CN-122005011-A - Planning device, method and storage medium for water jet teleoperation

CN122005011ACN 122005011 ACN122005011 ACN 122005011ACN-122005011-A

Abstract

The invention discloses a planning device, a method and a storage medium for a water jet scalpel remote operation, wherein the device is arranged at a local operation end and comprises a key frame image determining module, an operation planning module and a remote operation planning module, wherein the key frame image determining module is used for acquiring a biplane ultrasonic image and determining a first key frame image and a second key frame image according to the biplane ultrasonic image, the operation planning module is used for sending the first key frame image and the second key frame image to the remote operation end, acquiring remote operation planning parameters issued by the remote operation end, and carrying out interpolation processing on non-key frame images in a second ultrasonic image sequence according to the remote operation planning parameters to generate the local operation planning parameters corresponding to the second ultrasonic image sequence. By dividing the ultrasonic image into the key frame image and the non-key frame image, the data volume of transmission is reduced, the data transmission efficiency is improved, the stable and efficient remote water jet operation flow is realized, and the potential safety hazards caused by unnecessary waiting time and the like are reduced on the basis of the consistency of observation and operation of the two parties.

Inventors

ZHANG KAI
Meng Yisen
JIANG RUI
YAO KAIFENG
YANG QINGYU
Song haitian
ZHAO JING
CHEN WENBO

Assignees

北京大学第一医院(北京大学第一临床医学院)

Dates

Publication Date: 20260512
Application Date: 20260213

Claims (10)

1. A planning device for water jet teleoperation, the device being arranged at a local operation end, comprising: The system comprises a key frame image determining module, a key frame image processing module and a key frame image processing module, wherein the key frame image determining module is used for acquiring a biplane ultrasonic image and determining a first key frame image and a second key frame image according to the biplane ultrasonic image, the biplane ultrasonic image comprises a first ultrasonic image sequence and a second ultrasonic image sequence, the first key frame image is dynamically determined based on image characteristic change of the first ultrasonic image sequence, and the second key frame image is determined from the second ultrasonic image sequence based on the matching relation between the image acquisition position of the second ultrasonic image sequence and the preset key anatomical structure position; The operation planning module is used for sending the first key frame image and the second key frame image to a remote operation end, acquiring remote operation planning parameters issued by the remote operation end, carrying out interpolation processing on non-key frame images in the second ultrasonic image sequence according to the remote operation planning parameters, and generating local operation planning parameters corresponding to the second ultrasonic image sequence, wherein the remote operation planning parameters are generated and issued by the remote operation end based on the first key frame image and the second key frame image.
2. The apparatus of claim 1, wherein the key frame image determination module comprises: The first key frame image determining unit is used for carrying out feature comparison on the first ultrasonic image sequence, updating the first key frame image when detecting that the image feature change exceeds a preset threshold value, and generating a key frame updating event; And the second key frame image determining unit is used for matching the image acquisition position of the second ultrasonic image sequence with a preset key anatomical position, selecting successfully matched images from the second ultrasonic image sequence as the second key frame images, and generating a key frame selection completion event.
3. The apparatus according to claim 2, wherein the first key frame image determining unit includes: An initialization subunit, configured to take a first frame first ultrasound image as an initial first key frame image in an operation initialization stage; And the real-time comparison and updating subunit is used for comparing the characteristics of the first ultrasonic image acquired in real time with the characteristics of the current first key frame image, and updating the current first key frame image into the first key frame image and triggering the key frame updating event under the condition that the characteristic difference exceeds the preset threshold value.
4. The apparatus according to claim 2, wherein the second key frame image determining unit includes: a position mapping subunit, configured to establish a spatial position mapping relationship between the first ultrasound image sequence and the second ultrasound image sequence, and assign a spatial depth coordinate to each frame of the second ultrasound image in the second ultrasound image sequence; And the key frame selection subunit is used for selecting the second key frame image from the second ultrasonic image sequence based on the space depth coordinate and the preset key anatomical structure position and triggering the key frame selection completion event.
5. The apparatus of claim 1, wherein the surgical planning module comprises: The key frame transmission unit is used for responding to a key frame updating event or a key frame selection completion event, adding a first key frame image corresponding to the key frame updating event or a second key frame image corresponding to the key frame selection completion event into a high-priority transmission queue, and preferentially transmitting the first key frame image or the second key frame image to the remote operation end; And the planning parameter receiving and reconstructing unit is used for carrying out space coordinate driven interpolation calculation on the second non-key frame image according to the planning parameter corresponding to the second key frame image and the space depth coordinate of each frame image in the second ultrasonic image sequence after receiving the remote operation planning parameter so as to generate a local operation planning parameter corresponding to the second ultrasonic image sequence, wherein the second ultrasonic image sequence is a cross section ultrasonic image sequence.
6. The apparatus according to claim 5, wherein the planning parameter receiving and reconstructing unit is specifically configured to obtain spatial depth coordinates corresponding to each second keyframe image and a planning parameter thereof, and for each second non-keyframe image, perform one-dimensional interpolation according to the spatial depth coordinates of the current second non-keyframe image by using the spatial depth coordinates of each second keyframe image and the planning parameter to obtain a planning parameter value of the current non-keyframe image; and mapping the planning parameter value to an image coordinate system of the current non-key frame image to obtain a local operation planning parameter corresponding to the current non-key frame image.
7. The apparatus of claim 1, wherein the surgical planning module further comprises: And the planning verification unit is used for sending the local operation planning parameters to the remote operation end for consistency verification, and outputting the local operation planning parameters after receiving a confirmation instruction from the remote operation end.
8. The apparatus of claim 4, wherein the key frame image determination module further comprises: And the biplane synchronization unit is used for maintaining the spatial position mapping relation, responding to the planning point selection operation on any image sequence, and positioning and displaying the image position corresponding to the planning point selection operation in another image sequence by utilizing the spatial position mapping relation.
9. A method of planning a water jet teleoperation, characterized in that it is applied to a planning apparatus for a water jet teleoperation according to any one of claims 1 to 8, comprising: Acquiring a biplane ultrasound image, wherein the biplane ultrasound image comprises a first ultrasound image sequence and a second ultrasound image sequence; dynamically determining a first keyframe image based on image feature variations of the first ultrasound image sequence; determining a second keyframe image based on a match of an image acquisition location of the second ultrasound image sequence with a key anatomical structure location; transmitting the first key frame image and the second key frame image to a tele-operation end; receiving remote operation planning parameters corresponding to the key frame images returned by the remote operation end; And carrying out space coordinate driven interpolation reconstruction on non-key frame images in the second ultrasonic image sequence according to the remote operation planning parameters to generate local operation planning parameters.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the method of planning a water jet teleoperation as claimed in claim 9.

Description

Planning device, method and storage medium for water jet teleoperation Technical Field The invention relates to the technical field of tele-surgery, in particular to a planning device, a planning method and a storage medium for water jet tele-surgery. Background The water jet operation is a minimally invasive operation technology for accurately cutting and separating by utilizing high-speed water flow, and has remarkable advantages in excision of tissues such as prostate. The operation is highly dependent on the guidance of real-time ultrasonic images in operation, and doctors often need to plan the cutting path, depth and range of the water jet according to the biplane ultrasonic images (generally, the sagittal plane and the transverse plane which are perpendicular to each other) so as to ensure the accuracy and the safety of the operation. With the development of remote medical technology, experts can plan and guide the remote operation in real time through a network, so that high-quality medical resources can be shared more widely. In existing water-jet tele-surgical planning schemes, it is often necessary to transmit all real-time biplane ultrasound image sequences acquired at the local surgical end to the tele-surgical end indifferently and continuously. The remote expert performs the surgical planning based on these successive image frames and returns planning parameters to the local execution. However, the prior proposal has the following remarkable defects that 1. The data transmission load is extremely large, the real-time performance is difficult to ensure, and the data volume of the double-plane ultrasonic image sequence is huge, especially when the image quality is required to be ensured for fine planning. In the case of limited or unstable network bandwidth, full frame transmission can lead to significant transmission delays and image sticking. The method ensures that the planning operation of a remote expert generates a remarkable time difference with a local actual scene, the timeliness and the accuracy of the decision are affected, the operation time is prolonged, and the risk of a patient is increased. 2. Space-time correlation and redundancy between images are underutilized, that is, sagittal images (reflecting a water axial feed view) have slow content changes when the instrument position is relatively stable to the main anatomy during the surgical procedure, and that have high redundancy between successive frames, and that the sequence of cross-sectional images (reflecting a tissue level view) are acquired by stepper drive, wherein the sequence contains a large number of non-critical levels of anatomical similarity. The existing scheme does not carry out intelligent screening and differentiation processing on images of the two sequences, a large amount of redundant data is transmitted, and precious network resources are wasted. 3. The consistency guarantee of the synergy of the biplane planning and the final scheme is insufficient, namely the water jet operation planning needs to be performed cooperatively on two views of a sagittal plane and a transverse plane so as to determine an ablation boundary in a three-dimensional space. The existing scheme lacks of effective utilization and synchronous management of the spatial position relation between two image sequences, and the remote end and the local end are easy to generate asynchronism in image processing, planning generation and display, so that the planned path is possibly inconsistent in three-dimensional space, and finally the operation effect is influenced. In addition, the complexity of the water jet system itself, including the need to coordinate the movement of the guide sheath, the implement (the water jet rod body) and the endoscope mechanism to eliminate occlusion, realizes planning track, and puts higher demands on planning accuracy and real-time. Therefore, a water jet scalpel remote operation planning scheme capable of remarkably reducing remote transmission data volume, improving planning instantaneity, guaranteeing consistency of remote operation and local operation and meeting control requirements of a water jet scalpel system on the premise of not affecting operation planning precision and double-view cooperation is needed. Disclosure of Invention The invention provides a planning device, a planning method and a storage medium for water jet teleoperation, and aims to solve the problems that in the existing water jet teleoperation planning technology, network load is large, planning interaction delay is high, and consistency of a final scheme is difficult to guarantee due to double-plane ultrasonic image full-frame transmission, and provide an efficient, reliable and accurate planning scheme for the water jet teleoperation. According to an aspect of the present invention, there is provided a planning apparatus for water jet teleoperation, the apparatus being disposed at a local operation end, wherein the planning appara