A teaching aid for female pelvic organ prolapse repair surgery

Abstract

The present invention discloses a teaching auxiliary device for female pelvic floor organ prolapse repair surgery, which belongs to the technical field of female pelvic floor repair teaching aids. It includes: a pelvic floor simulation mold, a pelvic floor teaching glove and an auxiliary display system. A sound and light alarm and a contact sensor are provided at the position of each organ in the pelvic floor simulation mold. The present invention solves the problems of existing novices having difficulty practicing surgery and the shortage of resources for dissecting corpse teaching aids. By wearing pelvic floor teaching gloves and inserting them into the pelvic floor simulation mold through the vagina, the probe at the front end and the contact sensor are used to sense each other. If an organ that is not required to be inspected is mistakenly entered, the sound and light alarm at that location will sound an alarm. A variety of simulated teaching scenes are set, and the image blur module is used to blur the image to simulate severe bleeding. The operator observes the actual simulated surgery through the display terminal, ensuring that the teaching auxiliary device has the functions of visualization, guidance and feedback, avoiding the disadvantages of novices having difficulty learning and the shortage of simulation tools.

Description

Technical Field

[0001] The present invention relates to the technical field of female pelvic floor repair teaching aids, in particular to a teaching auxiliary device for female pelvic floor organ prolapse repair surgery. Background Art

[0002] The female pelvic floor is composed of multiple layers of muscle and fascia that seal the pelvic outlet, through which the urethra, vagina, and rectum run. The pelvic floor muscles, fascia, ligaments, and their nerves form a complex pelvic floor support system that interacts and supports each other, holding and maintaining the normal position of pelvic organs such as the uterus, bladder, and rectum, enabling urinary and fecal control. The pelvic floor is bordered by the inferior margin of the pubic symphysis in front, the tip of the coccyx in the back, and the descending ramus pubis, ascending ramus of the ischial bone, and ischial tuberosity on either side. Childbirth injuries or premature physical labor after childbirth can affect the recovery of pelvic floor muscle tone. Constipation, chronic cough, and other conditions that continuously increase intra-abdominal pressure, or low estrogen levels due to aging, as well as iatrogenic injuries, can all lead to a weakened pelvic floor structure and functional defects.

[0003] Currently, transvaginal pelvic floor repair surgery requires the surgeon to be familiar with the pelvic floor ligaments, fascia, and gastrointestinal tissues, dissecting and dissecting the pelvic floor without visual inspection, and identifying the corresponding anatomical guide points for puncture and suturing. Because novice surgeons face learning difficulties, the puncture route is based on intuition, resulting in a long learning curve. However, current teaching methods primarily rely on fresh cadaver dissection and intraoperative instruction, with limited resources for the former and the latter preventing repeated practice and lacking feedback.

[0004] Therefore, the existing needs are not met, and we propose a teaching auxiliary device for female pelvic organ prolapse repair surgery. Summary of the Invention

[0005] The object of the present invention is to provide a teaching auxiliary device for female pelvic organ prolapse repair surgery. The device comprises the following steps: wearing a pelvic floor teaching glove on the operator's right hand, inserting the hand into a pelvic floor simulation mold through the vagina, and then using a micro camera fixed to the middle section of the index finger or middle finger of the pelvic floor teaching glove to shoot the actual situation inside the pelvic floor simulation mold. The probe fixed to the front end of the middle finger of the pelvic floor teaching glove and the contact sensor are used to sense each other. If the probe mistakenly enters an organ not to be examined, an audible and visual alarm at that location will sound an alarm. A variety of simulated teaching scenarios are set. If there is damage to important organs and severe bleeding occurs, the internal real-time image is blurred by an image blurring module. The operator observes the simulated surgery through a display terminal connected to the outside, ensuring that the teaching auxiliary device has visualization, guidance and feedback functions, avoiding the learning difficulties of novices and the shortage of simulation tools, and solving the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a teaching auxiliary device for female pelvic floor organ prolapse repair surgery, comprising: a pelvic floor simulation mold, a pelvic floor teaching glove, and an auxiliary display system; each organ, ligament and fascia, blood vessel, and nerve position in the pelvic floor simulation mold is provided with an audible and visual alarm and a contact sensor; the pelvic floor teaching glove is provided with a probe at the front end of the index finger or middle finger, and the probe part of the pelvic floor teaching glove and the contact sensor are mutually inductive; the pelvic floor simulation mold, the pelvic floor teaching glove, the audible and visual alarm, and the contact sensor are all connected to the auxiliary display system; and the auxiliary display system is used to control and display the usage status of the pelvic floor teaching glove and the pelvic floor simulation mold.

[0007] Furthermore, the pelvic floor simulation mold is composed of important bony landmarks, blood vessels, nerves, ligaments, muscles and fascia pelvic floor support tissues, as well as the vagina, uterus, bladder, urethra, ureters and intestines. The operator wears pelvic floor teaching gloves on their hands and inserts them into the pelvic floor simulation mold through the vagina to detect the health status of the pelvic floor organs.

[0008] Furthermore, the auxiliary display system includes:

[0009] The image acquisition module is a miniature camera that is fixed to the middle section of the index or middle finger of the pelvic floor teaching glove through a strap and is used to capture real-time images of the interior of the pelvic floor simulation mold;

[0010] The model building module obtains multi-angle images of the pelvic floor simulation mold and uses computer vision technology to construct a three-dimensional pelvic floor model;

[0011] The signal identification module is used to receive the contact signal transmitted by the contact sensor, identify whether there is an abnormal contact signal in the contact signal, and then send the abnormal contact signal to the abnormal positioning module for position locking;

[0012] The abnormal positioning module is used to locate the abnormal contact signal, determine the organ position to which the abnormal contact signal belongs, and then send the abnormal contact signal to the command transceiver module to issue an alarm command;

[0013] An instruction transceiver module is used to receive the abnormal contact signal and convert it into an alarm instruction, and send the alarm instruction to the sound and light alarm corresponding to the position of the abnormal contact signal;

[0014] The teaching subsystem is used to set up simulation teaching scenarios for pelvic floor organ repair surgery, and to practice and assess important anatomical positions, structures, and teaching simulation surgeries.

[0015] Furthermore, in the model building module, multi-angle images of the pelvic floor simulation mold are obtained, and computer vision technology is used to build a three-dimensional pelvic floor model, including:

[0016] An image reading unit is used to read multi-angle images of the pelvic floor simulation mold, determine the acquisition angle of the pelvic floor simulation mold and the target image corresponding to each acquisition angle;

[0017] a representation label acquisition unit, configured to determine an angle representation of each target image according to an acquisition angle of the pelvic floor simulation model, encode the angle representation, annotate the encoding result in the corresponding target image, and determine a representation label for each target image based on the annotated result;

[0018] Reading the characterization label of the target image based on a computer, positioning the target image at each angle according to the reading result, and performing a pre-simulation in the target image based on the positioning result to obtain a first pelvic floor three-dimensional model;

[0019] a target image cluster acquisition unit, configured to acquire association relationships between target images based on the first pelvic floor three-dimensional model, and to bundle the target images according to the association relationships between the target images to obtain target image clusters having a connection relationship, wherein each target image cluster includes a plurality of sub-target images;

[0020] An image stitching unit, configured to stitch together a plurality of sub-target images between target image clusters based on association relationships;

[0021] An image processing unit is configured to obtain pixel information of each sub-target image in the target image cluster, and when the pixel information of two sub-target images overlap, mark the overlapping pixels in the two sub-target images, determine redundant pixels based on the marking results, and remove the redundant pixels;

[0022] Model modification unit for:

[0023] completing processing of the target image cluster based on the elimination result, and mapping the processed target image cluster in the first pelvic floor three-dimensional model, and obtaining first point cloud data of the processed target image cluster in the first pelvic floor three-dimensional model based on the mapping result;

[0024] Obtaining second point cloud data corresponding to the initial state of the first pelvic floor three-dimensional model;

[0025] The first point cloud data is matched with the second point cloud data, and corrected point cloud data is obtained based on the matching result. At the same time, the first pelvic floor three-dimensional model is corrected based on the corrected point cloud data to obtain a second pelvic floor three-dimensional model.

[0026] Furthermore, the auxiliary display system further includes:

[0027] The device matching module is used to label the sound and light alarms and contact sensors set at each organ, and to match the labels of the sound and light alarms and contact sensors at the same organ;

[0028] The video synchronization module is used to synchronously display the constructed pelvic floor three-dimensional model on the display terminal connected to the outside world.

[0029] Furthermore, the teaching subsystem includes:

[0030] Teaching and practice module, used to set up various simulation practice scenarios for pelvic floor organ repair surgery;

[0031] Teaching test module, used to set up various simulation test scenarios for pelvic floor organ repair surgery;

[0032] The mode selection module is used to select the current teaching mode.

[0033] Furthermore, the pelvic floor organ repair surgery simulation teaching scenarios set by the teaching subsystem specifically include: vaginal hysterectomy, anterior and posterior vaginal wall suture, transvaginal sacroiliac ligament suspension, sacrospinous ligament fixation, ischiospinal fascia fixation, retropubic mid-urethral sling and transobturator mid-urethral sling.

[0034] Furthermore, the image acquisition module includes:

[0035] The image processing module is used to receive the real-time image of the interior of the pelvic floor simulation mold and perform noise reduction and image enhancement on the light and noise in the received real-time two-dimensional image to ensure the clarity of the real-time two-dimensional image;

[0036] The image blur module is used to blur the real-time image inside the pelvic floor simulation mold based on Gaussian blur technology to simulate the performance of severe bleeding or damage to important organs during surgery.

[0037] Furthermore, the image processing module includes:

[0038] The noise processing module eliminates isolated noise points in the real-time image inside the pelvic floor simulation mold based on the median filtering method;

[0039] The image enhancement processing module performs image enhancement processing on the contour of the real-time image inside the pelvic floor simulation mold based on the gradient sharpening method to ensure the overall clarity of the real-time image inside the pelvic floor simulation mold.

[0040] Furthermore, the teaching and practice module, after setting up the simulation test scenario, also includes:

[0041] The preparation unit is used to obtain the evaluation indicators of the simulation test results, calculate the simulation test evaluation comprehensive score based on the evaluation indicators of the simulation test results, and output the simulation test evaluation grade based on the simulation test evaluation comprehensive score, specifically including:

[0042] An evaluation index reading unit is used to read the evaluation index of the simulation test result, and the evaluation index of the simulation test result includes: a structural position repair degree evaluation index and a simulation test efficiency evaluation index;

[0043] The first calculation unit is used to obtain a first coordinate point corresponding to the lowest point of the pelvic floor simulation mold structure after the simulation test and a second coordinate point corresponding to the lowest point of the normal pelvic floor simulation mold, and calculate the structural position repair degree based on the first coordinate value and the second coordinate value;

[0044]

[0045] Wherein, μ represents the degree of structural position repair; x1 represents the abscissa value corresponding to the first coordinate point; x2 represents the abscissa value corresponding to the second coordinate point; y1 represents the ordinate value corresponding to the first coordinate point; y2 represents the ordinate value corresponding to the second coordinate point;

[0046] The second computing unit is configured to:

[0047] Obtain the repair steps of the pelvic floor simulation mold during the simulation test, determine the surgical volume corresponding to each repair step, and record the surgical time required to complete each repair step during the simulation test;

[0048] The simulation test efficiency was calculated based on the surgical volume corresponding to each repair step and the surgical time required to complete each repair step;

[0049]

[0050] Where η represents the simulation test efficiency; n represents the total number of repair steps; i represents the repair step number; s i represents the amount of surgery corresponding to the i-th repair step; t i represents the operation time to complete the i-th repair step; v0 represents the baseline rate, and

[0051] The third computing unit is configured to:

[0052] Calculate the comprehensive score of simulation test evaluation based on the structural position repair degree evaluation index and the simulation test efficiency evaluation index;

[0053]

[0054] Among them, f represents the comprehensive score of simulation test evaluation; φ1 represents the first impact weight corresponding to the structural position repair degree evaluation index when calculating the comprehensive score of simulation test evaluation; φ2 represents the second impact weight corresponding to the simulation test efficiency evaluation index when calculating the comprehensive score of simulation test evaluation;

[0055] The simulation test evaluation grade output unit is used to output the simulation test evaluation grade based on the comprehensive score of the simulation test evaluation.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] 1. The present invention provides a pelvic floor simulation mold and a three-dimensional pelvic floor model. The operator wears a pelvic floor teaching glove and inserts the index finger sensor portion into the pelvic floor simulation mold through the vagina, thereby detecting important anatomical indicator points in the pelvic floor repair surgery that need to be inspected (sacrospinous ligament, sacrotuberous ligament, ischial spine and its fascia, pelvic fascia tendinous arch, uterosacral ligament, vaginal vault (two situations after hysterectomy and with uterus retained), coccyx, descending ramus pubis, ischial tuberosity, obturator membrane, pubic symphysis, etc.); during the detection process, the probe portion of the pelvic floor teaching glove is sensed by the contact sensors provided on each organ. If the operator's probe portion mistakenly enters an organ not to be inspected, the sound and light alarm at that location will sound an alarm to remind the operator that the non-inspected organ has been accidentally touched, indicating that the operation has failed; and the auxiliary display system will display the alarm. A variety of simulated teaching scenarios for pelvic floor organ repair surgery are set, and the operator can select the mode to practice and test. Secondly, a micro camera is installed in the middle section of the middle finger of the pelvic floor teaching glove to capture real-time images of the inside of the pelvic floor simulation mold. The captured images are synchronized with the display terminal connected to the outside world. During the practice, if there is damage to important organs and severe bleeding, the current real-time image of the inside of the pelvic floor simulation mold is blurred through the image blur module, and the operator can understand the actual situation of the simulated surgery by observing the images synchronized by the display terminal, ensuring that the teaching auxiliary device has visualization, guidance and feedback functions, thereby improving the authenticity and feasibility of the teaching auxiliary device for female pelvic floor organ prolapse repair surgery, and avoiding the disadvantages of novices' learning difficulties and tight simulation tool resources.

[0058] 2. By encoding the acquisition angle of the target image, the characterization label of each target image is effectively determined, which is conducive to the computer's recognition and reading of the target image, improving the efficiency and accuracy of constructing the first pelvic floor three-dimensional model. By identifying and eliminating redundant pixels, the target image is calibrated, and then the first pelvic floor three-dimensional model is corrected, effectively ensuring the effectiveness and accuracy of constructing the pelvic floor three-dimensional model based on machine vision technology.

[0059] 3. By obtaining the evaluation indicators of the simulation test results, the comprehensive score of the simulation test evaluation can be effectively calculated based on the evaluation indicators of the simulation test results, and then the simulation test evaluation level can be output based on the comprehensive score of the simulation test evaluation. This solution can effectively achieve accurate measurement of the simulation test results after the simulation test scenario is completed, thereby improving the evaluability of the simulation test and further ensuring the effectiveness of the teaching auxiliary device for female pelvic organ prolapse repair surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A diagram of a teaching aid device for female pelvic organ prolapse repair surgery according to the present invention;

[0061] Figure 2 This is a schematic diagram of the pelvic floor teaching glove of the present invention;

[0062] Figure 3 This is a diagram showing the composition of the auxiliary display system of the teaching auxiliary device of the present invention.

[0063] In the figure: 1. Pelvic floor simulation mold; 2. Pelvic floor teaching gloves; 3. Sound and light alarm; 4. Contact sensor. DETAILED DESCRIPTION

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0065] To solve the existing transvaginal approach to pelvic floor repair surgery, the surgeon completes the operation blindly. Due to the difficulty for novices to learn, the surgeon relies on feeling to understand the puncture route, which has a long learning curve. However, the current teaching method mainly relies on fresh cadaver dissection and intraoperative teaching. The former has limited resources and the latter cannot be repeatedly practiced. Figure 1-Figure 3 , this embodiment provides the following technical solutions:

[0066] A teaching aid for female pelvic organ prolapse repair surgery, comprising: a pelvic floor simulation mold 1, a pelvic floor teaching glove 2, and an auxiliary display system. The pelvic floor simulation mold 1 is composed of important bony landmarks, ligaments, muscles and fascia pelvic floor support tissues, as well as the vagina, uterus, bladder, urethra, ureters, and intestines. The material used is PVC, and the material simulates the real touch of the patient's pelvic cavity as much as possible to ensure that novices have a strong sense of reality when simulating; the pelvic floor teaching glove 2 is provided with a probe at the front end of the middle finger, and the pelvic floor teaching glove 2 is inserted into the pelvic floor simulation mold through the vagina. 1, the probe part is used to detect the health status of the pelvic floor organs; an audible and visual alarm 3 and a contact sensor 4 are set at the position of each organ in the pelvic floor simulation mold 1, and the probe part of the pelvic floor teaching glove 2 and the contact sensor 4 are mutually inductive, and the audible and visual alarm 3 and the contact sensor 4 at each organ are numbered, and the numbers correspond one to one; the pelvic floor simulation mold 1, the pelvic floor teaching glove 2, the audible and visual alarm 3 and the contact sensor 4 are all connected to the auxiliary display system, and the auxiliary display system is used to control and display the use status of the pelvic floor teaching glove 2 and the pelvic floor simulation mold 1.

[0067] Specifically, the sound and light alarm 3 and the contact sensor 4 at each organ are turned on through the auxiliary display system, and the host connected to the outside world selects the surgical simulation plan, determines the position of the pelvic floor organ to be detected, and turns off the sound and light alarm 3 and the contact sensor 4 at the position; the probe at the front end of the pelvic floor teaching glove 2 and the miniature camera in the middle section of the middle finger are activated, and the operator inserts the pelvic floor simulation mold 1 into the vagina after wearing the pelvic floor teaching glove 2 on the right hand, and uses the front end probe part to probe into the position of the pelvic floor organ to be detected. During the process of simulating the repair operation, if the probe part accidentally touches the position of the non-inspected organ, the contact sensor 4 turned on at the place senses that the probe has been mistakenly entered, and then transmits the signal to the auxiliary display system, and the auxiliary display system controls the sound and light alarm 3 at the place to sound an alarm to remind the novice that the simulated operation has failed, thereby ensuring that the teaching auxiliary device has the functions of visualization, guidance and feedback.

[0068] The auxiliary display system includes:

[0069] The image acquisition module is a miniature camera that is fixed to the middle section of the middle finger of the pelvic floor teaching glove 2 through a strap and is used to capture real-time images of the interior of the pelvic floor simulation mold 1;

[0070] In this embodiment, for example, a micro camera is mounted on the middle section of the middle finger of the pelvic floor teaching glove 2. The operator wears the pelvic floor teaching glove 2 on the right hand, inserts the pelvic floor teaching glove 2 and the right hand into the pelvic floor simulation mold 1 through the vagina, and uses the micro camera to obtain a live image of the interior of the pelvic floor simulation mold 1. The live image is synchronously fed back to the display terminal page of the pelvic floor teaching glove 2, so that the novice doctor can understand the internal health status of the pelvic floor simulation mold 1 in real time.

[0071] The image acquisition module includes:

[0072] The image processing module is used to receive the real-time image of the interior of the pelvic floor simulation mold 1, and perform noise reduction and image enhancement processing on the light and noise in the received real-time two-dimensional image to ensure the clarity of the real-time two-dimensional image; the image processing module includes: a noise processing module, which eliminates isolated noise points in the real-time image of the interior of the pelvic floor simulation mold 1 based on the median filtering method; an image enhancement processing module, which performs image enhancement processing on the contour of the real-time image of the interior of the pelvic floor simulation mold 1 based on the gradient sharpening method to ensure the overall clarity of the real-time image of the interior of the pelvic floor simulation mold 1; specifically, by performing noise and contour image enhancement processing on the real-time image of the interior obtained by the micro camera, the clarity of the real-time image feedback screen is ensured, which facilitates novice doctors to perform simulated operations of restorative surgery and improves the success rate of novice doctors' simulated experiments of restorative surgery.

[0073] The image blur module is based on Gaussian blur technology and is used to blur the real-time image inside the pelvic floor simulation mold 1 to simulate the performance after severe bleeding or damage to important organs during surgery. Specifically, since severe bleeding or damage to important organs often occurs during real surgery, resulting in blurred real-time vision inside the pelvic floor, in order to ensure the authenticity of the repair surgery simulation operation using the pelvic floor simulation mold 1, the collected real-time image is blurred using Gaussian blur technology, thereby representing the performance after severe bleeding or damage to important organs during the simulation, and then providing it to novice doctors for processing and completing the operational process of complication treatment, further improving the authenticity and feasibility of existing teaching auxiliary devices for female pelvic organ prolapse repair surgery.

[0074] Continuing with the above embodiment, a surgical simulation plan is selected on the host computer via the keyboard to determine the location of the pelvic floor organs to be tested, such as selecting uterine status testing to simulate a vaginal hysterectomy. At this point, the audible and visual alarm 3 and contact sensor 4 associated with the uterus are turned off, while the audible and visual alarm 3 and contact sensor 4 associated with the remaining organs are turned on. The pelvic floor teaching glove 2 is activated, and a probe is inserted into the pelvic floor simulation mold 1 through the vagina. A micro-camera is used to capture a live image of the interior of the pelvic floor simulation mold 1. After determining the surgical location based on the live internal image, the novice surgeon, relying on the learned technique, inserts the surgical instrument through the vagina into the uterus and performs the resection. If, during this procedure, the surgical instrument damages the remaining organs, such as the ureteral wall, the contact sensor 4 associated with the ureter senses the contact signal and feeds it back to the auxiliary display system. After identification by the auxiliary display system, the audible and visual alarm 3 associated with this location is turned on as a reminder. The image blur module is then used to blur the live internal image displayed on the host computer to indicate a failure of the surgical simulation, thereby enhancing the authenticity of the repair surgery simulation.

[0075] The model building module obtains multi-angle images of the pelvic floor simulation mold 1 and uses computer vision technology to construct a three-dimensional model of the pelvic floor. Specifically, by building a three-dimensional pelvic floor model of the pelvic floor simulation mold 1 and displaying it on the display terminal page, it is used to improve novice doctors' understanding of the real internal tissue of the pelvic floor and the pelvic floor simulation mold 1. At the same time, when performing a repair surgery simulation operation, after the probe enters the pelvic floor simulation mold 1, its entry direction and angle are synchronously fed back to the pelvic floor three-dimensional model, thereby assisting novice doctors to understand the real-time position of the probe.

[0076] A signal identification module is used to receive the contact signal transmitted by the contact sensor 4, and to identify whether there is an abnormal contact signal in the contact signal, and then send the abnormal contact signal to the abnormal positioning module for position locking;

[0077] Continuing with the above embodiment, for example, if uterine status detection is selected to simulate vaginal hysterectomy, and surgical instruments damage the ureteral wall during the operation, the contact sensor 4 belonging to the ureter senses the contact signal and feeds it back to the signal resolution module. The signal resolution module determines the authenticity of the signal, and after determining that the signal is an abnormal contact signal, the resolution structure is fed back to the abnormal positioning module for position locking.

[0078] The abnormal positioning module is used to locate the abnormal contact signal, determine the organ position to which the abnormal contact signal belongs, and then send the abnormal contact signal to the command transceiver module to issue an alarm command;

[0079] Continuing with the above embodiment, for example, after the signal discrimination module determines that the signal is an abnormal contact signal, the abnormal positioning module checks the label of the contact sensor 4 that sends the abnormal contact signal. For example, if the label of the contact sensor 4 is number five, the organ position to which the number five contact sensor 4 belongs is determined, and the corresponding number five sound and light alarm 3 is found. The abnormal contact signal and the label of the sound and light alarm 3 to which it belongs are synchronously fed back to the instruction transceiver module.

[0080] An instruction transceiver module is used to receive the abnormal contact signal and convert it into an alarm instruction, and send the alarm instruction to the sound and light alarm 3 corresponding to the position of the abnormal contact signal;

[0081] Continuing with the above embodiment, for example, if the abnormal locating module locates that the sound and light alarm 3 to which the abnormal contact signal belongs is number five, then an opening instruction is sent to the sound and light alarm No. 5 3 through the instruction transceiver module, thereby controlling the sound and light alarm No. 5 3 to emit an alarm sound to remind the novice doctor that the current repair surgery simulation operation has failed.

[0082] The device matching module is used to label the sound and light alarms 3 and contact sensors 4 provided at each organ, and to match the labels of the sound and light alarms 3 and contact sensors 4 at the same organ;

[0083] Continuing with the above embodiment, before locating the abnormal contact signal, the sound and light alarms 3 and contact sensors 4 provided at each organ need to be numbered in advance, such as: vaginal area The number of the sound and light alarm 3 and the contact sensor 4 is 1. Uterine area The number of the sound and light alarm 3 and the contact sensor 4 is No. 2. bladder area The number of the sound and light alarm 3 and the contact sensor 4 is three. urethral area The number of the sound and light alarm 3 and the contact sensor 4 is four. Ureteric area The number of the sound and light alarm 3 and the contact sensor 4 is five. Intestinal area The corresponding sound and light alarm 3 and contact sensor 4 are numbered six; thus, the sound and light alarm 3 and contact sensor 4 at each organ are uniformly set so that any sound and light alarm 3 and contact sensor 4 can be located later.

[0084] A video synchronization module is used to synchronously display the constructed pelvic floor three-dimensional model on an externally connected display terminal;

[0085] The teaching subsystem is used to set up simulation teaching scenarios for pelvic floor organ repair surgery, and to practice and assess important anatomical positions, structures, and teaching simulation surgeries.

[0086] The teaching subsystem includes:

[0087] The teaching and rehearsal module is used to set various simulation rehearsal scenarios for pelvic floor organ repair surgery; the teaching and testing module is used to set various simulation test scenarios for pelvic floor organ repair surgery; the mode selection module is used to select the mode used for the current teaching; specifically, by setting various simulation rehearsal scenarios and various simulation test scenarios for pelvic floor organ repair surgery in the host to which the pelvic floor teaching glove 2 belongs, novice doctors can select the required practice and test items based on their own needs, thereby optimizing the diversity of existing female pelvic floor organ prolapse repair surgery teaching auxiliary devices, which helps to improve the practical level of novice doctors.

[0088] The teaching subsystem sets up the simulated teaching scenarios for pelvic floor organ repair surgery, including: vaginal hysterectomy, anterior and posterior vaginal wall suture, transvaginal sacroiliac ligament suspension, sacrospinous ligament fixation, ischiospinal fascia fixation, retropubic mid-urethral sling, and transobturator mid-urethral sling.

[0089] The working principle of the above content is as follows: by setting up a pelvic floor simulation mold 1 and a pelvic floor three-dimensional model, the operator uses his right hand to insert the probe part of the pelvic floor teaching glove 2 into the pelvic floor simulation mold 1 through the vagina, so as to detect the health status of the pelvic floor organs to be examined; during the detection process, the probe part of the pelvic floor teaching glove 2 is sensed by the contact sensor 4 set on each organ. If the operator's probe part mistakenly enters an organ not to be examined, the sound and light alarm 3 at that location will sound an alarm to remind the operator that he has accidentally touched an organ not to be examined, indicating that the operation has failed; and a pelvic floor organ repair function is set in the host connected to its auxiliary display system. There are multiple simulated teaching scenes for surgery, and the operator can select the mode to practice and test by himself; secondly, the front end and both sides of the intracavitary probe in the pelvic floor teaching glove 2 are equipped with micro cameras for collecting real-time images inside the pelvic floor simulation mold 1, and the collected images are synchronized with the display terminal connected to the auxiliary display system; during the practice, if there is damage to important organs and severe bleeding, the current real-time image of the inside of the pelvic floor simulation mold 1 is blurred by the image blur module, and the operator can understand the actual situation of the simulated operation by observing the image synchronized by the display terminal in the pelvic floor teaching glove 2.

[0090] The beneficial effects of the above content: Through the above method, it is ensured that the teaching auxiliary device has the functions of visualization, guidance and feedback, thereby improving the authenticity and feasibility of the teaching auxiliary device for female pelvic organ prolapse repair surgery, avoiding the difficulties of learning for novices and the disadvantages of tight simulation tool resources.

[0091] This embodiment also provides a teaching aid device for female pelvic organ prolapse repair surgery. In the model building module, multi-angle images of the pelvic floor simulation mold 1 are obtained, and a three-dimensional pelvic floor model is constructed using computer vision technology, including:

[0092] An image reading unit is used to read multi-angle images of the pelvic floor simulation mold 1, determine the acquisition angle of the pelvic floor simulation mold and the target image corresponding to each acquisition angle;

[0093] a representation label acquisition unit, configured to determine an angle representation of each target image according to an acquisition angle of the pelvic floor simulation model, encode the angle representation, annotate the encoding result in the corresponding target image, and determine a representation label for each target image based on the annotated result;

[0094] Reading the characterization label of the target image based on a computer, positioning the target image at each angle according to the reading result, and performing a pre-simulation in the target image based on the positioning result to obtain a first pelvic floor three-dimensional model;

[0095] a target image cluster acquisition unit, configured to acquire association relationships between target images based on the first pelvic floor three-dimensional model, and to bundle the target images according to the association relationships between the target images to obtain target image clusters having a connection relationship, wherein each target image cluster includes a plurality of sub-target images;

[0096] An image stitching unit, configured to stitch together a plurality of sub-target images between target image clusters based on association relationships;

[0097] An image processing unit is configured to obtain pixel information of each sub-target image in the target image cluster, and when the pixel information of two sub-target images overlap, mark the overlapping pixels in the two sub-target images, determine redundant pixels based on the marking results, and remove the redundant pixels;

[0098] Model modification unit for:

[0099] completing processing of the target image cluster based on the elimination result, and mapping the processed target image cluster in the first pelvic floor three-dimensional model, and obtaining first point cloud data of the processed target image cluster in the first pelvic floor three-dimensional model based on the mapping result;

[0100] Obtaining second point cloud data corresponding to the initial state of the first pelvic floor three-dimensional model;

[0101] The first point cloud data is matched with the second point cloud data, and corrected point cloud data is obtained based on the matching result. At the same time, the first pelvic floor three-dimensional model is corrected based on the corrected point cloud data to obtain a second pelvic floor three-dimensional model.

[0102] In this embodiment, the angle representation is encoded and the encoding result is marked in the corresponding target image in order to add a representation label to the multi-angle images of the pelvic floor simulation mold, so that the angle state of each target image can be determined, and the result of encoding the angle representation can be recognized by a computer.

[0103] In this embodiment, the first pelvic floor 3D model may be a 3D model obtained by pre-simulating target images from multiple angles, and the second pelvic floor 3D model may be a final pelvic floor 3D simulation model obtained by correcting the first pelvic floor 3D model.

[0104] In this embodiment, the target image cluster may include a target image cluster in which each sub-target image has a connection relationship.

[0105] In this embodiment, the redundant pixel points may be pixel points corresponding to repeated parts of the overlapping pixel points as redundant pixel points.

[0106] In this embodiment, the first point cloud data may be point cloud data of the processed target image cluster in the first pelvic floor three-dimensional model.

[0107] In this embodiment, the second point cloud data may be point cloud data corresponding to the initial first pelvic floor three-dimensional model.

[0108] In this embodiment, the corrected point cloud data may be difference point cloud data between the first point cloud data and the second point cloud data.

[0109] The working principle and beneficial effects of the above technical solution are: by encoding the acquisition angle of the target image, the characterization label of each target image is effectively determined, which is conducive to the computer's recognition and reading of the target image, thereby improving the efficiency and accuracy of constructing the first pelvic floor three-dimensional model; by identifying and eliminating redundant pixels, the target image is calibrated, and then the first pelvic floor three-dimensional model is corrected, effectively ensuring the effectiveness and accuracy of constructing the pelvic floor three-dimensional model based on machine vision technology.

[0110] This embodiment further provides a teaching auxiliary device for female pelvic organ prolapse repair surgery, wherein the teaching and rehearsal module is used to set a simulation test scenario and further includes:

[0111] The preparation unit is used to obtain the evaluation indicators of the simulation test results, calculate the simulation test evaluation comprehensive score based on the evaluation indicators of the simulation test results, and output the simulation test evaluation grade based on the simulation test evaluation comprehensive score, specifically including:

[0112] An evaluation index reading unit is used to read the evaluation index of the simulation test result, and the evaluation index of the simulation test result includes: a structural position repair degree evaluation index and a simulation test efficiency evaluation index;

[0113] The first calculation unit is used to obtain a first coordinate point corresponding to the lowest point of the structure of the pelvic floor simulation mold 1 after the simulation test and the second coordinate point corresponding to the lowest point of the normal pelvic floor simulation mold 1, and calculate the structural position repair degree based on the first coordinate value and the second coordinate value;

[0114]

[0115] Wherein, μ represents the degree of structural position repair; x1 represents the abscissa value corresponding to the first coordinate point; x2 represents the abscissa value corresponding to the second coordinate point; y1 represents the ordinate value corresponding to the first coordinate point; y2 represents the ordinate value corresponding to the second coordinate point;

[0116] The second computing unit is configured to:

[0117] Obtaining the repair steps for repairing the pelvic floor simulation mold 1 during the simulation test, and determining the surgical volume corresponding to each repair step. At the same time, recording the surgical time for completing each repair step during the simulation test;

[0118] The simulation test efficiency was calculated based on the surgical volume corresponding to each repair step and the surgical time required to complete each repair step;

[0119]

[0120] Where η represents the simulation test efficiency; n represents the total number of repair steps; i represents the repair step number; s i represents the amount of surgery corresponding to the i-th repair step; t i represents the operation time to complete the i-th repair step; v0 represents the baseline rate, and

[0121] The third computing unit is configured to:

[0122] Calculate the comprehensive score of simulation test evaluation based on the structural position repair degree evaluation index and the simulation test efficiency evaluation index;

[0123]

[0124] Among them, f represents the comprehensive score of simulation test evaluation; φ1 represents the first impact weight corresponding to the structural position repair degree evaluation index when calculating the comprehensive score of simulation test evaluation; φ2 represents the second impact weight corresponding to the simulation test efficiency evaluation index when calculating the comprehensive score of simulation test evaluation;

[0125] The simulation test evaluation grade output unit is used to output the simulation test evaluation grade based on the comprehensive score of the simulation test evaluation.

[0126] In this embodiment, the simulation test evaluation grade is output based on the simulation test evaluation comprehensive score, including: by determining a score range set in advance, and comparing the score range set in advance with the simulation test evaluation comprehensive score, thereby outputting the simulation test evaluation grade, that is, when the simulation test evaluation comprehensive score is greater than the score range set in advance, the first evaluation grade is output; when the simulation test evaluation comprehensive score is within the score range set in advance and is included in the boundary value (upper boundary and lower boundary) of the score range set in advance, the second evaluation grade is output; that is, when the simulation test evaluation comprehensive score is less than the score range set in advance, the third evaluation grade is output, wherein the higher the grade, the better the simulation test result.

[0127] In this embodiment, the closer the structural position repair degree is to 0, the better the repair effect is. Therefore, in order to make the simulation test evaluation comprehensive score positively correlated with the structural position repair degree, the formula is set to

[0128] The working principle and beneficial effects of the above technical solution are: by obtaining the evaluation indicators of the simulation test results, the simulation test evaluation comprehensive score is effectively calculated based on the evaluation indicators of the simulation test results, and then the simulation test evaluation level is output based on the simulation test evaluation comprehensive score. This solution can effectively realize the accurate measurement of the simulation test results after the simulation test scene is completed, improve the evaluability of the simulation test, and further ensure the effectiveness of the teaching auxiliary device for female pelvic organ prolapse repair surgery.

[0129] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0130] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A teaching aid for female pelvic organ prolapse repair surgery, comprising: A pelvic floor simulation mold (1), a pelvic floor teaching glove (2) and an auxiliary display system, characterized in that: each organ, ligament and fascia, blood vessel and nerve position in the pelvic floor simulation mold (1) is provided with an audible and visual alarm (3) and a contact sensor (4); the pelvic floor teaching glove (2) is provided with a probe at the front end of the middle finger, and the probe part of the pelvic floor teaching glove (2) and the contact sensor (4) are mutually inductive; the pelvic floor simulation mold (1), the pelvic floor teaching glove (2), the audible and visual alarm (3) and the contact sensor (4) are all connected to the auxiliary display system, and the auxiliary display system is used to control and display the use status of the pelvic floor teaching glove (2) and the pelvic floor simulation mold (1); The auxiliary display system includes: The image acquisition module is a miniature camera, which is fixed to the middle section of the index finger or middle finger of the pelvic floor teaching glove (2) through a strap and is used to collect real-time images of the interior of the pelvic floor simulation mold (1); A model building module obtains multi-angle images of the pelvic floor simulation mold (1) and constructs a three-dimensional pelvic floor model using computer vision technology; A signal discrimination module is used to receive the contact signal transmitted by the contact sensor (4), and to discriminate whether there is an abnormal contact signal in the contact signal, and then send the abnormal contact signal to the abnormal positioning module for position locking; The abnormal positioning module is used to locate the abnormal contact signal, determine the organ position to which the abnormal contact signal belongs, and then send the abnormal contact signal to the command transceiver module to issue an alarm command; An instruction transceiver module, configured to receive an abnormal contact signal and convert it into an alarm instruction, and to send the alarm instruction to an audible and visual alarm device (3) corresponding to the position of the abnormal contact signal; The teaching subsystem is used to set up simulation teaching scenarios for pelvic floor organ repair surgery, and to practice and assess important anatomical positions, structures, and teaching simulation surgeries.

2. The teaching aid device for female pelvic organ prolapse repair surgery according to claim 1, characterized in that: The pelvic floor simulation mold (1) is composed of bony landmarks, ligaments, muscles and fascia pelvic floor support tissues, as well as the vagina, uterus, bladder, urethra, ureters and intestines. The operator wears a pelvic floor teaching glove (2) on his hand and inserts it into the pelvic floor simulation mold (1) through the vagina to detect the health status of the pelvic floor organs.

3. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 1, characterized in that: In the model building module, multi-angle images of the pelvic floor simulation mold (1) are obtained, and a three-dimensional pelvic floor model is constructed using computer vision technology, including: An image reading unit is used to read multi-angle images of the pelvic floor simulation mold (1), determine the acquisition angle of the pelvic floor simulation mold and the target image corresponding to each acquisition angle; a representation label acquisition unit, configured to determine an angle representation of each target image according to an acquisition angle of the pelvic floor simulation model, encode the angle representation, annotate the encoding result in the corresponding target image, and determine a representation label for each target image based on the annotated result; Reading the characterization label of the target image based on a computer, positioning the target image at each angle according to the reading result, and performing a pre-simulation in the target image based on the positioning result to obtain a first pelvic floor three-dimensional model; a target image cluster acquisition unit, configured to acquire association relationships between target images based on the first pelvic floor three-dimensional model, and to bundle the target images according to the association relationships between the target images to obtain target image clusters having a connection relationship, wherein each target image cluster includes a plurality of sub-target images; An image stitching unit, configured to stitch together a plurality of sub-target images between target image clusters based on association relationships; an image processing unit, configured to obtain pixel information of each sub-target image in the target image cluster, and when pixel information of two sub-target images overlap, mark the overlapping pixels in the two sub-target images, determine redundant pixels based on the marking results, and remove the redundant pixels; Model modification unit for: completing processing of the target image cluster based on the elimination result, and mapping the processed target image cluster in the first pelvic floor three-dimensional model, and obtaining first point cloud data of the processed target image cluster in the first pelvic floor three-dimensional model based on the mapping result; Obtaining second point cloud data corresponding to the initial state of the first pelvic floor three-dimensional model; The first point cloud data is matched with the second point cloud data, and corrected point cloud data is obtained based on the matching result. At the same time, the first pelvic floor three-dimensional model is corrected based on the corrected point cloud data to obtain a second pelvic floor three-dimensional model.

4. The teaching aid device for female pelvic organ prolapse repair surgery according to claim 1, characterized in that: The auxiliary display system further includes: A device matching module is used to label the sound and light alarms (3) and contact sensors (4) provided at each organ, and to match the labels of the sound and light alarms (3) and contact sensors (4) at the same organ; The video synchronization module is used to synchronously display the constructed pelvic floor three-dimensional model on the display terminal connected to the outside world.

5. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 1, characterized in that: The teaching subsystem includes: Teaching and practice module, used to set up various simulation practice scenarios for pelvic floor organ repair surgery; Teaching test module, used to set up various simulation test scenarios for pelvic floor organ repair surgery; The mode selection module is used to select the current teaching mode.

6. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 1, characterized in that: The simulated teaching scenarios for pelvic floor organ repair surgery set by the teaching subsystem specifically include: vaginal hysterectomy, anterior and posterior vaginal wall suturing, transvaginal sacrosacral ligament suspension, sacrospinous ligament fixation, ischiospinal fascia fixation, retropubic mid-urethral sling, and transobturator mid-urethral sling.

7. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 1, characterized in that: The image acquisition module includes: An image processing module is used to receive a real-time image of the interior of the pelvic floor simulation mold (1), and to perform noise reduction and image enhancement processing on light and noise in the received real-time two-dimensional image to ensure the clarity of the real-time two-dimensional image; The image blur module blurs the real-time image inside the pelvic floor simulation mold (1) based on Gaussian blur technology to simulate the performance of severe bleeding or damage to important organs during surgery.

8. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 7, characterized in that: The image processing module includes: A noise processing module, which eliminates isolated noise points in the real-time image inside the pelvic floor simulation mold (1) based on a median filtering method; The image enhancement processing module performs image enhancement processing on the contour of the internal real-time image of the pelvic floor simulation mold (1) based on the gradient sharpening method to ensure the overall clarity of the internal real-time image of the pelvic floor simulation mold (1).

9. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 5, characterized in that: The teaching and drill module is used to set up simulation test scenarios and also includes: The preparation unit is used to obtain the evaluation indicators of the simulation test results, calculate the simulation test evaluation comprehensive score based on the evaluation indicators of the simulation test results, and output the simulation test evaluation grade based on the simulation test evaluation comprehensive score, specifically including: An evaluation index reading unit is used to read the evaluation index of the simulation test result, and the evaluation index of the simulation test result includes: a structural position repair degree evaluation index and a simulation test efficiency evaluation index; A first calculation unit is used to obtain a first coordinate point corresponding to the lowest point of the structure of the pelvic floor simulation mold (1) after the simulation test repair and a second coordinate point corresponding to the lowest point of the normal pelvic floor simulation mold (1), and calculate the structural position repair degree based on the first coordinate value and the second coordinate value; ； in, Indicates the degree of repair of the structural position; Indicates the horizontal coordinate value corresponding to the first coordinate point; Indicates the horizontal coordinate value corresponding to the second coordinate point; Indicates the vertical coordinate value corresponding to the first coordinate point; Indicates the vertical coordinate value corresponding to the second coordinate point; The second computing unit is configured to: Obtaining the repair steps of the pelvic floor simulation mold (1) during the simulation test, and determining the amount of surgery corresponding to each repair step, and at the same time, recording the operation time for each repair step to be completed during the simulation test; The simulation test efficiency was calculated based on the surgical volume corresponding to each repair step and the surgical time required to complete each repair step; ； in, Indicates the simulation test efficiency; Indicates the total number of repair steps; Indicates the repair step sequence number value; Indicates that the The amount of surgery corresponding to each repair step; Indicates that the The surgical time required to complete each repair step; represents the base rate, and ; The third computing unit is configured to: Calculate the comprehensive score of simulation test evaluation based on the structural position repair degree evaluation index and the simulation test efficiency evaluation index; ； in, Indicates the comprehensive score of the simulation test assessment; Indicates the first impact weight corresponding to the structural position repair degree evaluation index when calculating the comprehensive score of the simulation test evaluation; Indicates the second impact weight corresponding to the simulation test efficiency evaluation index when calculating the comprehensive score of the simulation test evaluation; The simulation test evaluation grade output unit is used to output the simulation test evaluation grade based on the comprehensive score of the simulation test evaluation.

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