CN-122005088-A - Intelligent accidental injury prevention navigation system for pediatric laparoscopic surgery

CN122005088ACN 122005088 ACN122005088 ACN 122005088ACN-122005088-A

Abstract

The invention relates to the technical field of medical instruments and surgical navigation, and discloses an intelligent accidental injury prevention navigation system for pediatric laparoscopic surgery, which comprises an image processing unit, a space proportion calculating unit and a control unit, wherein the image processing unit is used for identifying anatomical texture feature points of target tissues and establishing a reference map; the invention captures the tissue pre-deformation state induced in pneumoperitoneum environment, advances the protection window to the micropressure fluctuation period before physical contact, avoids the phase lag of geometric ranging and realizes the protection of fragile envelope in the limit operation space.

Inventors

DUAN YONGPENG

Assignees

安徽省儿童医院(安徽省新华医院、安徽省儿科医学研究所、复旦大学附属儿科医院安徽医院)

Dates

Publication Date: 20260512
Application Date: 20260127

Claims (10)

1. An intelligent accidental injury prevention navigation system for pediatric laparoscopic surgery, which is characterized by comprising: The image processing unit is used for acquiring an endoscope video stream, identifying anatomical texture feature points of target tissues in the endoscope video stream, and extracting reference pixel coordinates of each anatomical texture feature point when the surgical instrument does not enter the surgical field so as to establish a texture reference map; A space proportion calculating unit for extracting the projection width of the surgical instrument in the endoscope video stream, and determining the pixel space mapping proportion of the surgical field based on the projection width and the nominal diameter of the surgical instrument; The risk judging unit is used for extracting radial displacement gradients of each anatomical texture feature point relative to corresponding reference pixel coordinates in the texture reference map when the surgical instrument approaches to the target tissue, and calculating a deformation stress representation value applied to the surface of the target tissue by the surgical instrument according to the change rate of the radial displacement gradients along with time; The safety envelope generation unit is used for performing weight correction on the pixel space mapping proportion by utilizing the deformation stress characterization value and generating a dynamic safety envelope in the direction of a motion vector at the tail end of the surgical instrument, wherein the generation radius of the dynamic safety envelope is subjected to monotonically increasing constraint of the deformation stress characterization value; And the feedback unit is used for carrying out optical characteristic modulation on a local image area corresponding to the stress concentration position in the endoscope video stream when the risk judging unit judges that the dynamic safety envelope is spatially coincident with the target tissue or the deformation stress characterization value exceeds a preset threshold value so as to generate a visual intervention signal.
2. The intelligent anti-accidental injury navigation system of claim 1, wherein the risk determination unit further comprises a projection identification subunit for identifying projection features of the distal end of the surgical instrument formed on the target tissue surface and calculating a pixel distance between a central point of the distal end of the surgical instrument and a central point of the corresponding projection features A security envelope generation unit for generating a security envelope according to the pixel distance Determining limiting factor of dynamic safety envelope in depth dimension and pixel distance When zero, the triggering feedback unit superimposes a translucent color mask in the endoscope video stream in an area corresponding to the projection feature.
3. The intelligent accidental injury prevention navigation system for the pediatric laparoscopic surgery according to claim 1, further comprising a rhythm compensation unit for acquiring global periodic displacement components of each anatomical texture feature point and establishing respiratory phases and cardiac phases of the child patient from the global periodic displacement components based on discrete Fourier transform, wherein the safety envelope generation unit is used for carrying out phase hedging compensation on anchoring coordinates of the dynamic safety envelope by utilizing the respiratory phases and the cardiac phases so as to enable the dynamic safety envelope to synchronously displace along with the jump of the target tissue.
4. The intelligent accidental injury prevention navigation system for the pediatric laparoscopic surgery according to claim 1, wherein the space proportion calculation unit is specifically used for identifying the jaw pixel width of the surgical instrument, and scaling the jaw pixel width with the nominal diameter to update the pixel space mapping proportion in real time, and the safety envelope generation unit is used for determining the generation radius of the dynamic safety envelope according to the following formula : , wherein, For the generation radius of the dynamic security envelope, For the expansion coefficient regulated by the deformation stress characterization value, For the instantaneous motion vector magnitude of the surgical instrument tip, Is a preset minimum physical protection distance.
5. The intelligent anti-accidental injury navigation system for pediatric laparoscopic surgery according to claim 1, wherein the feedback unit is configured to use a preset frequency Changing contrast of local image region, presetting frequency The image processing unit is used for extracting pixel displacement residual errors of the local image area between continuous frames, and the safety envelope generating unit is used for carrying out reverse superposition compensation on motion vectors at the tail end of the surgical instrument according to the pixel displacement residual errors.
6. The intelligent accidental injury prevention navigation system for the pediatric laparoscopic surgery according to claim 1, further comprising a prediction unit for retrieving a historical motion vector within a preset frame number before tracking failure when the tracking confidence of the tail end of the surgical instrument is lower than a preset threshold value, and constructing a virtual motion vector of the tail end of the surgical instrument by combining a pixel space mapping proportion, wherein the safety envelope generation unit maintains the operation of a dynamic safety envelope by using the virtual motion vector, and introduces an attenuation factor which contracts in a logarithmic scale with time to correct the effective range of the dynamic safety envelope.
7. The intelligent anti-accidental injury navigation system for pediatric laparoscopic surgery according to claim 1, wherein the image processing unit is specifically configured to identify a bifurcation point of a fine blood vessel in a serosal layer of a target tissue by adopting a sub-pixel level feature matching algorithm, and use the bifurcation point of the fine blood vessel as a tracking reference point of an anatomical texture feature point.
8. The intelligent anti-accidental injury navigation system for pediatric laparoscopic surgery according to claim 1, wherein the risk determination unit is specifically configured to extract radial discrete components of each anatomical texture feature point relative to the axis of the surgical instrument, so as to characterize the prestress deformation state of the target tissue induced by pneumoperitoneum pressure fluctuation.
9. The intelligent accidental injury prevention navigation system of claim 4, wherein the security envelope generation unit is further configured to analyze coupling weights of deformation stress characterization values and instantaneous motion vector magnitudes and calculate virtual compliance coefficients of corresponding tissue regions, and adjust the expansion coefficients according to the virtual compliance coefficients To increase the generation speed of the dynamic security envelope when the virtual compliance coefficient is below a preset stiffness threshold.
10. The intelligent anti-accidental injury navigation system for pediatric laparoscopic surgery according to claim 1, further comprising a magnification verification unit for obtaining optical zoom parameters of the endoscope and performing inverse correction on the pixel space mapping scale according to the optical zoom parameters so as to keep the physical protection distance defined by the dynamic security envelope constant under the fields of view of different zoom magnifications.

Description

Intelligent accidental injury prevention navigation system for pediatric laparoscopic surgery Technical Field The invention relates to an intelligent accidental injury prevention navigation system for pediatric laparoscopic surgery, and belongs to the technical field of medical instruments and surgical navigation. Background The current pediatric laparoscopic surgery belongs to a high-precision minimally invasive surgery technology, and an optical navigation system based on endoscope images is clinically adopted to assist doctors in identifying anatomical structures and tracking the tail ends of surgical instruments so as to realize auxiliary visual guidance. The utility model patent with the bulletin number of CN212592395U discloses a false injury prevention laparoscopic electrotome, a convex conductive wire and an insulation groove which are meshed with each other are additionally arranged on a separated clamp tooth groove structure, the release range of electric energy is received by utilizing a hardware structure, the heart rate and the respiratory frequency of an infant are higher, the internal organs of the abdominal cavity present high-frequency large-amplitude rhythmicity displacement along with physiological jumping, the prior art lacks background displacement component processing means, so that the phase difference is generated between the protection boundary and the dynamic organs, when the internal organs drift towards the direction of the instruments, the feedback hysteresis of the system is mainly increased, the improvement means is mainly to increase the early warning threshold or introduce a binocular 3D camera and a sensor, the false injury prevention electrotome is increased in the millimeter-level operation gap, the interference caused by the increment of the threshold is increased, the complexity of the false injury prevention of the image is difficult to be removed, and the false injury is difficult to be removed from the aspect of the external analysis of the complexity of the image. Therefore, how to combine the real-time kinetic energy component of the instrument and the physiological rhythm characteristics of the child patient and utilize the image information to construct a collision protection mechanism which is dynamically fitted and self-adaptively adjusted with living tissues becomes the technical problem to be solved by the invention. Disclosure of Invention In order to solve the problems in the background technology, the technical scheme of the invention is as follows, an intelligent accidental injury prevention navigation system for pediatric laparoscopic surgery comprises: The image processing unit is used for acquiring an endoscope video stream, identifying anatomical texture feature points of target tissues in the endoscope video stream, and extracting reference pixel coordinates of each anatomical texture feature point when the surgical instrument does not enter the surgical field so as to establish a texture reference map; A space proportion calculating unit for extracting the projection width of the surgical instrument in the endoscope video stream, and determining the pixel space mapping proportion of the surgical field based on the projection width and the nominal diameter of the surgical instrument; The risk judging unit is used for extracting radial displacement gradients of each anatomical texture feature point relative to corresponding reference pixel coordinates in the texture reference map when the surgical instrument approaches to the target tissue, and calculating a deformation stress representation value applied to the surface of the target tissue by the surgical instrument according to the change rate of the radial displacement gradients along with time; The safety envelope generation unit is used for performing weight correction on the pixel space mapping proportion by utilizing the deformation stress characterization value and generating a dynamic safety envelope in the direction of a motion vector at the tail end of the surgical instrument, wherein the generation radius of the dynamic safety envelope is subjected to monotonically increasing constraint of the deformation stress characterization value; The feedback unit is used for carrying out optical characteristic modulation on a local image area corresponding to the stress concentration position in the endoscope video stream when the risk judging unit judges that the dynamic safety envelope is spatially coincident with the target tissue or the deformation stress characterization value exceeds a preset threshold value so as to generate a visual intervention signal. Preferably, the risk determination unit further comprises a projection recognition subunit for recognizing projection features formed by the distal end of the surgical instrument on the target tissue surface, and calculating a pixel distance between the central point of the distal end of the surgical instrument and the central point of the co