CN117918935A - Puncture positioning system that punches - Google Patents

Puncture positioning system that punches Download PDF

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Publication number
CN117918935A
CN117918935A CN202410093197.1A CN202410093197A CN117918935A CN 117918935 A CN117918935 A CN 117918935A CN 202410093197 A CN202410093197 A CN 202410093197A CN 117918935 A CN117918935 A CN 117918935A
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punching
positioning
vivo
puncture
light spot
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徐万海
王宏磊
王子琦
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Harbin Medical University
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Harbin Medical University
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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
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3478—Endoscopic needles, e.g. for infusion
    • 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
    • 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
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • 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
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0801—Prevention of accidental cutting or pricking
    • A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
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  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
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  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Laser Surgery Devices (AREA)

Abstract

A puncture positioning system belongs to the technical field of puncture. The invention aims at solving the problems of poor reliability and low efficiency of the existing method for determining the puncture punching position through manual position description. Comprising the following steps: obtaining a corresponding positioning point of the in-vivo punching target position outside the body based on the transdermal laser beam, and taking the corresponding positioning point as a final puncture punching position; the transdermal laser beam adjusts wavelength and energy according to the tissue thickness of the in vivo perforation target position. The system of the invention improves the penetrability of laser in different environments based on the transdermal laser beam with changeable wavelength, and can better establish the connection between the inside and outside positioning points of the human body.

Description

Puncture positioning system that punches
Technical Field
The invention relates to a puncture punching positioning system, and belongs to the technical field of puncture.
Background
The endoscope operation robot needs to use the puncture ware to punch at the suitable position of patient's body surface at operation preparation stage, and this hole is as the internal passageway of operation apparatus entering patient, has directly decided the operation robot in the human accessible working space, and reasonable, accurate punching position can reduce the quantity of punching, reduces the operation front side position work degree of difficulty.
The current mainstream punching method generally comprises the steps of firstly selecting the safest position to punch a first hole, extending a cavity mirror into the hole to observe the internal condition, and guiding the subsequent punching work.
Disclosure of Invention
Aiming at the problems of poor reliability and low efficiency of the existing method for determining the puncture punching position through manual position description, the invention provides a puncture punching positioning system.
The puncture and punching positioning system comprises the steps of obtaining corresponding positioning points of an in-vivo punching target position outside a body based on a transdermal laser beam, and taking the corresponding positioning points as final puncture and punching positions; the transdermal laser beam adjusts wavelength and energy according to the tissue thickness of the in vivo perforation target position.
The puncture positioning system according to the present invention comprises,
The image acquisition module is used for acquiring an in-vivo image of a target area of the puncture object;
The perforation position determining module is used for determining the perforation in-vivo target position based on the in-vivo image of the target area;
The laser irradiation module is used for generating a transdermal laser beam and irradiating a perforated in-vivo target position in the body to form an in-vivo positioning light spot and an in-vitro positioning light spot;
The external light spot positioning module is used for determining the coincidence ratio of the current internal positioning light spot and the punching internal target position in the process of irradiating the punching internal target position by the transdermal laser beam, and taking the external positioning light spot corresponding to the coincidence ratio meeting the preset coincidence threshold as a corresponding positioning point so as to determine the final puncture punching position.
According to the puncture positioning system, the image acquisition module adopts an endoscope to enter the puncture object body based on the auxiliary hole, so as to acquire an in-vivo image of a target area of the puncture object.
According to the puncture and perforation positioning system, the perforation position determining module determines the perforation in-vivo target position according to the in-vivo image of the target area based on preset expert experience and/or a preset regional image depth learning model.
According to the puncture and perforation positioning system of the invention, the perforation position determining module determines the perforation in-vivo target position from the in-vivo image of the target region based on a preset region image depth learning model comprises:
And the regional image deep learning model carries out neural network convolution processing on the in-vivo image of the target region to obtain in-vivo environment information of the target region, and then matches the in-vivo environment information of the target region based on the history database to determine the in-vivo target position of the punching body.
According to the puncture positioning system, the transdermal laser beam generated by the laser irradiation module is red light with the wavelength of 620-760 nanometers.
According to the puncture and perforation positioning system, the external light spot positioning module calculates the image similarity according to the image information of the current internal positioning light spot and the image information of the perforation internal target position, and when the similarity meets a preset coincidence threshold, the current internal positioning light spot is considered to coincide with the perforation internal target position, and the obtained current external positioning light spot is taken as the final puncture and perforation position.
According to the puncture perforation positioning system, the external light spot positioning module determines pixel information of an area where the current internal positioning light spot is located according to the image information of the current internal positioning light spot; determining pixel information of the area where the punching in-vivo target position is located based on the in-vivo image of the target area; and determining gray values of pixels of the two areas based on gray correlation, and taking the obtained current external positioning light spot as a final puncture punching position when the overlapping proportion of the gray values of the pixels of the two areas reaches a preset overlapping threshold value.
According to the puncture positioning system, the laser irradiation module is arranged at the tail end of the flexible robot.
The puncture positioning system according to the present invention comprises,
The image acquisition module is used for acquiring an in-vivo image of the puncture object through the endoscope;
the target area determining module is used for determining the working position of the current endoscope in the body according to the in-vivo image; determining an endoscope working area according to the working position and a preset endoscope working radius; determining a target area within the endoscope working area;
The laser emission module is arranged on the puncture outfit and is used for generating a transdermal laser beam and irradiating the target area outside the body; until the formed in-vivo positioning light spot coincides with the selected in-vivo punching target position in the target area;
And the external punching positioning module is used for taking the external light spot corresponding to the internal positioning light spot when the internal positioning light spot coincides with the selected internal punching target position in the target area as an external corresponding positioning point and taking the external corresponding positioning point as a final punching position.
The invention has the beneficial effects that: the system of the invention improves the penetrability of laser in different environments based on the transdermal laser beam with changeable light wavelength, and can better establish the connection between the inside and outside positioning points of the human body;
the system adopts laser to realize perforation positioning, does not cause human body damage and has higher precision; the punching of accurate location can effectively reduce the preoperative location degree of difficulty and trompil quantity, has important meaning to reducing patient's damage.
Drawings
FIG. 1 is a system block diagram of a first embodiment of a puncture positioning system according to the present invention;
FIG. 2 is a schematic view of a laser irradiation module entering a puncture subject according to the first embodiment;
FIG. 3 is a schematic view showing an operation state of the first embodiment;
Fig. 4 is a schematic diagram illustrating an operation state of the second embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
In a first embodiment, referring to fig. 1 to 3, a puncture and perforation positioning system is provided according to a first aspect of the present invention, which includes obtaining, based on a transdermal laser beam, a corresponding positioning point of an in-vivo perforation target position outside a body, and using the corresponding positioning point as a final puncture and perforation position; the transdermal laser beam adjusts wavelength and energy according to the tissue thickness of the in vivo perforation target position.
The puncture positioning system that punches has been designed based on transdermal laser beam to this embodiment, can be based on puncture positioning system designs laparoscopic surgery robot that punches, through adjustment laser wavelength, stroboscopic and light intensity, makes laser penetrate human skin, muscle, supplies the stage of punching before the art to realize puncture and punch the accurate location.
Further, as shown in fig. 1, the present embodiment is implemented by the following modules:
The image acquisition module is used for acquiring an in-vivo image of a target area of the puncture object;
Specifically, as shown in fig. 3, an operator first selects a safest area to open an auxiliary hole in an area where the patient needs to perform a punching operation, and based on the auxiliary hole, the endoscope 1 can be made to enter the body to acquire an in-vivo image of the patient, and an internal environment image of the area needing to be operated is determined.
The perforation position determining module is used for determining the perforation in-vivo target position based on the in-vivo image of the target area;
The laser irradiation module is used for generating a transdermal laser beam and irradiating a perforated in-vivo target position in the body to form an in-vivo positioning light spot and an in-vitro positioning light spot; the laser irradiation module is used for generating a laser emission signal and controlling the laser emission device to irradiate the transdermal laser beam to the area where the target position in the punching body is located.
The external light spot positioning module is used for determining the coincidence ratio of the current internal positioning light spot and the punching internal target position in the process of irradiating the punching internal target position by the transdermal laser beam, and taking the external positioning light spot corresponding to the coincidence ratio meeting the preset coincidence threshold as a corresponding positioning point so as to determine the final puncture punching position.
In this embodiment, the laser irradiation module enters the body along with its carrier.
As shown in fig. 2 and 3, the image acquisition module adopts an endoscope to enter the puncture object body based on the auxiliary hole, so as to acquire the in-vivo image of the target area of the puncture object.
Still further, the punching position determining module determines an optimal internal punching position according to the in-vivo image of the target area based on a preset expert experience and/or a preset regional image depth learning model, and takes the position as the in-vivo target position.
In this embodiment, the determining, by the perforation location determining module, the perforation internal target location from the internal image of the target area based on the preset regional image depth learning model includes:
The regional image deep learning model carries out neural network convolution processing on the in-vivo image of the target region to obtain in-vivo environment information of the target region, matches the in-vivo environment information of the target region based on the content of the historical database, and determines an internal operation space and an optimal punching position corresponding to the information, wherein the optimal punching position is the finally determined in-vivo target punching position.
The punching mode of the embodiment ensures the effective utilization of the target position in the punched body, improves the utilization rate of the auxiliary hole, reduces the use of the auxiliary hole in the operation and reduces the damage to the human body.
The regional image deep learning model is obtained by training image information and a neural network algorithm.
As an example, the location of the target within the punch body may also be determined empirically by the operator's technique.
As an example, the transdermal laser beam generated by the laser irradiation module is red light with a wavelength of 620-760 nanometers.
Specifically, as shown in fig. 3, the laser irradiation module emits a transdermal laser beam 7 to a target position in the perforation body, forms spots inside and outside the skin 8, respectively, and adjusts the energy of the transdermal laser beam 7 according to the target tissue thickness so that it can penetrate the skin 8; the transdermal laser beam 7 is only used for light irradiation penetration to communicate the association relationship between the in-vivo locating point and the in-vitro locating point.
Still further, the external light spot positioning module calculates image similarity according to the image information of the current internal positioning light spot and the image information of the punching internal target position, when the similarity meets a preset coincidence threshold, the current internal positioning light spot is considered to coincide with the punching internal target position, and the obtained current external positioning light spot is taken as a final puncture punching position.
Specifically, referring to fig. 3, a positional relationship between an in-vivo positioning light spot 5 and a planned perforation in-vivo target position is determined according to an image obtained by feedback of the endoscope 1, similarity of image information between the two is compared, when the similarity meets a preset coincidence threshold, the laser irradiation module 2 under the current pose is considered to enable the in-vivo positioning light spot 5 to coincide with the perforation in-vivo target position, and the in-vivo positioning light spot 5 and the in-vitro positioning light spot 6 correspond to each other; after the in-vivo positioning light spot 5 and the in-vitro positioning light spot 6 are determined, the puncture device 3 can be adopted to perform puncture operation on the final puncture punching position, and an operator can determine whether a hole is opened or not according to the image acquired by the endoscope 1.
As an example, the external light spot positioning module determines pixel information of an area where the current internal positioning light spot is located according to image information of the current internal positioning light spot; determining pixel information of the area where the punching in-vivo target position is located based on the in-vivo image of the target area; because the image pixels of the area where the in-vivo positioning light spots are located are in a highlight state, gray values of the pixels of the two areas are determined based on gray correlation, when the overlapping proportion of the gray values of the pixels of the two areas reaches a preset overlapping threshold value, the in-vivo positioning light spots are considered to be overlapped with the target punching position in the current state, and the obtained current in-vitro positioning light spots are taken as the final punching position.
In this embodiment, by comparing the pixel similarity of the target perforation position with the pixel similarity of the in-vivo positioning spot, feedback is used to determine whether the two are coincident, and when the two are coincident, the in-vitro positioning spot position is determined, and the three positions are mutually corresponding at the moment, so that the process of marking the optimal in-vivo perforation position on the skin surface of the human body is realized, the judgment precision of the target perforation position is improved, the adjustment time of the perforation preparation stage is reduced, and the perforation positioning efficiency is improved.
As an example, the laser irradiation module may be provided at the end of the flexible robot.
The flexible robot has enough freedom degree in the human body, after observing the internal organs and focus conditions through the endoscope, the flexible robot is controlled to move to throw the laser beam to the position where the hole is needed to be opened, the laser beam penetrates the human body through adjusting the laser wavelength, and the puncture and punching position can be determined through observing the spot position in vitro, so that the punching positioning work is completed.
As an example, the laser irradiation module may also be directly disposed on the endoscope lens, so that it is easier to penetrate the body surface by changing the wavelength, strobe and intensity of the laser beam; the endoscope lens is controlled to move, so that the lens is closer to the epidermis of a human body, the penetrability of light can be further enhanced, and the puncturing and punching position is determined by observing the light spot position in vitro, so that the punching and positioning work is completed.
In this embodiment, only the process of performing positioning and punching on the human tissue once based on the auxiliary hole is shown, and it should be understood that, taking single positioning and punching on the human tissue as an example, when multiple times of punching on the target area are required in the preparation stage before operation, the process can be implemented according to the above operation, and it should be noted that, when the continuous punching operation is performed, the hole at the target punching position can be sequentially used as the auxiliary hole suitable for the image acquisition module in the subsequent punching and positioning operation. The process of punching and positioning for a plurality of times of human tissues is not repeated, and the process of probing, irradiation positioning and determining is carried out.
In this embodiment, an in-vivo image is acquired through an image acquisition module in communication connection with an endoscope, the image acquisition module acquires an in-vivo image in a corresponding visual angle range, an optimal in-vivo perforation position is determined by a perforation position determination module according to an image condition, then a laser irradiation module controls a laser emitting device to emit high-wavelength laser beams to form an in-vivo positioning light spot and an in-vitro positioning light spot respectively in vivo and in-vitro, the positions of the two correspond to each other, and then when the in-vivo positioning light spot coincides with a target perforation position in the body, the position of the corresponding in-vitro positioning light spot is determined, so that the process of labeling the optimal in-vivo perforation position on the skin surface of a human body is realized. Through penetrating laser's use in this embodiment, with inside best trompil position and outside perforation position UNICOM, improved the accuracy to the perforation position of puncture perforation in-process, guaranteed the operation space in the operation arm, reduced the preoperative preparation of other auxiliary holes for adjusting the operation arm, adopted high wavelength light to mark as laser simultaneously, avoided the CT inspection of traditional location auxiliary process, improved preoperative preparation speed, reduced the preoperative preparation degree of difficulty and avoided the radiation residue that CT inspection led to.
In an alternative embodiment, as shown in fig. 3, the puncture positioning system further includes a calibration positioning module, configured to generate a calibration positioning signal according to a positional relationship between a target position for in-vivo puncture and the in-vivo positioning spot, where the calibration positioning signal is used to control the calibration device 4 to rotate, and the calibration device 4 is used to drive the laser irradiation module 2 to adjust a pose so that the in-vivo positioning spot coincides with the target puncture position.
The calibration positioning module is also used for: when the coincidence degree of the in-vivo positioning light spot and the target punching position meets a preset threshold value, a fixed signal is generated, and the fixed signal is used for controlling the calibration device 4 to keep the current pose.
Specifically, the calibration positioning module is used for controlling the calibration device 4 to adjust the position and the pose; for example, an in-vivo positioning light spot 5 is found at a distance of 45 degrees from a target punching position by 2 units, based on (45 degrees, 2), a calibration positioning signal is issued, the calibration device 4 is controlled to adjust the pose, so that the pose of the laser irradiation module 2 fixedly connected with the calibration device 4 is driven to change, until the coincidence ratio of the in-vivo positioning light spot 5 and the target punching position is judged to meet a preset threshold range, the calibration is considered to be successful, the in-vivo positioning light spot 5 coincides with the target punching position under the current pose, and a fixing signal is further generated to control the calibration device 4 to fixedly maintain the current pose, so that the in-vivo positioning light spot 5 generated by the laser irradiation module 2 does not deviate from the target punching position.
In this embodiment, the calibration operation is realized by controlling the calibration device connected with the laser irradiation module 2 through the calibration positioning module, the target punching point location coincides with the in-vivo positioning light spot, the position of the in-vitro positioning light spot corresponding to the in-vivo positioning light spot is determined, and the punching positioning is performed based on the point location, so that the punching position maximally accords with the expected in-vivo optimal punching position, thereby maximally satisfying the operation space of the surgical instrument, improving the utilization rate of the punching point location, reducing the punching quantity required for covering the whole operation space, and reducing the damage to human body.
In an alternative embodiment, further comprising: the auxiliary puncture control module is used for taking the position of the external positioning light spot as an external puncture point position so as to control the puncture outfit to perform punching operation on the external puncture point position.
Specifically, based on the external positioning light spot 6 generated by high-wavelength laser irradiation, after in-vivo calibration positioning, the external positioning light spot 6 corresponds to the target punching position in a position relationship, and the external positioning light spot 6 is determined to be an external punching point, so that the puncture device 3 is controlled to perform punching operation on the external punching point, whether the puncture penetrates the skin 8 or not is judged through an internal image of the image acquisition module, and the puncture device 3 is controlled to advance and withdraw according to a judgment result.
In this embodiment, by calibrating the position of the in-vivo positioning spot corresponding to the in-vitro positioning spot, the in-vitro identification point is moved to the position corresponding to the in-vivo target punching position, so that the accuracy of the punching position in the punching process is improved, the in-vitro spot position is used as the in-vitro punching point, and the coincidence ratio of the actual punching position and the selected target punching position is ensured.
The feasible scheme of the puncture positioning system based on the embodiment comprises puncture positioning equipment, which comprises:
An endoscope for detecting an image in a patient's body to obtain an internal image;
the puncture device is used for performing puncture and punching operation according to the in-vitro puncture point positions;
And the laser emission device is used for responding to a laser emission signal and irradiating a transdermal laser beam to a target area where the target punching position is positioned so as to form an in-vivo positioning light spot in the body and an in-vitro positioning light spot in the body.
The laser emitting device in this embodiment is disposed at the body inner end as shown in fig. 2 and 3. After the endoscope 1 acquires the in-vivo image of the patient, the optimal in-vivo perforating position is judged based on historical experience or a deep learning model of the image and is used for meeting the maximum operation space of the surgical instrument, then the laser emitting device 2 projects a laser beam 7 to the target position and forms corresponding in-vivo light spots and in-vitro light spots, the relation between the in-vivo light spots in the image information and the target perforating position is determined based on the image information acquired by the endoscope 1, the laser emitting device is adjusted to gradually rotate and adjust the in-vivo positioning light spots 5 to the target perforating position, and at the moment, the in-vitro positioning light spots 6 corresponding to the in-vivo positioning light spots 5 are used as puncture points of puncture operation, so that auxiliary holes of the surgical instrument are formed at the optimal in-vivo perforating points.
The laser emission device 2 is arranged at the position of the endoscope 1, and is detected into the human body together with the endoscope 1 through the auxiliary hole, when an operator determines a target operation space and a target punching position, high-wavelength red light is projected to a corresponding direction and forms an internal positioning light spot in the inner cavity of the human body, the operator gradually adjusts the positioning adjustment unit based on the image of the endoscope 1 to enable the internal positioning light spot to coincide with the target punching position, and after the target moves to the coinciding point, the position of the light spot is fixed in response to a issued fixing signal. Then, the puncture operation is performed according to the external positioning light spot, and whether the puncture device 3 penetrates the skin 8 is determined according to the image of the endoscope 1. In this embodiment, the laser emission device 2 is disposed at the inner end close to the endoscope 1, the internal positioning light spot is brighter than the external positioning light spot, the point position adjustment module is more convenient to adjust when adjusting the point position of the internal positioning light spot and the target punching position, the adjustment difficulty of the internal positioning light spot and the target punching position is small, the overlap ratio is high in the adjustment result, the time of the alignment overlapping operation of the internal positioning light spot and the target punching position is effectively reduced, the workload of the preoperative preparation stage is reduced, and the punching and puncturing positioning efficiency is improved.
Further, the calibration device 4 may use a flexible robot, the flexible robot is provided with the laser emission device 2, the flexible robot is used for adjusting the position of the laser emission device 2 for emitting a high-wavelength laser beam to the target punching position after determining the target punching position, the flexible robot is arranged at the endoscope 1 and is detected into the human body together with the endoscope 1 through an auxiliary hole, the flexible robot can independently and telescopically rotate, the laser emission device 2 is arranged at the front end of the flexible robot, an operator operates the flexible robot to project to a target point location after determining the target punching position to form a positioning spot, and the positioning spot and the target punching position are gradually adjusted according to the position relation between the internal positioning spot and the target punching position so as to coincide with each other.
In this embodiment, adopted flexible robot to carry out laser irradiation, carry out laser projection after confirming the target position of punching, flexible robot possesses more nimble degree of freedom, adjust irradiation angle and position that can be more convenient under narrow and small internal environment, avoided because the spacing condition that leads to individual angle and position to can not shine of outside operation arm, also reduced in order to throw the laser beam to the target point position and need change the condition of auxiliary hole, this embodiment has further strengthened the flexibility ratio of laser projection, the operation degree of difficulty when having reduced the calibration adjustment, the work efficiency of preparation before having improved the art.
In an alternative, the laser emitting device is also used for illumination of the endoscope, for example, the illumination device of the endoscope is used as a laser emitting unit, the illumination device is used as a light source in a detection stage to assist the endoscope in determining an internal image of a human body, the illumination device is rotated after the target perforation position is determined so that the light irradiation direction is directed to the target perforation position, then an operator adjusts the wavelength and energy of the light of the illumination device and projects the light beam bundle to form an internal positioning light spot, and then the endoscope is rotated and adjusted so that the internal positioning light spot coincides with the target perforation position.
In a second embodiment, referring to fig. 4, another aspect of the present invention further provides a puncture positioning system, including obtaining a corresponding positioning point of an in-vivo puncture target position outside the body based on a transdermal laser beam, and taking the corresponding positioning point as a final puncture position; the transdermal laser beam adjusts wavelength and energy according to the tissue thickness of the in vivo perforation target position.
Further, the present embodiment is implemented using the following modules:
The image acquisition module is used for acquiring an in-vivo image of the puncture object through the endoscope;
The target area determining module is used for determining the working position of the current endoscope in the body according to the in-vivo image; determining an endoscope working area according to the working position and a preset endoscope working radius; a target area can be determined in the endoscope working area according to an ultrasonic detection result of the endoscope;
The laser emission module is arranged on the puncture outfit and is used for generating a transdermal laser beam and irradiating the target area outside the body; until the formed in-vivo positioning light spot coincides with the selected in-vivo punching target position in the target area;
And the external punching positioning module is used for taking the external light spot corresponding to the internal positioning light spot when the internal positioning light spot coincides with the selected internal punching target position in the target area as an external corresponding positioning point and taking the external corresponding positioning point as a final punching position.
In this embodiment, the laser emitting module is located outside the body.
After the endoscope enters the human body, controlling the surgical robot to actively position the joint so that the view of the endoscope faces the body surface, and then starting a laser emission module on the puncture outfit; the method can determine the approximate initial position of the puncture hole based on the ultrasonic detection result, observe the light spot on one side in the human epidermis body through the endoscope, guide the laser emission module to move to the selected perforation target position in the human epidermis body, and finally finish the accurate perforation operation.
Specifically, as shown in fig. 4, since the scope of the screen coverage of the endoscope 1 is limited, after the operator determines the target punching position according to the endoscope 1, the operator determines the position of the intra-body end device and determines the approximate scope of the target area by ultrasonic detection, and determines the actual working space threshold scope of the endoscope 1 device by combining the preset working radius of the probe of the endoscope 1, for example, when determining the position of the endoscope 1 and the direction of the probe of the endoscope 1, combining the peepable distance corresponding to the model of the endoscope, and taking the area in the radius scope corresponding to the working direction of the probe of the endoscope 1 as the working area of the endoscope 1 in the human body; and then the working area where the endoscope 1 device is positioned is combined to determine a target area, and then a laser emission control module of the laser emission module controls a laser emitter to project a laser beam 7 into the range of the target area and generate an in-vivo positioning light spot 5 and an in-vitro positioning light spot 6.
In the embodiment, the target area determining module determines the position of the endoscope and the working area of the endoscope, then determines the corresponding target area, and drops the external positioning light spot formed by the laser beam emitted from outside into the target area, so that the internal positioning light spot corresponding to the external positioning light spot can drop into the visual image of the endoscope, the time for moving the internal positioning light spot to the internal image when the laser beam is emitted from outside is reduced, the process of puncturing and punching positioning is shortened, and the positioning efficiency and speed are improved.
The puncture positioning system according to this embodiment further includes an acoustic wave detection device, where the acoustic wave detection device is configured to detect acoustic wave detection information of the endoscope.
In one possible implementation manner of this embodiment, the laser emitting device is disposed at the external end, specifically, as shown in fig. 4, the laser emitting device 2 is disposed outside the human body, after determining the punching position of the target, the position of the endoscope is determined by ultrasonic detection, and the approximate range of the target area is determined, the actual working space threshold range of the endoscope 1 device is determined in combination with the exploring distance and angle of the endoscope 1, the target area is determined in combination with the area where the endoscope 1 device is located, and the approximate position of the endoscope at the internal end of the human body is detected by ultrasonic detection, so as to determine the target operation area, and then laser irradiation calibration of a small range is performed in the determined small range; the external laser emitting device 2 projects a high-wavelength laser beam 7 to the corresponding area to respectively form an internal positioning light spot 5 and an external positioning light spot 6, an operator adjusts the internal positioning light spot according to the image of the endoscope 1, performs puncturing operation according to the external positioning light spot after aligning and overlapping the internal positioning light spot and the external positioning light spot, and the operator determines whether the puncture outfit 3 penetrates the skin 8 according to the image of the endoscope 1. The laser emitting device 2 adjusts the pose of the laser emitting device 2 through the calibrating device 4.
In the embodiment, the in-vivo corresponding light spots corresponding to the in-vitro positioning light spots are used for positioning, the clear in-vitro positioning light spots are favorable for determining clear operation points in the puncturing operation, and meanwhile, the laser beam is projected after the approximate range of the endoscope is determined by adopting ultrasonic detection, so that the time for adjusting the light spots of the laser beam to the picture of the endoscope is reduced, the puncturing positioning step and time are effectively shortened, the puncturing positioning accuracy is improved, and the puncturing operation difficulty is reduced.
Based on the puncture positioning system disclosed by the invention, a laparoscopic surgery robot can be obtained, wherein the puncture positioning system comprises the puncture positioning system disclosed in the first embodiment or the second embodiment.
The advantages of the laparoscopic surgery robot and the puncture punching positioning system are the same as those of the prior art, and are not repeated here.
Based on the puncture positioning system of the present invention, a computer readable storage medium may be further obtained, where the computer readable storage medium stores a computer program, and when the computer program is read and executed by a processor, the functions of the puncture positioning system according to the first embodiment or the second embodiment are implemented.
The advantages of the computer readable storage medium of the present invention and the puncture positioning system are the same as those of the prior art, and are not described in detail herein.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of running the computer programs having a client-server relationship to each other on the respective computers.
Those skilled in the art will appreciate that all or part of the processes of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and where the program may be executed, the process may include the processes of the above embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), or the like. In the present application, the units described as separate units may or may not be physically separate, and units 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 units may be selected according to actual needs to achieve the purpose of the embodiment of the present application. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.

Claims (10)

1. The puncture and punching positioning system is characterized by comprising the steps of obtaining corresponding positioning points of an in-vivo punching target position outside a body based on a transdermal laser beam, and taking the corresponding positioning points as final puncture and punching positions; the transdermal laser beam adjusts wavelength and energy according to the tissue thickness of the in vivo perforation target position.
2. The puncture positioning system according to claim 1, comprising,
The image acquisition module is used for acquiring an in-vivo image of a target area of the puncture object;
The perforation position determining module is used for determining the perforation in-vivo target position based on the in-vivo image of the target area;
The laser irradiation module is used for generating a transdermal laser beam and irradiating a perforated in-vivo target position in the body to form an in-vivo positioning light spot and an in-vitro positioning light spot;
The external light spot positioning module is used for determining the coincidence ratio of the current internal positioning light spot and the punching internal target position in the process of irradiating the punching internal target position by the transdermal laser beam, and taking the external positioning light spot corresponding to the coincidence ratio meeting the preset coincidence threshold as a corresponding positioning point so as to determine the final puncture punching position.
3. The puncture positioning system according to claim 2, characterized in that,
The image acquisition module adopts an endoscope to enter the puncture object body based on the auxiliary hole, and acquires an in-vivo image of a target area of the puncture object.
4. The puncture positioning system according to claim 3, characterized in that,
The punching position determining module determines the punching in-vivo target position according to the in-vivo image of the target region based on preset expert experience and/or a preset region image depth learning model.
5. The puncture positioning system according to claim 4, characterized in that,
The punching position determining module determining the punching in-vivo target position from the in-vivo target region image based on a preset region image deep learning model comprises:
And the regional image deep learning model carries out neural network convolution processing on the in-vivo image of the target region to obtain in-vivo environment information of the target region, and then matches the in-vivo environment information of the target region based on the history database to determine the in-vivo target position of the punching body.
6. The puncture positioning system according to claim 5, characterized in that,
The transdermal laser beam generated by the laser irradiation module is red light with the wavelength of 620-760 nanometers.
7. The puncture positioning system according to claim 6, characterized in that,
The external light spot positioning module calculates image similarity according to the image information of the current internal positioning light spot and the image information of the punching internal target position, when the similarity meets a preset coincidence threshold, the current internal positioning light spot is considered to coincide with the punching internal target position, and the obtained current external positioning light spot is used as a final puncture punching position.
8. The puncture positioning system according to claim 7, characterized in that,
The external light spot positioning module determines pixel information of an area where the current internal positioning light spot is located according to the image information of the current internal positioning light spot; determining pixel information of the area where the punching in-vivo target position is located based on the in-vivo image of the target area; and determining gray values of pixels of the two areas based on gray correlation, and taking the obtained current external positioning light spot as a final puncture punching position when the overlapping proportion of the gray values of the pixels of the two areas reaches a preset overlapping threshold value.
9. The puncture positioning system according to claim 2, characterized in that,
The laser irradiation module is arranged at the tail end of the flexible robot.
10. The puncture positioning system according to claim 1, comprising,
The image acquisition module is used for acquiring an in-vivo image of the puncture object through the endoscope;
the target area determining module is used for determining the working position of the current endoscope in the body according to the in-vivo image; determining an endoscope working area according to the working position and a preset endoscope working radius; determining a target area within the endoscope working area;
The laser emission module is arranged on the puncture outfit and is used for generating a transdermal laser beam and irradiating the target area outside the body; until the formed in-vivo positioning light spot coincides with the selected in-vivo punching target position in the target area;
And the external punching positioning module is used for taking the external light spot corresponding to the internal positioning light spot when the internal positioning light spot coincides with the selected internal punching target position in the target area as an external corresponding positioning point and taking the external corresponding positioning point as a final punching position.
CN202410093197.1A 2024-01-23 2024-01-23 Puncture positioning system that punches Pending CN117918935A (en)

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Application Number Priority Date Filing Date Title
CN202410093197.1A CN117918935A (en) 2024-01-23 2024-01-23 Puncture positioning system that punches

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410093197.1A CN117918935A (en) 2024-01-23 2024-01-23 Puncture positioning system that punches

Publications (1)

Publication Number Publication Date
CN117918935A true CN117918935A (en) 2024-04-26

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