CN104970886A - Laparoscope simulated operation path correcting device - Google Patents

Abstract

The present invention provides a laparoscopic simulated surgical path correction method, because the surgical instrument is affixed with a ferrule with a marked point, the binocular navigator can detect the marked point, so that the position information of the tip of the surgical instrument can be calculated, and the processing unit can Receive the position information collected by the binocular navigator and fit the position information into a curve equation to make a standard trajectory line. Then, when different operators are training, the binocular navigator sends the real-time position information of the marked points to the processing unit, the processing unit calculates the displacement deviation, and displays the displacement deviation by the display, and the assistant staff reminds the operator to correct it in real time according to the displayed displacement deviation. The picture seen and the position where the surgical instrument should be moved are better understood, thereby improving the proficiency in the operation of the surgical instrument, and further improving the training efficiency of laparoscopic simulated surgery.

Description

Correction method of laparoscopic simulated operation path

technical field

The invention belongs to the field of medical instruments, and in particular relates to a laparoscopic simulation operation path correction method for correcting a cutting path.

Background technique

With the rapid development of medical technology and the improvement of people's material living standards, people's requirements for medical service level are getting higher and higher. Damage to healthy tissue is minimized. In actual operation, the surgeon relies on his own subjective visual judgment to determine the surgical path. After the surgical path is determined, the surgeon's proficiency in operating surgical instruments during the operation depends on a large amount of usual training to accurately locate and direct the operation. diseased tissue. However, during daily training, since the operator performs various trainings according to the images displayed on the monitor, the spatial position of the image observed on the monitor will be different from the spatial position directly seen in the spatial experience. Therefore, the operator cannot know the real deviation between the surgical instrument and the predetermined trajectory, and a large amount of training is needed to judge the sensory difference between the displayed picture and the directly seen picture. It is difficult to grasp the position of the surgical instrument on the screen on the monitor, and a lot of training is required to accurately know the direction and displacement of the surgical instrument according to the image on the monitor.

Contents of the invention

The present invention was made to solve the above-mentioned problems, and an object of the present invention is to provide a laparoscopic simulation surgery path correction method for correcting deviations between actual cutting lines and predetermined cutting lines in real time during laparoscopic simulation surgery.

The present invention provides a laparoscopic simulated operation path correction method, which is used to correct the deviation between the actual cutting route and the predetermined cutting route in real time when performing laparoscopic simulated surgery, thereby improving the efficiency of training, which is characterized in that it includes the following steps : Step 1, install a ferrule with at least 3 marking points on the surgical instrument; Step 2, set the model with multiple trajectory points, and then fix it in the laparoscopic training box, touch the marked points with the tip of the surgical instrument in turn The track point on the above-mentioned model is collected with a binocular visual navigator to mark position information of the mark point; step 3, the processor first processes the position information to obtain the tip position information of the tip of the instrument, and then fits the tip position information It is a curve equation and forms a standard trajectory line; step 4, the operator uses surgical instruments for simulation training, the binocular vision navigator collects the real-time position information of the marker points, and the processor processes the real-time position information to obtain the real-time position of the tip of the surgical instrument The information is substituted into the curve equation to calculate the displacement deviation between the real-time position of the tip and the standard trajectory, and the display shows the displacement deviation; step 5, the operator corrects the position of the surgical instrument according to the position deviation.

The deviation correction method for laparoscopic simulated surgical path provided by the present invention may also have such a feature: wherein, the curve equation is obtained by using the Lagrangian difference polynomial fitting algorithm to the point position information.

In the laparoscopic simulation surgical path correction method provided by the present invention, it can also have such a feature: wherein, step 4 includes: step 4-1: the processor calculates the curve equation through predetermined rules to obtain the corrected curve equation, so that the standard trajectory The initial position information of the line is the same as the initial real-time position information of the tip; Step 4-2: The processor substitutes the real-time position information into the correction curve equation, and calculates the displacement deviation between the real-time position of the tip and the standard trajectory line.

The deviation correction method for laparoscopic simulated surgery provided by the present invention may also have the feature that the tracking accuracy of the binocular vision navigator is 0.255 mm.

Function and Effect of Invention

According to the correction method for laparoscopic simulated surgical path involved in the present invention, because the ferrule of the marked point is attached to the surgical instrument, the binocular navigator can detect the marked point, and calculate the tip of the surgical instrument according to the position information of the marked point Position information, the processor can receive the position information collected by the binocular navigator and fit the position information into a curve equation to make a standard trajectory line. Then, when the operator is training, the binocular navigator will mark the points in real time The position information is sent to the processor, the processor calculates the displacement deviation, and displays the displacement deviation on the display, and reminds the operator to correct it in real time according to the displayed displacement deviation. More clearly perceive the relationship between the picture seen on the display and the displacement of the surgical instrument, thereby improving the proficiency in the operation of the surgical instrument, and further improving the training efficiency of laparoscopic simulated surgery.

Description of drawings

FIG. 1 is a schematic structural diagram of a laparoscopic simulated surgery device in an embodiment of the present invention; and FIG. 2 is a flow chart of a method for correcting a laparoscopic simulated surgery in an embodiment of the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects of the present invention easy to understand, the following embodiments will specifically illustrate the laparoscopic simulation surgery correction method of the present invention in conjunction with the accompanying drawings.

Fig. 1 is a schematic structural view of a laparoscopic simulated surgical device in an embodiment of the present invention.

As shown in Figure 1, the laparoscopic simulated surgery device 100 is used to correct the cutting path in real time when the operator uses the model to perform laparoscopic simulated surgery, and includes: a display screen 110, a laparoscopic training box 120, surgical instruments 130, stickers Plastic collar 140 with 5 Mark points, binocular vision navigator 150, processor 161, sponge (not shown in the figure) and camera (not shown in the figure).

There are three perforations 121 on the laparoscope training box 120, one end of the surgical instrument 130 can be inserted into the laparoscope training box 120 inside through the perforation 121, and the camera is installed in the laparoscope training box 120 for collecting images in the laparoscope training box 120, The display screen 110 displays images collected by the camera, so the operator can know the situation inside the laparoscopic training box 120 according to the display screen 110 .

The plastic ferrule 140 is installed at the handle of the surgical instrument 130 and the connection of the instrument, and the binocular vision navigator 150 is arranged near the laparoscopic training box 120, and when the trainer performs training, the binocular vision navigator 150 will not be blocked to collect the plastic sleeve For the position information of the circle 140, the inside of the sponge is provided with a plurality of predetermined trajectory points and fixed in the laparoscopic training box 120. The trainer operates the sponge through the surgical instrument 130, and the processor 161 is connected with the binocular vision navigator 150, which can receive The binocular vision navigator 150 collects and processes the position information of the plastic ferrule 140 .

Fig. 2 is a flow chart of a laparoscopic simulation surgery correction method in an embodiment of the present invention.

As shown in Figure 2, the laparoscopic simulation surgery correction method includes the following steps:

Step S1, installing the plastic ferrule 140 with 5 marking points on the surgical instrument 130 .

The plastic ferrule 140 is mounted on the handle of the surgical instrument 130 and the connection with the instrument. Then go to step S2.

Step S2, cut the sponge and set a plurality of track points, so that the track points are exposed on the surface of the cut surface of the sponge, then fix the cut sponge in the laparoscopic training box 120, and touch the sponge with the tip of the surgical instrument 130 in turn A plurality of trajectory points on the track, use the binocular visual navigator 150 to collect the marking position information of the marking points on the plastic ferrule 140.

When collecting the trajectory points on the sponge, first touch the tip of the surgical instrument 130 to the first trajectory point, and the binocular vision navigator 150 collects the marking position information of the plastic ferrule 140, and then blocks the plastic ferrule 140 with your hand so that The binocular visual navigator 150 cannot collect the marking position information of the plastic ferrule 140, move the tip of the surgical instrument 130 to the position of the next trajectory point, and remove the hand so that the binocular visual navigator 150 can collect the plastic ferrule 140 mark location information, and then go to step S3.

Step S3, the binocular vision navigator 150 transmits the collected position information of a plurality of trajectory points to the processor 161, because the length of the surgical instrument 130 is a fixed value, therefore, the processor 161 uses the marked position information of the plastic ferrule 140 That is, the tip position information of the tip of the surgical instrument 130 can be obtained, and the processor 161 fits all the tip position information through the Lagrangian difference polynomial to obtain a curve equation, and draws the curve of the curve equation, and the curve is the standard trajectory Wire. In this embodiment, a 95% confidence interval is selected, and a quartic multi-pattern is obtained through fitting, wherein the linear correlation coefficient R ² =0.9958. Then, go to step S4.

In step S4, the operator uses the surgical instrument 130 to carry out simulation training. The shape of the sponge fixed in the laparoscopic training box 120 is the same as the shape of the sponge before incision in step S2. The binocular vision navigator 150 collects the real-time position information It is transmitted to the processor 161, and the processor 161 processes the real-time position information of the marker into the real-time position information of the tip of the surgical instrument 130, then substitutes it into the curve equation and calculates the displacement deviation between the real-time position of the tip and the standard trajectory line, and the display 162 displays Standard trajectory, real-time trajectory and the displacement deviation. Then, go to step S5.

Step S5, the real-time position information of the marker collected by the binocular visual navigator 150 is three-dimensional coordinate information, and the calculated real-time position information of the tip is also three-dimensional coordinate information (x ₀ , y ₀ , z ₀ ), and the binocular visual navigator 150 The three-dimensional coordinate system is set by itself, the direction in which the surgical instrument 130 moves back and forth is the X axis, the direction in which the surgical instrument 130 moves up and down is the Y axis, and the direction in which the surgical instrument 130 moves left and right is the Z axis.

When a single camera is installed in the laparoscopic training box 120, what the display screen 110 shows is a plane image, and the trainer is used to carry out plane operation training. Therefore, only X in the three-dimensional coordinate information of the tip of the fitting surgical instrument 130 is needed. For the relationship between the axis coordinates and the Z-axis coordinates, the processor 161 obtains the curve equation x=f(z) through Lagrangian difference polynomial fitting.

Substitute z ₀ into the curve equation _{x=f(z) to obtain the value of f(z 0 ) .} screen in real time. When Δx=0, it means that the tip of the surgical instrument 130 is just on the standard trajectory and no adjustment is required; when Δx>0, it means that the tip of the surgical instrument 130 is in front of the standard trajectory, and the distance of Δx should be adjusted backward so that Δx=0 ; When Δx<0, it means that the tip of the surgical instrument 130 is behind the standard trajectory, and the distance of Δx should be adjusted forward so that Δx=0.

When what is installed in the laparoscopic training box 120 is a parallel camera, what the display screen 110 shows is a three-dimensional image, and the trainer is used to carry out three-dimensional operation training, and the curve equation obtained by the processor 161 by Lagrangian difference polynomial fitting as x=f(z) and y=f(x,z).

The up and down offset is Δy=y ₀ -f(x ₀ +Δx, z ₀ ), and the processor 161 displays the forward and backward offset as Δy in real time on the display 162. When Δy=0, it means that the tip of the surgical instrument 130 is just right On the standard trajectory, no adjustment is required; when Δy>0, it means that the tip of the surgical instrument 130 is above the standard trajectory, and the distance of Δy should be adjusted downward so that Δy=0; when Δy<0, it means that the tip of the surgical instrument 130 Below the standard trajectory, the distance of Δy should be adjusted upwards such that Δy=0.

In this embodiment, the functions of the processor 161 and the display 162 are realized by using a computer 160, and the instructor guides the trainer to adjust the position of the tip of the surgical instrument 130 according to the front and rear offsets displayed on the computer screen as Δx and the up and down offsets Δy , which coincides with the standard trajectory.

The computer exports and stores the front and rear offsets as Δx and the up and down offsets Δy, so as to facilitate later data analysis and processing. The processing unit 160 can obtain the positive offset along the X-axis and the negative offset of the X-axis of different operators when each laparoscopic simulation operation is performed by storing the front-back offset Δx and the up-down offset Δy , the maximum value, minimum value and average value of Y-axis positive offset and Y-axis negative offset, so as to better understand the proficiency of different operators and save time for data analysis.

After fitting the curve equation in step 3, if the position of the sponge or the binocular vision navigator 150 is changed, then in step 4, when the trainer is training, the initial position of the standard trajectory needs to be collected with the binocular vision navigator 150 The initial positions of all are unified, that is, the standard trajectory is translated so that the coordinates of the initial point of the standard trajectory are the same as the coordinates of the initial point collected by the binocular vision navigator 150 .

If the initial coordinates of the tip of the surgical instrument 130 collected by the binocular vision navigator 150 are (x', y', z'), the curve equation after standard trajectory translation is modified to x=f(z+z')+x ', the forward and backward offset is Δx=x ₀ -(f(z+z')+x').

Function and effect of embodiment

According to the laparoscopic simulation surgery correction method involved in this embodiment, because the surgical instrument is affixed with the ferrule of the marked point, the binocular navigator can detect the marked point, so that the position information of the tip of the surgical instrument can be calculated, and the processing unit It can receive the position information collected by the binocular navigator and fit the position information into a curve equation to make a standard trajectory line. Then, when different operators are training, the binocular navigator will send the real-time position information of the marked points to processing unit, the processing unit calculates the displacement deviation, and the displacement deviation is displayed by the display, and the assistant staff reminds the operator to correct it in real time according to the displayed displacement deviation. The picture seen in the computer and the position where the surgical instrument should be moved are better understood, thereby improving the proficiency in the operation of the surgical instrument, and further improving the training efficiency of laparoscopic simulated surgery.

In this embodiment, the processor can obtain the positive displacement of the X-axis, the negative displacement of the X-axis, the positive displacement of the Y-axis and the The maximum, minimum and average value of the negative offset, so as to better understand the proficiency of different operators, and save time for data analysis.

The above embodiments are preferred examples of the present invention, and are not intended to limit the protection scope of the present invention.

Claims (4)

1. a peritoneoscope sham operated path method for correcting error, carries out real time correction to cutting path when carrying out peritoneoscope sham operated for utilizing model operator, it is characterized in that, comprise the following steps:

Step 1, operating theater instruments will be installed the lasso posting at least 3 gauge points;

Step 2, arranges a plurality of tracing point by described model, is then fixed in peritoneoscope training box, touches the described tracing point on the described model of mark successively, gather the marker location information of described gauge point with binocular vision navigator with the tip of described operating theater instruments;

Step 3, first described position information process is obtained the tip location information of described instrument tip by processor, then described tip location information is fitted to curvilinear equation and forms standard gauge trace;

Step 4, described operator adopts described operating theater instruments to carry out simulation training, described binocular vision navigator gathers the real-time position information of described gauge point, described real-time position information process is obtained the most advanced and sophisticated real-time position information of described operating theater instruments by processor, substitute into described curvilinear equation, calculate the offset deviation between described most advanced and sophisticated real time position and described standard gauge trace, display shows described offset deviation;

Step 5, described operator corrects the position of described operating theater instruments according to described offset deviation.

2. peritoneoscope sham operated path according to claim 1 method for correcting error, is characterized in that:

Wherein, described curvilinear equation is by adopting Lagrangian differential polynomial fitting algorithm to obtain described tip location information.

3. peritoneoscope sham operated path according to claim 1 method for correcting error, is characterized in that:

Wherein, step 4 comprises:

Step 4-1: described curvilinear equation is calculated fair curve equation by pre-defined rule by described processor, thus make the initial position message of described standard gauge trace identical with described most advanced and sophisticated real-time position information time initial;

Step 4-2: described most advanced and sophisticated real-time position information is substituted into described fair curve equation by described processor, calculates the described position deviation between described most advanced and sophisticated real time position and described standard gauge trace.

4. peritoneoscope sham operated path according to claim 1 method for correcting error, is characterized in that:

Wherein, the tracking precision of described binocular vision navigator is 0.255mm.