A pneumoperitoneum safety monitoring system and a computer-readable storage medium

Abstract

The present invention relates to a pneumoperitoneum safety monitoring system and a computer-readable storage medium. The pneumoperitoneum safety monitoring system includes: a detection component disposed on the surface of the pneumoperitoneum and including a target object, the spatial position of the target object changing with the deformation of the pneumoperitoneum; a monitoring device for monitoring the spatial position of the target object; a control unit communicatively connected to the monitoring device and configured to establish a pneumoperitoneum model of the patient at different pressures before the operation, and establish a deformation relationship corresponding to the pneumoperitoneum deformation and the lesion tissue according to the deformation parameters of the pneumoperitoneum model and the human body model of the patient in the non-pneumoperitoneum state, so as to determine the safety range of the spatial position where the target object is located; the control unit is further configured to determine whether the current spatial position of the target object is within the safety range during the operation, and further determine whether the current pneumoperitoneum is in a safe state. The pneumoperitoneum safety monitoring system can monitor the pneumoperitoneum state in real time and intuitively, which is beneficial to improving the surgical safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a pneumoperitoneum safety monitoring system and a computer-readable storage medium. Background Art

[0002] The design concept of a surgical robot system is to precisely perform complex surgical operations in a minimally invasive manner. The surgical robot system has emerged in the face of various limitations in traditional surgical operations. It breaks through the limitations of the human eye. It can use stereoscopic imaging technology to present the internal organs of the human body more clearly to the operator. And for some narrow areas where a person's hand cannot reach, the surgical robot system can still control the surgical instruments to reach such areas and complete operations such as moving, swinging, clamping, and 360° rotation, and can avoid jitter, improve surgical precision, and further achieve the advantages of small incisions, less bleeding, fast postoperative recovery, and greatly shortening the patient's postoperative hospital stay. Therefore, the surgical robot system is deeply favored by the majority of doctors and patients and is widely used in various clinical surgeries.

[0003] In laparoscopic surgery, it is necessary to establish a pneumoperitoneum in the abdominal cavity of the patient through a pneumoperitoneum machine to increase the volume of the abdominal cavity space, so as to provide the necessary space for surgical operations. In traditional laparoscopic surgery, both doctors and nurses are beside the patient and can observe the pneumoperitoneum state in real time. However, when using a surgical robot system to perform surgical operations, the patient's body surface is blocked by a thick sterile cloth, and the nurse beside the robot needs to always observe the imaging system and it is difficult to timely know the pneumoperitoneum state. During the operation, once the pneumoperitoneum pressure becomes smaller, it will affect surgical safety and cause unnecessary surgical operation injuries. Once the pneumoperitoneum pressure is too large, it will compress tissues and even endanger the patient's life safety.

[0004] Although existing pneumoperitoneum machines have functions of pressure detection and alarm, on the one hand, the monitoring of the pneumoperitoneum machine only checks the pressure or flow state from the gas supply end and cannot directly reflect the pneumoperitoneum state. On the other hand, there is no information interaction between the pneumoperitoneum machine and the robot, and it cannot timely inform the robot of possible risks. Summary of the Invention

[0005] The purpose of the present invention is to provide a pneumoperitoneum safety monitoring system and a computer-readable storage medium. The pneumoperitoneum safety monitoring system aims to monitor the pneumoperitoneum state in real time and intuitively to ensure surgical safety.

[0006] To achieve the above object, the present invention provides a pneumoperitoneum safety monitoring system, including:

[0007] A detection component, which is used to be arranged on the surface of the pneumoperitoneum and includes a target object, and the spatial position of the target object changes with the deformation of the pneumoperitoneum;

[0008] A monitoring device for monitoring the spatial position of the target object; and,

[0009] A control unit communicatively connected to the monitoring device; the control unit is configured to establish a pneumoperitoneum model of the patient at different pressures before surgery, and establish a deformation relationship corresponding to the pneumoperitoneum and the lesion tissue based on the deformation parameters of the pneumoperitoneum model and the human body model of the patient in the non-pneumoperitoneum state, and the deformation relationship is used to determine the safety range of the spatial position where the target object is located; the control unit is further configured to determine whether the current spatial position of the target object is within the safety range during the surgery, and further determine whether the current pneumoperitoneum is in a safe state.

[0010] Optionally, the monitoring device includes an image acquisition device for acquiring image information of the target object to monitor the spatial position of the target object.

[0011] Optionally, the surface of the pneumoperitoneum defines a monitoring area; the detection component includes a target sticker for attaching to the monitoring area, and a plurality of identification points are provided on the target sticker, and the plurality of identification points serve as the target object;

[0012] The control unit is configured to establish a surface model of the monitoring area based on the image information of the plurality of identification points, register the surface model with the pneumoperitoneum model under normal pressure to establish a coordinate system of the target sticker, and determine whether the current spatial positions of the plurality of identification points are within the safety range according to the coordinate system of the target sticker and the deformation relationship.

[0013] Optionally, the detection component includes a bracket, a target pen and an elastic member; the bracket is used for connecting with an external positioning device, and a through hole is provided on the bracket; the target pen includes a pen rod and a contact portion and a limit head portion respectively provided at two axial ends of the pen rod, the contact portion is used for contacting the surface of the pneumoperitoneum, and the limit head portion is the target object; a blocking wall protruding radially outward along the pen rod is further provided on the pen rod, the pen rod is inserted through the through hole of the bracket, and the blocking wall and the limit head portion are respectively located on both sides of the bracket; the elastic member is arranged in the space defined by the blocking wall and the bracket;

[0014] The control unit is configured to obtain the current spatial position of the limit head portion according to the image information of the limit head portion, and determine whether the current spatial position of the limit head portion is within the safety range.

[0015] Optionally, the detection component includes a bracket, a target pen, and an elastic member; the bracket is used to connect to an external positioning device, and the spatial position of the bracket is kept fixed; a through hole is provided on the bracket; the target pen is the target object and includes a pen shaft, a contact portion and a limit head portion respectively provided at two axial ends of the pen shaft, and the contact portion is used to contact the surface of the pneumoperitoneum; a stop wall protruding radially outward along the pen shaft is further provided on the pen shaft, the pen shaft is inserted through the through hole of the bracket, and the stop wall and the limit head portion are respectively located on both sides of the bracket; the elastic member is arranged between the stop wall and the bracket;

[0016] The detection component is configured such that when the pressure of the pneumoperitoneum increases, the target pen moves relative to the bracket along the direction from the contact portion to the limit head portion, so that the elastic member is compressed and stores elastic potential energy; when the pressure of the pneumoperitoneum decreases, the elastic member releases the elastic potential energy, so that the target pen moves relative to the bracket along the direction from the limit head portion to the contact portion;

[0017] The monitoring device is configured to monitor the position of the target pen relative to the bracket to monitor the spatial position of the target pen;

[0018] The control unit is configured to determine whether the current spatial position of the target pen is within the safe range according to the position of the target pen relative to the bracket.

[0019] Optionally, a first predetermined position and a second predetermined position arranged along the axial direction of the pen shaft are defined on the pen shaft of the target pen, and the first predetermined position is closer to the contact portion;

[0020] The monitoring device includes a first sensor, a second sensor, and a third sensor, wherein the first sensor is installed on the surface of the bracket close to the limit head portion, and the second sensor and the third sensor are respectively installed at the first predetermined position and the second predetermined position defined on the pen shaft;

[0021] When the target pen moves such that the second sensor at the first predetermined position reaches the first sensor, the first sensor and the second sensor mutually sense and send corresponding information to the control unit, and the control unit determines that the current spatial position of the target pen is no longer within the safe range;

[0022] When the target pen moves such that the third sensor at the second predetermined position reaches the first sensor, the first sensor and the third sensor mutually sense and send corresponding information to the control unit, and the control unit determines that the current spatial position of the target pen is no longer within the safe range.

[0023] Optionally, the first sensor is a signal transmitter, and the second sensor and the third sensor are both signal receivers; or, the first sensor is a signal receiver, and the second sensor and the third sensor are both signal transmitters.

[0024] Optionally, the target object has magnetism and is in a fixed magnetic field generated by a magnetic source during the operation, and the pose of the target object relative to the magnetic source changes with the deformation of the pneumoperitoneum during the operation;

[0025] The monitoring device is a magnetic monitoring device and is used to monitor the spatial position of the target object according to the change in the pose of the target object relative to the magnetic source;

[0026] The control unit is configured to obtain the current spatial position of the target object according to the pose of the target object relative to the magnetic source.

[0027] Optionally, the control unit is further configured to generate a reminder message and give a reminder when it is determined that the current spatial position of the target object is not within the safe range.

[0028] Optionally, the control unit is used to communicate with the robotic arm of the surgical robot system, and the end of the robotic arm is used to connect a surgical instrument to perform a surgical operation;

[0029] The control unit is further configured to control the robotic arm to stop the surgical operation when it is determined that the current spatial position of the target object is no longer within the safe range.

[0030] Optionally, the control unit is located in the patient-side control device of the surgical robot system.

[0031] Optionally, the human body model includes a body surface model and a lesion model.

[0032] Optionally, the deformation parameters include an elastic coefficient and a surface parameter.

[0033] To achieve the above object, the present invention also provides a computer-readable storage medium, on which a program is stored. When the program is executed, the program performs the following steps:

[0034] Establish a pneumoperitoneum model of the patient under different pressures before the operation;

[0035] Establish a deformation relationship corresponding to the pneumoperitoneum and the lesion tissue according to the pneumoperitoneum model and the deformation parameters of the human body model when the patient is in a non-pneumoperitoneum state; the deformation relationship is used to determine the safe range of the spatial position of the target object of the detection component arranged on the surface of the pneumoperitoneum when the pneumoperitoneum deforms; and,

[0036] During the operation, it is determined whether the current spatial position of the target object is within the safe range, and then it is determined whether the current pneumoperitoneum is in a safe state.

[0037] Optionally, the program further performs the following steps: obtaining the current spatial position of the target object according to the image information of the target object.

[0038] Optionally, the target object has magnetism and is in a fixed magnetic field generated by a magnetic source during the operation, and the pose of the target object relative to the magnetic source changes with the deformation of the pneumoperitoneum;

[0039] The program further performs the following steps: obtaining the current spatial position of the target object according to the pose of the target object relative to the magnetic source.

[0040] Optionally, after determining that the current spatial position of the target object is not within the safe range, the program further performs the following steps: generating a reminder message.

[0041] Optionally, after determining that the current spatial position of the target object is not within the safe range, the program further performs the following steps: generating a stop instruction and transmitting it to the robotic arm of the surgical robot system for performing surgical operations, so that the robotic arm stops performing surgical operations.

[0042] Compared with the prior art, the pneumoperitoneum safety monitoring system and the computer-readable storage medium of the present invention have the following advantages:

[0043] First, the aforementioned pneumoperitoneum safety monitoring system includes a detection component, a monitoring device, and a control unit; wherein, the detection component is used to be arranged on the surface of the pneumoperitoneum and includes a target object, and the spatial position of the target object changes with the deformation of the pneumoperitoneum; the monitoring device is used to monitor the spatial position of the target object; the control unit is communicatively connected to the monitoring device; the control unit is configured to establish a pneumoperitoneum model when the patient is at different pressures before the operation, and establish a deformation relationship corresponding to the pneumoperitoneum and the lesion tissue according to the deformation parameters of the pneumoperitoneum model and the human body model when the patient is in a non-pneumoperitoneum state; the deformation relationship is used to determine the safe range of the spatial position where the target object is located; the control unit is further configured to determine whether the current spatial position of the target object is within the safe range during the operation, and then determine whether the current pneumoperitoneum is in a safe state. The pneumoperitoneum safety monitoring system directly monitors whether the pneumoperitoneum is in a safe state by monitoring the spatial position of the target object in real time, improving the surgical safety. The change of the pneumoperitoneum state can also indirectly reflect the relative spatial position relationship between the lesion tissue and the body surface. By visually monitoring the pneumoperitoneum state using the pneumoperitoneum safety monitoring system, the state change of the lesion tissue and its surrounding tissues can be known in time, providing necessary model input for the safe operation of the surgical robot system.

[0044] Second, the control unit can also be communicatively connected to the robotic arm of the surgical robot system. When the control unit determines that the current pneumoperitoneum of the patient is in an unsafe state based on the current spatial position of the target object, the control unit can send a stop instruction to the robotic arm to control the robotic arm to stop performing the surgical operation and avoid damaging the patient. Description of the Drawings

[0045] The drawings are used to better understand the present invention and do not constitute an improper limitation of the present invention. Among them:

[0046] Figure 1 is a schematic diagram of the application scenario of the pneumoperitoneum safety monitoring system provided by the present invention according to an embodiment, and the control unit is not shown in the figure;

[0047] Figure 2 is a flowchart of the preoperative planning, punching, and surgery of laparoscopic surgery provided by the present invention according to an embodiment;

[0048] Figure 3 is a schematic diagram of the imaging device collecting the body surface information and lesion information of the patient when not in the pneumoperitoneum state provided by the present invention according to an embodiment;

[0049] Figure 4 is a schematic diagram of the scenario when the surgical robot system performs a surgical operation provided by the present invention according to an embodiment;

[0050] Figure 5 is a general flowchart of the pneumoperitoneum safety monitoring system for pneumoperitoneum monitoring provided by the present invention according to an embodiment;

[0051] Figure 6 is a detailed flowchart of the pneumoperitoneum safety monitoring system for pneumoperitoneum monitoring provided by the present invention according to an embodiment;

[0052] Figure 7 is a schematic diagram of the pneumoperitoneum safety monitoring system establishing the mapping relationship of the coordinate systems of the control unit, the monitoring device, and the target provided by the present invention according to an embodiment;

[0053] Figure 8 is a schematic diagram of the monitoring device of the pneumoperitoneum safety monitoring system monitoring the spatial position of the target object of the detection component according to another embodiment of the present invention;

[0054] Figure 9 is a schematic diagram of the structure of the detection component of the pneumoperitoneum safety monitoring system provided by the present invention according to another embodiment;

[0055] Figure 10 is Figure 9 a schematic diagram of the structure of the target object of the detection component of the pneumoperitoneum safety monitoring system shown;

[0056] Figure 11 It is a schematic structural diagram of the monitoring device and the detection component of the pneumoperitoneum safety monitoring system provided by the present invention according to an alternative embodiment.

[0057] [Explanation of the reference numerals is as follows]:

[0058] 100 - Detection component;

[0059] 110 - Identification point;

[0060] 120 - Bracket, 121 - Through hole;

[0061] 130 - Target pen;

[0062] 131 - Pen shaft, 132 - Contact part, 133 - Limit head, 134 - Stop wall;

[0063] 140 - Elastic member;

[0064] 200 - Monitoring device;

[0065] 210 - First sensor, 220 - Third sensor;

[0066] 10 - Imaging device, 20 - Robotic arm, 30 - Doctor's console, 40 - Doctor - side control device, 50 - Image - side control device, 60 - Patient - side control device. Detailed implementation manners

[0067] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in this embodiment only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and ratios of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0068] In addition, each of the embodiments described below has one or more technical features. However, this does not mean that the inventor must implement all the technical features in any one embodiment simultaneously, or can only separately implement some or all of the technical features in different embodiments. In other words, on the premise that implementation is possible, those skilled in the art can, according to the disclosure of the present invention and in view of design specifications or implementation requirements, selectively implement some or all of the technical features in any one embodiment, or selectively implement a combination of some or all of the technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0069] As used in this specification, the singular forms "a", "an", and "the" include plural referents, and the plural form "plural" includes more than two referents, unless the context clearly indicates otherwise. As used in this specification, the term "or" is generally used in the sense of including "and / or", unless the context clearly indicates otherwise, and the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] The purpose of the present invention is to provide a pneumoperitoneum safety monitoring system for monitoring the pneumoperitoneum during laparoscopic surgery. The pneumoperitoneum safety monitoring system includes a detection component, a monitoring device, and a control unit. Among them, the detection component is used to be arranged on the surface of the pneumoperitoneum and includes a target object, and the spatial position of the target object changes with the deformation of the pneumoperitoneum. The monitoring device is used to monitor the spatial position of the target object. The control unit is communicatively connected to the monitoring device and is configured to establish a pneumoperitoneum model of the patient at different pressures before the surgery, and establish a deformation relationship corresponding to the pneumoperitoneum deformation and the lesion tissue according to the deformation parameters of the pneumoperitoneum model and the human body model of the patient in the non-pneumoperitoneum state. The deformation relationship is used to determine the safety range of the spatial position where the target object is located. The control unit is further configured to determine whether the current spatial position of the target object is within the safety range during the surgery, and then determine whether the current pneumoperitoneum is in a safe state. By monitoring the current spatial position of the target object on the surface of the pneumoperitoneum in real time, the present invention intuitively monitors the state of the current pneumoperitoneum, which helps to improve the safety of the surgery.

[0071] To make the objectives, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise scales, and are only used to conveniently and clearly assist in explaining the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar components.

[0072] Please refer to Figure 1 , the pneumoperitoneum safety monitoring system provided by the embodiments of the present invention includes a detection component 100, a monitoring device 200, and a control unit (not shown in the figure). Among them, the detection component 100 is used to be arranged on the surface of the pneumoperitoneum and includes a target object, and the spatial position of the target object changes with the deformation of the pneumoperitoneum. The monitoring device 200 is used to monitor the spatial position of the target object. The control unit is communicatively connected to the monitoring device 200, and the control unit is configured to establish a pneumoperitoneum model of the patient at different pressures before the operation, and establish a deformation relationship corresponding to the pneumoperitoneum and the lesion tissue according to the deformation parameters of the pneumoperitoneum model and the human body model when the patient is in a non-pneumoperitoneum state. The deformation relationship is used to determine the safety range of the spatial position where the target object is located. The control unit is further configured to judge whether the current spatial position of the target object is within the safety range during the operation, and further judge whether the current pneumoperitoneum is in a safe state. The human body model mentioned here includes the body surface model and the lesion model of the patient, and the acquisition process of the human body model will be introduced below.

[0073] The detection component 100 is arranged on the surface of the pneumoperitoneum, and the spatial position of the target object on it changes accordingly with the deformation of the pneumoperitoneum. Therefore, the pneumoperitoneum safety monitoring system realizes the monitoring of the pneumoperitoneum state by real-time monitoring of the spatial position of the target object, so that the surgical operation can be adjusted according to the pneumoperitoneum state (that is, whether it is in a safe state), and the safety of the surgical process is improved. It can be understood that the "pneumoperitoneum model at different pressures" includes the pneumoperitoneum model at normal pressure and the pneumoperitoneum model at abnormal pressure. The "normal pressure" mentioned here refers to the pressure in the abdominal cavity when the patient is in a predetermined pneumoperitoneum state (that is, the most desired pneumoperitoneum state during the operation), and the "abnormal pressure" refers to the pressure in the abdominal cavity during the operation being higher or lower than the normal pressure. The embodiments of the present invention do not limit the number of the pneumoperitoneum models, which is determined according to actual needs. However, it should be understood that if the number of the pneumoperitoneum models is too small, an accurate deformation relationship cannot be established, and if the number of the pneumoperitoneum models is too large, the workload will increase. It should also be understood that the "safety range" has an upper threshold and a lower threshold. In this embodiment, when the spatial coordinates of the target object are greater than or equal to the upper threshold, and the spatial coordinates of the target object are less than or equal to the lower threshold, it is determined that the target object is not within the safety range.

[0074] As Figure 2As shown, before the operation, it is necessary to determine the puncture sites on the patient's body surface and make punctures so that surgical instruments can enter the abdominal cavity for surgical operations. Moreover, during the process of determining the puncture sites, the described human body model is also established.

[0075] In one embodiment, the method for determining the puncture sites includes:

[0076] First, step A1 is executed: Modeling the lesion and physical signs to obtain the human body model. Specifically, in combination with Figure 3 As shown, first, the imaging device 10 is used to collect the body surface image information of the patient when not in the pneumoperitoneum state and the image information inside the abdominal cavity. The image information inside the abdominal cavity includes the lesion image information and the image information of the surrounding tissues of the lesion. The surrounding tissues include blood vessels, lymph, etc. Optionally, the imaging device 10 is a CT or other X-ray device, MRI, B-ultrasound, etc. that can collect three-dimensional graphics of the patient's body. Then, a computer establishes the human body model according to the body surface image information and the image information inside the abdominal cavity collected by the imaging device 10. In this way, the human body model shows the body surface information and the lesion information. In this embodiment, a CT device is used as the imaging device 10 to perform a medical image scan on the patient, and the image information obtained by the CT device is sent to the computer. The computer can, based on the reconstruction algorithm of the Marching Cube surface rendering, construct geometric primitives in the three-dimensional volume data field composed of two-dimensional slices according to the contour line information obtained by segmenting the two-dimensional slices of the image information obtained by the imaging device 10, splice the geometric primitives, and establish a suitable lighting model for it to construct the three-dimensional human body model with authenticity.

[0077] During the process of establishing the human body model, the elastic characteristics of the patient's human tissues are also assigned model values as the deformation parameters of the human body model, so that the human body model is highly similar to the patient's real physical signs and has deformation characteristics. Preferably, the deformation parameters include but are not limited to elastic modulus, surface tension, etc. Assigning model values to the elastic characteristics of human tissues is content that those skilled in the art can know. For example, in master's thesis "Research on the Elastic Model of Human Soft Tissues" (Southeast University, Jiang Chuntao, 2004), "Modification of the Elastic Model in Human Soft Tissue Modeling" (Southeast University, Sun Yanxia, 2005), etc., the elastic models of human tissues are introduced in detail. Those skilled in the art can assign model values to the elastic models of tissues in the human body accordingly to establish the elastic model of human tissues.

[0078] After that, step A2 is performed: punching planning is carried out on the human model to obtain pre-punching sites. The pre-punching sites can be planned by a doctor according to experience, or before the operation performed by the surgical robot system, the control unit of the surgical robot system plans according to the relevant parameters of the surgical robot system.

[0079] Subsequently, step A3 is performed. Pneumoperitoneum operation under normal pressure is performed on the patient, and the pneumoperitoneum model under normal pressure is established. Registration is performed on the pneumoperitoneum model and the human model to obtain target punching sites corresponding to the pre-punching sites on the pneumoperitoneum model under normal pressure.

[0080] Then step A4 is performed: punching guidance, that is, corresponding the target punching sites on the pneumoperitoneum model under normal pressure to the patient's body surface to complete the determination of the punching sites.

[0081] Finally, step A5 is performed to punch on the patient's body surface to perform the operation.

[0082] Furthermore, during the operation, when the control unit determines that the spatial position of the target object is not within the safe range, and further determines that the current pneumoperitoneum is in a non-safe state, the control unit is further configured to generate a reminder message when the pneumoperitoneum is in a non-safe state, and remind by at least one of sound, light, vibration, etc. to attract the attention of medical staff.

[0083] Not only that, when the pneumoperitoneum safety monitoring system is applied to the surgical operation performed by the surgical robot system, the control unit is also configured to communicate with the robotic arm 20 of the surgical robot system (such as Figure 4 and Figure 7 shown). The robotic arm 20 is used to mount surgical instruments to perform surgical operations. In this way, when the control unit determines that the current pneumoperitoneum is in a non-safe state, the control unit can also generate a stop instruction and send it to the robotic arm 20 to control the robotic arm 20 to stop performing the surgical operation.

[0084] Figure 4 shows a schematic diagram of the scene when the surgical robot system performs a surgical operation. As Figure 4As shown, in some embodiments, the surgical robot system includes a control end and an execution end. Among them, the control end includes a doctor console 30 and a doctor-side control device 40 disposed on the doctor console 30. The execution end includes an image-side control device 50, a patient-side control device 60, and the robotic arm 20. When applying the pneumoperitoneum safety monitoring system to the surgical operations performed by the surgical robot system, the control unit can be located within the doctor-side control device 40, within the patient-side control device 60, or at least partially within the doctor-side control device 40 and the patient-side control device 60, or independently located within a computer device. This application does not make a special limitation on this.

[0085] Next, the present invention will be further described in detail by taking the laparoscopic surgical operation performed by the surgical robot system, which includes the pneumoperitoneum safety monitoring system. Those skilled in the art can make modifications according to the following description to adapt to the situation where the pneumoperitoneum monitoring system is applied to surgical operations performed by non-surgical robots or different surgical scenarios.

[0086] Thus, in an exemplary embodiment, the method for monitoring the pneumoperitoneum in laparoscopic surgery using the pneumoperitoneum safety monitoring system is as Figure 5 shown, which includes two parts: pneumoperitoneum monitoring S10 and surgical robot safety protection S20. Among them, the pneumoperitoneum monitoring S10 mainly includes:

[0087] Step S11: Pneumoperitoneum modeling;

[0088] Step S12: Pneumoperitoneum deformation prediction;

[0089] Step S13: Setting the pneumoperitoneum safety range (setting the upper threshold and lower threshold of the coordinates of the target object); and,

[0090] Step S14: Dynamically monitoring the pneumoperitoneum during the operation.

[0091] For more detailed steps, please refer to Figure 6 , including:

[0092] Step S110: Setting the detection component on the surface of the pneumoperitoneum;

[0093] Step S120: The control unit establishes a pneumoperitoneum model under the corresponding pressure according to the physical sign image information of the pneumoperitoneum when the patient is at different pressures; among them, the physical sign image information of the pneumoperitoneum when the patient is at different pressures can be collected by CT; the physical sign image information includes the body surface information and lesion information of the patient;

[0094] Step S130: The control unit establishes a corresponding deformation relationship between the pneumoperitoneum and the lesion tissue according to the pneumoperitoneum model under different pressures and the deformation parameters of the human body model when the patient is in the non-pneumoperitoneum state.

[0095] Step S140: Determine the safety range of the spatial position of the target object of the detection component according to the surgical area and the deformation relationship, that is, the deformation limit of the pneumoperitoneum, and input the upper threshold and the lower threshold of the safety range into the patient-side control device.

[0096] Step S150: The monitoring device monitors the spatial position of the target object, and at the same time the control unit obtains the spatial position of the target object.

[0097] Step S160: The control unit determines whether the current spatial position of the target object is within the safety range. If so, the control unit determines that the current pneumoperitoneum is in a safe state and the operation is normally performed; if not, the control unit determines that the current pneumoperitoneum is in an unsafe state and executes Step S70 and Step S80.

[0098] Step S170: Generate a reminder message and give a reminder.

[0099] Step S180: Generate a stop instruction and send it to the robotic arm to make the robotic arm stop continuing to perform the surgical operation.

[0100] Due to the individual differences among different patients, the deformation parameters are introduced when predicting the pneumoperitoneum deformation. According to the tissue elasticity of different patients, the deformations of the pneumoperitoneum and the lesion tissue with the change of pressure are considered, and the safety range of the spatial position of the target object is obtained accordingly to ensure the safety of the operation.

[0101] In some embodiments, the monitoring device 200 can collect the image information of the target object. The image information can reflect the spatial position of the target object. Furthermore, the control unit obtains the coordinates of the target object in space according to the image information and compares them with the upper threshold and the lower threshold to determine whether the target object is within the safety range. Specifically, please refer back to Figure 1, in one embodiment, a local area on the surface of the pneumoperitoneum defines a monitoring area. The detection component 100 includes a target sticker, which is attached to the monitoring area, and a plurality of identification points 110 that are not on a straight line are arranged on the target sticker to serve as the target objects. The monitoring device 200 includes an image acquisition device, which acquires the image information of the target sticker in real time to obtain the image information of the plurality of identification points 110 and sends it to the control unit. Then, the control unit establishes a surface model of the monitoring area based on the image information of the plurality of identification points 110, and registers the surface model with the pneumoperitoneum model under normal pressure to establish the coordinate system of the target sticker. The coordinate system of the target sticker will deform accordingly as the pneumoperitoneum deforms. After that, the control unit can judge the coordinates of the current spatial positions of the plurality of identification points 110 according to the change of the coordinate system of the target sticker and the deformation relationship, and further judge whether the current spatial positions of the plurality of identification points 110 are within the safe range. In this embodiment, the image acquisition device includes but is not limited to a binocular vision camera or a structured light camera.

[0102] Before the control unit obtains the spatial position of the identification point 110 according to the image information of the identification point 110, the mapping relationship between the coordinate system F1(X1 / Y1 / Z1) of the target sticker and the coordinate system of the control unit should be established first. In this embodiment, the case where the control unit is located in the patient-side control device 60 is taken as an example for illustration. The coordinate system of the patient-side control device 60 is the coordinate system F2(X2 / Y2 / Z2). Please refer to Figure 7 , in the world coordinate system F0(X0 / Y0 / Z0), establish the mapping relationship between the coordinate system F3(X3 / Y3 / Z3) of the image acquisition device and the coordinate system F2(X2 / Y2 / Z2) of the patient's control device 60, and establish the mapping relationship between the coordinate system F3(X3 / Y3 / Z3) of the image acquisition device and the coordinate system F1(X1 / Y1 / Z1) of the target sticker, so as to obtain the mapping relationship between the coordinate system F1(X1 / Y1 / Z1) of the target sticker and the coordinate system F1(X1 / Y1 / Z1) of the patient-side control device 60. This method is well-known to those skilled in the art, and the specific process will not be introduced in detail.

[0103] As Figures 8 to 10As shown, in another embodiment, the detection component 100 includes a bracket 120, a target pen 130, and an elastic member 140. The bracket 120 is used to connect to an external device such as a manipulator or other fixing device to keep the spatial position of the bracket 120 fixed. A through hole 121 is provided on the bracket 120. The target pen 130 includes a pen rod 131 and a contact portion 132 and a limit head 133 disposed at the axial two ends of the pen rod 131. The contact portion 132 is used to always contact the surface of the pneumoperitoneum. The contact portion 132 is used to limit the target pen 130 on the bracket 120 to prevent the target pen 130 from separating from the bracket 120. A retaining wall 134 protruding radially outward along the pen rod 131 is further provided on the pen rod 131. The pen rod 131 is inserted through the through hole 121 of the bracket 120, and the retaining wall 134 and the limit head are respectively located on both sides of the bracket 120. The elastic member 140 is disposed between the retaining wall 134 and the bracket 120. In this embodiment, the elastic member 140 includes a spring, and one spring is sleeved on the pen rod 131.

[0104] When the detection component 100 is disposed on the surface of the patient's pneumoperitoneum, as the pneumoperitoneum deforms, the target pen 130 moves accordingly. That is, when the pneumoperitoneum pressure increases, the target pen 130 moves along the contact portion 132 towards the limit head 133 under the restraint of the through hole 121, and when the pneumoperitoneum pressure decreases, the target pen 130 moves along the limit head 133 towards the contact portion 132 under the restraint of the through hole 121. Since the limit head 133 can be completely exposed within the field of view of the image acquisition device, in this embodiment, the limit head 133 is used as the target object. That is, the image acquisition device acquires the image information of the limit head 133, and the control unit obtains the current spatial position of the limit head 133 through the image information of the limit head 133, and determines whether the current spatial position of the limit head 133 is within the safe range, that is, whether the current position is within the set threshold range, and further determines whether the current pneumoperitoneum is in a safe state.

[0105] Similarly, in this embodiment, it is also necessary to implement the mapping relationship between the coordinate system of the detection component 100 and the coordinate system of the patient-side control device 60. Generally, the coordinate system of the detection component 100 can be established by selecting three non-collinear points on the detection component 100, and then the mapping relationship between it and the coordinate system of the patient-side control device 60 can be established according to the conventional method.

[0106] Since the spatial position of the bracket 120 in space remains unchanged, during the movement of the target pen 130 along with the deformation of the pneumoperitoneum, the spatial position of the target pen 130 relative to the bracket 120 changes accordingly. Thus, in an alternative embodiment, the monitoring device 200 can also monitor the position of the target pen 130 relative to the bracket 120, so as to reflect the current spatial position of the target pen 130 by using the position of the target pen 130 relative to the bracket 120. That is to say, in an alternative example, the target pen 130 is used as the target object. In this embodiment, the limiting head 133 only serves as a limiting part to play a limiting role and prevent the target pen 130 from detaching from the bracket 120. Correspondingly, since the position of the bracket 120 is unchanged, that is, its position is known, the control unit is configured to determine whether the target pen 130 is within the safety range according to the position of the target pen 130 relative to the bracket 120.

[0107] Please refer to Figure 11 , specifically, on the pen shaft 131 of the target pen 130, there are a first predetermined position and a second predetermined position arranged along the axial direction of the pen shaft 131, and the first predetermined position is closer to the contact part 132. The first predetermined position corresponds to the upper limit of the safety range of the spatial position of the target pen 130, and the second predetermined position corresponds to the lower limit of the safety range of the spatial position of the target pen 130. The monitoring device 200 includes a first sensor 210, a second sensor (not shown in the figure) and a third sensor 220, and the second sensor is closer to the contact part 132 than the third sensor 220. Among them, the first sensor 210 is installed on the surface of the bracket 120 close to the limiting head 133, the second sensor is arranged at the first predetermined position of the pen shaft 131, and the third sensor 220 is arranged at the second predetermined position of the pen shaft 131.

[0108] Thus, as the pneumoperitoneum pressure increases, the target pen 130 moves in the direction from the contact portion 132 to the limit head 133 until the second sensor reaches the spatial position of the first sensor 210 (i.e., in the axial direction of the pen shaft 131, the first sensor 210 is flush with the first predetermined position where the second sensor is located), and the target pen 130 reaches the upper limit of the safe range. At this time, the second sensor and the first sensor 210 sense each other and send corresponding information to the control unit. The control unit receives the corresponding information and determines that the current spatial position of the target pen 130 has reached the safety limit and will not be within the safe range. Conversely, as the pneumoperitoneum pressure decreases, the target pen 130 moves in the direction from the limit head 133 to the contact portion 132 until the third sensor 220 reaches the spatial position of the first sensor 210 (i.e., in the axial direction of the pen shaft 131, the first sensor 210 is flush with the second predetermined position where the third sensor 220 is located), and the target pen 130 reaches the lower limit of the safe range. At this time, the third sensor 220 and the first sensor 210 sense each other and send corresponding information to the control unit. The control unit receives the corresponding information and determines that the current spatial position of the target pen 130 is no longer within the safe range.

[0109] Optionally, in this embodiment, the first sensor 210 is a signal transmitting device, and the second sensor and the third sensor 220 are signal receiving devices. Or, the first sensor 210 is a signal receiving device, and the second sensor and the third sensor 220 are signal transmitting devices.

[0110] In other embodiments, the target object may also have magnetism, and during the surgical process, the target object is always in a established fixed magnetic field, so that the monitoring device is configured as a magnetic monitoring device (magnetic sensor), and thus the control unit can obtain the current spatial position of the target object according to the signal fed back by the magnetic monitor. The fixed magnetic field is generated by a magnetic source.

[0111] Specifically, when the pneumoperitoneum deforms, the pose of the target object in space relative to the magnetic source changes accordingly. The magnetic sensor senses the pose change of the target object relative to the magnetic source, converts it into an electrical signal and sends it to the control unit, so that the control unit can obtain the current spatial position of the target object according to the electrical signal.

[0112] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a program is stored. When the program is executed, the program performs the following steps:

[0113] Establish an insufflation model of a patient under different pressures before surgery;

[0114] Establish a deformation relationship corresponding to the insufflation and the lesion tissue according to the deformation parameters of the insufflation model and the human body model when the patient is in a non-insufflation state. The deformation relationship is used to determine the safety range of the spatial position of the target object set on the surface of the insufflation (that is, to determine whether the spatial coordinates of the target object are between the upper threshold and the lower threshold of the safety range); and,

[0115] During the operation, obtain the current spatial position of the target object, and determine whether the current spatial position of the target object is within the safety range, and further determine whether the current insufflation is in a safe state.

[0116] Wherein, when obtaining the current spatial position of the target object, the program executes the steps: obtaining the spatial position of the target object according to the image information of the target object.

[0117] Alternatively, for a magnetic target object, when the pose of the target object relative to the magnetic source changes with the deformation of the insufflation in a fixed magnetic field generated by a magnetic source, the program can execute the steps: obtaining the current spatial position of the target object according to the pose of the target object relative to the magnetic source.

[0118] Further, after determining that the current spatial position of the target object is not within the safety range, the program can also execute: generating a reminder message. And, generating a stop instruction and transmitting it to the robotic arm of the surgical robot system for performing surgical operations to stop the surgical operations of the robotic arm.

[0119] In addition, an embodiment of the present invention also provides an insufflation monitoring method, including the steps executed by the aforementioned control unit during insufflation monitoring.

[0120] Although the present invention is disclosed as above, it is not limited thereto. Those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these changes and modifications.

Claims

1. A pneumoperitoneum safety monitoring system, characterized in that Comprising: A detection component, configured to be disposed on the surface of the pneumoperitoneum and including a target object, wherein the spatial position of the target object changes with the deformation of the pneumoperitoneum; A monitoring device, configured to monitor the spatial position of the target object; And, A control unit, communicatively connected to the monitoring device; the control unit is configured to establish a pneumoperitoneum model of the patient at different pressures before the operation, and establish a deformation relationship corresponding to the pneumoperitoneum and the lesion tissue according to the deformation parameters of the pneumoperitoneum model and the human body model of the patient in the non-pneumoperitoneum state, and the deformation relationship is used to determine the safety range of the spatial position where the target object is located; the control unit is further configured to judge whether the current spatial position of the target object is within the safety range during the operation, and further judge whether the current pneumoperitoneum is in a safe state.

2. The pneumoperitoneum safety monitoring system according to claim 1, wherein The monitoring device includes an image acquisition device, and the image acquisition device is configured to acquire image information of the target object to monitor the spatial position of the target object.

3. The pneumoperitoneum safety monitoring system according to claim 2, characterized in that, The surface of the pneumoperitoneum defines a monitoring area; the detection component includes a target sticker, the target sticker is configured to be attached to the monitoring area, and a plurality of identification points are provided on the target sticker, and the plurality of identification points serve as the target object; The control unit is configured to establish a surface model of the monitoring area according to the image information of the plurality of identification points, and register the surface model with the pneumoperitoneum model under normal pressure to establish a coordinate system of the target sticker, and judge whether the current spatial positions of the plurality of identification points are within the safety range according to the coordinate system of the target sticker and the deformation relationship.

4. The pneumoperitoneum safety monitoring system according to claim 2, wherein, The detection component includes a bracket, a target pen and an elastic member; the bracket is configured to be connected to an external positioning device, and a through hole is provided on the bracket; the target pen includes a pen rod and a contact portion and a limiting head portion respectively provided at two axial ends of the pen rod, the contact portion is configured to contact the surface of the pneumoperitoneum, and the limiting head portion is the target object; a blocking wall protruding radially outward along the pen rod is further provided on the pen rod, the pen rod is inserted through the through hole of the bracket, and the blocking wall and the limiting head portion are respectively located on both sides of the bracket; the elastic member is disposed in the space defined by the blocking wall and the bracket; The control unit is configured to obtain the current spatial position of the limiting head portion according to the image information of the limiting head portion, and judge whether the current spatial position of the limiting head portion is within the safety range.

5. The pneumoperitoneum safety monitoring system according to claim 1, characterized in that The detection component includes a bracket, a target pen and an elastic member; the bracket is configured to be connected to an external positioning device, and the spatial position of the bracket remains fixed; a through hole is provided on the bracket; the target pen is the target object and includes a pen rod and a contact portion and a limiting head portion respectively provided at two axial ends of the pen rod, the contact portion is configured to contact the surface of the pneumoperitoneum; a blocking wall protruding radially outward along the pen rod is further provided on the pen rod, the pen rod is inserted through the through hole of the bracket, and the blocking wall and the limiting head portion are respectively located on both sides of the bracket; the elastic member is disposed between the blocking wall and the bracket; The detection component is configured such that when the pressure of the pneumoperitoneum increases, the target pen moves relative to the bracket along the direction from the contact part to the limit head, so that the elastic member is compressed and stores elastic potential energy; when the pressure of the pneumoperitoneum decreases, the elastic member releases the elastic potential energy, so that the target pen moves relative to the bracket along the direction from the limit head to the contact part; The monitoring device is configured to monitor the position of the target pen relative to the bracket to monitor the spatial position of the target pen; The control unit is configured to determine whether the current spatial position of the target pen is within the safe range according to the position of the target pen relative to the bracket.

6. The pneumoperitoneum safety monitoring system according to claim 5, wherein, On the pen shaft of the target pen, a first predetermined position and a second predetermined position are defined along the axial direction of the pen shaft, and the first predetermined position is closer to the contact part; The monitoring device includes a first sensor, a second sensor and a third sensor, wherein the first sensor is installed on the surface of the bracket near the limit head, and the second sensor and the third sensor are respectively installed at the first predetermined position and the second predetermined position defined on the pen shaft; When the target pen moves such that the second sensor at the first predetermined position reaches the first sensor, the first sensor and the second sensor sense each other and send corresponding information to the control unit, and the control unit determines that the current spatial position of the target pen is no longer within the safe range; When the target pen moves such that the third sensor at the second predetermined position reaches the first sensor, the first sensor and the third sensor sense each other and send corresponding information to the control unit, and the control unit determines that the current spatial position of the target pen is no longer within the safe range.

7. The pneumoperitoneum safety monitoring system according to claim 6, wherein The first sensor is a signal transmitter, and the second sensor and the third sensor are both signal receivers; or, the first sensor is a signal receiver, and the second sensor and the third sensor are both signal transmitters.

8. The pneumoperitoneum safety monitoring system according to claim 1, characterized in that, The target object has magnetism and is in a fixed magnetic field generated by a magnetic source during the operation, and the pose of the target object relative to the magnetic source changes with the deformation of the pneumoperitoneum during the operation; The monitoring device is a magnetic monitoring device and is used to monitor the spatial position of the target object according to the change of the pose of the target object relative to the magnetic source; The control unit is configured to obtain the current spatial position of the target object according to the pose of the target object relative to the magnetic source.

9. The pneumoperitoneum safety monitoring system according to claim 1, wherein The control unit is further configured to generate a reminder message and give a reminder when it is determined that the current spatial position of the target object is not within the safe range.

10. The pneumoperitoneum safety monitoring system according to claim 1, wherein The control unit is used to communicate with the robotic arm of the surgical robot system, and the end of the robotic arm is used to connect the surgical instrument to perform surgical operations; The control unit is further configured to control the robotic arm to stop the surgical operation when it is determined that the current spatial position of the target object is no longer within the safe range.

11. The pneumoperitoneum safety monitoring system according to claim 10, characterized in that, The control unit is located at the patient-side control device of the surgical robot system.

12. The pneumoperitoneum safety monitoring system according to claim 1, characterized in that, The human body model includes a body surface model and a lesion model.

13. The pneumoperitoneum safety monitoring system according to claim 1, wherein, The deformation parameters include an elastic coefficient and a surface parameter.

14. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed, the program performs the following steps: Establish an insufflation model of the patient under different pressures before the operation; Establish a deformation relationship corresponding to the insufflation and the lesion tissue according to the insufflation model and the deformation parameters of the human body model when the patient is in a non-insufflation state; The deformation relationship is used to determine the safety range of the spatial position of the target of the detection component arranged on the surface of the insufflation when the insufflation deforms; And, During the operation, judge whether the current spatial position of the target is within the safety range, and then judge whether the current insufflation is in a safe state.

15. The computer-readable storage medium according to claim 14, wherein The program also performs the following steps: obtain the current spatial position of the target according to the image information of the target.

16. The computer-readable storage medium according to claim 14, wherein The target has magnetism and is in a fixed magnetic field generated by a magnetic source during the operation, and the pose of the target relative to the magnetic source changes with the deformation of the insufflation; The program also performs the following steps: obtain the current spatial position of the target according to the pose of the target relative to the magnetic source.

17. The computer-readable storage medium according to claim 14, wherein After determining that the current spatial position of the target is not within the safety range, the program also performs the following steps: generate a reminder message.

18. The computer-readable storage medium according to claim 14, wherein After determining that the current spatial position of the target is not within the safety range, the program also performs the following steps: generate a stop instruction and transmit it to the robotic arm of the surgical robot system for performing surgical operations, so that the robotic arm stops performing surgical operations.

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