A surgical instruction method, medium, terminal device and system

Abstract

The embodiment of the present invention discloses a surgical instruction method, medium, terminal device and system. The surgical instruction method of the present invention comprises the following steps: S1, according to the three-dimensional coordinates of the lesion, determining the spherical distribution area where the lesion is located, the spherical distribution area refers to the spherical space including the lesion; S2, obtaining the temperature field information and the temperature field distribution limit in the spherical distribution area; S3, generating a progress indication signal according to the temperature field information and the temperature field distribution limit. The surgical instruction method of the present invention can provide doctors with timely and accurate progress information, thereby effectively improving the efficiency of surgical operations and reducing dependence on doctor experience.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of medical technology, and in particular to a surgical instruction method, medium, terminal device, and system. Background Art

[0002] When diagnosing and treating patients in hospitals, especially when surgery is required, in order to minimize the trauma of surgery to patients, surgery is often performed using the internal cavities of organs in the human body, such as radiofrequency ablation surgery.

[0003] During radiofrequency ablation surgery, the radiofrequency electrode is inserted into human tissue, and the current is sent into the lesion through the radiofrequency electrode, generating a large amount of heat at the radiofrequency electrode. The generated heat causes the local lesion to generate a high temperature (such as 40℃~60℃) and maintain it for a period of time to perform the ablation surgery on the lesion.

[0004] However, there are many problems in the prior art. On the one hand, the current radiofrequency ablation system cannot determine the working status information of the radiofrequency electrode, and thus cannot accurately provide the progress of the operation. For example, it is impossible to determine whether the temperature at the lesion is up to standard, resulting in the operation process can only rely on the doctor's experience to judge the progress of the ablation surgery and adjust the operation, which increases the difficulty and accuracy of the operation. On the other hand, in order to smoothly reach the lesion site with surgical instruments, doctors need to accurately judge the direction of the surgical instruments in the human body. For example, when performing the above-mentioned operation, the doctor generally inserts the catheter-like surgical instrument into the inner cavity of the organ in the body, such as the stomach, lungs, heart, etc., through the mouth and other parts, or through the body opening, and observes the images returned by the endoscope, and judges the direction of the medical device in the human body based on experience. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a surgical indication method, medium, terminal device and system. To address the above-mentioned problems, the surgical navigation method can provide effective indication information for the progress of radiofrequency ablation surgery, and provide doctors with timely and accurate progress status, thereby effectively improving surgical operation efficiency and reducing dependence on doctors' experience. At the same time, it has the characteristics of wide application range and high reliability.

[0006] An embodiment of the present invention provides a surgical instruction method, comprising the following steps:

[0007] S1. determining a spherical distribution area where the lesion is located according to the three-dimensional coordinates of the lesion, wherein the spherical distribution area refers to a spherical space including the lesion;

[0008] S2. Obtaining temperature field information and temperature field distribution limit value within the spherical distribution area;

[0009] S3. Generate a process indication signal according to the temperature field information and the temperature field distribution limit.

[0010] This technical solution can provide feedback and judgment on the surgical progress of the lesion area based on the temperature field information in the spherical space, provide surgical advice to doctors, and determine whether the ablation surgery has achieved the expected degree of progress indication signals, such as a surgery completion signal.

[0011] Optionally, the surgery instruction method, before step S1, further comprises the following steps:

[0012] S4, scanning the body or organ to generate a three-dimensional structure cavity model, wherein the three-dimensional structure cavity model includes three-dimensional distribution information of one or more of the inner cavity of the patient's organ, the blood vessels in the organ, or the trachea;

[0013] S5, obtaining the three-dimensional coordinates of the lesion;

[0014] S6. Generate a surgical navigation path according to the three-dimensional coordinates of the lesion and the three-dimensional structural cavity model, wherein the surgical navigation path includes path information formed by one or more interconnected organ cavities, blood vessels or tracheas;

[0015] S7, detecting the current position coordinates;

[0016] S8. Generate navigation instruction information according to the three-dimensional structure cavity model, the surgical navigation path and the current position coordinates, wherein the navigation instruction information is used to prompt or correct the route.

[0017] This technical solution achieves the purpose of navigating the surgical instrument to the lesion. The surgical indication method connects one or more of the inner cavity, blood vessels or organs of the human body or organ, forms navigation indication information according to the judgment of the position and the navigation of the path, thereby indicating the direction of travel of the medical instrument.

[0018] In a feasible solution, step S4 specifically includes the following steps:

[0019] S9. Injecting contrast media into the human body or organs;

[0020] S10, scanning the contrast agent to generate a three-dimensional structural cavity model.

[0021] By injecting contrast agents, the speed and accuracy of scanning images can be improved.

[0022] In a feasible solution, step S9 specifically includes:

[0023] S11, inject the contrast agent iopromide 370 into the blood vessel;

[0024] And step S10 specifically includes:

[0025] S12, using X-ray detection technology to obtain contrast image data generated by the contrast agent iopromide 370;

[0026] S13. Generate the three-dimensional structural cavity model according to the angiography image data.

[0027] As a commonly used contrast agent, iopromide 370 has the advantages of high reliability and wide application range.

[0028] In a feasible solution, step S9 specifically includes:

[0029] S14, injecting the contrast medium hyperpolarized xenon (Xe-129) into the lungs;

[0030] And step S10 specifically includes:

[0031] S15, using magnetic resonance technology to obtain diffusion-weighted imaging generated by the contrast agent hyperpolarized xenon gas (Xe-129) excitation;

[0032] S16. Generate the three-dimensional structural cavity model according to the diffusion weighted imaging.

[0033] The use of contrast agent hyperpolarized xenon (Xe-129) to generate a three-dimensional cavity model through magnetic resonance imaging is an existing technology and has been used to solve imaging problems in the diagnosis of lung diseases. It has the advantages of high imaging accuracy, fast speed and small impact.

[0034] In a feasible solution, step S3 specifically includes the following steps:

[0035] Step S6 specifically includes the following steps:

[0036] S17, generating all possible surgical paths according to the three-dimensional coordinates of the lesion and the three-dimensional structural cavity model; wherein the surgical path refers to a passage from the outside of the body or the entrance of the organ to be operated on through each end-to-end connected organ cavity, blood vessel or trachea to the part to be operated on;

[0037] S18, obtaining the maximum limit value of the surgical path and the length value of each surgical path;

[0038] S19, screening out a first surgical path group according to the length value and the maximum limit value; wherein the first surgical path group is composed of the surgical paths whose length values ​​are less than the maximum limit value;

[0039] S20, obtaining the minimum allowable diameter value of the surgical paths in the first surgical path group and the minimum diameter value of each surgical path;

[0040] S21, selecting a second surgical path group according to the minimum allowable diameter value and the minimum diameter value; wherein the second surgical path group is composed of surgical paths whose minimum diameter value is greater than the minimum allowable diameter value;

[0041] S22, obtaining a preset length coefficient table and a diameter coefficient table; wherein the length coefficient table is composed of length evaluation coefficients used to evaluate the length advantage of the surgical path, and the diameter coefficient table is composed of width evaluation coefficients used to evaluate the width advantage of the surgical path;

[0042] S23, according to the length coefficient table, the diameter coefficient table, the length value, and the minimum diameter value, according to the formula:

[0043] P i =L i × i +R i ×k i

[0044] Obtaining a comprehensive evaluation index of the surgical pathway in the second surgical pathway group; wherein,

[0045] P i is the comprehensive evaluation index of the surgical path i;

[0046] L i is the length value of the surgical path i;

[0047] l i The corresponding length evaluation coefficient of the surgical path i found in the length coefficient table according to its length value;

[0048] R i is the minimum diameter value of the surgical path i;

[0049] k i The corresponding width evaluation coefficient of the surgical path i found in the diameter coefficient table according to its minimum diameter value;

[0050] S24: Use the surgical path corresponding to the largest comprehensive evaluation index as the surgical navigation path.

[0051] In this technical solution, first, according to the length of the surgical instrument, the surgical path that meets the length requirements and the channel that can accommodate the instrument is selected, and then these surgical paths are evaluated, and the optimal surgical path is used as the surgical navigation path. The comprehensive evaluation index obtained in this way can be used as a standard for evaluating surgical paths, so as to select the surgical navigation path that best meets the requirements.

[0052] In a feasible solution, step S8 specifically includes the following steps:

[0053] S25, confirming the path position of the current position in the three-dimensional structure cavity model according to the current position coordinates;

[0054] S26. Generate navigation instruction information including a direction and a distance to move to a next position according to the path position and the surgical navigation path.

[0055] By adopting this step, when the current position is correct, navigation instruction information for moving to the next position can be generated.

[0056] In a feasible solution, step S26 specifically includes the following steps:

[0057] S27, judging whether the current position is located in the surgical navigation path according to the path position and the surgical navigation path;

[0058] S28. If the current position is outside the surgical navigation path, generate navigation indication information including the direction and distance to the previous position.

[0059] By adopting this step, when the current position deviates, navigation instruction information for moving the instrument to the last position where no deviation occurred can be generated.

[0060] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the aforementioned surgical instruction method is implemented.

[0061] An embodiment of the present invention further provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned surgical instruction method when executing the computer program.

[0062] The embodiment of the present invention also provides a surgical instruction system, comprising: a detection module, an execution module, a display module and a control module;

[0063] The detection module is electrically connected to the control module, and the detection module is used to detect the current position;

[0064] The execution module is electrically connected to the control module, and the execution module is used to realize the movement of the detection module;

[0065] The display module is electrically connected to the control module, and the display module is used to display the current position and the navigation path;

[0066] The control module is used to control the detection module, the execution module and the display module according to the navigation path.

[0067] Based on the above scheme, it can be known that the present invention can realize feedback and judgment on the surgical progress of the lesion area according to the temperature field information in the spherical space, provide surgical advice to doctors, and determine whether the ablation surgery has achieved the expected degree of progress indication signal, such as the surgery completion signal. This technical solution provides surgical progress information for surgical procedures that use temperature as a surgical indicator, thereby improving the accuracy and efficiency of the surgery. At the same time, for the use of the inner cavity, blood vessel, trachea, etc. of the human body or organ to realize the introduction of surgical instruments, a technical solution is provided that can indicate the direction of travel without the guidance of doctor's experience, greatly reducing the requirements for doctor's experience and improving the reliability and efficiency of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0069] Figure 1 This is a schematic diagram of the lesion and the spherical distribution area in which it is located in Example 1 of the present invention;

[0070] Figure 2 is a schematic diagram of the structure of the detector in the first embodiment of the present invention;

[0071] Figure 3 This is a flow chart of a surgical instruction method in Embodiment 1 of the present invention;

[0072] Figure 4 A flowchart of generating a navigation path in a surgical instruction method in Embodiment 1 of the present invention;

[0073] Figure 5 It is a schematic diagram of the structure of the surgical instruction system in the second embodiment of the present invention.

[0074] Numbers in the figure:

[0075] 1. Temperature sensing probe; 2. Detector; 3. Lesion. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0077] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0078] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0080] Currently, when doctors perform surgery on patients, such as ablation surgery inside the patient's body, they need to accurately judge the progress of the operation and accurately navigate the surgical instruments to the lesion. Both processes are heavily dependent on the doctor's experience. The surgical process is difficult to judge and is prone to risks.

[0081] Figure 1 is a schematic diagram of the lesion and the spherical distribution area in Example 1 of the present invention, Figure 2 is a schematic diagram of the structure of the detector in the first embodiment of the present invention, Figure 3 is a flow chart of a surgical instruction method in Embodiment 1 of the present invention, Figure 4 This is a flow chart of generating a navigation path in the surgical instruction method in Embodiment 1 of the present invention. Figure 5It is a schematic diagram of the structure of the surgical instruction system in the second embodiment of the present invention.

[0082] Embodiment 1

[0083] This embodiment provides a surgical instruction method, such as Figure 3 As shown, the following steps are included:

[0084] S1. Determine the spherical distribution area where the lesion 3 is located according to the three-dimensional coordinates of the lesion, wherein the spherical distribution area refers to the spherical space including the lesion 3. Figure 1 shown.

[0085] The purpose of step S1 is to obtain a judgment space of the completion of the operation completion index that can include the position of the lesion 3. The reason why a spherical distribution area is used is that when performing microscopic surgery on organs or tissues, using a spherical space as an observation area often results in better surgical results.

[0086] A possible way to express the three-dimensional coordinates is: using the Cartesian coordinate system, the three-dimensional coordinates of the lesion are (x, y, z), wherein the coordinate is not a point but a spatial region.

[0087] like Figure 2 As shown, a detector 2 is provided with multiple temperature sensing probes 1 at the end, and a spherical space is determined and the temperature distribution in the spherical space is detected according to the temperature parameters at the positions of the multiple temperature sensing probes 1. It should be noted that in order to achieve the surgical effect, the spherical distribution area should be larger than or equal to the spherical space of the lesion 3.

[0088] It should be noted that, in particular, for the case where the lesion is small, a sensor including only one temperature sensing probe may be used, and the temperature in the area detected by the temperature sensing probe is used as the temperature in the spherical space where the lesion is located. Of course, the spherical space still needs to include the lesion.

[0089] S2. Obtaining temperature field information and temperature field distribution limit values ​​within the spherical distribution area.

[0090] It should be noted that the temperature field information is not only a data value related to the three-dimensional coordinates of the lesion, but also a data value related to time.

[0091] like Figure 2 As shown, multiple temperature sensing probes are arranged in a spherical shape to obtain temperature information in the spherical space. In particular, the temperature field distribution can be limited to a minimum temperature of 50°C in the spherical space where the entire lesion is located.

[0092] S3. Generate a process indication signal according to the temperature field information and the temperature field distribution limit.

[0093] The purpose of step S3 is to provide guidance information to medical staff when performing the surgical navigation step to determine whether the surgery has achieved the preset goal based on the detected temperature field information and temperature field distribution limit, instead of the doctor's experience judgment, to instruct the surgical process, thereby improving the accuracy and efficiency of the surgery.

[0094] The surgical indication method can effectively guide the lesion site, limit the surgical site to the spherical distribution area where the lesion is located, and judge the extent of the surgery and whether it is completed based on the temperature field information of the spherical distribution area. In this way, it is possible to avoid relying solely on the doctor's experience to determine the surgical process, thereby effectively providing surgical advice to the doctor.

[0095] Optionally, the surgical navigation method in this embodiment, before step S1, further comprises: Figure 4 The following steps are shown:

[0096] S4. Scan the body or organ to generate a three-dimensional structural cavity model, wherein the three-dimensional structural cavity model includes three-dimensional distribution information of one or more of the inner cavity of the patient's human organ, the blood vessels in the organ, or the trachea.

[0097] S5. Obtain the three-dimensional coordinates of the lesion.

[0098] S6. Generate a surgical navigation path according to the three-dimensional coordinates of the lesion and the three-dimensional structural cavity model, wherein the surgical navigation path includes path information formed by one or more interconnected organ cavities, blood vessels or tracheas.

[0099] S7. Detect the current position coordinates.

[0100] S8. Generate navigation instruction information according to the three-dimensional structure cavity model, the surgical navigation path and the current position coordinates, wherein the navigation instruction information is used to prompt or correct the route.

[0101] The purpose of this technical solution is to provide a method for introducing the above-mentioned surgical instrument into the lesion site for surgery.

[0102] In the above steps of the technical solution, the three-dimensional structure cavity model and the current coordinate position are used to indicate whether the convergence navigation path is correct and how to proceed next. Compared with the manual judgment in the prior art, this method is operated in the following way:

[0103] First, a three-dimensional structure cavity model is generated by scanning the human body or organ. Secondly, the three-dimensional coordinates of the lesion are obtained. Then, according to the three-dimensional coordinates, its position in the three-dimensional structure cavity model is determined, and then according to the generated surgical navigation path, the surgical instrument is inserted into the cavity constituting the surgical navigation path, and then the relationship between the current position coordinates of the surgical instrument and the three-dimensional structure cavity model and the surgical navigation path is detected to inform the user which cavity to proceed to next.

[0104] For example, from the main trachea into a bronchus, then from a bronchus into the next bronchus, and then from the next bronchus into the next bronchus... In this way, the surgical navigation path of the surgical instrument can be indicated, so that the doctor no longer needs to constantly observe the internal structure of the organ to determine the next direction of the surgical instrument during surgery as he does now.

[0105] It should be noted that in step S5, the position of the lesion 3 is located on the basis of the established three-dimensional structure cavity model.

[0106] It should be noted that, in step S6, the generated surgical navigation path may be a three-dimensional curve of a finite length in the three-dimensional structure cavity model simulated by a computer.

[0107] For example, a possible navigation path for lung surgery includes the nasal cavity, the main trachea, and the bronchi leading to the lesion.

[0108] It should be noted that in step S7, one way to obtain the current position coordinates is to place a tracker or tracer in the patient's body or organ, and determine the current position by locating the position of the tracker or tracer. It should be noted that locating a medical device in the human body is a prior art.

[0109] It should be noted that in step S8, the three-dimensional structure cavity model and the current coordinate position are used to indicate whether the surgical navigation path is correct and how to proceed next.

[0110] It is not difficult to find from the above content that in this technical solution, the surgical indication method connects one or more of the inner cavity, blood vessels or organs of the human body or organs, and forms navigation indication information according to the judgment of the position and the navigation of the path, thereby realizing the indication of the direction of travel of the medical device.

[0111] This surgical instruction method can realize the selection of internal channels of the human body, especially for complex and minimally invasive surgical sites. It can indicate the direction of travel without the guidance of the doctor's experience, greatly reducing the requirements for doctors, while improving the reliability and efficiency of the operation. More importantly, this surgical instruction method can be applied not only to larger macroscopic lesions, but also to smaller microscopic lesions.

[0112] Optionally, in this embodiment, step S4 of the surgery instruction method specifically includes the following steps:

[0113] S9. Injecting contrast media into the human body or organs;

[0114] S10, scanning the contrast agent to generate a three-dimensional structural cavity model.

[0115] By injecting contrast agents, the speed and accuracy of scanning images can be improved.

[0116] Optionally, in this embodiment, step S9 of the surgery instruction method specifically includes:

[0117] S11, inject the contrast agent iopromide 370 into the blood vessel;

[0118] And step S10 specifically includes:

[0119] S12, using X-ray detection technology to obtain contrast image data generated by the contrast agent iopromide 370;

[0120] S13. Generate the three-dimensional structural cavity model according to the angiography image data.

[0121] As a commonly used contrast agent, iopromide 370 has the advantages of high reliability and wide application range.

[0122] Optionally, in this embodiment, step S9 of the surgery instruction method specifically includes:

[0123] S14, injecting the contrast medium hyperpolarized xenon (Xe-129) into the lungs;

[0124] And step S10 specifically includes:

[0125] S15, using magnetic resonance technology to obtain diffusion-weighted imaging generated by the contrast agent hyperpolarized xenon gas (Xe-129) excitation;

[0126] S16. Generate the three-dimensional structural cavity model according to the diffusion weighted imaging.

[0127] It should be noted that the use of contrast agent hyperpolarized xenon (Xe-129) to generate a three-dimensional cavity model through magnetic resonance imaging is an existing technology and has been used to solve imaging problems in the diagnosis of lung diseases. It has the advantages of high imaging accuracy, fast speed and small impact.

[0128] Optionally, in this embodiment, step S6 of the surgery instruction method specifically includes the following steps:

[0129] S17, generating all possible surgical paths according to the three-dimensional coordinates of the lesion and the three-dimensional structural cavity model; wherein the surgical path refers to a passage from the outside of the body or the entrance of the organ to be operated on through each end-to-end connected organ cavity, blood vessel or trachea to the part to be operated on;

[0130] S18, obtaining the maximum limit value of the surgical path and the length value of each surgical path;

[0131] S19, screening out a first surgical path group according to the length value and the maximum limit value; wherein the first surgical path group is composed of the surgical paths whose length values ​​are less than the maximum limit value;

[0132] S20, obtaining the minimum allowable diameter value of the surgical paths in the first surgical path group and the minimum diameter value of each surgical path;

[0133] S21, selecting a second surgical path group according to the minimum allowable diameter value and the minimum diameter value; wherein the second surgical path group is composed of surgical paths whose minimum diameter value is greater than the minimum allowable diameter value;

[0134] S22, obtaining a preset length coefficient table and a diameter coefficient table; wherein the length coefficient table is composed of length evaluation coefficients used to evaluate the length advantage of the surgical path, and the diameter coefficient table is composed of width evaluation coefficients used to evaluate the width advantage of the surgical path;

[0135] S23, according to the length coefficient table, the diameter coefficient table, the length value, and the minimum diameter value, according to the formula:

[0136] P i =L i × i +R i ×k i

[0137] Obtaining a comprehensive evaluation index of the surgical path in the second surgical path group; wherein,

[0138] P i is the comprehensive evaluation index of the surgical path i;

[0139] L i is the length value of the surgical path i;

[0140] l i The corresponding length evaluation coefficient of the surgical path i found in the length coefficient table according to its length value;

[0141] R i is the minimum diameter value of the surgical path i;

[0142] k i The corresponding width evaluation coefficient of the surgical path i is found in the diameter coefficient table according to its minimum diameter value;

[0143] S24, using the surgical path corresponding to the largest comprehensive evaluation index as the surgical navigation path.

[0144] It should be noted that the idea behind the above steps is: first, based on the length of the surgical instrument, select surgical paths whose length meets the requirements and whose channels can accommodate the instruments, and then evaluate these surgical paths, and use the optimal surgical path as the surgical navigation path.

[0145] For example, the available length of the surgical instrument, that is, the length that can be inserted into the organ, is 1.2m, and the minimum allowable diameter is 2mm. Currently, the surgical path lengths and corresponding minimum diameters that can reach the lesion have been screened out, which are 0.7m, 3mm, 0.75m, 1.5mm, 0.8m, 3mm, 1.0m, 2mm, 1.3m, 2.5mm, 1.5m, 1mm.

[0146] First, since the available length of the surgical instrument is 1.2m, only the surgical paths of 0.7m, 0.75m, 0.8m, and 1.0m meet the requirements, while the surgical paths of 1.3m and 1.5m have to be abandoned because the surgical instruments cannot reach the lesion and the surgery cannot be performed. At this time, the first surgical path group is: 0.7m, 3mm, 0.75m, 1.5mm, 0.8m, 3mm, 1.0m, 2mm.

[0147] Secondly, the minimum allowable diameter of the surgical instrument is 2 mm. Since 1.5 mm will prevent the surgical instrument from being inserted, the second surgical path group is: 0.7 m, 3 mm, 0.8 m, 3 mm, 1.0 m, 2 mm.

[0148] At this time, the length coefficient table and the diameter coefficient table are queried to obtain the length evaluation coefficients and width evaluation coefficients in the second surgical path group, which are: 0.8, 1.2, 1.0, 1.2, 1.1, and 0.8, respectively.

[0149] Therefore, the comprehensive evaluation indexes of each surgical pathway in the second surgical pathway group are:

[0150] P1=0.8×0.7+1.2×3=4.16

[0151] P2=1.0×0.8+1.2×3=4.4

[0152] P3=1.1×1.0+0.8×2=2.7

[0153] Since P3≤P1≤P2, the surgical paths 0.8mm and 3mm are used as surgical navigation paths.

[0154] The comprehensive evaluation index obtained in this way can be used as a criterion for evaluating surgical pathways, thereby selecting the surgical navigation pathway that best meets the requirements.

[0155] It should be noted that the above-mentioned length evaluation parameters and width evaluation parameters can be determined based on experience.

[0156] By adopting this step, multiple surgical pathways can be evaluated and screened, thereby achieving the determination of the surgical navigation path. Compared with manually determining the surgical navigation path, it has more unified standards and is conducive to obtaining objective evaluation, thereby screening out the surgical navigation path that best meets the requirements.

[0157] Optionally, in this embodiment, step S8 of the surgery instruction method specifically includes the following steps:

[0158] S25, confirming the path position of the current position in the three-dimensional structure cavity model according to the current position coordinates;

[0159] S26. Generate navigation instruction information including a direction and a distance to move to a next position according to the path position and the surgical navigation path.

[0160] For example, in a possible surgical navigation process, after determining that the current position of the surgical instrument is within the surgical navigation path, the next cavity to which the surgical instrument is to move is determined based on the predetermined surgical navigation path; thereafter, the position information of the cavity or the orientation information of the movement is displayed to the doctor, which is the so-called navigation instruction information. The doctor can then operate the surgical instrument according to the navigation instruction information to move the surgical instrument.

[0161] By adopting this step, when the current position is correct, navigation instruction information for moving to the next position can be generated.

[0162] Optionally, in this embodiment, step S26 of the surgery instruction method specifically includes the following steps:

[0163] S27, judging whether the current position is located in the surgical navigation path according to the path position and the surgical navigation path;

[0164] S28. If the current position is outside the surgical navigation path, generate navigation indication information including the direction and distance to the previous position.

[0165] As in the above example, when the current position coordinates of the surgical instrument are on the surgical navigation path, if the current position of the surgical instrument is not on the surgical navigation path, then the navigation instruction information instructs the surgical instrument to return to the last position on the surgical navigation path. In this way, the doctor can operate the surgical instrument according to the prompt of the navigation instruction information to return it to the last position as a remedy for the doctor's error in operating the surgical instrument.

[0166] That is, by adopting this step, when the current position deviates, navigation instruction information for moving the device to the previous position where no deviation occurred can be generated.

[0167] Embodiment 2

[0168] This embodiment provides a surgical instruction system. Figure 5 As shown, it includes: a detection module, an execution module, a display module and a control module.

[0169] The detection module is electrically connected to the control module, and is used to detect a current position. For example, the current position is the position of the detection module at a certain point in the navigation path.

[0170] The execution module is electrically connected to the control module, and the execution module is used to realize the movement of the detection module. A possible detection module is: an ultrasonic detector. It should be noted that the ultrasonic detector is a prior art.

[0171] The display module is electrically connected to the control module, and is used to display the current position and the navigation path. A possible display module is a liquid crystal display.

[0172] The control module is used to control the detection module, the execution module and the display module according to the navigation path. A possible control module is a single chip microcomputer.

[0173] In addition, when the above process in the embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0174] In the present invention, unless otherwise clearly specified and limited, a first feature being “on” or “under” a second feature may mean that the first feature and the second feature are in direct contact, or the first feature and the second feature are in indirect contact via an intermediate medium.

[0175] Moreover, the first feature being “above”, “above”, and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being “below”, “below”, and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0176] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A computer-readable storage medium storing a computer program, characterized in that: The surgical instruction method implemented when the computer program is executed by a processor comprises the following steps: S1. determining a spherical distribution area where the lesion is located according to the three-dimensional coordinates of the lesion, wherein the spherical distribution area refers to a spherical space including the lesion; S2. Obtaining temperature field information and temperature field distribution limit value within the spherical distribution area; S3, generating a process indication signal according to the temperature field information and the temperature field distribution limit; Before step S1, the method further includes the following steps: S4, scanning the body or organ to generate a three-dimensional structure cavity model, wherein the three-dimensional structure cavity model includes three-dimensional distribution information of one or more of the inner cavity of the patient's organ, the blood vessels in the organ, or the trachea; S5, obtaining the three-dimensional coordinates of the lesion; S6. Generate a surgical navigation path according to the three-dimensional coordinates of the lesion and the three-dimensional structural cavity model, wherein the surgical navigation path includes path information formed by one or more interconnected organ cavities, blood vessels or tracheas; S7, detecting the current position coordinates; S8, generating navigation instruction information according to the three-dimensional structure cavity model, the surgical navigation path and the current position coordinates, wherein the navigation instruction information is used to prompt or correct the route; Step S4 specifically includes the following steps: S9. Injecting contrast media into the human body or organs; S10, scanning the contrast agent to generate a three-dimensional structural cavity model; Step S6 specifically includes the following steps: S17, generating all possible surgical paths according to the three-dimensional coordinates of the lesion and the three-dimensional structural cavity model; wherein the surgical path refers to a passage from the outside of the body or the entrance of the organ to be operated on through each end-to-end connected organ cavity, blood vessel or trachea to the part to be operated on; S18, obtaining the maximum limit value of the surgical path and the length value of each surgical path; S19, screening out a first surgical path group according to the length value and the maximum limit value; wherein the first surgical path group is composed of the surgical paths whose length values ​​are less than the maximum limit value; S20, obtaining the minimum allowable diameter value of the surgical paths in the first surgical path group and the minimum diameter value of each surgical path; S21, selecting a second surgical path group according to the minimum allowable diameter value and the minimum diameter value; wherein the second surgical path group is composed of surgical paths whose minimum diameter value is greater than the minimum allowable diameter value; S22, obtaining a preset length coefficient table and a diameter coefficient table; wherein the length coefficient table is composed of length evaluation coefficients used to evaluate the length advantage of the surgical path, and the diameter coefficient table is composed of width evaluation coefficients used to evaluate the width advantage of the surgical path; S23, according to the length coefficient table, the diameter coefficient table, the length value, and the minimum diameter value, according to the formula: P i =L i ×l i +R i ×k i Obtaining a comprehensive evaluation index of the surgical pathway in the second surgical pathway group; wherein, P i is the comprehensive evaluation index of the surgical path i; L i is the length value of the surgical path i; l i The corresponding length evaluation coefficient of the surgical path i found in the length coefficient table according to its length value; R i is the minimum diameter value of the surgical path i; k i The corresponding width evaluation coefficient of the surgical path i found in the diameter coefficient table according to its minimum diameter value; S24: Use the surgical path corresponding to the largest comprehensive evaluation index as the surgical navigation path.

2. The storage medium according to claim 1, characterized in that Step S9 specifically includes: S11, inject the contrast agent iopromide 370 into the blood vessel; And step S10 specifically includes: S12, using X-ray detection technology to obtain contrast image data generated by the contrast agent iopromide 370; S13. Generate the three-dimensional structural cavity model according to the angiography image data.

3. The storage medium according to claim 1, characterized in that Step S9 specifically includes: S14, injecting contrast medium hyperpolarized xenon (X e -129); And step S10 specifically includes: S15, using magnetic resonance technology to obtain diffusion-weighted imaging generated by the contrast agent hyperpolarized xenon gas (Xe-129) excitation; S16. Generate the three-dimensional structural cavity model according to the diffusion weighted imaging.

4. The storage medium according to claim 1, characterized in that Step S8 specifically includes the following steps: S25, confirming the path position of the current position in the three-dimensional structure cavity model according to the current position coordinates; S26. Generate navigation instruction information including a direction and a distance to move to a next position according to the path position and the surgical navigation path.

5. The storage medium according to claim 4, characterized in that Step S26 specifically includes the following steps: S27, judging whether the current position is located in the surgical navigation path according to the path position and the surgical navigation path; S28. If the current position is outside the surgical navigation path, generate navigation indication information including the direction and distance to the previous position.

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