficial effects:
in the embodiment of the application, the laparoscope card optimal site simulation positioning selection system constructs a coordinate system for the operating table through a position calculation module, converts a pre-constructed three-dimensional reconstruction model into the coordinate system, displays the three-dimensional reconstruction model and the position of a simulation positioning chip in the three-dimensional reconstruction model in a display, and judges whether the simulation positioning chip is an optimal site or not and/or is within the range of the virtual optimal site in the position calculation module for controlling the movement of a laser.
Other advantages of the present application will be described in detail in the detailed description that follows.
Drawings
FIG. 1 is a schematic structural diagram of a laparoscope stab card optimal site simulation positioning selection system according to an embodiment of the present application;
FIG. 2 is a first schematic structural diagram of a body surface label provided in an embodiment of the present application;
FIG. 3 is a second schematic structural view of a body surface label provided in accordance with an embodiment of the present application;
fig. 4 is a first schematic structural diagram of an analog positioning chip according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a second analog positioning chip according to an embodiment of the present application;
fig. 6 is a first schematic structural diagram of a detection device according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a detection apparatus according to an embodiment of the present application;
FIG. 8 is a schematic diagram illustrating a positional relationship between a body surface labeling or analog positioning chip and each of the detecting devices according to an embodiment of the present disclosure;
FIG. 9 is a diagram illustrating an optimal operating range for any one of the simulated positions displayed by the display according to an embodiment of the present application;
FIG. 10 is a diagram of an optimal operating range convergence for any two simulated positions displayed by a display provided in accordance with an embodiment of the present application;
FIG. 11 is an enlarged view of a portion of FIG. 1 at A;
FIG. 12 is an enlarged view of a portion of FIG. 1 at B;
fig. 13 is a partial view of an operating bed according to an embodiment of the present application.
Description of the drawings: 100. an operating bed; 101. a bed board; 102. a liftable bed column; 103. a base plate; 104. a vertical rod; 105. a first guide rail; 106. a second guide rail; 107. a first pulley; 108. a second pulley; 109. a drive motor; 200. A display; 300. a position calculation module; 400. body surface labeling; 401. a first housing; 402. a radio frequency chip circuit board; 403. a metal antenna plate; 500. simulating a positioning chip; 501. a second housing; 502. positioning the chip; 503. chip fixing anchors; 504. pasting with double-sided adhesive tape; 600. a detection device; 601. a base; 602. a spherical shell; 603. a signal transceiver; 604. a transmit-receive antenna; 700. a laser.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
At present, because the selection of the hole site of the poking card often depends on experience, different operators often use different poking card hole sites according to different positions of focuses, different habits of the operators and cognition on endoscope operation instruments. Because of lack of visualization tools for selecting the position and the optimal operation range of the poking hole position for simulation punching, the primary endoscope operator with partial immature experience often faces the situation of poor poking hole position selection. The operation is finished by using a special gesture, or the punching position is readjusted, and a new card punching hole position is added. The former or the latter with a new hole brings adverse effects to the patient and increases the risk of surgical complications.
In view of the above problems, an embodiment of the present invention provides a laparoscope stab card optimal site simulation positioning selection system, which constructs a coordinate system for an operating table through a position calculation module, converts a pre-constructed three-dimensional reconstruction model into the coordinate system, displays the positions of the three-dimensional reconstruction model and a simulation positioning chip in the three-dimensional reconstruction model on a display, and determines whether the simulation positioning chip is an optimal site, and/or determines that the simulation positioning chip is within a range of a virtual optimal site in the position calculation module by controlling the movement of a laser.
The optimal site simulation positioning selection system for the laparoscope stab card provided by the application is exemplarily described below with reference to specific embodiments.
As illustrated in fig. 1, an embodiment of the present application provides a laparoscope stab card optimal site simulation positioning selection system, which includes: the operation table 100 for carrying the target object, the display 200, and the position calculation module 300 (the position calculation module in fig. 1 is located in the host device connected with the display).
Wherein, a plurality of anatomical position departments of target object all are equipped with the body surface labeling, be equipped with the assistance-localization real-time chip in the body surface labeling, the analog position of target object still is equipped with the analog location chip, is provided with a plurality of detecting device on the operation table 100, and body surface labeling or assistance-localization real-time chip carry out communication connection through wireless with detecting device, and detecting device carries out communication connection through wireless with position calculation module 300.
In some embodiments of the present application, the operating table 100 includes a bed plate 101, a liftable column 102 is disposed below the bed plate 101, a bottom plate 103 is connected to the bottom of the liftable column 102, a vertical rod 104 is vertically connected to one end of the bottom plate 103, and a rectangular bracket parallel to the bed plate 101 is connected to the upper end of the vertical rod 104 and located right above the bed plate 101; and each corner of the rectangular bracket is provided with a detection device. In some embodiments of the present application, a body surface label is set at each of a plurality of anatomical positions of the target object, which may be positions of the person's body surface such as "xiphoid process", "anterior superior iliac spine", and the like, for the purpose of virtually displaying the actual position of the target object and the position in the position calculation module 300.
In some embodiments of the present application, in order to facilitate virtual display of the actual position of the target object in the position calculation module 300, as shown in fig. 2 to 3, the body surface label 400 includes a first housing 401, a radio frequency chip circuit board 402 wrapped in the first housing 401, and a metal antenna board 403 connected to the radio frequency chip circuit board 402, wherein the metal antenna board 403 is wirelessly connected to the detection device.
Illustratively, in some embodiments of the present application, the first housing 401 is a polyvinyl chloride (PVC) medical housing, and the body surface label 400 is sized to have a diameter of 3mm and a major diameter of 10mm.
In some embodiments of the present application, in order to simulate an optimal operating space for virtually displaying a simulated position of a target object in the position calculating module 300, as shown in fig. 4, the simulated positioning chip 500 includes a second housing 501, a positioning chip 502 included in the second housing 501, and a chip fixing anchor 503 connecting the positioning chip 502 and the second housing 501, wherein the positioning chip 502 is wirelessly connected to the detecting device.
Illustratively, in some embodiments of the present application, as shown in fig. 5, the second housing 501 is a polyvinyl chloride (PVC) medical housing, and the analog positioning chip 500 has a double-sided adhesive tape 504 on the back side, which is made of an anti-allergic adhesive.
The body surface label and the simulation positioning chip are mainly used for emitting signals at a certain frequency, so that the detection device transmits the signal intensity to the processor after receiving the signals and the signal intensity, and the processor calculates and determines the corresponding position of the detection device in the three-dimensional reconstruction model. It should be noted that the frequencies of the signals transmitted by the body surface label and the analog positioning chip are different, so that the position calculation module can distinguish the received signal intensities through the frequencies to respectively determine the positions of the body surface label and the analog positioning chip.
In some embodiments of the present application, the plurality of detecting devices are configured to detect the transmitted signals and signal intensities of the body surface label and each analog positioning chip, so that the position calculating module determines the corresponding positions of the body surface label and each analog positioning chip in the three-dimensional reconstruction model according to the compared signal intensities.
Specifically, as shown in fig. 6 to 7, the detecting device 600 includes a base 601, a spherical shell 602 disposed on the base 601, a signal transceiver 603 disposed in the spherical shell 602, and a transceiver antenna 604 disposed on the base 601, wherein the transceiver antenna 604 is connected to the signal transceiver 603 and the position calculating module respectively.
Wherein, the signal transceiver is mainly used for: the receiving and transmitting antenna receives the body surface label and the signal intensity transmitted by each analog positioning chip, and transmits the received signal and the signal intensity to the position calculating module.
The processor is used for executing the following actions (namely, the step one to the step four) to realize the optimal site simulation positioning selection:
the method comprises the following steps:
and constructing a coordinate system by taking any point in the operating room where the operating bed is positioned as an origin, and displaying the coordinate system on the position calculation module.
In some embodiments of the present application, as shown in fig. 1, a liftable bedpost 102 is arranged below a bed plate 101 and a bed plate 101 of an operating table 100, a bottom plate 103 is connected to the bottom of the liftable bedpost 102, one end of the bottom plate 103 is vertically connected with a vertical rod 104, the upper end of the vertical rod 104 is connected with a rectangular bracket parallel to the bed plate 101, and the rectangular bracket is located right above the bed plate 101; and each corner of the rectangular bracket is provided with a detection device. In practical applications, the lifting of the liftable column 102 can be controlled by a control end (e.g., a control switch) of the liftable column 102, so that the bed plate 101 is at a proper height.
In some embodiments of the present application, when the processor constructs the coordinate system, for convenience of description, the processor chooses to construct the coordinate system with the position of a certain detection device on the operating table as the origin.
Step two:
and determining the positions of the plurality of auxiliary positioning chips in the coordinate system according to the first signals detected by the detection device, wherein the first signals are signals emitted by the plurality of auxiliary positioning chips.
In some embodiments of the present application, for convenience of description, 4 detection devices on the operating table are respectively recorded as
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Three coordinate axes of a coordinate system constructed by taking the position as an original point O are respectively marked as an X axis, a Y axis and a Z axis, and the coordinate of the auxiliary positioning chip under the coordinate system is assumed to be ^ H>
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The rectangular support is a square frame. Based on this, for each of the plurality of auxiliary positioning chips, a specific process of determining the position of the auxiliary positioning chip in the coordinate system may be: first, as shown in FIG. 8, the respective calculations are performed
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Is at a distance of->
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Is at a distance of->
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，/>
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Is at a distance of->
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(ii) a Then, the following four equations are jointly solved to solve the coordinate value ^ greater or lesser than of the auxiliary positioning chip>
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：
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Is->
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In the distance between two adjacent detection devices, is greater than or equal to>
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Are obtained by the detection means. To avoid too many repetitions, the result is here based on->
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Received signal strength (which is transmitted by the auxiliary positioning chip), or->
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For assisting in positioning the chip and->
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Signal strength at a distance of 1 m->
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Is the environmental attenuation factor.
Step three:
and converting the pre-constructed three-dimensional reconstruction model of the target object into a coordinate system.
Specifically, in the coordinate system, for each of the plurality of anatomical positions, a position corresponding to the anatomical position in the three-dimensional reconstruction model coincides with a position of the anatomical position in the coordinate system, so that a relative position of the three-dimensional reconstruction model and the operating table in the coordinate system coincides with a relative position of the target object and the operating table in reality, and accuracy of subsequent simulated positioning is ensured.
In some embodiments of the present application, a three-dimensional reconstruction model of the target object may be constructed in advance according to electronic Computed Tomography (CT) data of the target object, and during the process of transferring the three-dimensional reconstruction model to the coordinate system, the three-dimensional reconstruction model needs to be moved and rotated until a position corresponding to the anatomical position in the three-dimensional reconstruction model coincides with a position of the anatomical position of the target object in an uninflated state in the coordinate system.
In some embodiments of the present application, the three-dimensional reconstructed model after coincidence with the anatomical position of the target object in the uninflated state is converted into a three-dimensional reconstructed model in the inflated state. It should be noted that it is common knowledge to convert the three-dimensional reconstruction model of the target object in the non-inflated state into the three-dimensional reconstruction model in the inflated state, and details are not repeated here.
Step four:
and determining the position of the simulated positioning chip in the coordinate system according to the second signal (the second signal is a signal transmitted by the simulated positioning chip) detected by the detection device, and displaying the position of the coordinate system, the three-dimensional reconstruction model and the simulated positioning chip in the coordinate system through the position calculation module.
In some embodiments of the present application, a specific process of determining the position of the analog positioning chip in the coordinate system is the same as a specific process of determining the position of the auxiliary positioning chip in the coordinate system, and therefore, in order to avoid too many repetitions, the process is not described herein again.
In some embodiments of the present application, after determining the position of the simulated positioning chip in the coordinate system, the three-dimensional reconstructed model, and the position of the simulated positioning chip may be displayed on a display. It should be noted that, because the positions of the three-dimensional reconstruction model and the simulated positioning chip are in the same coordinate system, the display can display the position of the simulated positioning chip in the three-dimensional reconstruction model in real time.
In some embodiments of the present application, a specific process of determining whether the analog positioning chip is the optimal location may be: by the following function
Figure DEST_PATH_IMAGE037
Is determined in which
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Is a set of three-dimensional spatial coordinate points, corresponding to:
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/>
wherein the content of the first and second substances,
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optimal operating spaces for 4 different simulation positions respectively; />
Figure DEST_PATH_IMAGE041
A convergence space which is the optimal operating space for 4 different simulation positions; />
Figure 811539DEST_PATH_IMAGE042
Spatial coordinates for any simulated location; h is the vertical thickness of the trunk measured when the target object lies flat; />
Figure DEST_PATH_IMAGE043
Mapping a straight line formed by the position to be punched and the coordinate origin O on an XOY plane at an anticlockwise included angle with the positive direction of the X axis;
Figure 968851DEST_PATH_IMAGE044
；/>
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(ii) a When/is>
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When, is greater or less>
Figure DEST_PATH_IMAGE047
(ii) a When/is>
Figure 145678DEST_PATH_IMAGE048
，/>
Figure DEST_PATH_IMAGE049
；/>
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(ii) a The central axis of the target object is parallel to the YOZ plane of the standard operating bed coordinate system and is/is>
Figure DEST_PATH_IMAGE051
And the coordinate value of the central axis of the target object corresponding to the X axis is obtained. When the analog positioning chip is attached to the target object, the display will display the optimal operation space, which will be described below with reference to fig. 9-10, as shown in fig. 9, the lower side of the horizontal plane (see the plane where the horizontal reference line of fig. 9 is located) where the analog positioning chip is located is not projected clockwise by 0-15 °, the projection range of 15-30 ° forms a peripheral gray area, the projection range of 30-60 ° is the optimal operation range, the projection range of 60-75 ° forms an inner gray area, and the projection range of 75-90 ° forms an inner black area. The analog positioning chip is vertically oriented along the operator-facing direction (the direction of the arrow in fig. 9 is the operator-facing direction), and is not projected 120 ° rearward of the operator-facing direction. As shown in fig. 10, a schematic diagram of the intersection of the optimal operating ranges of any two simulation positions shows that, when 4 simulation positions are determined and the lesion is in the intersection space of the optimal operating ranges, the simulation positions where the 4 simulation positioning chips are located are 4 optimal sites.
In some embodiments of the present application, in the case that the number of the simulated positioning chips is sufficient, the simulated positioning chips may be attached to 4 different positions of the target object, and the position calculation module 300 determines whether it is the optimal position; if not, the position of the simulated positioning chip on the target object is replaced and then determined by the position calculation module 300. Namely, the present embodiment selects points in reality.
In some embodiments of the present application, when no simulation positioning chip is available, it may be simulated whether the simulation positioning chip is an optimal location by performing virtual point selection in the location calculation module, where the point selection in the location calculation module specifically includes: the position of the laser is manually controlled to enable the laser of the laser to vertically point to the simulated drilling point, the laser transmits the position back to the position calculation module, the transmitted position coordinate serves as a coordinate point for generating an optimal operation space, and meanwhile, a corresponding optimal space range is generated and displayed through the optimal operation space function, so that whether the position is an optimal site or not is judged by the position calculation module; if not, the laser is continuously and manually controlled and then judged by the position calculation module. That is, the present embodiment selects points in the virtual model.
In some embodiments of the application, when the analog positioning chip is insufficient, the analog positioning chip and the laser can be combined to select points, and the position calculation module is used for judging whether the points are optimal points, and if not, the positions of the analog positioning chip and/or the position of the manually-controlled laser can be changed and then judged by the position calculation module. That is, the embodiment combines the real point selection and the virtual point selection.
In some embodiments of the present application, the laser is installed on a rectangular support of the operating table, specifically, as shown in fig. 11 to 12, two side edges of the rectangular support are provided with a first guide rail 105, a first pulley 107 is slidably connected to the first guide rail 105, the first pulleys 107 on the first guide rails 105 on two sides are connected through a second guide rail 106, a second pulley 108 is slidably connected to the second guide rail 106, the second pulley 108 is connected to the laser 700, the first pulley and the second pulley are both provided with a driving motor 109, and the driving motor 109 is connected to the position calculating module 300.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (9)

1. A laparoscope stab card optimal site simulation positioning selection system is characterized by comprising:
the operating table is used for bearing a target object, body surface labels are arranged at a plurality of anatomical positions of the target object, an auxiliary positioning chip is arranged in the body surface labels, a simulation positioning chip is also arranged at the simulation position of the target object, and a plurality of detection devices are arranged on the operating table;
a display;
a position calculation module connected to the detection device and the display, the position calculation module configured to:
constructing a coordinate system by taking any point in an operating room where the operating bed is located as an origin;
determining the positions of a plurality of auxiliary positioning chips in the coordinate system according to the first signals detected by the detection device; the first signal is a signal transmitted by a plurality of auxiliary positioning chips;
converting a pre-constructed three-dimensional reconstruction model of the target object into the coordinate system; the position corresponding to the anatomical position in the three-dimensional reconstruction model is superposed with the position of the anatomical position in the coordinate system;
according to the second signal detected by the detection device, the position of the simulated positioning chip in the coordinate system is determined, and the position of the coordinate system, the three-dimensional reconstruction model and the position of the simulated positioning chip in the coordinate system are displayed through the display; the second signal is a signal transmitted by the analog positioning chip;
simulating and determining whether the position of the simulated positioning chip is the optimal position according to the position of the simulated positioning chip in the three-dimensional reconstruction model;
wherein, the simulation of the position of the simulated positioning chip in the three-dimensional reconstruction model to determine whether the position is the optimal position is specifically realized by the following function
Figure DEST_PATH_IMAGE001
Is determined in which
Figure 939129DEST_PATH_IMAGE002
Is a set of three-dimensional spatial coordinate points, corresponding to:
Figure DEST_PATH_IMAGE003
wherein the content of the first and second substances,
Figure 793953DEST_PATH_IMAGE004
、
Figure DEST_PATH_IMAGE005
、
Figure 497991DEST_PATH_IMAGE006
、
Figure DEST_PATH_IMAGE007
optimal operating spaces for 4 different simulation positions respectively;
Figure 814572DEST_PATH_IMAGE008
a convergence space which is the optimal operating space for 4 different simulation positions;
Figure DEST_PATH_IMAGE009
spatial coordinates for any simulated location; h is the vertical thickness of the trunk measured when the target object lies flat;
Figure 19157DEST_PATH_IMAGE010
mapping a straight line formed by the position to be punched and the origin of coordinates O at an anticlockwise included angle between an XOY plane and the positive direction of an X axis;
Figure DEST_PATH_IMAGE011
；
Figure 513723DEST_PATH_IMAGE012
(ii) a When in use
Figure DEST_PATH_IMAGE013
When the temperature of the water is higher than the set temperature,
Figure 702128DEST_PATH_IMAGE014
(ii) a When the temperature is higher than the set temperature
Figure DEST_PATH_IMAGE015
，
Figure 838711DEST_PATH_IMAGE016
(ii) a The central axis of the target object is parallel to the YOZ plane of the standard operating table coordinate system,
Figure DEST_PATH_IMAGE017
and the coordinate value of the central axis of the target object corresponding to the X axis is obtained.
2. The system for laparoscopic stab card optimal site simulated location selection according to claim 1, further comprising:
a laser connected to the position calculation module, the laser configured to:
and irradiating the laser of the laser to the corresponding position of the target object according to the optimal position simulated by the position calculation module in the three-dimensional reconstruction model.
3. The laparoscopic stab card optimal site simulation positioning selection system according to claim 1, wherein said operating bed comprises a bed plate, a liftable bedpost is arranged below said bed plate, a bottom plate is connected to the bottom of said liftable bedpost, a vertical rod is vertically connected to one end of said bottom plate, a rectangular bracket parallel to said bed plate is connected to the upper end of said vertical rod, and said rectangular bracket is positioned right above said bed plate; every angle of rectangular support all is equipped with a detection device, the both sides limit of rectangular support is equipped with first guide rail, and sliding connection has first pulley on the first guide rail, and first pulley on the first guide rail of both sides is connected through the second guide rail, and sliding connection has the second pulley on the second guide rail, and the second pulley is connected with the laser instrument, all is equipped with driving motor on first pulley and the second pulley, driving motor is connected with position calculation module.
4. The laparoscopic stab card optimal site simulation location selection system of claim 2, wherein said position calculation module is further configured to:
and controlling the motion quantity of a driving motor of the first pulley and the motion quantity of a driving motor of the second pulley according to the position of the optimal position simulated by the three-dimensional reconstruction model in the coordinate system, so that the laser beam of the laser vertically points to the optimal position in the target object body.
5. The laparoscopic stab card optimal site simulation location selection system of claim 1, wherein said position calculation module is further configured to:
and simulating the operating space of the target object in the non-inflated state to generate a three-dimensional reconstruction model in the inflated state.
6. The system for simulating, positioning and selecting the optimal site of the laparoscopic stab card of claim 1, wherein said body surface tag comprises a first housing, a radio frequency chip circuit board wrapped in the first housing, and a metal antenna board connected to said radio frequency chip circuit board, said metal antenna board being wirelessly connected to said detecting device.
7. The system for selecting optimal site simulation and location of laparoscope stab card according to claim 1, wherein said simulation location chip comprises a second housing and a location chip contained in the second housing and a chip anchor connecting the location chip and the second housing, said location chip being wirelessly connected to said probing means.
8. The system for simulating, positioning and selecting the optimal site of the laparoscope stab card according to claim 1, wherein the probing device comprises a base, a spherical shell disposed on the base, a signal transceiver disposed in the spherical shell, and a transceiver antenna disposed on the base, wherein the transceiver antenna is respectively connected to the signal transceiver and the position calculating module.
9. The system for simulating, positioning and selecting the optimal site of the laparoscope stab card according to claim 1, wherein the back surfaces of the simulation positioning chips are both provided with double-sided adhesive tapes, and the double-sided adhesive tapes are made of anti-allergic adhesive.
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