CN115906556A - Operation prompting method, device, equipment and storage medium of flexible instrument - Google Patents
Operation prompting method, device, equipment and storage medium of flexible instrument Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 221
- 238000005381 potential energy Methods 0.000 claims abstract description 59
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- 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
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Abstract
The embodiment of the invention provides an operation prompting method, device, equipment and storage medium of a flexible instrument, wherein the method comprises the following steps: establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument includes a plurality of finite element nodes; determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition; the target constraint condition is used for representing the constraint of the position relation between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the human natural cavity; the displacement of the flexible instrument comprises displacement of each finite element node; determining a stress result of the flexible instrument according to the displacement of the flexible instrument; outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of operation on the natural cavity of the human body through the flexible instrument. The method provided by the embodiment of the invention can effectively improve the efficiency and safety of the operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an operation prompting method, device, equipment and storage medium of a flexible instrument.
Background
In a minimally invasive surgical procedure, spatial information of a medical instrument in a patient plays a crucial role in the accurate operation of the medical instrument. However, after a plurality of medical instruments enter a body, shape changes are inevitably generated, so that how to accurately determine the stress and displacement conditions of the flexible instruments and provide accurate information for operations has important significance.
In the related technology, when the stress and displacement conditions of the flexible instrument are determined, the contact position of the flexible instrument and the natural cavity of the human body needs to be determined by depending on the contact stress of the artificially given flexible instrument and the natural cavity of the human body or depending on a collision detection method, and the contact point of the flexible instrument and the natural cavity of the human body is not changed in the iteration process, so that the determined stress and displacement errors of the flexible instrument are large, and the surgical risk of a patient is increased.
Disclosure of Invention
To solve the problems in the prior art, embodiments of the present invention provide an operation prompt method, apparatus, device and storage medium for a flexible instrument.
Specifically, the embodiment of the invention provides the following technical scheme:
in a first aspect, an embodiment of the present invention provides an operation prompting method for a flexible instrument, including:
establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument comprises a plurality of finite element nodes;
determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition; the target constraint condition is used for representing the constraint of the position relation between a finite element node in a finite element model of the flexible instrument and a target surface patch in a three-dimensional model of a human natural cavity; the displacement of the flexible instrument comprises displacement of each finite element node;
determining a stress result of the flexible instrument according to the displacement of the flexible instrument;
outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of performing operation on the natural cavity of the human body through the flexible instrument.
Further, the determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition comprises:
determining the displacement of the flexible instrument under the condition that the potential energy change of the flexible instrument is minimum and the position relation between the flexible instrument and the natural orifice of the human body meets a target constraint condition; the target constraint condition is that a finite element node in the finite element model of the flexible instrument is not penetrable with a target surface patch in the three-dimensional model of the human natural cavity.
Further, the determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition comprises:
the displacement of the flexible instrument is determined using the following equation:
Ax i ＝b i
the above-mentioned
Representing a minimum amount of change in potential energy of the flexible instrument; the Δ x i Representing the displacement of the flexible instrument from the moment i-1 to the moment i; the K (x) i-1 ) A stiffness matrix representing a flexible instrument; said x i-1 Finite element node displacement at the moment i-1; f represents a target external force borne by the flexible instrument, wherein the target external force does not comprise a contact force between the flexible instrument and a natural cavity channel of a human body; is/are>
or/>
Representing a target constraint; is/are>
Representing normal vectors of contact point surface patches of the flexible instrument and a natural cavity of a human body; x is said i Representing the finite element node displacement at the moment i; said S i Representing the generalized coordinate position of the flexible instrument in an undeformed state; said X 0 Representing any position on a plane corresponding to the three-dimensional model of the natural cavity of the human body; the Ax i ＝b i Representing a first constraint; the A represents a projection matrix; b is described i Representing a target location of a flexible instrument; x is said i Representing the finite element node displacement at time i.
Further, the determining a force receiving result of the flexible instrument according to the displacement of the flexible instrument includes:
and determining the stress result of the flexible instrument according to the displacement of the flexible instrument and the rigidity matrix of the flexible instrument.
Further, the method further comprises:
a stiffness matrix of the flexible instrument is determined based on a rotation matrix between a cell local coordinate system and a global coordinate system in a finite element model of the flexible instrument.
Further, after determining the displacement of the flexible instrument, the method further comprises:
under the condition that the human body natural cavity is a narrow forked cavity, determining the position relation between a finite element node in a finite element model of the flexible instrument and each surface patch in a three-dimensional model of the human body natural cavity based on the determined displacement of the flexible instrument;
updating the target constraint condition in the presence of a penetration of at least one patch between a finite element node in a finite element model of the flexible instrument and a plurality of patches in a three-dimensional model of a natural lumen of the human body.
In a second aspect, an embodiment of the present invention further provides an operation prompt device for a flexible instrument, including:
the establishing module is used for establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument comprises a plurality of finite element nodes;
the first determination module is used for determining the displacement of the flexible instrument based on the minimum potential energy principle and a target constraint condition; the target constraint condition is used for representing the constraint of the position relationship between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the natural cavity of the human body; the displacement of the flexible instrument comprises displacement of each finite element node;
the second determination module is used for determining a stress result of the flexible instrument according to the displacement of the flexible instrument;
the prompting module is used for outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of performing operation on the natural cavity of the human body through the flexible instrument.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the operation prompting method for the flexible instrument according to the first aspect when executing the program.
In a fourth aspect, embodiments of the present invention further provide a non-transitory computer readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for prompting operation of a flexible instrument according to the first aspect.
In a fifth aspect, embodiments of the present invention further provide a computer program product, including a computer program, where the computer program, when executed by a processor, implements the method for prompting operation of a flexible instrument according to the first aspect.
According to the operation prompting method, the operation prompting device, the operation prompting equipment and the storage medium of the flexible instrument, based on the constraint of the position relation between a finite element node in a finite element model of the flexible instrument and a target surface patch in a three-dimensional model of a natural cavity of a human body and the minimum potential energy principle, the corresponding displacement of the flexible instrument under the condition of the minimum potential energy variation quantity is determined to be the displacement of the flexible instrument, so that the determined displacement of the flexible instrument meets the environment that the height of the cavity of the human body is limited, and the determined displacement of the flexible instrument is more accurate; and then the operation of carrying out flexible apparatus that operating personnel just also can be accurate based on the displacement of the flexible apparatus that determines and the operation indicating information of flexible apparatus, promotes the efficiency and the security of operation.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a method for prompting operation of a flexible instrument provided in an embodiment of the present invention;
FIGS. 2a-2b are schematic views of a flexible instrument in contact with a natural body lumen according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram illustrating a method for prompting operation of another flexible instrument in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an operation prompting device of a flexible instrument provided by an embodiment of the invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method provided by the embodiment of the invention can be applied to an operation scene based on medical instruments, realizes operation prompt of flexible instruments, and improves operation efficiency and safety.
In the related technology, when the stress and displacement conditions of the flexible instrument are determined, the contact stress between the flexible instrument and the natural cavity of the human body needs to be determined by artificially giving the contact stress between the flexible instrument and the natural cavity of the human body or by a collision detection method, and the contact point between the flexible instrument and the natural cavity of the human body does not change in the iteration process, so that the determined error of the stress and displacement of the flexible instrument is large, and the surgical risk of a patient is increased.
According to the operation prompting method of the flexible instrument, based on the constraint of the position relation between a finite element node in a finite element model of the flexible instrument and a target surface patch in a three-dimensional model of a natural cavity of a human body and the principle of minimum potential energy, the corresponding displacement under the condition of the minimum potential energy variation of the flexible instrument is determined to be the displacement of the flexible instrument, so that the determined displacement of the flexible instrument meets the environment that the height of the cavity of the human body is limited, and the determined displacement of the flexible instrument is more accurate; and then the operation of carrying out flexible apparatus that operating personnel just also can be accurate based on the displacement of the flexible apparatus that determines and the operation indicating information of flexible apparatus, promotes the efficiency and the security of operation.
The technical solution of the present invention is described in detail with specific embodiments in conjunction with fig. 1-5. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic flow chart of an embodiment of an operation prompt method for a flexible instrument according to an embodiment of the present invention. As shown in fig. 1, the method provided in this embodiment includes:
101, establishing a finite element model of a flexible instrument; the finite element model of the flexible instrument includes a plurality of finite element nodes;
in particular, spatial information of medical instruments within a patient's body plays a crucial role in the accurate operation of the medical instruments during minimally invasive surgery. However, the shape of the flexible instrument is inevitably changed after the flexible instrument enters the body, so that the stress and displacement conditions of the flexible instrument need to be accurately determined, and accurate information is provided for doctors so as to improve the efficiency and safety of the operation.
In an embodiment of the present invention, a finite element model of a flexible instrument is first established, optionally, the finite element model of the flexible instrument is established by using a finite element analysis method, and is a group of element combinations which are connected only at nodes, force is transmitted only by the nodes, and the element combinations are constrained only at the nodes, and the finite element model of the flexible instrument includes a plurality of finite element elements and finite element nodes. The finite element model of the flexible instrument is built, so that the continuous geometric mechanism corresponding to the flexible instrument can be dispersed into a finite element unit of the flexible instrument, and a finite element node of the flexible instrument is set in each finite element unit of the flexible instrument, so that the continuous body corresponding to the flexible instrument is regarded as an aggregation of a group of finite element units of the flexible instrument which are connected only at the finite element nodes of the flexible instrument.
After the finite element model of the flexible instrument is established, when the displacement and the stress of the flexible instrument are determined, the flexible instrument is regarded as being formed by connecting a plurality of flexible instrument finite element units and flexible instrument finite element nodes, the displacement and the stress of the flexible instrument are determined after the displacement and the stress conditions of all the sub-units of the flexible instrument are determined, the displacement and the stress of the flexible instrument are further determined, and the deformation of the flexible instrument is simulated through a large number of flexible instrument finite element units and finite element nodes, so that the difficulty of determining the displacement and stress results of the flexible instrument is reduced.
102, determining the displacement of the flexible instrument based on the minimum potential energy principle and a target constraint condition; the target constraint condition is used for representing the constraint of the position relation between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the human natural cavity; the displacement of the flexible instrument comprises displacement of each finite element node;
specifically, after a finite element model of the flexible instrument is established, the displacement of the flexible instrument can be determined based on the minimum potential energy principle and the target constraint condition; alternatively, the potential energy of the flexible instrument at a time i-1 is represented as follows:
wherein U is the total potential energy, x i-1 The generalized coordinate column vector of node displacement at the moment i-1 is obtained, and F is a known total external force; the total external force F does not include the interaction force between the flexible instrument and the natural orifice of the human body; k (x) i-1 ) For the flexible instrument stiffness matrix, the potential energy of the flexible instrument at the next time i is as follows:
wherein Δ x i Displacement of the flexible instrument from time i-1 to time i, x i ＝x i-1 +Δx i C is and Δ x i An independent constant term. Definition and Δ x i The associated unknown potential change Δ U is as follows:
according to the principle of minimum potential energy, U is known by an incremental method i-1 Require U i The minimum value is only delta U minimum, and the corresponding displacement of the flexible instrument under the condition of the minimum potential energy variation is the displacement delta x of the flexible instrument i (ii) a Optionally, displacement Δ x of the flexible instrument i Including the respective finite element nodal displacements, i.e. the displacements Δ x of the flexible instrument i Is composed and determined by multi-dimensional finite element node displacement. In addition, when determining the displacement of the flexible instrument, the displacement Δ x of the flexible instrument needs to be considered under the environment of limited height of the human cavity i Are subject to environmental constraints. That is, embodiments of the present invention are based on flexibilityThe constraint and minimum potential energy principle of the position relation between the finite element nodes in the finite element model of the flexible instrument and the target surface patches in the three-dimensional model of the human natural cavity channel determine that the corresponding displacement is the displacement of the flexible instrument under the condition of the minimum potential energy variable quantity of the flexible instrument, so that the determined displacement of the flexible instrument meets the environment that the height of the human cavity channel is limited, and the determined displacement of the flexible instrument is more accurate.
103, determining a stress result of the flexible instrument according to the displacement of the flexible instrument;
specifically, after the displacement of the flexible instrument is determined based on the minimum potential energy principle and the constraint condition of the position relationship between the finite element nodes in the finite element model of the flexible instrument and the target surface patch in the three-dimensional model of the natural orifice of the human body, the stress result of the flexible instrument can be further determined according to the determined displacement of the flexible instrument. Alternatively, the force results of the flexible instrument may be determined according to hooke's theorem. Optionally, the determined stress result of the flexible instrument includes stress results of each finite element node, that is, the determined stress result of the flexible instrument is composed and determined based on the stress results of the multidimensional finite element nodes.
104, outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of operation on the natural cavity of the human body through the flexible instrument.
Specifically, after the displacement of the flexible instrument and the stress result of the flexible instrument are determined based on the constraint condition of the position relationship between a finite element node in a finite element model of the flexible instrument and a target surface patch in a three-dimensional model of a human body natural cavity based on the minimum potential energy principle, the operation indication information of the flexible instrument can be output based on the determined displacement and stress result of the flexible instrument, wherein the indication information is used for indicating how to operate the flexible instrument to perform an operation on the human body natural cavity on the next step, and a doctor can accurately perform the operation on the flexible instrument based on the operation indication information of the flexible instrument, so that the efficiency and the safety of the operation are improved. Optionally, after the displacement and the stress result of the flexible instrument are determined, the displacement and the stress result of the flexible instrument can be displayed on a screen for reference of a doctor, so that the next operation action is accurately determined, and the efficiency and the safety of the operation are improved.
In the prior art, the stress result of the flexible instrument is usually directly given or the contact position of the flexible instrument and the natural cavity of the human body is determined by depending on a collision detection algorithm, and the contact point of the flexible instrument and the natural cavity of the human body is not changed in the iteration process, so that the determined displacement and stress result of the flexible instrument have errors, the accuracy and the real-time performance are insufficient, and meanwhile, the indication information has errors, and the efficiency and the safety of the operation are influenced. In the embodiment of the invention, the determination of the displacement and stress results of the flexible instrument is combined with the constraint conditions of the position relationship between the finite element nodes in the finite element model of the flexible instrument and the target surface patches in the three-dimensional model of the natural cavity of the human body, and the contact stress between the flexible instrument and the natural cavity of the human body given by people is not depended on, and the contact position is determined by a collision detection algorithm, so that the method of the embodiment of the application does not introduce errors of different collision detection methods, and does not assume that the position of a contact point between the flexible instrument and the natural cavity of the human body is unchanged in the process of calculating time frames twice, so that the displacement and stress results of the flexible instrument determined in the embodiment of the invention are more accurate.
On the other hand, in the related art, depending on a collision detection algorithm or performing simplified calculation in a contact space by itself (such as the SOFA method), when the number of contact points of the flexible instrument with the natural orifice of the human body is increased, the speed for determining the displacement and stress results of the flexible instrument is remarkably reduced, and the number of the contact points greatly influences the real-time performance and the stability of the displacement and stress results of the flexible instrument. In the process of determining the displacement and the stress of the flexible instrument, the method does not depend on the contact stress between the artificially given flexible instrument and the natural cavity of the human body and does not depend on a collision detection algorithm to determine the contact position of the flexible instrument and the natural cavity of the human body, so that the displacement and the stress of the flexible instrument can be calculated in real time under different contact conditions of the flexible instrument and the natural cavity of the human body, particularly when the number of contact points of the flexible instrument and the natural cavity of the human body is large, the stability and the practicability of the result of determining the displacement and the stress of the flexible instrument are improved, and the problem that the efficiency is reduced along with the increase of collision points of the flexible instrument and the natural cavity of the human body in the related technology is solved.
In the third aspect, in the related art, when the relative movement speed is high (relative to the dimension of a surface patch of a human body natural cavity model) in the process of contacting the flexible instrument with the human body natural cavity, the accuracy of the displacement and stress conditions of the flexible instrument determined by simulation is seriously insufficient. The embodiment of the invention has no limit on the relative movement speed of the contact between the flexible instrument and the natural orifice of the human body, does not limit the relative movement speed between the flexible instrument and the natural orifice of the human body, and can well simulate the physical movement process of an object with higher relative movement speed, so that the determined displacement and stress results of the flexible instrument are more accurate.
According to the method of the embodiment, based on the constraint of the position relationship between the finite element nodes in the finite element model of the flexible instrument and the target surface patch in the three-dimensional model of the natural cavity of the human body and the minimum potential energy principle, the corresponding displacement of the flexible instrument under the condition of the minimum potential energy variation of the flexible instrument is determined to be the displacement of the flexible instrument, so that the determined displacement of the flexible instrument meets the environment that the height of the cavity of the human body is limited, and the determined displacement of the flexible instrument is more accurate; and then the operation of carrying out flexible apparatus that operating personnel just also can be accurate based on the displacement of the flexible apparatus that determines and the operation indicating information of flexible apparatus, promotes the efficiency and the security of operation.
In one embodiment, determining the displacement of the flexible instrument based on the principle of minimum potential energy and the target constraint comprises:
determining the displacement of the flexible instrument under the condition that the potential energy change of the flexible instrument is minimum and the position relation between the flexible instrument and the natural cavity channel of the human body meets a target constraint condition; the target constraint condition is that the finite element nodes in the finite element model of the flexible instrument and the target surface patches in the three-dimensional model of the human natural cavity are not penetrable.
Specifically, because the height of the human body cavity is limited, when the displacement of the flexible instrument is determined based on the minimum potential energy principle, the determined displacement of the flexible instrument needs to meet the height of the human body natural cavity, that is, the determined displacement of the flexible instrument is determined under the condition that a finite element node in a finite element model of the flexible instrument is impenetrable between a target surface patch in a three-dimensional model of the human body natural cavity, that is, the determined displacement of the flexible instrument is the displacement in the human body natural cavity, but the displacement of the flexible instrument cannot be determined outside the human body natural cavity, that is, the determined displacement of the flexible instrument meets the actual surgical condition, so that the determined displacement of the flexible instrument is more accurate. Optionally, the target patch is a closest patch in the three-dimensional model of the natural body lumen contacted by the finite element node of the flexible instrument.
According to the method of the embodiment, when the displacement of the flexible instrument is determined based on the minimum potential energy principle, the determined displacement of the flexible instrument meets the height of the human natural cavity through the impenetrable constraint condition between the finite element node in the finite element model of the flexible instrument and the target surface patch in the three-dimensional model of the human natural cavity, the determined displacement of the flexible instrument is the displacement in the human natural cavity, the displacement of the flexible instrument cannot be determined to be outside the human natural cavity, the determined displacement of the flexible instrument is more accurate and better conforms to the actual surgical situation, the next surgical scheme can be more accurately determined based on the determined displacement of the flexible instrument, and the efficiency and the safety of the surgery are improved.
In one embodiment, determining the displacement of the flexible instrument based on the principle of minimum potential energy and the target constraint comprises:
the displacement of the flexible instrument is determined using the following equation:
Ax i ＝b i
Specifically, based on the constraint of the position relationship between the finite element node in the finite element model of the flexible instrument and the target surface patch in the three-dimensional model of the natural cavity of the human body and the minimum potential energy principle, the corresponding displacement of the flexible instrument under the condition of the minimum potential energy variation of the flexible instrument is determined to be the displacement of the flexible instrument, so that the determined displacement of the flexible instrument meets the environment that the height of the cavity of the human body is limited, the determined displacement of the flexible instrument is more accurate, the operation prompt information of the flexible instrument can be accurately provided for the operating personnel, and the efficiency and the safety of the operation are improved.
Optionally, compared with a static balance method, one of the advantages of determining the displacement of the flexible instrument based on the minimum potential energy principle in the embodiment of the invention is the simple expression of the environmental constraint between the flexible instrument and the natural cavity of the human body, so that the accuracy and the efficiency of the determined displacement of the flexible instrument are improved, the operation prompt information of the flexible instrument can be accurately provided for the operating personnel, and the efficiency and the safety of the operation are improved. Optionally, the displacement of the flexible instrument is determined using the following equation:
Ax i ＝b i
Optionally, the three-dimensional model of the natural body lumen derived from the pre-operative CT three-dimensional reconstruction is composed of a plurality of patches in the virtual environment, the inequality constraint of the position relationship between the finite element nodes in the finite element model of the flexible instrument and the target patches in the three-dimensional model of the natural body lumen simplifies the collision between the flexible instrument and the natural body lumen into the collision between a point and a plane, and the normal vector of the patch at the contact point of the flexible instrument and the natural body lumen is
Any point on the plane is set as X 0 Has a->
or/>
The inequality direction of the position relation between the finite element nodes in the finite element model of the flexible instrument and the target surface patch in the three-dimensional model of the natural cavity of the human body depends on the initial value, wherein S i Is the generalized coordinate position of the flexible instrument in an undeformed state. Optionally, a device>
or/>
The method comprises the steps of representing that a finite element node in a finite element model of the flexible instrument is not penetrable with a target surface patch in a three-dimensional model of a human body natural cavity, adding an inequality of a position relation between the finite element node in the finite element model of the flexible instrument and the target surface patch in the three-dimensional model of the human body natural cavity as a constraint into a minimum potential energy principle for determining the displacement of the flexible instrument, and introducing an about Ax of an equation representing the known position of the flexible instrument, which is obtained by a flexible robot through a sensor or other algorithms, into the flexible instrument i ＝b i The displacement of the flexible instrument can be accurately determined through the following formula, so that the determined displacement of the flexible instrument meets the constraint condition of the height of the natural cavity of the human body, and the determined displacement of the flexible instrument is more accurate:
Ax i ＝b i
for example, as shown in FIGS. 2a and 2b, FIG. 2a is a graph illustrating the contact points and forces between a finite element model of a flexible instrument and a model of a natural body lumen between two frames according to an embodiment of the present invention, and FIG. 2b is a graph illustrating the contact points and forces between a finite element model of a flexible instrument and a model of a natural body lumen between two frames according to the prior art, where n is 1 To n 6 Is a finite element node of a flexible instrument, X is a contact point on a face sheet of a natural cavity model of the human body, and F is contact stress. As can be seen from fig. 2a and 2b, in the embodiment of the present invention, the contact point between the flexible instrument and the natural body lumen between two frames may be any position in the domain formed by a plurality of facets in the natural body lumen model, but in the prior art, it is assumed that the contact point between the flexible instrument and the natural body lumen between two frames is not changed, and only the force direction and magnitude at the contact point are changed, thereby causing estimation errors. Compared with the prior art, the displacement of the flexible instrument is determined based on the finite element model of the flexible instrument and the minimum potential energy principle, the displacement determination method has the advantages that the assumption that the contact point between the flexible instrument and the natural orifice of the human body is fixed is removed, the contact point between the flexible instrument and the natural orifice of the human body can be changed between two frames, and the assumption that the contact point between the flexible instrument and the natural orifice of the human body is unchanged in the prior art is made. In practical application, for example, in the process of passing through a natural orifice, the flexible instrument is inserted into the natural orifice at a high speed, a contact point between the flexible instrument and the natural orifice of a human body moves for a large distance in a frame, and the position change of the contact point is large, which brings large errors in the prior art. The embodiment of the invention establishes the finite element nodes in the finite element model of the flexible instrument and the targets in the three-dimensional model of the natural orifice of the human bodyThe inequality constraint of the position relation between the surface patches only restricts that a finite element node in a finite element model of the flexible instrument and a target surface patch in a three-dimensional model of the human body natural cavity channel are not penetrated, and the contact position and the stress position between the flexible instrument and the human body natural cavity channel can be at any position in a domain formed by a plurality of surface patches of the human body natural cavity channel model, so that the displacement and stress result of the flexible instrument determined in the figure 2a is more accurate than the displacement and stress result of the flexible instrument determined in the prior art in the figure 2 b.
In the embodiment of the invention, the displacement of the flexible instrument is determined based on the constraint of the position relation between the finite element node in the finite element model of the flexible instrument and the target patch in the three-dimensional model of the natural cavity of the human body and the minimum potential energy principle, the contact stress of the flexible instrument is not artificially given, and the contact position of the flexible instrument and the natural cavity of the human body is determined by a collision detection method, so that the method of the embodiment of the invention can not introduce errors of different collision detection methods, can not assume that the contact point position of the flexible instrument and the natural cavity of the human body is unchanged between two frames, can not limit the relative movement speed (relative to the patch size of the natural cavity model of the human body) when the flexible instrument and the natural cavity of the human body are contacted, and greatly improves the accuracy of the determined displacement and stress results of the flexible instrument. The method can directly determine the contact and collision positions of the flexible instrument and the human natural cavity channel by the method of the embodiment of the invention, and the determined contact and collision positions of the flexible instrument and the human natural cavity channel between different frames are changed, so that the determined displacement and stress results of the flexible instrument are more accurate.
According to the method, based on the constraint of the position relationship between the finite element nodes in the finite element model of the flexible instrument and the target surface patches in the three-dimensional model of the natural cavity of the human body and the minimum potential energy principle, the corresponding displacement of the flexible instrument under the condition of the minimum potential energy variation quantity is determined to be the displacement of the flexible instrument, so that the determined displacement of the flexible instrument meets the environment that the height of the cavity of the human body is limited, and the determined displacement of the flexible instrument is more accurate; and then the operation that carries out flexible apparatus that surgical personnel just also can be accurate based on the displacement of the flexible apparatus who determines and the operation instruction information of flexible apparatus promotes the efficiency and the security of operation.
In one embodiment, determining the force result of the flexible instrument according to the displacement of the flexible instrument comprises:
and determining the stress result of the flexible instrument according to the displacement of the flexible instrument and the rigidity matrix of the flexible instrument.
Specifically, a finite element model of the flexible instrument is established, and the displacement deltax of the flexible instrument is determined based on the principle of minimum potential energy and target constraint conditions i Then, the displacement deltax of the flexible instrument can be determined according to the determined displacement deltax i And determining the stress result of the flexible instrument. Optionally, determining the force result of the flexible instrument according to the following formula:
f i ＝f i-1 +K(x i-1 )Δx i
wherein f is i Optionally, the stress result of the flexible instrument is formed and determined based on the multidimensional finite element node stress result, and the stress result of the flexible instrument comprises an external force or self gravity applied to the flexible instrument when the flexible instrument is in contact with the natural orifice tissue of the human body; f is i-1 The stress result at the moment i-1 of the flexible instrument is shown, and the delta x i Displacement of a flexible instrument, said K (x) i-1 ) Representing a stiffness matrix of the flexible instrument.
In one embodiment, a stiffness matrix of a flexible instrument is determined based on a rotation matrix between a cell local coordinate system and a global coordinate system in a finite element model of the flexible instrument.
In particular, the stiffness matrix of the flexible instrument is one halfThe positive definite strip-shaped symmetric matrix is related to the physical property and deformation of the flexible body under the condition of large deformation, and the determination efficiency of the displacement and stress results of the flexible instrument depends on the rigidity matrix K (x) of the flexible instrument i-1 ) Optionally, the stiffness matrix of the flexible instrument is:
wherein T is e Is a rotation matrix between a unit coordinate system and a global coordinate system, is related to the displacement x of the flexible instrument, and the T needs to be recalculated in each frame of calculation e The value of (a) is,
for cell stiffness, a new stiffness matrix is recalculated for each calculation under large deformation conditions. Σ is a stiffness matrix assembly method that assembles a unit stiffness matrix into an overall stiffness matrix. Optionally, in the embodiment of the invention, based on the minimum potential energy principle, the displacement of the flexible instrument is determined by determining the corresponding displacement of the flexible instrument under the condition of the minimum potential energy variation amount, the stiffness matrix of the finite element model of the flexible instrument is determined again between each frame, and the minimum potential energy variation condition of the flexible instrument is determined to be combined with the stiffness matrix, so that the deformation and stress of the flexible instrument under the condition of large deformation can be accurately simulated, the simulation of the large-deformation flexible instrument is realized, accurate prompt information of the displacement and stress results of the flexible instrument can be provided for the operation, and the efficiency and safety of the operation are improved.
According to the method, the displacement of the flexible instrument is determined by determining the corresponding displacement of the flexible instrument under the condition of the minimum potential energy variation quantity based on the minimum potential energy principle, and the rigidity matrix of the finite element model of the flexible instrument is determined again between frames, so that the deformation and stress of the flexible instrument under the condition of large deformation can be accurately simulated, accurate displacement and stress results of the flexible instrument can be provided for doctors, and the efficiency and safety of the operation are improved.
In one embodiment, after determining the displacement of the flexible instrument, the method further comprises:
under the condition that the natural body cavity is a narrow forked cavity, determining the position relation between a finite element node in a finite element model of the flexible instrument and each surface patch in a three-dimensional model of the natural body cavity based on the determined displacement of the flexible instrument;
and updating the target constraint condition under the condition that the penetration exists between the finite element node in the finite element model of the flexible instrument and at least one patch among the patches in the three-dimensional model of the natural cavity of the human body.
Specifically, under the condition that the human natural orifice is a narrow and bifurcated orifice, and the finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the human natural orifice are not penetrated due to the fact that the human natural orifice is narrow and bifurcated, the finite element node in the finite element model of the flexible instrument and other surface patches in the three-dimensional model of the human natural orifice may be penetrated, so that under the condition that the finite element node in the finite element model of the flexible instrument and at least one surface patch between a plurality of surface patches in the three-dimensional model of the human natural orifice are penetrated, the position constraint condition between the flexible instrument and the human natural orifice needs to be updated; the inequality constraint conditions of the position relationship between the finite element nodes in the finite element model of the new flexible instrument and the surface patches in the three-dimensional model of the natural human cavity are determined according to the calculated node penetration surface condition each time, and the constraint conditions are converged until the finite element nodes of the flexible instrument and all the surface patches of the natural human cavity model are not penetrated, so that the determined displacement of the flexible instrument meets the actual condition of the operation, the determined displacement and stress result of the flexible instrument are more accurate, accurate displacement, stress result and operation prompt information of the flexible instrument can be provided for a doctor, the flexible instrument can be ensured to better pass through the narrow human cavity, the flexible instrument is suitable for natural human cavity operations such as bronchus and the like, and the efficiency and safety of the operation are improved.
For example, as shown in fig. 3, the operation prompting method of the flexible instrument includes firstly establishing a finite element model of the flexible instrument, and then determining the displacement of the flexible instrument based on the minimum potential energy principle and the constraint of the position relationship between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the natural orifice of the human body; after the displacement of the flexible instrument is determined, the stress result of the flexible instrument can be determined based on the rigidity matrix of the flexible instrument, the determined displacement and stress result of the flexible instrument are displayed, and operation indication information of the flexible instrument is output. Optionally, under the condition that the human natural orifice is a narrow bifurcated orifice, if it is determined that a finite element node in the finite element model of the flexible instrument penetrates through at least one of the plurality of surface patches in the three-dimensional model of the human natural orifice, updating an inequality constraint condition of a positional relationship between the finite element node in the finite element model of the flexible instrument and the surface patch in the three-dimensional model of the human natural orifice until the finite element node of the flexible instrument and all the surface patches of the human natural orifice model converge when no penetration occurs; by updating the constraint conditions of the position relationship between the finite element nodes in the finite element model of the flexible instrument and the surface patches in the three-dimensional model of the natural body cavity, the displacement and stress results of the flexible instrument determined according to the constraint conditions of the position relationship between the finite element nodes in the finite element model of the flexible instrument and the surface patches in the three-dimensional model of the natural body cavity can ensure that the flexible instrument better passes through the narrow cavity, and the flexible instrument is suitable for the simulation situation of the operation of the natural body cavity in narrow space such as bronchi. That is, inequality constraint conditions for updating the position relationship between the finite element nodes in the finite element model of the flexible instrument and the surface patches in the three-dimensional model of the human natural orifice in the black arrow dotted line in fig. 3 are not essential steps, but are optimization steps under the condition of determining the displacement and stress results of the flexible instrument in the narrow and bifurcated human natural orifice, so that the method in the embodiment of the invention can more accurately determine the displacement and stress results of the flexible instrument in the narrow and bifurcated human natural orifice and the operation prompt information of the flexible instrument, can ensure that the flexible instrument better passes through the human narrow orifice, and improve the efficiency and safety of the operation.
According to the method, the constraint conditions of the position relationship between the finite element nodes in the finite element model of the flexible instrument and the surface patches in the three-dimensional model of the human natural cavity are updated, so that the displacement and stress results of the flexible instrument in the narrow and forked human natural cavity and the operation prompt information of the flexible instrument are more accurately determined, the flexible instrument can be guaranteed to better pass through the human narrow cavity, and the efficiency and the safety of the operation are improved.
The operation prompting device of the flexible instrument provided by the invention is described below, and the operation prompting device of the flexible instrument described below and the operation prompting method of the flexible instrument described above can be referred to correspondingly.
Fig. 4 is a schematic structural diagram of an operation prompting device of the flexible instrument provided by the invention. The operation prompt device of the flexible instrument provided by the embodiment comprises:
an establishing module 710 for establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument includes a plurality of finite element nodes;
a first determination module 720 for determining a displacement of the flexible instrument based on a minimum potential energy principle and a target constraint condition; the target constraint condition is used for representing the constraint of the position relation between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the human natural cavity; the displacement of the flexible instrument comprises displacement of each finite element node;
the second determining module 730 is used for determining a stress result of the flexible instrument according to the displacement of the flexible instrument;
the prompt module 740 is used for outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of operation on the natural cavity of the human body through the flexible instrument.
Optionally, the first determining module 720 is specifically configured to: determining the displacement of the flexible instrument under the condition that the potential energy change of the flexible instrument is minimum and the position relation between the flexible instrument and the natural cavity of the human body meets a target constraint condition; the target constraint condition is that the finite element nodes in the finite element model of the flexible instrument and the target surface patches in the three-dimensional model of the human natural cavity are not penetrable.
Optionally, the first determining module 720 is specifically configured to: the displacement of the flexible instrument is determined using the following equation:
Ax i ＝b i
Optionally, the second determining module 730 is specifically configured to: determining a stress result of the flexible instrument according to the displacement of the flexible instrument, wherein the stress result comprises the following steps:
and determining the stress result of the flexible instrument according to the displacement of the flexible instrument and the rigidity matrix of the flexible instrument.
Optionally, the second determining module 730 is further configured to: a stiffness matrix of the flexible instrument is determined based on a rotation matrix between a unit local coordinate system and a global coordinate system in the finite element model of the flexible instrument.
Optionally, the second determining module 730 is further configured to: under the condition that the natural orifice of the human body is a narrow forked orifice, determining the position relation between a finite element node in a finite element model of the flexible instrument and each surface patch in a three-dimensional model of the natural orifice of the human body based on the determined displacement of the flexible instrument;
and updating the target constraint condition under the condition that the penetration exists between the finite element node in the finite element model of the flexible instrument and at least one patch among the patches in the three-dimensional model of the natural cavity of the human body.
The apparatus of the embodiment of the present invention is configured to perform the method of any of the foregoing method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include: a processor (processor) 810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a method of operation prompting of a flexible instrument, the method comprising: establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument includes a plurality of finite element nodes; determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition; the target constraint condition is used for representing the constraint of the position relation between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the human natural cavity; the displacement of the flexible instrument comprises displacement of each finite element node; determining a stress result of the flexible instrument according to the displacement of the flexible instrument; outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of operation on the natural cavity of the human body through the flexible instrument.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for prompting the operation of a flexible instrument provided by the above methods, the method comprising: establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument includes a plurality of finite element nodes; determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition; the target constraint condition is used for representing the constraint of the position relation between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the human natural cavity; the displacement of the flexible instrument comprises displacement of each finite element node; determining a stress result of the flexible instrument according to the displacement of the flexible instrument; outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of operation on the natural cavity of the human body through the flexible instrument.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the method for prompting operation of a flexible instrument provided above, the method comprising: establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument includes a plurality of finite element nodes; determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition; the target constraint condition is used for representing the constraint of the position relation between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the human natural cavity; the displacement of the flexible instrument comprises displacement of each finite element node; determining a stress result of the flexible instrument according to the displacement of the flexible instrument; outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of operation on the natural cavity of the human body through the flexible instrument.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some techniques may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An operation prompting method for a flexible instrument is characterized by comprising the following steps:
establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument comprises a plurality of finite element nodes;
determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition; the target constraint condition is used for representing the constraint of the position relation between a finite element node in a finite element model of the flexible instrument and a target surface patch in a three-dimensional model of a human natural cavity; the displacement of the flexible instrument comprises displacement of each finite element node;
determining a stress result of the flexible instrument according to the displacement of the flexible instrument;
outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of performing operation on the natural cavity of the human body through the flexible instrument.
2. The operation prompting method of the flexible instrument according to claim 1, wherein the determining the displacement of the flexible instrument based on the minimum potential energy principle and the target constraint condition comprises:
determining the displacement of a flexible instrument under the condition that the potential energy change of the flexible instrument is minimum and the position relation between the flexible instrument and a natural cavity of a human body meets a target constraint condition; the target constraint condition is that a finite element node in the finite element model of the flexible instrument is not penetrable with a target surface patch in the three-dimensional model of the human natural cavity.
3. The method for prompting operation of a flexible instrument according to claim 1 or 2, wherein the determining displacement of the flexible instrument based on the principle of minimum potential energy and the target constraint condition comprises:
the displacement of the flexible instrument is determined using the following equation:
Ax i ＝b i
the above-mentioned
Representing a minimum amount of change in potential energy of the flexible instrument; the Δ x i Representing the displacement of the flexible instrument from the moment i-1 to the moment i; the K (x) i-1 ) A stiffness matrix representing a flexible instrument; x is said i-1 Finite element node displacement at the moment i-1; f represents a target external force borne by the flexible instrument, wherein the target external force does not comprise a contact force between the flexible instrument and a natural cavity channel of a human body; is/are>
Representing a target constraint; is/are>
Representing normal vectors of contact point surface patches of the flexible instrument and a natural cavity of a human body; said x i Representing finite element node displacement of the flexible instrument at the moment i; said S i Representing the generalized coordinate position of the flexible instrument in an undeformed state; said X 0 Representing any position on a plane corresponding to the three-dimensional model of the human natural cavity; the Ax i ＝b i Representing a first constraint; the A represents a projection matrix; b is described i Representing a target location of a flexible instrument; said x i Representing the finite element nodal displacement of the flexible instrument at time i.
4. The operation prompting method of the flexible instrument according to claim 3, wherein the determining of the force-receiving result of the flexible instrument according to the displacement of the flexible instrument comprises:
and determining the stress result of the flexible instrument according to the displacement of the flexible instrument and the rigidity matrix of the flexible instrument.
5. An operation prompting method for a flexible instrument as defined in claim 4, further comprising:
a stiffness matrix of the flexible instrument is determined based on a rotation matrix between a cell local coordinate system and a global coordinate system in a finite element model of the flexible instrument.
6. The operation prompting method of the flexible instrument according to claim 3, characterized in that after determining the displacement of the flexible instrument, the method further comprises:
under the condition that the human body natural cavity is a narrow forked cavity, determining the position relation between a finite element node in a finite element model of the flexible instrument and each surface patch in a three-dimensional model of the human body natural cavity based on the determined displacement of the flexible instrument;
updating the target constraint condition in the presence of penetration of at least one patch between a finite element node in a finite element model of the flexible instrument and a plurality of patches in a three-dimensional model of the natural body lumen.
7. An operation prompting device for a flexible instrument, comprising:
the establishing module is used for establishing a finite element model of the flexible instrument; the finite element model of the flexible instrument comprises a plurality of finite element nodes;
the first determination module is used for determining the displacement of the flexible instrument based on the minimum potential energy principle and a target constraint condition; the target constraint condition is used for representing the constraint of the position relationship between a finite element node in the finite element model of the flexible instrument and a target surface patch in the three-dimensional model of the natural cavity of the human body; the displacement of the flexible instrument comprises displacement of each finite element node;
the second determination module is used for determining a stress result of the flexible instrument according to the displacement of the flexible instrument;
the prompting module is used for outputting operation indication information of the flexible instrument according to the determined displacement of the flexible instrument and the stress result of the flexible instrument; the operation indication information of the flexible instrument is used for indicating the mode of performing operation on the natural cavity of the human body through the flexible instrument.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method of prompting operation of a flexible instrument as claimed in any one of claims 1 to 6.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of prompting the operation of a flexible instrument according to any one of claims 1 to 6.
10. A computer program product having stored thereon executable instructions, which when executed by a processor cause the processor to carry out the steps of a method of prompting operation of a flexible instrument as claimed in any of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211255852.6A CN115906556A (en) | 2022-10-13 | 2022-10-13 | Operation prompting method, device, equipment and storage medium of flexible instrument |
| PCT/CN2023/085904 WO2024077889A1 (en) | 2022-10-13 | 2023-04-03 | Operation prompting method and apparatus for flexible instrument, device, and storage medium |
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| CN202211255852.6A CN115906556A (en) | 2022-10-13 | 2022-10-13 | Operation prompting method, device, equipment and storage medium of flexible instrument |
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| CN202211255852.6A Pending CN115906556A (en) | 2022-10-13 | 2022-10-13 | Operation prompting method, device, equipment and storage medium of flexible instrument |
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| WO (1) | WO2024077889A1 (en) |
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| WO2006020792A2 (en) * | 2004-08-10 | 2006-02-23 | The General Hospital Corporation | Methods and apparatus for simulation of endovascular and endoluminal procedures |
| CN103961179B (en) * | 2014-04-09 | 2016-04-27 | 深圳先进技术研究院 | Surgical instrument movement analogy method |
| CN113349928B (en) * | 2021-05-20 | 2023-01-24 | 清华大学 | Augmented reality surgical navigation device for flexible instrument |
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- 2022-10-13 CN CN202211255852.6A patent/CN115906556A/en active Pending
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