WO2019119194A1

WO2019119194A1 - Flexible surgical instrument tracking method, apparatus, device, and storage medium

Info

Publication number: WO2019119194A1
Application number: PCT/CN2017/116887
Authority: WO
Inventors: 熊璟; 甘志坚; 夏泽洋
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2017-12-18
Filing date: 2017-12-18
Publication date: 2019-06-27

Abstract

A flexible surgical instrument tracking method, apparatus, device, and storage medium, for use in the technical field of medical instruments, the method comprising: on the basis of a surgery image at the current time (S101), setting a local tracking area at the edge of the surgical field of view and in which the tail end of a flexible surgical instrument is located as a current local tracking area (S102, S103); acquiring a surgery image taken by the camera at a succeeding time in order to detect the current position of the tail end of the flexible surgical instrument in the current local tracking area and, on the basis of the current position, acquiring and outputting the trajectory of movement of the flexible surgical instrument (S104); if the current position is at the edge of the current local tracking area, then setting the extended next local tracking area in the surgical field of view as the current local tracking area (S105, S106); if the current position reaches a preset position in the surgical field of view, then finishing tracking the flexible surgical instrument and, if not, then acquiring a surgery image at a succeeding time (S107, S108); the efficiency and positioning precision of flexible surgical instrument tracking is thereby effectively improved, ensuring the practicality of flexible surgical instrument tracking.

Description

Flexible surgical instrument tracking method, device, device and storage medium

Technical field

The invention belongs to the technical field of medical instruments, and in particular relates to a flexible surgical instrument tracking method, device, device and storage medium.

Background technique

In the automatic tracking of flexible surgical instruments in robot-assisted surgery, the tracking accuracy of flexible surgical instruments, the recognition rate of flexible surgical instruments in visual images, and the real-time tracking of flexible surgical instruments are very high.

At present, the tracking methods of flexible surgical instruments in robot-assisted surgery mainly include electromagnetic tracking, ultrasonic tracking and visual tracking. Among them, the electromagnetic tracking method is easily affected by the magnetic field, resulting in inaccurate positioning of the flexible surgical instruments. The ultrasonic tracking method is diffractive due to sound waves. The tracking of the ends of small instruments is not precise. For example, the patent CN201210499929.4 proposes an electromagnetic positioning ultrasonic puncture navigation system, which adopts a combination of electromagnetic positioning and ultrasonic imaging to position and guide the puncture needle, and displays the path of the puncture needle and the position of the needle tip with clear angle at any angle in real time. Electromagnetic positioning is easily affected by magnetic fields. The navigation system needs to be positioned in an environment where there is no magnetic field or weak magnetic field interference. In addition, the diffraction of the ultrasonic wave causes the navigation system to accurately track the position of the needle tip.

The visual tracking method of flexible surgical instruments does not have problems such as magnetic field interference and diffraction. However, the visual tracking method needs to realize real-time tracking of flexible surgical instruments by extracting image features at different moments, the image processing speed is slow, and in addition, the illumination distribution is not Under uniform conditions, the visual tracking method can not estimate the image features in continuous multi-segment time, and the image feature extraction is prone to local feature loss, which leads to the failure of flexible surgical instruments.

Summary of the invention

The object of the present invention is to provide a flexible surgical instrument tracking method, device, device and storage medium, aiming at solving the problem that the tracking efficiency of the flexible surgery instrument in the prior art is not high, the positioning accuracy is insufficient, and the tracking real-time lag is serious. problem.

In one aspect, the invention provides a flexible surgical instrument tracking method, the method comprising the steps of:

Obtaining a surgical image of a current moment acquired by the camera, and detecting whether a flexible surgical instrument exists in a local tracking area of the edge of the surgical field according to the surgical image at the current moment;

Setting a local tracking area where the end of the flexible surgical instrument is located as a current local tracking area when the flexible surgical instrument is present in a local tracking area of the edge of the surgical field;

Obtaining a surgical image of the next moment collected by the camera, detecting a current position of the end of the flexible surgical instrument in the current partial tracking area in the surgical image of the next moment, and acquiring the current location according to the current position The movement trajectory of the flexible surgical instrument and output;

Determining whether the current location is located at an edge of the current local tracking area, and expanding a next partial tracking area in the surgical field according to the current position, and setting the next partial tracking area to the current local area Tracking area

Determining whether the current position reaches a preset position in the surgical field of view is to end tracking of the flexible surgical instrument, otherwise jumping to a step of acquiring a surgical image of the next moment acquired by the camera.

In another aspect, the present invention provides a flexible surgical instrument tracking device, the device comprising:

An edge detecting unit, configured to acquire a surgical image of a current moment acquired by the camera, and detect whether a flexible surgical instrument exists in a local tracking area of the edge of the surgical field according to the surgical image at the current moment;

a local setting unit, configured to set a local tracking area where the end of the flexible surgical instrument is located as a current local tracking area when the flexible surgical instrument exists in a local tracking area of the edge of the surgical field;

a trajectory output unit, configured to acquire a surgical image of the next moment acquired by the camera, and detect a current position of the flexible surgical instrument end in the current partial tracking area in the surgical image at the next moment, according to the Determining a current position, acquiring a movement trajectory of the flexible surgical instrument and outputting;

a region expansion unit, configured to determine whether the current location is located at an edge of the current local tracking area, and then expand a next partial tracking area in the surgical field according to the current location, and the next partial tracking area Set to the current local tracking area;

a tracking end unit, configured to determine whether the current position reaches a preset position in the surgical field of view, and end the tracking of the flexible surgical instrument, otherwise the tracking output unit performs the acquisition of the camera The operation of a surgical image at a time.

In another aspect, the present invention also provides a medical device comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, the processor implementing the computer program The steps described in the flexible surgical instrument tracking method described above.

In another aspect, the present invention also provides a computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the steps as described in the flexible surgical instrument tracking method described above .

According to the surgical image at the current moment, the local tracking area of the edge of the surgical field where the flexible surgical instrument is located is set as the current local tracking area, and the end of the flexible surgical instrument is detected in the current local tracking area according to the surgical image at the next moment. The current position, the movement track of the flexible surgical instrument is obtained according to the current position and output. If the current position is located at the edge of the current local tracking area, the next partial tracking area expanded in the surgical field is set as the current local tracking area, if the current position When the preset position of the surgical field of view is reached, the tracking of the flexible surgical instrument is ended, otherwise the surgical image of the next moment is continuously acquired to track the flexible surgical instrument, thereby improving the flexible operation on the basis of improving the image processing speed. The efficiency and positioning accuracy of the instrument tracking ensure the real-time tracking of flexible surgical instruments.

DRAWINGS

1 is a flowchart showing an implementation of a flexible surgical instrument tracking method according to Embodiment 1 of the present invention;

2 is a view showing an example of expanding a next partial tracking area in a surgical field according to a current position of a distal end of a flexible surgical instrument according to a flexible surgical instrument tracking method according to Embodiment 1 of the present invention;

3 is a diagram showing an example of expanding a next partial tracking area in a surgical field when the current position of the end of the flexible surgical instrument is located at the intersection of both edges of the current partial tracking area in the flexible surgical instrument tracking method according to the first embodiment of the present invention;

4 is a schematic structural view of a flexible surgical instrument tracking device according to Embodiment 2 of the present invention;

5 is a schematic diagram of a preferred structure of a flexible surgical instrument tracking device according to a second embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a medical device according to Embodiment 3 of the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The specific implementation of the present invention is described in detail below in conjunction with specific embodiments:

Embodiment 1:

FIG. 1 is a flowchart showing an implementation process of a flexible surgical instrument tracking method according to Embodiment 1 of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown, which are described in detail as follows:

In step S101, a surgical image of the current time acquired by the camera is acquired.

In step S102, a flexible surgical instrument is detected in the local tracking area of the edge of the surgical field based on the surgical image at the current time.

Embodiments of the present invention are applicable to platforms or systems that track the trajectory of a flexible surgical instrument. The surgical field of view is a window used to display the surgical image. The surgical field of view may be divided into a plurality of partial tracking regions according to the size of the surgical field of view. As an example, the area of the surgical field of view may be expressed as W×H, and W and H are respectively the width and height of the surgical field of view, and the surgical field of view may be divided. It is m×n (m≥1, n≥1) local tracking areas, and the width and height of each local tracking area are W/m and H/n, respectively.

In the embodiment of the present invention, the surgical image of the current time acquired by the camera is acquired, and each partial tracking area of the surgical field respectively displays an image block of the surgical image, and the image block at the local tracking area of the edge of the surgical field is first performed. Gray-scale processing, obtaining the gray-scale distribution feature value of the image block at the local tracking area of the edge of the surgical field, binarizing the gray-scale distribution features, and detecting whether there is a moving track of the flexible surgical instrument in the binarized image If it exists, it is considered that there is a flexible surgical instrument in the local tracking area of the edge of the surgical field. At this time, step S103 is performed. Otherwise, the flexible tracking instrument is not present in the local tracking area of the edge of the surgical field, and the process proceeds to step S101 to continue the operation of capturing the camera. image. Wherein, when the overall brightness of the surgical image is uneven, different binarization parameters can be set for the binarization of different local tracking regions, thereby effectively solving the problem that the uneven brightness of the image causes the positioning of the flexible surgical instrument to be inaccurate or the tracking fails. To improve the applicability of the flexible surgical instrument tracking method.

In step S103, the local tracking area where the end of the flexible surgical instrument is located is set as the current local tracking area.

In step S104, the surgical image acquired at the next moment of the camera acquisition is acquired, the current position of the end of the flexible surgical instrument in the current partial tracking area is detected in the surgical image at the next moment, and the movement trajectory of the flexible surgical instrument is acquired according to the current position. Output.

In the embodiment of the present invention, when there is a flexible surgical instrument in the local tracking area of the edge of the surgical field, the local tracking area where the edge of the surgical field and the flexible surgical instrument are located is set, and the next moment of the camera acquisition is obtained. The surgical image obtains the current position of the end of the flexible surgical instrument in the current local tracking area from the surgical image at the next moment to track the movement trajectory of the flexible surgical instrument in real time.

Specifically, when acquiring the surgical image of the next moment collected by the camera, the flexible surgical instrument can be detected in the current local tracking area by performing grayscale processing and binarization on the image block located in the current local tracking area. The current position, which is combined with the position of the flexible surgical instrument at a moment in the current local tracking area, results in a movement trajectory of the flexible surgical instrument and is output.

In step S105, it is determined whether the current position of the end of the flexible surgical instrument is located at the edge of the current local tracking area.

In the embodiment of the present invention, it is detected whether the current position of the flexible surgical instrument is located at the edge of the current local tracking area. If the end of the flexible surgical instrument is considered to be leaving the current local tracking area, the current local tracking area needs to be updated, and the steps are performed. S106, otherwise, step S107 is performed.

In step S106, the next partial tracking area is expanded in the surgical field according to the current position of the end of the flexible surgical instrument, and the next partial tracking area is set as the current partial tracking area.

In the embodiment of the present invention, when the current position of the end of the flexible surgical instrument is located at the edge of the current local tracking area, the current position of the end of the flexible surgical instrument is taken as the center point, and a piece of the next partial tracking area is obtained at the edge of the current position. The edge, combined with the edge and the size of the current local tracking area, obtains a next partial tracking area having the same shape shape as the current local tracking area, and if the partial area of the next partial tracking area exceeds the surgical field of view, the next partial tracking area is The portion that does not exceed the surgical field of view is set to the current local tracking area. For example, (a)(b) in FIG. 2 is an exemplary diagram of expanding the next partial tracking area in the surgical field according to the current position of the end of the flexible surgical instrument, wherein the solid line boxes in (a), (b) The inner region is the current local tracking region, the region within the dashed box is the next partial tracking region, the curve indicates the movement path of the flexible surgical instrument, and the black point on the edge of the solid frame is the current position of the end of the flexible surgical instrument.

In the embodiment of the present invention, the extended local tracking area is set as the current local tracking area, and the current local tracking area is updated, so that the current position of the flexible surgical instrument end is found in the current local tracking area, instead of The search in the whole surgical image effectively improves the image processing speed, thereby improving the efficiency and real-time performance of the flexible surgical instrument tracking.

Preferably, when the current position of the end of the flexible surgical instrument is located at the intersection of the two edges of the current partial tracking area, the tangent of the movement path of the flexible surgical instrument at the intersection is determined, and the angle between the tangent and the edge of the current local tracking area is calculated respectively. The current position of the end of the flexible surgical instrument is the midpoint, the edge with the smallest angle to the tangent is the position of the edge of the next partial tracking area, and then the shape of the current local tracking area is determined according to the edge of the next partial tracking area. Consistent next partial tracking area, if part of the next partial tracking area exceeds the surgical field of view, the part of the next partial tracking area that does not exceed the surgical field of view is set as the current local tracking area, thereby effectively improving the flexible surgical instrument Tracking accuracy.

By way of example, as shown in FIG. 3, the solid curve is the movement trajectory of the flexible surgical instrument, the area within the solid line box is the current local tracking area, and the C point is the current position of the end of the flexible surgical instrument, which is also the current local tracking area. The intersection of the two edges, L _c is the tangential direction of the movement path of the flexible surgical instrument at the current position of the end of the flexible surgical instrument, and L _a and L _b are the directions of the two edge lines of the current local tracking area, α and β are respectively L The angle between _a and L _c , L _b and L _c , when α < β, the area in the dashed box 32 is set as the next partial tracking area, otherwise the area in the dashed box 31 is set as the next part. Tracking area.

In step S107, it is determined whether the current position of the end of the flexible surgical instrument reaches a preset position in the surgical field of view.

In the embodiment of the present invention, whether the current position of the end of the flexible surgical instrument reaches the preset position in the surgical field of view is determined by determining whether the current position of the end of the flexible surgical instrument reaches the edge of the surgical field or the position of the surgical target preset by the user. If yes, step S108 is performed, otherwise, the process goes to step S104 to continue tracking the flexible surgical instrument.

In step S108, the tracking of the flexible surgical instrument is ended.

In the embodiment of the present invention, the tracking of the flexible surgical instrument can also be ended upon receiving the end instruction of the user.

In the embodiment of the present invention, according to the surgical image collected by the camera, determining whether there is a flexible surgical instrument in the local tracking area of the edge of the surgical field, and determining the position of the end of the flexible surgical instrument in different local tracking areas, and obtaining the movement track of the flexible surgical instrument, Therefore, only one image block in a local tracking area is processed at a time, which effectively improves the image processing speed, and solves the problem that the image illumination unevenness brings insufficient positioning accuracy, thereby effectively improving the tracking efficiency of the flexible surgical instrument. And positioning accuracy, to ensure the real-time tracking of flexible surgical instruments.

Embodiment 2:

4 shows the structure of a flexible surgical instrument tracking device according to Embodiment 2 of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown, including:

The edge detecting unit 41 is configured to acquire a surgical image of the current time acquired by the camera, and detect whether a flexible surgical instrument exists in the local tracking area of the edge of the surgical field according to the surgical image at the current time.

In an embodiment of the invention, the surgical field of view is a window used to display a surgical image. The surgical field of view may be divided into a plurality of partial tracking regions according to the size of the surgical field of view. As an example, the area of the surgical field of view may be expressed as W×H, and W and H are respectively the width and height of the surgical field of view, and the surgical field of view may be divided. It is m×n (m≥1, n≥1) local tracking areas, and the width and height of each local tracking area are W/m and H/n, respectively.

In the embodiment of the present invention, the surgical image of the current time acquired by the camera is acquired, and each partial tracking area of the surgical field respectively displays an image block of the surgical image, and the image block at the local tracking area of the edge of the surgical field is first performed. Gray-scale processing, obtaining the gray-scale distribution feature value of the image block at the local tracking area of the edge of the surgical field, binarizing the gray-scale distribution features, and detecting whether there is a moving track of the flexible surgical instrument in the binarized image If it exists, it is considered that there is a flexible surgical instrument in the local tracking area at the edge of the surgical field. Otherwise, the image taken by the camera is continuously acquired, and the flexible tracking instrument is detected in the local tracking area of the edge of the surgical field. Wherein, when the overall brightness of the surgical image is uneven, different binarization parameters can be set for the binarization of different local tracking regions, thereby effectively solving the problem that the uneven brightness of the image causes the positioning of the flexible surgical instrument to be inaccurate or the tracking fails. To improve the applicability of the flexible surgical instrument tracking method.

The local setting unit 42 is configured to set a local tracking area where the end of the flexible surgical instrument is located as the current local tracking area when the flexible surgical instrument is present in the local tracking area of the surgical field edge.

The trajectory output unit 43 is configured to acquire a surgical image acquired at a next moment of the camera, and detect a current position of the end of the flexible surgical instrument in the current partial tracking area in the surgical image at the next moment, and acquire the movement of the flexible surgical instrument according to the current position. Track and output.

In the embodiment of the present invention, when a flexible surgical instrument exists in a local tracking area at the edge of the surgical field of view, the local tracking area where the edge of the surgical field and the flexible surgical instrument are located is set to the current local tracking area, and the next acquisition of the camera is acquired. The surgical image of the moment obtains the current position of the end of the flexible surgical instrument in the current local tracking area from the surgical image at the next moment to track the movement trajectory of the flexible surgical instrument in real time.

The area expansion unit 44 is configured to determine whether the current location is located at the edge of the current local tracking area, and then expand the next partial tracking area in the surgical field according to the current position, and set the next partial tracking area as the current local tracking area.

In the embodiment of the present invention, it is detected whether the current position of the end of the flexible surgical instrument is located at the edge of the current local tracking area. If the end of the flexible surgical instrument is considered to be about to leave the current local tracking area, the current local tracking area needs to be updated. Specifically, when the current position of the end of the flexible surgical instrument is located at the edge of the current local tracking area, with the current position of the end of the flexible surgical instrument as the center point, an edge of the next partial tracking area is obtained at the edge of the current position, combined with The size of the edge and the current local tracking area is the same as the current partial tracking area. If the partial area of the next partial tracking area exceeds the surgical field of view, the next partial tracking area is not beyond the surgical field of view. The part is set to the current local tracking area. Setting the expanded next partial tracking area to the current local tracking area, completing the update of the current local tracking area, thereby searching for the current position of the end of the flexible surgical instrument in the current local tracking area, instead of searching through the entire surgical image, Effectively improve image processing speed, thereby improving the efficiency and real-time performance of flexible surgical instruments

The tracking end unit 45 is configured to determine whether the current position reaches the preset position in the surgical field of view, and is to end the tracking of the flexible surgical instrument. Otherwise, the operation of acquiring the surgical image of the next time captured by the camera is performed by the track output unit 43.

In the embodiment of the present invention, whether the current position of the end of the flexible surgical instrument reaches the preset position in the surgical field of view is determined by determining whether the current position of the end of the flexible surgical instrument reaches the edge of the surgical field or the position of the surgical target preset by the user. . In addition, tracking of the flexible surgical instrument can also be ended upon receipt of the user's end command.

Preferably, as shown in FIG. 5, the edge detecting unit 41 includes:

The image processing unit 511 is configured to divide the surgical field into a plurality of partial tracking regions, and perform graying processing and binarization on the image blocks corresponding to the local tracking regions located at the edge of the surgical field; and

The image detecting unit 512 is configured to detect whether a movement trajectory of the flexible surgical instrument exists in the binarized image block to determine whether a flexible surgical instrument exists in the local tracking area of the surgical field of view edge.

Preferably, the area extension unit 44 includes

The first expanding unit 541 is configured to expand the next tracking local area consistent with the current local tracking area shape size in the surgical field with the current position as the midpoint of the edge of the next partial tracking area.

Preferably, the area extension unit 44 further includes:

a tangent determining unit 542, configured to determine a tangent of the movement track of the flexible surgical instrument at the intersection when the current position is at the intersection of the two edges of the current local tracking area;

The angle comparison unit 543 calculates an angle between the tangent and the two edges of the current local tracking area, and obtains an edge with the smallest angle to the tangent;

The second expanding unit 544 is configured to use the current position as the midpoint of the edge of the next partial tracking area, and the edge with the smallest angle of the tangent as the position of the edge of the next partial tracking area, and expand and the current local tracking area in the surgical field of view The next partial tracking area of the same size and shape.

In the embodiment of the present invention, each unit of the flexible surgical instrument tracking device can be implemented by a corresponding hardware or software unit, and each unit can be an independent software and hardware unit, or can be integrated into a soft and hardware unit, without limitation. this invention.

Embodiment 3:

Fig. 6 shows the structure of a medical device according to a third embodiment of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown.

The medical device 6 of an embodiment of the present invention includes a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and operable on the processor 60. The processor 60, when executing the computer program 62, implements the steps in the above-described method embodiments, such as steps S101 through S108 shown in FIG. Alternatively, processor 60, when executing computer program 62, implements the functions of the various units of the apparatus embodiments described above, such as the functions of units 41 through 45 shown in FIG.

In the embodiment of the present invention, the local tracking area of the edge of the surgical field where the end of the flexible surgical instrument is located is set as the current local tracking area according to the surgical image at the current moment, and the end of the flexible surgical instrument is detected according to the surgical image at the next moment. The current position in the local tracking area is obtained, and the movement track of the flexible surgical instrument is acquired according to the current position and output. If the current position is located at the edge of the current local tracking area, the next partial tracking area expanded in the surgical field is set as the current local tracking. If the current position reaches the preset position of the surgical field of view, the tracking of the flexible surgical instrument is ended, otherwise the surgical image of the next moment is continuously acquired to track the flexible surgical instrument, thereby improving the image processing speed. The efficiency and positioning accuracy of the flexible surgical instrument tracking are effectively improved, and the real-time performance of the flexible surgical instrument tracking is ensured.

Embodiment 4:

In an embodiment of the present invention, there is provided a computer readable storage medium storing a computer program, which when executed by a processor, implements the steps in the foregoing method embodiments, for example, FIG. Steps S101 to S108 are shown. Alternatively, the computer program, when executed by the processor, implements the functions of the various units of the apparatus embodiments described above, such as the functions of units 41 through 45 shown in FIG.

The computer readable storage medium of the embodiments of the present invention may include any entity or device capable of carrying computer program code, a recording medium such as a ROM/RAM, a magnetic disk, an optical disk, a flash memory, or the like.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims

A flexible surgical instrument tracking method, characterized in that the method comprises the following steps:

Obtaining a surgical image of a current moment acquired by the camera, and detecting whether a flexible surgical instrument exists in a local tracking area of the edge of the surgical field according to the surgical image at the current moment;

Setting a local tracking area where the end of the flexible surgical instrument is located as a current local tracking area when the flexible surgical instrument is present in a local tracking area of the edge of the surgical field;

Obtaining a surgical image of the next moment collected by the camera, detecting a current position of the end of the flexible surgical instrument in the current partial tracking area in the surgical image of the next moment, and acquiring the current location according to the current position The movement trajectory of the flexible surgical instrument and output;

Determining whether the current location is located at an edge of the current local tracking area, and expanding a next partial tracking area in the surgical field according to the current position, and setting the next partial tracking area to the current local area Tracking area

Determining whether the current position reaches a preset position in the surgical field of view is to end tracking of the flexible surgical instrument, otherwise jumping to a step of acquiring a surgical image of the next moment acquired by the camera.
The method according to claim 1, wherein the local tracking area where the end of the flexible surgical instrument is located after detecting the presence of the flexible surgical instrument in the local tracking area of the edge of the surgical field according to the surgical image of the current time is detected. Before the step of setting the current local tracking area, the method further includes:

When the flexible surgical instrument does not exist in the local tracking area of the edge of the surgical field, the step jumps to the acquisition of the surgical image of the current time acquired by the camera.
The method according to claim 1, wherein the step of detecting whether there is a flexible surgical instrument in the local tracking area of the edge of the surgical field according to the surgical image of the current time comprises:

Dividing the surgical field into a plurality of local tracking regions, and performing grayscale processing and binarization on the image blocks corresponding to the local tracking regions located at the edge of the surgical field;

Detecting whether there is a movement trajectory of the flexible surgical instrument in the binarized image block to determine whether the flexible surgical instrument is present in a local tracking area of the surgical field of view edge.
The method of claim 1 wherein the step of expanding the next tracking local area in the surgical field of view based on the current position comprises:

And the current tracking position is a midpoint of the edge of the next partial tracking area, and the next tracking local area that is consistent with the shape shape of the current local tracking area is expanded in the surgical field of view.
The method of claim 1, wherein the step of expanding the next partial tracking area in the surgical field of view according to the current position further comprises:

Determining a tangent of the movement trajectory of the flexible surgical instrument at the intersection when the current position is at an intersection of both edges of the current partial tracking area;

Calculating an angle between the tangent lines and the two edges of the current local tracking area, respectively, to obtain an edge having the smallest angle with the tangent;

Taking the current position as the midpoint of the edge of the next partial tracking area, and the edge having the smallest angle with the tangential line as the position of the edge of the next partial tracking area, expanding and speaking in the surgical field of view The next partial tracking area of the current local tracking area has the same size and size.
The method of claim 1 wherein the step of determining whether the current location has reached a predetermined location in the surgical field of view comprises:

Whether the current position reaches a preset position in the surgical field of view is determined by determining whether the current position is at an edge of the surgical field of view.
A flexible surgical instrument tracking device, characterized in that the device comprises:

An edge detecting unit, configured to acquire a surgical image of a current moment acquired by the camera, and detect whether a flexible surgical instrument exists in a local tracking area of the edge of the surgical field according to the surgical image at the current moment;

a local setting unit, configured to set a local tracking area where the end of the flexible surgical instrument is located as a current local tracking area when the flexible surgical instrument exists in a local tracking area of the edge of the surgical field;

a trajectory output unit, configured to acquire a surgical image of the next moment acquired by the camera, and detect a current position of the flexible surgical instrument end in the current partial tracking area in the surgical image at the next moment, according to the Determining a current position, acquiring a movement trajectory of the flexible surgical instrument and outputting;

a region expansion unit, configured to determine whether the current location is located at an edge of the current local tracking area, and then expand a next partial tracking area in the surgical field according to the current location, and the next partial tracking area Set to the current local tracking area;

a tracking end unit, configured to determine whether the current position reaches a preset position in the surgical field of view, and end the tracking of the flexible surgical instrument, otherwise the tracking output unit performs the acquisition of the camera The operation of a surgical image at a time.
The apparatus according to claim 7, wherein said edge detecting unit comprises:

An image processing unit, configured to divide the surgical field into a plurality of partial tracking regions, and perform grayscale processing and binarization on the image blocks corresponding to the local tracking regions located at the edge of the surgical field; and

An image detecting unit is configured to detect whether a movement trajectory of the flexible surgical instrument exists in the binarized image block to determine whether the flexible surgical instrument exists in a local tracking area of the surgical field edge.
The device according to claim 7, wherein the area extension unit comprises:

a first expanding unit, configured to expand, by using the current position as a midpoint of an edge of the next partial tracking area, to expand the next tracking local area that is consistent with a shape size of the current local tracking area in the surgical field of view .
The device according to claim 7, wherein the area extension unit further comprises:

a tangent determining unit, configured to determine a tangent of the movement track of the flexible surgical instrument at the intersection when the current position is at an intersection of both edges of the current partial tracking area;

An angle comparison unit calculates an angle between the tangent and each of the edges of the current local tracking area to obtain an edge having the smallest angle with the tangent;

a second expanding unit, configured to use the current position as a midpoint of an edge of the next partial tracking area, and an edge having a smallest angle with the tangent as a position of an edge of the next partial tracking area, where The next partial tracking area that is consistent with the shape of the current local tracking area is expanded in the surgical field of view.
A medical device comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program as claimed in claim 1 5 The steps of any of the methods described.
A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 5.