CN116439636B - Instrument, endoscope system, medical system and positioning control method of medical system - Google Patents
Instrument, endoscope system, medical system and positioning control method of medical system Download PDFInfo
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- 230000000007 visual effect Effects 0.000 claims description 15
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- 238000004364 calculation method Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 9
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- 238000012545 processing Methods 0.000 description 7
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- 238000012986 modification Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000012084 abdominal surgery Methods 0.000 description 1
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- 238000002674 endoscopic surgery Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
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- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
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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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
- A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
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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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The invention belongs to the technical field of high-end medical equipment, and provides an instrument, an endoscope system, a medical system and a positioning control method thereof. The invention can realize accurate positioning of the instrument and positioning control of the endoscope with low cost.
Description
Technical Field
The invention belongs to the technical field of medical data identification, and relates to an instrument, an endoscope system, a medical system and a positioning control method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Endoscopes are detection instruments that integrate traditional optics, ergonomics, precision machinery, modern electronics, mathematics, software, and the like. The endoscope can enter the body from the micro-pore canal, and has important significance for minimally invasive surgery.
There are four general applications for current endoscopes. One is a hand-held endoscope, namely in the re-operation process, a professional mirror supporting worker is needed, the worker is needed to hold the endoscope handle, the position and the posture of the endoscope are manually adjusted according to the operation requirement of a doctor, the labor intensity is high, and the medical care labor cost is high. Another is to control the endoscope by using a mechanical arm of the surgical robot to change the direction and position of the lens, but this method requires the operator to continuously switch the operation of the mechanical arm during the operation process, so as to adjust the position of the endoscope or perform the operation, which is complex in flow and prone to error.
The two types of endoscope supporting robots and self-propelled endoscope systems can utilize remote control or sound control and eyeball follow-up control, so that the problems of the former two modes are solved to a certain extent, but the mode still requires an operator to do extra actions outside the operation of the instrument to independently operate the endoscope, the operation intensity is increased, and although part of robots or endoscope systems automatically track high light spots to follow the motion of the instrument, the in-vivo environment has bright spots, the instrument is subjected to extinction treatment to a great extent, and the practical application effect is not ideal.
In addition, in practical application, the endoscope needs to be controlled according to the positioning of the instrument, and the control effect and accuracy of the endoscope are affected by the instrument or the positioner. Taking an orthopedic joint minimally invasive surgery as an example for explanation, two small incisions are generally formed, one is used for an arthroscope, the other is used for an instrument used in a joint cavity, a positioning device is adopted for positioning the instrument in most of the modes, the positioning device occupies a certain space, the operation is affected, when two instruments are used simultaneously in a narrow operation space, mutual interference is caused when the distance is relatively close or the positioning device is crossed, and the use condition is limited; and the locator is often detached from the instrument, so that the locator is combined when in use, thereby being very easy to cause confusion and having hidden danger in operation.
Disclosure of Invention
In order to solve the problems, the invention provides an instrument, an endoscope system, a medical system and a positioning control method thereof, and the invention can realize accurate positioning of the instrument and positioning control of the endoscope with low cost.
According to some embodiments, the present invention employs the following technical solutions:
in a first aspect of the present invention, there is provided an instrument comprising an instrument body, at least a portion of a front portion of the instrument body being circumferentially provided with an identification code, the identification code having instrument model information corresponding to the instrument stored therein.
Because the front end of the instrument is generally an actuating mechanism, the actuating mechanism or a connecting piece of the actuating mechanism, namely a section of the front end of the instrument, is provided with an identification code, so that the actuating part of the instrument can be always positioned in the middle or near the middle of the field of view of the endoscope.
Alternatively, the beginning and/or ending of the identification code is provided with a marking for indicating the direction of the instrument.
The front and rear ends of the instrument can be quickly determined by the markers.
Alternatively, the identification code is a bar code comprising a plurality of black and white stripes spaced apart in sequence, and the stripes are circumferentially disposed around at least a full turn of the front of the instrument.
As a further limitation, the beginning or ending end of the bar code is a black stripe, and the width of the black stripe is different from the width of the other black stripes.
As an alternative embodiment, the beginning end or the ending end of the bar code is a black stripe, and a plurality of protruding parts or notches are arranged at the edge of the black stripe.
Alternatively, the instrument may have different diameters at the beginning and ending ends of the bar code.
In a second aspect of the invention, an endoscope system is provided comprising a self-propelled endoscope, a processor and a display device, wherein:
the self-propelled endoscope is electrically connected with the processor, and the processor is in communication connection with the display device;
the lens of the self-propelled endoscope can rotate relative to the self-propelled endoscope body so as to acquire image/image information;
the display device is used for displaying the space image/image information shot by the lens;
the processor is used for determining the position of the identification code arranged on the instrument provided in the first aspect in the view field of the endoscope according to the image/image information acquired by the lens, calculating the posture and the position of the instrument, comparing the calculation result with the instrument model information, generating an adjustment instruction according to the comparison result, and controlling the movement of the self-propelled endoscope so that the self-propelled endoscope always follows the instrument to move, and ensuring that the front end of the instrument is always positioned in the set position range of the view field.
In a third aspect of the invention, there is provided a medical system comprising:
an endoscope for acquiring image/video information;
a robot for controlling a position and a movement direction of the endoscope;
an instrument, wherein at least one part of the front part of the instrument is circumferentially provided with an identification code, and instrument model information corresponding to the instrument is stored in the identification code;
the processor is communicated with the endoscope and the robot, and is used for determining the position of the identification code in the view field of the endoscope according to the image/image information acquired by the endoscope, calculating the posture and the position of the instrument, comparing the calculation result with the instrument model information, generating an adjustment instruction according to the comparison result, and sending the adjustment instruction to the robot so as to control the movement of the endoscope according to the adjustment instruction, so that the endoscope always follows the movement of the instrument, and ensuring that the front end of the instrument is always positioned in the set position range of the view field.
The design of the medical system ensures that at least one part/section of the front part of the instrument (such as the rod part of the surgical forceps) is provided with the identification code, the identification code is completely surrounded by the circle, the identification code can be effectively read from any angle under the view angle of the endoscope, the position of the identification code in the view field of the endoscope is ensured, the deflection angle and the diameter angle of the identification code are calculated, the size of the instrument model for reading the identification code in the system is calculated by comparing with the calculated size of the model of the view field, and the posture of the endoscope is adjusted, so that the identification code at the forceps end of the instrument is always kept in the center of the view field and at a certain depth distance, and the spatial position of the instrument is accurately positioned.
The following embodiments are optional embodiments of the endoscope system according to the second aspect and the surgical system according to the third aspect.
The processor includes:
the identification module is configured to identify an identification code in a field of view acquired by the endoscope and read instrument model information stored in the identification code;
a positioning module configured to lock the identification code position, determine the position information of the identification code in the field of view;
a calculation module configured to calculate an offset direction and offset information of an identification code relative to the intermediate position of the field of view in combination with the instrument model information and the position information;
and the instruction generation module is configured to generate a motion signal according to the offset direction and the offset amount so that the identification code is positioned in the middle of the field of view.
Further, the processor also includes a communication module configured to communicate with the robot and transmit the motion signal.
As a further defined embodiment, the computing module includes:
a first memory module configured to store preset position information between the endoscope and the instrument identification code;
a first determining module configured to calculate a due target value of an identification code length on the instrument in the field of view according to the parameters stored in the instrument model information and the preset position information;
a first comparison module configured to compare the target value with an actual value derived from positional information of an identification code in a field of view;
and the first generation module is configured to generate the depth of field adjustment information of the endoscope according to the difference value if the difference value between the target value and the actual value is out of a set range.
As a further defined embodiment, the computing module further comprises:
the second storage module is configured to store preset angle information between the instrument identification code and the horizontal line;
a second determining module configured to determine an instrument direction and an actual angle with the horizontal line according to a recognition result of the instrument identification code;
a second comparison module configured to compare the preset angle information with an actual angle;
and the second generation module is configured to generate view field angle adjustment information of the endoscope according to the difference value if the difference value between the preset angle information and the actual angle is out of a set range.
As a further defined embodiment, the identification module comprises:
the reading module is configured to read the instrument model information stored in the identification code according to the identification code in the image;
the judging module is configured to judge whether the identification code is read before the operation, if so, error information is generated, the alarming module is called, and if not, the positioning module is called;
the alarm module is configured to prompt that the instrument is used and information of the instrument needs to be replaced.
As a further defined embodiment, the identification module comprises:
the reading module is configured to acquire each identification code in the view field and read the related information of the identification codes;
an input module configured to select an identification code held by an instrument requiring visual angle following;
and the comparison module is configured to repeatedly identify and compare through the identification codes, process the position information if the identification codes are the identification codes held by the selected instrument needing to be followed from the visual angle, and if the identification codes are not the identification codes, switch the following instrument, send a signal to the reading module, reacquire each bar code in the visual field and read the related information of the bar codes.
In a fourth aspect of the present invention, there is provided a positioning control method based on the above endoscope system, comprising:
acquiring image/image information by a lens;
the processor determines the position of the identification code arranged on the instrument provided by the first aspect in the view field of the self-propelled endoscope according to the image/image information acquired by the lens, calculates the posture and the position of the instrument, compares the calculated result with the instrument model information, generates an adjustment instruction according to the compared result, and controls the movement of the self-propelled endoscope so that the self-propelled endoscope always follows the instrument to move, and ensures that the front end of the instrument is always positioned in the set position range of the view field.
In a fifth aspect of the present invention, there is provided a positioning control method based on the above medical system, including:
the endoscope acquires image/video information;
the processor determines the position of an identification code which is arranged at the front end of an instrument and stores instrument model information corresponding to the instrument and is positioned in the view field of the endoscope according to image/image information acquired by the endoscope, calculates the posture and the position of the instrument, compares the calculated result with the instrument model information, generates an adjustment instruction according to the compared result, and sends the adjustment instruction to the robot so as to control the movement of the endoscope according to the adjustment instruction, so that the endoscope always follows the instrument to move, and the front end of the instrument is always positioned in the set position range of the view field;
the robot controls the position and the movement direction of the endoscope according to the adjustment instruction.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the identification code is arranged at the front end of the instrument, and the relative position and posture information of the instrument and the endoscope can be obtained by combining with the image processing and calculation of the processor, so that an adjustment instruction is generated, the instrument executing part is ensured to always move along with the instrument in the middle or near the middle of the visual field of the endoscope, the executing part of the instrument is ensured to always move in the image/image shot by the lens, and the stability and instantaneity of visual angle following are improved.
The invention does not greatly improve the structure of the instrument body, has low cost investment, can ensure that the instrument is not used before the operation, and improves the safety of the operation.
The invention can automatically carry out visual positioning and tracking according to the image/image collected by the endoscope, does not need a lens supporting person, solves the problems that high light spots are not easy to track, a positioner is easy to interfere instruments, occupies operation space and the like, and reduces the labor intensity of operators.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic illustration of a medical system provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a scope robot and endoscope in a medical system provided in an embodiment of the present invention;
FIG. 3 is a schematic view of a surgical instrument provided in accordance with an embodiment of the present invention;
FIG. 4 is an enlarged view of the front end of the surgical instrument of FIG. 3;
FIGS. 5 (a) and 5 (b) are respectively graphs of instrument model information and actual acquired images of a surgical instrument according to an embodiment of the present invention;
FIG. 6 is a diagram of an orientation adjustment control process for a medical system provided by an embodiment of the present invention;
FIG. 7 is a diagram of a depth of field distance adjustment control process for a medical system according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a switch following instrument procedure provided by an embodiment of the present invention.
Wherein: 1. endoscope, 2, operation forceps, 3, a mirror supporting robot, 4 and a bar code.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the related art, an additional operator exists in the endoscopic surgery for controlling the movement of the endoscope, or the operator performs additional actions outside the operation of the instrument, so that the operation strength is increased, and the operation effect is poor.
In order to solve the problems, the invention provides an instrument, an endoscope system, a medical system and a positioning control method thereof; through setting up the identification code at the apparatus front end, combine the image processing and the calculation of treater, can obtain the relative position, the gesture information of apparatus and endoscope, and then generate adjustment instruction, adjust the position and the gesture of endoscope to guarantee that the apparatus executive component is in the middle or near the middle position of the visual field of endoscope all the time, guarantee that the endoscope follows the apparatus motion all the time and moves, guarantee that the executive component of apparatus is in the image/image that the camera lens was shot all the time, help improving stability and the instantaneity that the visual angle followed. The invention can realize accurate positioning of the instrument and positioning control of the endoscope with low cost, reduces operators, or simplifies the operation process and reduces the operation labor intensity.
The following is a detailed description of exemplary embodiments. It should be emphasized that the following exemplary embodiments are merely exemplary and are not intended to be limiting of the present invention in any way to provide a device, an endoscope system, a medical system, and a positioning control method for the same.
Example 1
Referring to fig. 3 and 4, an instrument of the present invention is shown. Provided is a surgical clip that may include, but is not limited to, a variety of forceps heads above grasping forceps, needle holding forceps, bent scissors, direct scissors, monopolar hooks, bipolar forceps, stripping forceps, and the like.
In other embodiments, the instruments include, but are not limited to, surgical forceps, monopolar scissors, monopolar electrical hooks, bipolar forceps, and high frequency scalpels, among many others, that may be used in endoscopic procedures.
As shown in fig. 4, at the front end of the whole surgical forceps, an identification code is provided at the position of a connecting piece arranged between the actuating mechanism and the forceps body behind the actuating mechanism (namely, the forceps head), and the identification code in this embodiment is in the form of a bar code.
In other embodiments, the identification code includes, but is not limited to, various forms of electronic codes such as bar codes, two-dimensional codes, electronic tags, and the like.
In this embodiment, the bar code comprises a plurality of black and white stripes spaced apart in sequence, and the stripes are circumferentially disposed around the front of the instrument for at least a full turn.
The bar code is completely encircled, so that the bar code can be effectively identified and read at any angle under the view angle of the endoscope, and the bar code is stored with instrument model information, so that the reading efficiency and accuracy can be improved through the identification and reading of the endoscope, and the real-time performance of the view angle following can be further improved.
The beginning end or the ending end of the bar code is a black stripe, and the width of the black stripe is different from the width of other black stripes.
Alternatively, the beginning or ending of the bar code is a black bar to clearly indicate the beginning or ending of the bar code.
Further, in some embodiments, the black stripe at the edge may be further provided with a plurality of marks, such as protrusions or notches, or the outer edge of the black stripe is wavy, so as to perform a significant mark. Of course, this requires that the bar code also be able to read the result after the setup.
In this embodiment, the instrument has different diameters and lengths at the beginning and ending ends of the bar code, and the ending end is a black stripe where the black stripe is significantly thicker than the other stripes.
As shown in fig. 5 (a), in the instrument model data, a is the front end width of the instrument at which the barcode is provided, b is the rear end width of the instrument at which the barcode is provided, c is the length of the barcode, and d is the angle between the barcode and the horizontal direction when the angle is the field plane angle.
A is the front end, and B is the rear end.
In actual operation, the posture of the instrument changes. As shown in fig. 5 (b), at a certain image acquisition time, the instrument is operated to change its position and posture, a1 sets the width of the front end of the bar code position for the instrument acquired at that time, b1 sets the width of the rear end of the bar code position for the instrument acquired at that time, c1 is the length of the bar code acquired at that time, and d1 is the angle between the bar code acquired at that time and the horizontal direction.
The endoscope can be oriented and positioned according to the acquired real-time images/images of the forceps and the forceps model information stored by the bar codes in combination with fig. 6 and 7.
Example two
An endoscope system comprising a self-propelled endoscope, a processor, and a display device, wherein:
the self-propelled endoscope is electrically connected with the processor, and the processor is in communication connection with the display device;
the lens of the self-propelled endoscope can rotate relative to the self-propelled endoscope body so as to acquire image/image information;
the display device is used for displaying the space image/image information shot by the lens;
the processor is used for determining the position of the identification code arranged on the instrument provided in the first aspect in the view field of the endoscope according to the image/image information acquired by the lens, calculating the posture and the position of the instrument, comparing the calculation result with the instrument model information, generating an adjustment instruction according to the comparison result, and controlling the movement of the self-propelled endoscope so that the self-propelled endoscope always follows the instrument to move, and ensuring that the front end of the instrument is always positioned in the set position range of the view field.
The adjusting process of the processor specifically comprises the following steps:
first, as shown in fig. 5 and 6, the azimuth is adjusted.
The bar code of the forceps image/image acquired by the endoscope at a certain time is shown on the right side of fig. 5, and the model information of the forceps is shown on the left side of fig. 5. And locking the position of the bar code at the moment, and acquiring the position information of the bar code in the field of view.
From the values of a (a 1) and b (b 1), the front and rear ends of the forceps can be determined. This is because the front end diameter and the rear end diameter of the bar code can be determined according to the type of surgical instrument, and for example, the forceps generally have a rear end diameter larger than the front end, so that the front and rear ends of the forceps can be directly determined according to the values of a (a 1) and b (b 1).
Of course, according to the specific width of the head and tail black bars of the bar code, which is the front end of the instrument and which is the rear end of the instrument can be identified through images.
After the front end and the rear end are determined, the angle of d1 is determined, the difference between d1 and d stored in the model is calculated, and the angle offset of the forceps can be calculated, as shown in fig. 5, at the time point, the angle offset of the actual posture of the forceps and the instrument model information is d-d1.
Thus, it can be determined that the angular adjustment amount of the endoscope should be rotated d-d1 degrees clockwise.
As shown in fig. 7, in determining the adjustment amount of the depth direction of the endoscope, a1 and a, b1 and b may be compared according to the values of a1 and b1, and if the difference between a1 and a, the difference between b1 and b exceeds a set value, and a1 is smaller than a, b1 is smaller than b, the endoscope should be moved forward (i.e., toward the direction of the forceps), the distance between the endoscope and the forceps is reduced, the difference between a1 and a after the change is smaller than the set value, and the difference between b1 and b after the change is smaller than the set value.
Likewise, if the difference between a1 and a, the difference between b1 and b exceeds the set point, and a1 is greater than a and b1 is greater than b, the endoscope should be moved backward (i.e., away from the forceps) to increase the distance between the endoscope and the forceps.
In this embodiment, the processor is configured to perform the adjustment process described above.
The disposer includes:
the identification module is configured to identify an identification code in a field of view acquired by the endoscope and read instrument model information stored in the identification code;
a positioning module configured to lock the identification code position, determine the position information of the identification code in the field of view;
a calculation module configured to calculate an offset direction and offset information of an identification code relative to the intermediate position of the field of view in combination with the instrument model information and the position information;
and the instruction generation module is configured to generate a motion signal according to the offset direction and the offset amount so that the identification code is positioned in the middle of the field of view.
Further, the computing module includes:
a first memory module configured to store preset position information between the endoscope and the instrument identification code;
a first determining module configured to calculate a due target value of an identification code length on the instrument in the field of view according to the parameters stored in the instrument model information and the preset position information;
a first comparison module configured to compare the target value with an actual value derived from positional information of an identification code in a field of view;
and the first generation module is configured to generate the depth of field adjustment information of the endoscope according to the difference value if the difference value between the target value and the actual value is out of a set range.
Further, the computing module further includes:
the second storage module is configured to store preset angle information between the instrument identification code and the horizontal line;
a second determining module configured to determine an instrument direction and an actual angle with the horizontal line according to a recognition result of the instrument identification code;
a second comparison module configured to compare the preset angle information with an actual angle;
and the second generation module is configured to generate view field angle adjustment information of the endoscope according to the difference value if the difference value between the preset angle information and the actual angle is out of a set range.
In some embodiments, the use of bar codes also ensures that the forceps are reused.
Reading instrument model information stored in the identification code according to the identification code in the image; judging whether the identification code is read before the operation, if so, generating error information, alarming, and if not, starting the operation.
The above-described process may be implemented by an identification module.
In this embodiment, the self-propelled endoscope may be an existing self-propelled endoscope. The invention is given by way of example only and comprises an endoscope body having a flexible mechanical articulation, the endoscope body being provided with an electrically controlled mechanical structure for driving the mechanical articulation to deform; the electronic control mechanical structure is in communication connection with the output end of the processor and is used for responding to the driving control signal and outputting a moment for enabling the mechanical movable joint to deform so as to drive the lens to rotate according to the offset distance and the offset direction.
Because equipment such as a positioner is reduced, the operation space can be fully utilized, and if a plurality of instruments are needed to be used, the following switching of the instruments can be performed.
As shown in fig. 8, each bar code in the field of view is acquired, and the relevant information of the bar code is read;
selecting a bar code followed by a visual angle on the man-machine interaction equipment;
and processing the selected bar code position information through bar code repeated identification comparison, switching the following instrument if the identified bar code is not the selected bar code, re-acquiring each bar code in the field of view, reading the related information of the bar code and selecting.
The above-described process may be implemented by an identification module.
Example III
As shown in fig. 1 and 2, a surgical system for abdominal surgery, comprising:
an endoscope 1 for collecting image information;
the endoscope supporting robot 3 is used for controlling the direction position of the endoscope, in the embodiment, the robot is fixed beside an operation table, the endoscope is arranged on a control support arm of the endoscope supporting robot, the tail end of the endoscope is connected with the tail end of the support arm, the front end of the endoscope enters a human body through a poking card, and the support arm has three control degrees of freedom and can control the endoscope to swing in all directions by taking the poking card as a round point and axially displace along an abdomen tube of the endoscope.
The bar code 4 is arranged on the instrument 2, the bar code 4 is surrounded in whole circle, the bar code 4 can be effectively recognized and read at any angle under the view angle of the endoscope 1, the bar code 4 stores instrument model information, and the bar code can be recognized and read through a processor or a single processor of the endoscope 1.
And the processor is used for identifying the relative position of the bar code 4 in the view field of the endoscope 1 after the instrument appears in the view field of the endoscope 1 and is identified by the bar code 4, calculating the deflection angle and the diameter angle of the bar code 4, comparing and calculating according to the read instrument model size and the model size calculated by the view field, feeding back the calculation result to the supporting mirror robot 3, and adjusting the posture of the endoscope 1 so that the bar code at the clamp end of the instrument is always kept in the center of the view field and a certain depth distance is kept.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (6)
1. An endoscope system comprising a self-propelled endoscope, a processor, and a display device, wherein:
the self-propelled endoscope is electrically connected with the processor, and the processor is in communication connection with the display device;
the lens of the self-propelled endoscope can rotate relative to the self-propelled endoscope body so as to acquire image/image information;
the display device is used for displaying the space image/image information shot by the lens; the processor is used for determining the position of an identification code arranged on an instrument in the view field of the endoscope according to the image/image information acquired by the lens, calculating the posture and the position of the instrument, comparing the calculation result with instrument model information corresponding to the instrument, generating an adjustment instruction according to the comparison result, and controlling the movement of the self-propelled endoscope so that the self-propelled endoscope always follows the instrument to move, and ensuring that the front end of the instrument is always positioned in the set position range of the view field;
the processor includes:
the identification module is configured to identify an identification code in a field of view acquired by the endoscope and read instrument model information stored in the identification code;
a positioning module configured to lock the identification code position, determine the position information of the identification code in the field of view;
a calculation module configured to calculate an offset direction and offset information of the identification code relative to the intermediate position of the field of view in combination with the instrument model information and the position information;
an instruction generation module configured to generate a motion signal according to the offset direction and the offset amount so that the identification code is located in the middle of the field of view;
the computing module comprises:
a first memory module configured to store preset position information between the endoscope and the instrument identification code;
a first determining module configured to calculate a due target value of an identification code length on the instrument in the field of view according to the parameters stored in the instrument model information and the preset position information;
a first comparison module configured to compare the target value with an actual value derived from positional information of an identification code in a field of view;
a first generation module configured to generate depth of field adjustment information of the endoscope according to a difference value between the target value and an actual value if the difference value is outside a set range;
the computing module further includes:
the second storage module is configured to store preset angle information between the instrument identification code and the horizontal line;
a second determining module configured to determine an instrument direction and an actual angle with the horizontal line according to a recognition result of the instrument identification code;
a second comparison module configured to compare the preset angle information with an actual angle;
and the second generation module is configured to generate view field angle adjustment information of the endoscope according to the difference value if the difference value between the preset angle information and the actual angle is out of a set range.
2. An endoscope system according to claim 1 and wherein said identification module comprises:
the reading module is configured to read the instrument model information stored in the identification code according to the identification code in the image;
the judging module is configured to judge whether the identification code is read before the operation, if so, error information is generated, the alarming module is called, and if not, the positioning module is called;
the alarm module is configured to prompt that the instrument is used and information of the instrument needs to be replaced.
3. An endoscope system according to claim 2 and wherein said identification module comprises:
the reading module is configured to acquire each identification code in the view field and read the related information of the identification codes;
an input module configured to select an identification code held by an instrument requiring visual angle following;
and the comparison module is configured to repeatedly identify and compare through the identification codes, process the position information if the identification codes are the identification codes held by the selected instrument needing to be followed from the visual angle, and if the identification codes are not the identification codes, switch the following instrument, send a signal to the reading module, reacquire each bar code in the visual field and read the related information of the bar codes.
4. A medical system, comprising:
an endoscope for acquiring image/video information;
a robot for controlling a position and a movement direction of the endoscope;
an instrument, wherein at least one part of the front part of the instrument is circumferentially provided with an identification code, and instrument model information corresponding to the instrument is stored in the identification code;
the processor is communicated with the endoscope and the robot, and is used for determining the position of the identification code in the view field of the endoscope according to the image/image information acquired by the endoscope, calculating the posture and the position of the instrument, comparing the calculation result with the instrument model information, generating an adjustment instruction according to the comparison result, and sending the adjustment instruction to the robot so as to control the movement of the endoscope according to the adjustment instruction, so that the endoscope always follows the movement of the instrument, and ensuring that the front end of the instrument is always positioned in the set position range of the view field;
the processor includes:
the identification module is configured to identify an identification code in a field of view acquired by the endoscope and read instrument model information stored in the identification code;
a positioning module configured to lock the identification code position, determine the position information of the identification code in the field of view;
a calculation module configured to calculate an offset direction and offset information of the identification code relative to the intermediate position of the field of view in combination with the instrument model information and the position information;
an instruction generation module configured to generate a motion signal according to the offset direction and the offset amount so that the identification code is located in the middle of the field of view;
a communication module configured to communicate with the robot, and to transmit the motion signal;
the computing module comprises:
a first memory module configured to store preset position information between the endoscope and the instrument identification code;
a first determining module configured to calculate a due target value of an identification code length on the instrument in the field of view according to the parameters stored in the instrument model information and the preset position information;
a first comparison module configured to compare the target value with an actual value derived from positional information of an identification code in a field of view;
a first generation module configured to generate depth of field adjustment information of the endoscope according to a difference value between the target value and an actual value if the difference value is outside a set range;
the computing module further includes:
the second storage module is configured to store preset angle information between the instrument identification code and the horizontal line;
a second determining module configured to determine an instrument direction and an actual angle with the horizontal line according to a recognition result of the instrument identification code;
a second comparison module configured to compare the preset angle information with an actual angle;
and the second generation module is configured to generate view field angle adjustment information of the endoscope according to the difference value if the difference value between the preset angle information and the actual angle is out of a set range.
5. The medical system of claim 4, wherein said identification module comprises:
the reading module is configured to read the instrument model information stored in the identification code according to the identification code in the image;
the judging module is configured to judge whether the identification code is read before the operation, if so, error information is generated, the alarming module is called, and if not, the positioning module is called;
the alarm module is configured to prompt that the instrument is used and information of the instrument needs to be replaced.
6. The medical system of claim 4, wherein said identification module comprises:
the reading module is configured to acquire each identification code in the view field and read the related information of the identification codes;
an input module configured to select an identification code held by an instrument requiring visual angle following;
and the comparison module is configured to repeatedly identify and compare through the identification codes, process the position information if the identification codes are the identification codes held by the selected instrument needing to be followed from the visual angle, and if the identification codes are not the identification codes, switch the following instrument, send a signal to the reading module, reacquire each bar code in the visual field and read the related information of the bar codes.
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