CN115778540A

CN115778540A - Three-dimensional navigation method, system, medium and equipment for bladder soft lens

Info

Publication number: CN115778540A
Application number: CN202211516636.2A
Authority: CN
Inventors: 田树印; 孙佳润; 田迪
Original assignee: Liaoning Longke Medical Instrument Co ltd
Current assignee: Liaoning Longke Medical Instrument Co ltd
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-03-14

Abstract

The application provides a three-dimensional navigation method, a system, a medium and equipment for a bladder soft lens. The navigation method comprises the following steps: establishing a bladder model library in which virtual bladder models are stored: importing a bladder CT image to obtain size data, and screening out a virtual bladder model closest to the size data from a bladder model library; inserting the soft cystoscope into the bladder of a patient, and setting the bladder outlet as a three-dimensional space coordinate zero point when detecting that the distal end of the soft cystoscope reaches the bladder outlet; establishing a marker for replacing the distal end of the soft cystoscope at the bladder outlet of the virtual bladder model, and establishing a mapping relation between the position of the marker in the virtual bladder model and the position of the soft cystoscope in the bladder of a patient; and acquiring the position data of the far end of the soft cystoscope in real time, and updating the position of the marker in the virtual bladder model in real time. The position relation of the far end of the soft cystoscope relative to the bladder of a patient is mapped through the relative positions of the marker and the virtual bladder model, and the space positioning and navigation functions of the soft cystoscope are realized.

Description

Three-dimensional navigation method, system, medium and equipment for bladder soft lens

Technical Field

The application relates to the technical field of soft cystoscope, in particular to a three-dimensional navigation method, a three-dimensional navigation system, a three-dimensional navigation medium and three-dimensional navigation equipment for a soft cystoscope.

Background

The soft cystoscope is one of minimally invasive operations, the focus of the soft cystoscope is positioned in an internal organ of a human body, a doctor needs to insert the soft cystoscope into the bladder through a urethra for operation, the doctor can observe the tissue characteristics of a local tissue region in the bladder through an image acquired by an image sensor at the far end of the soft cystoscope in the operation process, and the operation visual field is limited.

Just because a doctor can only know local tissue images, and for the relative coordinates of the distal end of the soft cystoscope and the bladder and the bending state of the distal end of the soft cystoscope, the doctor can only judge the general position of the distal end of the soft cystoscope in the bladder through images acquired by the image sensor, but cannot know the specific position exactly, so that the blind movement of the distal end of the soft cystoscope in the bladder is inevitably caused, and the examination efficiency is relatively low.

Meanwhile, if a plurality of focus positions exist in the bladder of the patient, under an ideal condition, a doctor can comprehensively observe and know the positions of all the focuses through the images of the image sensor, but because the condition in the bladder of the patient is complex, the doctor lacks effective direction guidance when operating the bladder soft lens, the doctor is very likely to repeatedly observe the same tissue region, and the doctor is likely to omit certain regions because certain tissue regions are similar, so that the efficiency is influenced, and the misjudgment of diseases can be caused because the images are not comprehensive.

Disclosure of Invention

An object of the embodiments of the present application is to provide a three-dimensional navigation method, system, medium, and device for a soft bladder endoscope, which can map a positional relationship of a distal end of the soft bladder endoscope with respect to a bladder of a patient through a relative positional relationship between a marker and a virtual bladder model, thereby forming a guiding effect on the distal end of the soft bladder endoscope, and realizing a spatial positioning and navigation function of the distal end of the soft bladder endoscope, thereby expanding an operation field and improving operation efficiency.

In a first aspect, a three-dimensional navigation method for a soft cystoscope is provided, which comprises the following steps:

s1, establishing a bladder model library: virtual bladder models with different size data are stored in the bladder model library;

s2, importing the bladder CT image to obtain the size data of the bladder of the patient, and screening out a virtual bladder model which is closest to the size data of the bladder of the patient from a bladder model library;

s3, inserting the soft cystoscope into the bladder of the patient, and setting the bladder outlet as a zero point of a three-dimensional space coordinate when detecting that the distal end of the soft cystoscope reaches the bladder outlet;

s4, establishing a marker for replacing the far end of the soft cystoscope at the bladder outlet of the virtual bladder model, and establishing a mapping relation between the position of the marker in the virtual bladder model and the position of the soft cystoscope in the bladder of the patient; the position of the marker in the virtual bladder model changes following the change in the position of the distal end of the soft cystoscope within the bladder of the patient;

s5, acquiring position data of the distal end of the soft cystoscope in the bladder of the patient in real time;

and S6, updating the position of the marker in the virtual bladder model in real time according to the real-time position data obtained in the step S5.

In one embodiment, the position data in steps S4 to S6 includes spatial coordinate data of the distal end of the soft-bladder lens and a bending angle of the distal end of the soft-bladder lens.

In one embodiment, after the virtual bladder model closest to the size data of the patient's bladder is selected from the bladder model library, the method further comprises the following steps:

judging the size difference value of the screened virtual bladder model and the bladder CT image of the patient;

if the size difference value is not within the preset range, adjusting the size of the screened virtual bladder model;

and if the size difference value is within a preset range, directly using the screened virtual bladder model.

In one embodiment, the step of detecting the distal end of the soft cystoscope reaching the bladder outlet in step S3 comprises the steps of:

establishing a bladder outlet image set;

acquiring an image of the far end of the soft cystoscope in real time;

comparing and matching the acquired images with the images in the bladder outlet image set;

if the difference between the acquired image and the image in the bladder outlet image set is within a preset threshold value range, the matching is successful, namely the far end of the bladder soft lens reaches the bladder outlet;

if the difference between the acquired image and the image in the bladder outlet image set is not within the preset threshold value range, the fact that the far end of the soft cystoscope does not reach the bladder outlet is indicated.

In one embodiment, after the cystoscope enters the bladder of the patient, the method further comprises the following steps:

s7, generating track information of the marker; step S7 includes the steps of:

s71, acquiring space coordinate data of the marker once every preset sampling time, and drawing a position point;

and S72, sequentially connecting all the position points to form the track information of the marker.

s8, generating a focused thermodynamic diagram of the bladder soft lens; step S8 includes the following steps:

s81, dividing the interior of the virtual bladder model into a preset number of tissue areas;

s82, recording space coordinate data of the soft cystoscope and the bending angle of the far end of the soft cystoscope in real time;

s83, judging a tissue area towards which the distal end of the soft cystoscope faces according to the space coordinate data and the bending angle of the distal end of the soft cystoscope;

and S84, recording the time for the distal end of the soft cystoscope to face the corresponding tissue region, and adding a preset color to the tissue region according to the difference of the time.

In one embodiment, the step S4 of mapping the position of the marker in the virtual bladder model to the position of the soft-bladder mirror in the bladder of the patient comprises the following steps:

acquiring space coordinate data of the distal end of the soft cystoscope, calculating a relative coordinate relationship between the distal end of the soft cystoscope and the bladder of a patient, adjusting the space coordinate of the marker in the virtual bladder model according to the relative coordinate relationship, and calculating a space coordinate mapping relationship between the marker and the soft cystoscope;

and acquiring the bending angle of the distal end of the soft cystoscope, adjusting the orientation of the marker in the virtual bladder model according to the bending angle, and calculating the mapping relation of the marker and the bending angle of the soft cystoscope.

In a second aspect, a three-dimensional navigation system for a soft bladder mirror is provided and comprises an image sensor, a spatial positioning module and a control module. Wherein, the image sensor is arranged at the far end of the soft cystoscope. The spatial positioning module is arranged at the far end of the soft cystoscope or on the image sensor and is used for collecting position data of the image sensor, and the position data comprises spatial coordinate data of the far end of the soft cystoscope and the bending angle of the far end of the soft cystoscope. The control module is in signal connection with the image sensor and the space positioning module and comprises; the control module comprises a processing module, a screening module, a detection module, an association module, an acquisition module and a display module. The processing module is used for establishing a bladder model base and storing the virtual bladder model into the bladder model base; the screening module is used for acquiring the size data of the bladder of the patient through the imported bladder CT image and screening out a virtual bladder model which is closest to the size data of the bladder of the patient from a bladder model library; the detection module is used for acquiring image data of the image sensor at the far end of the soft cystoscope, judging whether the image sensor reaches the position of a bladder outlet or not and sending out a marking signal; the association module is used for receiving the mark signal, if the mark signal is received, a mark for replacing the far end of the soft cystoscope is established at the bladder outlet of the virtual bladder model, and the mapping relation between the position of the mark in the virtual bladder model and the position of the soft cystoscope in the bladder of the patient is established; the position of the marker in the virtual bladder model changes following the change in the position of the distal end of the soft cystoscope within the bladder of the patient; the acquisition module is used for acquiring the position data acquired by the space positioning module and sending out the position data; a display module for receiving the location data and updating the location of the marker in the virtual bladder model.

In one implementation, the control module further includes a trajectory module for generating trajectory information of the marker;

the track module acquires space coordinate data of the marker once at preset sampling time intervals, draws a position point, and sequentially connects all the position points to form track information of the marker.

In one implementable aspect, the control module further comprises a thermography module for generating a focused thermodynamic diagram of the cystoscope;

the heat map module divides the interior of the virtual bladder model into a preset number of tissue areas, records space coordinate data of the soft bladder lens and the bending angle of the distal end of the soft bladder lens in real time, judges the tissue area towards which the distal end of the soft bladder lens faces according to the space coordinate data and the bending angle of the distal end of the soft bladder lens, records the time for the distal end of the soft bladder lens to face the tissue areas, and adds preset colors to the tissue areas according to different time lengths.

In one embodiment, the control module further comprises a tagging module for adding tagging information on a predetermined region of the virtual bladder model.

The soft cystoscope comprises a handheld part and a soft lens tube which are sequentially arranged from a near end to a far end, the far end of the soft lens tube is a snake bone section, a knob is arranged on the handheld part, the snake bone section is connected to the knob through a traction wire, and the knob is rotated to pull the snake bone section to be bent. In one embodiment, the spatial orientation module includes an inertial measurement unit disposed at the snake bone segment and an angle sensor disposed at the knob to detect a rotation angle of the knob.

In a third aspect, a computer storage medium is provided, which stores a computer program, and the program is executed by a processor to realize the steps of the three-dimensional navigation method for the soft lens of the bladder.

In a fourth aspect, a computer device is provided, which includes a memory and a processor, the memory stores a computer program, and the program is executed by the processor to implement the steps of the three-dimensional navigation method for the cystoscope.

Compared with the prior art, the beneficial effect of this application is:

according to the three-dimensional navigation method for the soft cystoscope, the real bladder of a patient is mapped through the virtual bladder model, the position data of the far end of the soft cystoscope can be reflected in real time through the marker in the virtual bladder model, the guiding effect on the far end advancing direction of the soft cystoscope is achieved, a doctor can know and control the relative position relation between the far end of the soft cystoscope and the bladder of the patient globally, and the operation visual field is expanded.

The marker can reflect the position data of the distal end of the soft cystoscope in the virtual bladder model to form a guiding effect on a surgical path, so that a focus area can be positioned more purposefully, the positions can be easily determined to be checked through the relative relation between the marker and the virtual bladder model, the positions are not checked, repeated detection on the same positions which are invalid is avoided as far as possible, the problem of missing the checked area caused by the similarity of tissue areas in the bladder can be basically avoided, the checking efficiency is improved, the occurrence probability of the missing problem of checking is reduced, the checking efficiency is improved, the operation time can be correspondingly reduced, and the trauma to a patient is reduced.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is a flow chart illustrating a three-dimensional navigation method for a cystoscope according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a three-dimensional navigation system for a soft-lens urinary bladder according to an embodiment of the present application;

fig. 3 is a partially enlarged view of a point a in fig. 2.

In the figure: 10. an image sensor; 20. a spatial positioning module; 30. a control module; 31. a processing module; 32. a screening module; 33. a detection module; 34. a correlation module; 35. an acquisition module; 36. a display module; 37. a trajectory module; 38. a heat map module; 39. a marking module; 100. a soft bladder lens; 101. a hand-held portion; 102. a soft mirror tube; 103. a snake bone segment; 104. a knob.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

It should be noted that, on the premise that the technical solutions are not conflicting and contradictory, technical features between the following different embodiments may be combined with each other.

According to the first aspect of the application, as shown in fig. 1, firstly, a three-dimensional navigation method for a cystoscope is provided, which comprises the following steps S1 to S6.

S1, establishing a bladder model library: virtual bladder models with different size data are stored in the bladder model library.

In step S1, different age groups may be divided according to age, for example, below 20 years old, some standard virtual bladder models may be established every other year, even half year old, some standard virtual bladder models may be established every other year between 20 years old and 35 years old, some standard virtual bladder models may be established every other five to seven years between 35 years old and 50 years old, some standard virtual bladder models may be established every other eight to ten years between 50 years old and 70 years old, and some standard virtual bladder models may be established every other ten years above 70 years old. The data of the established virtual bladder model can be analyzed to obtain corresponding average size data through bladder CT images of different ages, and then modeling is carried out through three-dimensional software.

It should be noted that in each age group, differences of respective bladders can be further searched for different genders, and then a standard virtual bladder model of the same age group and different genders can be established.

S2, importing the bladder CT image to obtain the size data of the bladder of the patient, and screening out a virtual bladder model which is closest to the size data of the bladder of the patient from a bladder model library.

The CT is called computerized Tomography, namely, the CT is a three-dimensional image, a human body is sliced and reconstructed, each image is a slice of the human body, all single CT slices are combined together to form a three-dimensional image, and the bladder size of a patient can be obtained through a bladder CT image.

In one embodiment, the method comprises the following steps after screening out the virtual bladder model from the bladder model library which is closest to the size data of the patient's bladder:

It should be noted that the preset range may be a number of 0.5mm, 1mm, 2mm, etc., and may be determined according to an actually allowable error.

It should be noted that most normal developing bladders are basically capable of establishing a standard virtual bladder model. For some people with bladder diseases, similar virtual bladder models can only be found in the bladder model library, and then the size of the virtual bladder models is adjusted according to the size difference between the virtual bladder models and the bladder CT images of patients.

And S3, inserting the soft cystoscope into the bladder of the patient, and setting the bladder outlet as a zero point of a three-dimensional space coordinate when detecting that the distal end of the soft cystoscope reaches the bladder outlet.

Preferably, the detecting whether the distal end of the soft cystoscope reaches the bladder outlet comprises the following steps:

establishing a bladder outlet image set;

acquiring an image of the far end of the soft cystoscope in real time;

The bladder outlet image set can be formed by image data of the bladder outlet of the bladder of the patient, and the acquired images can be compared and matched with the images in the bladder outlet image set by using an existing image identification method, which is not illustrated here.

In other embodiments, the following method can be used to detect whether the distal end of the soft cystoscope reaches the bladder outlet: according to big data statistics, common characteristics of most bladder outlets are searched, such as color of images at the bladder outlets, tissue structure characteristics and the like. And then judging whether the acquired images have the common characteristics or not, wherein the common characteristics are all the images, and the far end of the bladder soft lens can be considered to reach the bladder outlet.

S4, establishing a marker for replacing the far end of the soft cystoscope at the bladder outlet of the virtual bladder model, and establishing a mapping relation between the position of the marker in the virtual bladder model and the position of the soft cystoscope in the bladder of the patient.

Wherein the position of the marker in the virtual bladder model changes following the change in the position of the distal end of the soft cystoscope within the bladder of the patient. The marker may be a point (preferably including at least two points) on the virtual bladder model, or a three-dimensional model of the distal end structure similar to a cystoscope, representing the distal end of the cystoscope.

In one embodiment, in step S4, mapping the position of the marker in the virtual bladder model to the position of the soft-bladder mirror in the bladder of the patient comprises the steps of:

and obtaining the bending angle of the far end of the soft cystoscope, adjusting the orientation of the marker in the virtual bladder model according to the bending angle, and calculating the mapping relation of the marker and the bending angle of the soft cystoscope.

In step S4, calibration of the position of the marker is preferably also included. The position of the distal end of the soft cystoscope relative to the bladder outlet is judged through the images of the bladder outlet acquired by the distal end of the soft cystoscope, and then the position of the marker relative to the bladder outlet of the virtual bladder model is adjusted, so that the initial positions can be ensured to be in one-to-one correspondence, and the accuracy of the subsequent mapping relation is further ensured.

And S5, acquiring the position data of the distal end of the soft cystoscope in the bladder of the patient in real time.

In step S5, the operator operates the soft cystoscope to control the depth of the soft cystoscope extending into the bladder and bend the distal end of the soft cystoscope. The position data in the foregoing includes spatial coordinate data of the distal end of the soft bladder lens and a bending angle of the distal end of the soft bladder lens. The spatial coordinate data refers to three-dimensional coordinate data, and the bending angle refers to the bending of the distal end of the cystoscope (such as the snake bone segment 103 shown in fig. 2 or fig. 3) under operation, because if the distal end of the cystoscope is in the same spatial coordinate, if the distal end faces different (the bending angle of the snake bone segment 103 is different), the observed bladder area is different. The position state of the distal end of the soft cystoscope can be more comprehensively shown through the space coordinate data and the bending angle of the distal end of the soft cystoscope.

And S6, updating the position of the marker in the virtual bladder model in real time according to the real-time position data obtained in the step S5. The spatial coordinate data of the position data is converted into coordinate data of the marker, and the bending angle data of the distal end of the soft cystoscope is converted into the orientation of the marker.

In conclusion, the three-dimensional navigation method for the soft bladder endoscope of the embodiment maps the real bladder of the patient through the virtual bladder model, can reflect the position data of the distal end of the soft bladder endoscope through the marker in the virtual bladder model, and realizes the guiding function on the advancing direction of the distal end of the soft bladder endoscope, so that a doctor can know and control the relative position relationship between the distal end of the soft bladder endoscope and the bladder of the patient globally, and the operation visual field is expanded.

Because the marker can reflect the position data of the far end of the soft cystoscope in real time in the virtual bladder model to form a guiding effect on a surgical path, a focus area can be positioned more purposefully, the positions can be easily determined to be checked through the relative relation between the marker and the virtual bladder model, the positions are not checked, the repeated detection of invalidity of the same position is avoided as far as possible, the problem of missing the checked area caused by similarity of tissue areas in the bladder can be basically avoided, the checking efficiency is improved, the occurrence probability of the missing problem of checking is reduced, the checking efficiency is improved, the operation time can be correspondingly reduced, and the trauma to a patient is reduced.

and S7, generating track information of the marker. Step S7 includes the steps of:

s71, acquiring space coordinate data of the marker once every preset sampling time, and drawing a position point; the sampling time can be 10ms, 20ms, 30ms, etc., and can be determined according to the performance and precision requirements of the actual equipment, but the sampling time is not too large as far as possible so as not to cause too low precision.

The examination path of the distal end of the cystoscope can be recorded through the track of the marker, and on one hand, during examination, a doctor can judge the examined region according to track information, more purposefully locate a focus region and avoid the inefficient operation of repeated detection as far as possible. On the other hand, after the examination is finished, the operation process can be duplicated and summarized through the recorded examination path. Further, for the key position, the doctor can directly add a highlighted mark point on the position point or the track, or add a mark similar to the information annotation, and when a pointing object similar to a computer mouse stays on the mark or clicks the mark, the marked information is automatically displayed so as to facilitate subsequent viewing.

and S8, generating a focused thermodynamic diagram of the bladder soft lens. Step S8 includes the following steps:

s81, dividing the interior of the virtual bladder model into a preset number of tissue areas; the areas of the tissue regions can be the same, and the tissue regions with different region sizes can be divided according to the characteristics in the specific bladder;

and S84, recording the time of the distal end of the soft cystoscope facing the corresponding tissue region, and adding a preset color to the tissue region according to the time difference. For example, a long time corresponds to a dark color, and a short time corresponds to a light color.

After the operation of the soft cystoscope is finished, different colors are added to corresponding tissue areas due to different residence times of the areas where the distal end passes and faces, so that a focused thermodynamic diagram is formed, the focused time and the focused degree of different tissue areas in the bladder in the operation of a doctor can be obtained through the colored thermodynamic diagram, and the subsequent analysis is facilitated. The method is also beneficial to next inspection, quickly positions important areas and saves inspection time.

In addition, in one embodiment, after the cystoscope enters the bladder of the patient, the following steps can be further included:

recording video and key images of the distal field of view of the cystoscope;

after the operation is completed, exporting and storing the video and the key images into an established playback library;

establishing an incidence relation with the position point of the track information of the marker according to the acquisition time of the video and the key image;

by selecting the preset position points of the track information, videos and key images corresponding to the position points in time can be displayed, so that the videos and the image information of the corresponding time points can be played back while the collection is checked, and the comprehensiveness of the multi-disc analysis is improved.

In addition, in one embodiment, preoperative path planning can be further included, before operation, the position of a focus can be preliminarily positioned according to a CT image of the bladder of the patient, then a path is planned in the virtual bladder model, and then the bladder soft lens can directly reach the region of the focus according to the planned path after entering the bladder of the patient, so that the time for searching the focus can be reduced, and the operation efficiency is improved.

According to a second aspect of the application, a three-dimensional navigation system for the cystoscope is provided, which can at least realize the three-dimensional navigation method for the cystoscope. The cystoscope 100 at least comprises a handheld part 101 and a flexible endoscope tube 102, the proximal end of the flexible endoscope tube 102 is connected with the handheld part 101, and the handheld part 101 is provided with an adjusting component for adjusting the distal end of the flexible endoscope tube 102 to bend at a preset angle. The structure of the adjusting assembly can be referred to the prior soft cystoscope and is not described one by one.

As shown in fig. 2 and 3, the three-dimensional navigation system for the cystoscope includes at least an image sensor 10, a spatial localization module 20 and a control module 30.

Wherein the image sensor 10 extends through the internal channel of the flexible lens tube 102 to the distal end of the flexible lens tube 102. The image sensor 10 may preferably use only one CMOS image sensor, CMOS (Complementary Metal-Oxide-Semiconductor), which is known by the chinese scientific name Complementary Metal-Oxide-Semiconductor.

As shown in fig. 3, the spatial location module 20 may employ an inertial measurement unit including an accelerometer and a gyroscope, which is mounted at the distal end of the cystoscope 100 or on the image sensor 10, i.e., on the snake bone segment 103, for collecting position data of the image sensor 10, including spatial coordinate data of the distal end of the cystoscope and a bending angle of the distal end of the cystoscope.

In another scheme, the cystoscope 100 comprises a handheld part 101 and a flexible lens tube 102 from the proximal end to the distal end, a snake bone segment 103 is arranged at the distal end of the flexible lens tube 102, a knob 104 is arranged on the handheld part 101, the snake bone segment 103 is connected to the knob 104 through a traction wire, and the snake bone segment 103 is pulled to bend by rotating the knob 104. The spatial location module 20 may include an inertial measurement unit disposed at the snake bone segment 103 and an angle sensor disposed at the knob 104 to detect a rotation angle of the knob, the inertial measurement unit is only used to detect coordinate data of the snake bone segment 103, and the angle sensor is used to acquire the rotation angle of the knob 104 to calculate a bending angle of the snake bone segment 103, and separately detect and calculate the two data, which is helpful to improve stability.

For example, when calculating the spatial coordinate data of the distal end (the snake bone segment 103) of the cystoscope 100 by an inertial measurement unit including an accelerometer and a gyroscope, the following data are first obtained:

A _i ＝V _Ai /S _A

wherein A is _i For accelerometer uniaxial direction measurementsAcceleration of, V _Ai Relative 0g voltage offset, S, for a single axis direction of the accelerometer _A Is the accelerometer sensitivity.

Wherein A is _x 、A _y 、A _z The acceleration in three axes directions is measured for the accelerometer respectively, and A is the total acceleration.

N _i ＝areos(A _t -A)

Wherein N is _i Is the included angle of the single axis direction of the acceleration direction.

R _i ＝V _Ri /S _R

R _i Rate of change of angle, V, for rotation of gyroscope about single axis _Ri Voltage offset, S, for the gyroscope uniaxial direction relative to zero rate of change _R Is the gyroscope sensitivity.

The spatial displacement data of the distal end (the snake bone segment 103) of the cystoscope 100 can be obtained after the data are processed by filtering and the like, and further, the spatial coordinate data can be obtained.

Further, when the bending angle of the distal end (the snake bone segment 103) of the cystoscope 100 is calculated using the data of the angle sensor, the deflection angle β of the snake bone segment 103 can be calculated:

β＝Δx*D

wherein, β is the deflection angle of the snake bone segment 103, Δ x is the displacement distance of the snake bone traction steel wire of the bending part driven by the knob of the operation part, and D is the mapping relation between the traction steel wire and the deflection angle of the bending part.

It should be noted that the calibrated mapping relation D can be obtained by measuring the deflection angle of the snake bone segment 103 and the displacement distance of the traction line for multiple times and calculating for multiple times, and then the subsequent bladder soft lens with the same structure can use the mapping relation.

Δ x can be converted and calculated by the following formula:

Δx＝α*r

where α is a rotation angle of the knob 104 (i.e., a value of the angle sensor), L is a circumference of a fixed shaft around which the pull wire is wound on the knob 104, and r is a radius of the fixed shaft.

Further, the control module 30 is in signal connection with the image sensor 10 and the spatial localization module 20; the control module 30 includes a processing module 31, a screening module 32, a detection module 33, an association module 34, an acquisition module 35, and a display module 36. The processing module 31 is configured to establish a bladder model library, and store the virtual bladder model in the bladder model library. The screening module 32 is configured to obtain size data of the patient's bladder from the imported CT images of the bladder and screen a virtual bladder model from the bladder model library that is closest to the size data of the patient's bladder. The detection module 33 is used for acquiring the image data of the image sensor 10 at the distal end of the flexible endoscope tube 102, determining whether the image sensor 10 reaches the position of the bladder outlet, and sending out a mark signal. The association module 34 is configured to receive the marker signal, and if the marker signal is received, establish a marker at the bladder outlet of the virtual bladder model to replace the distal end of the soft cystoscope, and establish a mapping relationship between the position of the marker in the virtual bladder model and the position of the soft cystoscope on the bladder of the patient; the position of the marker in the virtual bladder model changes following the change in the position of the distal end of the cystoscope within the patient's bladder. The acquisition module 35 is configured to acquire the position data acquired by the spatial positioning module 20 and send out the position data. The display module 36 is used to receive the location data and update the location of the markers in the virtual bladder model.

In one embodiment, as shown in FIG. 2, the control module 30 further includes a trajectory module 37 for generating trajectory information for the markers. The trajectory module 37 acquires spatial coordinate data of the marker once at predetermined sampling time intervals, draws a position point, and sequentially connects all the position points to form trajectory information of the marker.

In one embodiment, as shown in fig. 2, the control module 30 further includes a thermography module 38 for generating a focused thermodynamic diagram of the soft bladder lens. The heat map module 38 divides the inside of the virtual bladder model into a predetermined number of tissue regions, records the spatial coordinate data of the soft bladder lens and the bending angle of the distal end of the soft bladder lens in real time, judges the tissue region towards which the distal end of the soft bladder lens faces according to the spatial coordinate data and the bending angle of the distal end of the soft bladder lens, records the time for the distal end of the soft bladder lens to face the tissue regions, and adds a predetermined color to the tissue regions according to the difference of the time.

In one embodiment, as shown in FIG. 2, the control module 30 further includes a tagging module 39 for adding tagging information on a predetermined region of the virtual bladder model.

In one embodiment, the control module 30 further includes an output module that stores the images and video captured by the image sensor 10 for later playback.

According to a third aspect of the present application, a computer storage medium is provided. Which stores a computer program that, when executed by a processor, implements the steps of the aforementioned soft-lens three-dimensional navigation method.

According to a fourth aspect of the present application, there is provided a computer device comprising a memory and a processor, the memory storing a computer program, the program being executed by the processor to implement the steps of the aforementioned three-dimensional navigation method for a soft-lens of the bladder.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A three-dimensional navigation method of a bladder soft lens is characterized by comprising the following steps:

s2, importing a bladder CT image to obtain size data of the bladder of the patient, and screening out a virtual bladder model which is closest to the size data of the bladder of the patient from the bladder model library;

s3, inserting the soft bladder lens into the bladder of the patient, and setting the bladder outlet as a zero point of a three-dimensional space coordinate when detecting that the distal end of the soft bladder lens reaches the bladder outlet;

s4, establishing a marker for replacing the distal end of the soft cystoscope at the bladder outlet of the virtual bladder model, and establishing a mapping relation between the position of the marker in the virtual bladder model and the position of the soft cystoscope in the bladder of the patient; the position of the marker in the virtual bladder model changes following the change in the position of the distal end of the soft bladder lens within the bladder of the patient;

and S6, updating the position of the marker in real time in the virtual bladder model according to the real-time position data obtained in the step S5 through the position mapping relation.

2. The three-dimensional navigation method for the soft bladder mirror according to claim 1, wherein the position data in the steps S4 to S6 comprises spatial coordinate data of the distal end of the soft bladder mirror and a bending angle of the distal end of the soft bladder mirror.

3. The three-dimensional navigation method for the cystoscope according to claim 1, wherein after the virtual bladder model closest to the size data of the patient' S bladder is screened out from the bladder model library in step S2, the method further comprises the following steps:

4. The three-dimensional navigation method for the soft cystoscope according to claim 1, wherein the step S3 of detecting that the distal end of the soft cystoscope reaches the bladder outlet comprises the following steps:

establishing a bladder outlet image set;

acquiring an image of the distal end of the soft bladder lens in real time;

comparing and matching the acquired images with images in the bladder outlet image set;

if the difference between the acquired image and the image in the bladder outlet image set is within a preset threshold value range, the matching is successful, namely the far end of the soft cystoscope reaches the bladder outlet;

if the difference between the acquired image and the image in the bladder outlet image set is not within a preset threshold value range, the fact that the distal end of the soft cystoscope does not reach the bladder outlet is indicated.

5. The three-dimensional navigation method for the cystoscope according to claim 2, which is characterized by further comprising the following steps after the cystoscope enters the bladder of a patient:

s7, generating track information of the marker; step S7 includes the steps of:

6. The three-dimensional navigation method for the cystoscope according to claim 2, which is characterized by further comprising the following steps after the cystoscope enters the bladder of a patient:

s84, recording the time for the distal end of the soft cystoscope to face the corresponding tissue region, and adding a preset color to the tissue region according to the difference of the time.

7. The three-dimensional navigation method for the cystoscope according to claim 2, wherein in step S4, establishing the mapping relationship between the positions of the markers in the virtual bladder model and the positions of the cystoscope in the bladder of the patient comprises the following steps:

and acquiring the bending angle of the far end of the soft cystoscope, adjusting the orientation of the marker in the virtual bladder model according to the bending angle, and calculating the mapping relation of the marker and the bending angle of the soft cystoscope.

8. A three-dimensional navigation system of a bladder soft lens is characterized by comprising:

an image sensor (10) disposed at a distal end of the soft bladder lens (100);

a spatial localization module (20) mounted at the distal end of the cystoscope (100) or on the image sensor (10) for collecting position data of the image sensor (10), the position data including spatial coordinate data of the distal end of the cystoscope and a bending angle of the distal end of the cystoscope;

a control module (30) in signal connection with the image sensor (10) and the spatial localization module (20); the control module (30) comprises:

the processing module (31) is used for establishing a bladder model base and storing the virtual bladder model into the bladder model base;

a screening module (32) for obtaining the size data of the bladder of the patient through the imported bladder CT image and screening out a virtual bladder model which is closest to the size data of the bladder of the patient from the bladder model library;

the detection module (33) is used for acquiring image data of the image sensor (10) at the far end of the soft cystoscope, judging whether the image sensor (10) reaches the position of a bladder outlet or not and sending a mark signal;

the association module (34) is used for receiving the mark signal, if the mark signal is received, a mark for replacing the far end of the cystoscope is established at the bladder outlet of the virtual bladder model, and the mapping relation between the position of the mark in the virtual bladder model and the position of the cystoscope in the bladder of the patient is established; the position of the marker in the virtual bladder model changes following the change in the position of the distal end of the cystoscope within the bladder of the patient;

the acquisition module (35) is used for acquiring the position data acquired by the space positioning module (20) and sending out the position data;

a display module (36) for receiving the location data and updating the location of the marker in the virtual bladder model.

9. The three-dimensional bladder soft lens navigation system according to claim 8, wherein the control module (30) further comprises a trajectory module (37) for generating trajectory information of the markers;

the track module (37) acquires space coordinate data of the marker once at preset sampling time intervals, draws a position point, and sequentially connects all the position points to form track information of the marker.

10. The three-dimensional bladder soft-lens navigation system according to claim 8, wherein the control module (30) further comprises a heat map module (38) for generating a focused thermodynamic diagram of the soft-lens;

the heat map module (38) divides the interior of the virtual bladder model into a predetermined number of tissue areas, records spatial coordinate data of the soft bladder lens and the bending angle of the distal end of the soft bladder lens in real time, judges the tissue area towards which the distal end of the soft bladder lens faces according to the spatial coordinate data and the bending angle of the distal end of the soft bladder lens, records the time for the distal end of the soft bladder lens to face the tissue areas, and adds a predetermined color to the tissue areas according to the difference of the time.

11. The three-dimensional bladder soft lens navigation system according to any one of claims 8 to 10, wherein the control module (30) further comprises a marking module (39) for adding marking information on a predetermined region of the virtual bladder model.

12. The cystoscope three-dimensional navigation system according to any one of claims 8-10, wherein the cystoscope (100) comprises a hand-held part (101) and a cystoscope tube (102) in sequence from the proximal end to the distal end, a snake bone segment (103) is arranged at the distal end of the cystoscope tube (102), a knob (104) is arranged on the hand-held part (101), the snake bone segment (103) is connected to the knob (104) through a traction wire, and the snake bone segment (103) is pulled to bend by rotating the knob (104),

the spatial localization module (20) comprises an inertial measurement unit provided at the snake bone segment (103) and an angle sensor provided at the knob (104) to detect a rotation angle of the knob (104).

13. A computer storage medium characterized in that it stores a computer program which, when executed by a processor, implements the steps of the method for three-dimensional navigation of soft-lenses of the urinary bladder according to any one of claims 1 to 7.

14. A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, performs the steps of the three-dimensional navigation method for soft cystoscope according to any one of claims 1 to 7.