Flap forming method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a flap forming method and device, electronic equipment and storage medium. The method comprises obtaining a first three-dimensional medical image obtained by a shooting device shooting a flap donor area and a flap recipient area, the first three-dimensional medical image containing at least three steel balls on a registration plate assembly; determining position information of a multi-axis mechanical arm in the first three-dimensional medical image according to the first three-dimensional medical image, a spatial position relationship of the steel balls on the registration plate assembly, and a pre-acquired spatial position relationship between the multi-axis mechanical arm and the registration plate assembly; determining a position, shape and size of a flap in the flap donor area according to the first three-dimensional medical image; and planning a motion path of the multi-axis mechanical arm according to the determined position, shape and size of the flap in the flap donor area and the position information of the multi-axis mechanical arm in the first three-dimensional medical image.

Description

Technical Field

[0001] This application relates to the field of flap transplantation technology, and in particular to a flap formation method, apparatus, electronic device and storage medium. Background Technology

[0002] A skin flap is formed from a piece of skin with a blood supply and its attached subcutaneous adipose tissue. During the formation and transfer of a skin flap, a portion must remain connected to the main body (donor flap area). This connected portion is called the pedicle to maintain the blood supply. The rest of the flap is separated from the main body on both the surface and deep surfaces. After being transferred to another wound (recipient flap area), it is temporarily still nourished by the blood supply from the pedicle. Once the blood vessels in the recipient flap area grow into the flap and establish a new blood supply, the pedicle is cut off, completing the entire process of flap transfer. Therefore, it is also called a pedicled flap. However, local flaps or island flaps do not require pedicle cutting after transfer.

[0003] Currently, the retrograde design method (also called flap reverse design method) is used in clinical practice to determine the size and shape of the flap. The general procedure is as follows: 1. First, draw the required flap size, shape, and pedicle length in the donor area; 2. Cut a simulated flap from paper (or cloth) according to the above drawing; 3. Fix the pedicle to the donor area, lift the paper (or cloth) pattern, and transfer it once to see if it can loosely cover the defect area. This verifies whether the specific size, position, and shape of the designed flap match the defect area and whether the patient can tolerate this position. Although the above method can prevent the design from deviating from reality, in actual operation, the position and size of the flap area are very difficult to control, and it is difficult to determine the required flap size and shape in one go. In addition, during the operation, only the simulated flap cut from paper (or cloth) is transferred, and the vascular condition of the flap area cannot be observed. Summary of the Invention

[0004] The purpose of this application is to provide a method, apparatus, electronic device, and storage medium for forming skin flaps, capable of forming skin flaps with precise position, shape, and size. The specific technical method is as follows:

[0005] In a first aspect, embodiments of this application provide a method for flap formation, comprising:

[0006] A first three-dimensional medical image is obtained by capturing images of the donor flap area and the recipient flap area using an imaging device. The first three-dimensional medical image contains at least three steel balls on the registration plate assembly.

[0007] Based on the first three-dimensional medical image, the spatial relationship of at least three steel balls on the registration plate assembly, and the pre-acquired spatial relationship between the multi-axis robotic arm and the registration plate assembly, determine the position information of the multi-axis robotic arm in the first three-dimensional medical image;

[0008] The location, shape, and size of the flap in the donor area are determined based on the acquired first three-dimensional medical images;

[0009] Based on the determined location, shape, and size of the flap in the donor area, as well as the position information of the multi-axis robotic arm in the first three-dimensional medical image, the motion path of the multi-axis robotic arm is planned.

[0010] In some embodiments of this application, a first three-dimensional medical image is obtained by an imaging device capturing images of the donor flap area and the recipient flap area. The first three-dimensional medical image includes at least three steel balls on the registration plate assembly, including:

[0011] The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area and the recipient flap area, and the imaging device is controlled to capture images of the donor flap area, the recipient flap area and the registration plate assembly to obtain the first three-dimensional medical image.

[0012] In some embodiments of this application, the position information of the multi-axis robotic arm in the first three-dimensional medical image is determined based on the spatial positional relationship of at least three steel balls on the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, including:

[0013] Based on the spatial relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first three-dimensional medical image is obtained. Then, based on the pre-acquired spatial relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first three-dimensional medical image is obtained.

[0014] In some embodiments of this application, determining the location, shape, and size of the flap in the donor flap area based on the acquired first three-dimensional medical image includes:

[0015] The first three-dimensional medical images of the donor and recipient flap areas are reconstructed. The shape and outline of the recipient flap area are delineated in the first three-dimensional medical image. Combined with the state of blood vessels and skin in the first three-dimensional medical image, the location, shape, and size of the flap in the donor flap area are determined.

[0016] Secondly, a flap formation device is provided, comprising:

[0017] The first acquisition module is configured to acquire a first three-dimensional medical image obtained by the imaging device capturing images of the donor flap area and the recipient flap area, wherein the first three-dimensional medical image contains at least three steel balls on the registration plate assembly.

[0018] The first registration module is configured to determine the position information of the multi-axis robotic arm in the first three-dimensional medical image based on the spatial positional relationship of at least three steel balls on the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly.

[0019] The first determining module is configured to determine the position, shape, and size of the flap in the donor flap area based on the acquired first three-dimensional medical image;

[0020] The first planning module is configured to plan the motion path of the multi-axis robotic arm based on the determined location, shape, and size of the flap in the donor flap area and the position information of the multi-axis robotic arm in the first three-dimensional medical image.

[0021] In some embodiments of this application, when acquiring a first three-dimensional medical image obtained by the imaging device capturing images of the donor flap area and the recipient flap area, the first acquisition module is configured to:

[0022] The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area and the recipient flap area, and the imaging device is controlled to capture images of the donor flap area, the recipient flap area, and the registration plate assembly to obtain the first three-dimensional medical image.

[0023] In some embodiments of this application, when determining the position information of the multi-axis robotic arm in the first three-dimensional medical image based on the first three-dimensional medical image, the spatial positional relationship of at least three steel balls on the registration plate assembly, and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, the first registration module is configured as follows:

[0024] Based on the spatial relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first three-dimensional medical image is obtained. Then, based on the pre-acquired spatial relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first three-dimensional medical image is obtained.

[0025] In some embodiments of this application, when determining the location, shape, and size of the flap in the donor flap area based on the acquired first three-dimensional medical image, the first determining module is configured to:

[0026] The first three-dimensional medical images of the donor and recipient flap areas are reconstructed. The shape and outline of the recipient flap area are delineated in the first three-dimensional medical image. Combined with the state of blood vessels and skin in the first three-dimensional medical image, the location, shape, and size of the flap in the donor flap area are determined.

[0027] Thirdly, embodiments of this application propose another method for flap formation, including:

[0028] At least two first two-dimensional medical images are obtained by the imaging device taking pictures of the flap area from different shooting angles, and each first two-dimensional medical image contains at least three steel balls on the registration plate assembly;

[0029] Based on the spatial relationship between the first two-dimensional medical image, at least three steel balls in the registration plate assembly, and the pre-acquired spatial relationship between the multi-axis robotic arm and the registration plate assembly, determine the positional information of the multi-axis robotic arm and the first two-dimensional medical image.

[0030] Acquire second-dimensional medical images of the donor and recipient flap areas, and determine the location, shape, and size of the flap in the donor area;

[0031] The second three-dimensional medical image and the first two-dimensional medical image are registered, and the position information of the multi-axis robotic arm in the second three-dimensional medical image is determined based on the registration result and the position information of the multi-axis robotic arm and the first two-dimensional medical image.

[0032] Based on the position information of the multi-axis robotic arm in the second-dimensional medical image and the position, shape and size of the flap in the determined flap donation area, the motion path of the multi-axis robotic arm is planned.

[0033] In some embodiments of this application, at least two first two-dimensional medical images are obtained by the imaging device capturing images of the donor flap area from different shooting angles. Each first two-dimensional medical image contains at least three steel balls on the registration plate assembly, including:

[0034] The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area, and the imaging device is controlled to take pictures of the donor flap area and the registration plate assembly at different shooting angles to obtain at least two first two-dimensional medical images.

[0035] In some embodiments of this application, the positional information of the multi-axis robotic arm in the first two-dimensional medical image is determined based on the spatial relationship between the first two-dimensional medical image, at least three steel balls in the registration plate assembly, and the pre-acquired spatial relationship between the multi-axis robotic arm and the registration plate assembly, including:

[0036] Based on the spatial positional relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first two-dimensional medical image is obtained. Then, based on the pre-acquired spatial positional relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first two-dimensional medical image is obtained.

[0037] In some embodiments of this application, acquiring second three-dimensional medical images of the donor flap area and the recipient flap area, and determining the position, shape, and size of the flap in the donor flap area, includes:

[0038] The second three-dimensional medical images of the donor and recipient flap areas are reconstructed. The shape and outline of the recipient flap area are delineated in the second three-dimensional medical images. Combined with the state of blood vessels and skin in the second three-dimensional medical images, the location, shape, and size of the flap in the donor flap area are determined.

[0039] Fourthly, another flap formation device is provided, including:

[0040] The second acquisition module is configured to acquire at least two first two-dimensional medical images obtained by the imaging device taking pictures of the flap area from different shooting angles, and each first two-dimensional medical image contains at least three steel balls on the registration plate assembly.

[0041] The second registration module is configured to determine the position information of the multi-axis robotic arm in the first two-dimensional medical image based on the spatial positional relationship of at least three steel balls in the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly.

[0042] The second determining module is configured to acquire a second three-dimensional medical image of the donor flap area and the recipient flap area, and determine the position, shape and size of the flap in the donor flap area;

[0043] The third registration module is configured to register the second three-dimensional medical image and the first two-dimensional medical image, and determine the position information of the multi-axis robotic arm in the second three-dimensional medical image based on the registration result and the position information of the multi-axis robotic arm and the first two-dimensional medical image.

[0044] The second planning module is configured to plan the motion path of the multi-axis robotic arm based on the position information of the multi-axis robotic arm in the second three-dimensional medical image and the position, shape and size of the flap in the determined flap donor area.

[0045] In some embodiments of this application, when acquiring at least two first two-dimensional medical images obtained by the imaging device capturing images of the donor flap area from different shooting angles, and each first two-dimensional medical image contains at least three steel balls on the registration plate assembly, the second acquisition module is configured to:

[0046] The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area, and the imaging device is controlled to take pictures of the donor flap area and the registration plate assembly at different shooting angles to obtain at least two first two-dimensional medical images.

[0047] In some embodiments of this application, when determining the positional information of the multi-axis robotic arm and the first two-dimensional medical image based on the spatial positional relationship of at least three steel balls in the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, the second registration module is configured as follows:

[0048] Based on the spatial positional relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first two-dimensional medical image is obtained. Then, based on the pre-acquired spatial positional relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first two-dimensional medical image is obtained.

[0049] In some embodiments of this application, when acquiring a second three-dimensional medical image of the donor flap area and the recipient flap area, and determining the position, shape, and size of the flap in the donor flap area, the second determining module is configured to:

[0050] The second three-dimensional medical images of the donor and recipient flap areas are reconstructed. The shape and outline of the recipient flap area are delineated in the second three-dimensional medical images. Combined with the state of blood vessels and skin in the second three-dimensional medical images, the location, shape, and size of the flap in the donor flap area are determined.

[0051] Fifthly, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the flap formation method described in any of the preceding claims.

[0052] In a sixth aspect, a computer-readable storage medium is provided having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the flap formation method described in any of the preceding claims.

[0053] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0054] In this embodiment of the invention, by using the three-dimensional medical images of the donor and recipient flap areas with registration plate components obtained during the operation, or the three-dimensional medical images of the donor and recipient flap areas obtained before the operation, and the two-dimensional medical images of the donor and recipient flap areas with registration plate components obtained during the operation, the motion path of the multi-axis robotic arm can be planned, thereby cutting out a flap with precise position, shape and size in the donor flap area. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0056] Figure 1 This is a schematic diagram of the structure of a flap formation system provided in an exemplary embodiment of this application;

[0057] Figure 2 This is a flowchart illustrating a flap formation method according to an exemplary embodiment of this application;

[0058] Figure 3 This is a schematic diagram of a flap formation device illustrated in an exemplary embodiment of this application;

[0059] Figure 4 This is a schematic diagram of the structure of an electronic device shown in an example embodiment of this application;

[0060] Figure 5 This is a flowchart illustrating another flap formation method in an exemplary embodiment of this application;

[0061] Figure 6 This is a schematic diagram of a module of another flap formation device shown in an example embodiment of this application;

[0062] Figure 7 This is a schematic diagram of the structure of another electronic device shown in an example embodiment of the present invention. Detailed Implementation

[0063] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0064] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "upper," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure.

[0065] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0066] Figure 1This is a schematic diagram of a flap formation system according to an exemplary embodiment of the present invention. The flap formation system includes a robotic arm carriage 110, a registration assembly 120, and an imaging device 130. The robotic arm carriage 110 is equipped with a multi-axis robotic arm 111, and surgical instruments can be mounted at the end of the multi-axis robotic arm 111. In this way, the surgical instruments can perform surgical operations on the patient under the drive of the multi-axis robotic arm 111. The multi-axis robotic arm 111 can realize vertical lifting, forward and backward movement, left and right movement, and rotation around the base. The registration plate assembly 120 includes a registration plate and several steel balls evenly distributed on the registration plate. The registration plate assembly 120 is configured to be installed at the end of the multi-axis robotic arm 111 during spatial registration to determine the spatial positional relationship between the multi-axis robotic arm 111 and the medical image. The imaging device 130 includes at least a frame assembly 131 and an imaging component 132. The frame assembly 131 can move and rotate in all directions (up, down, left, right, forward, backward), thereby adjusting the pose of the imaging component 132. This allows the imaging component 132 to capture medical images of the patient from any angle, meeting the needs of medical personnel to observe the lesion site and surgical instruments from different angles. The robotic arm carriage 110 and the imaging device 130 can establish a communication connection via wired or wireless means. Alternatively, the robotic arm carriage 110 may also include a control system (not shown in the figure), and the imaging device 130 may also include a control system to control the movement of their respective multi-axis robotic arms 111. It should be noted that the system may also include a separate control vehicle 140, which can establish a communication connection with the robotic arm vehicle 110 and the camera 130 via wired or wireless means.

[0067] The following is combined with Figure 1 The flap formation system shown herein provides a detailed description of an embodiment of the flap formation method of the present invention.

[0068] like Figure 2 As shown, an embodiment of the first aspect of the present invention provides a method for forming a skin flap, which includes the following steps:

[0069] Step S101: Acquire a first three-dimensional medical image obtained by the imaging device capturing images of the donor flap area and the recipient flap area. The first three-dimensional medical image contains at least three steel balls on the registration plate assembly.

[0070] Three-dimensional medical images are medical images with high spatial resolution, such as CT images, PET images, and MRI (magnetic resonance imaging) images.

[0071] Step S102: Based on the first three-dimensional medical image, the spatial relationship of at least three steel balls on the registration plate assembly, and the pre-acquired spatial relationship between the multi-axis robotic arm and the registration plate assembly, determine the position information of the multi-axis robotic arm in the first three-dimensional medical image;

[0072] Step S103: Determine the position, shape, and size of the flap in the donor flap area based on the acquired first three-dimensional medical image;

[0073] Step S104: Based on the determined location, shape, and size of the flap in the donor area and the position information of the multi-axis robotic arm in the first three-dimensional medical image, plan the motion path of the multi-axis robotic arm.

[0074] According to the flap formation method of the present invention, the motion path of a multi-axis robotic arm can be planned to obtain a flap with precise position, shape, and size. Specifically, the first three-dimensional medical images of the donor flap area and the recipient flap area are acquired. Based on the acquired first three-dimensional medical images, the spatial positional relationship of at least three steel balls on the registration plate assembly, and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, the position information of the multi-axis robotic arm in the first three-dimensional medical images is determined. The three-dimensional medical images of the donor flap area and the recipient flap area are reconstructed to outline the shape contour of the recipient flap area. Combined with the state of blood vessels and skin in the first three-dimensional medical images, the position, shape, and size of the flap in the donor flap area are determined. Combining the determined position, shape, and size of the flap in the donor flap area and the position information of the multi-axis robotic arm in the first three-dimensional medical images, the motion path of the multi-axis robotic arm is planned to cut a flap with precise position, shape, and size in the donor flap area.

[0075] It should be noted that the execution order of step S103 is not limited to being executed after step S102. Steps S102 and S103 can be executed simultaneously, or step S103 can be executed first and then step S102. The spatial positional relationship between the registration plate assembly and the multi-axis robotic arm is fixed and is obtained in advance by a three-dimensional laser calibration instrument.

[0076] In some embodiments of this application, the first three-dimensional medical image obtained by the imaging device from the donor flap area and the recipient flap area in step S101 above includes at least three steel balls on the registration plate assembly, including:

[0077] S1. Control the multi-axis robotic arm equipped with the registration plate assembly at the end to move to the vicinity of the donor flap area and the recipient flap area, and control the imaging device to take pictures of the donor flap area, the recipient flap area and the registration plate assembly to obtain the first three-dimensional medical image.

[0078] In some embodiments of this application, step 102 above, which determines the position information of the multi-axis robotic arm in the first three-dimensional medical image based on the spatial relationship between the first three-dimensional medical image, the spatial relationship between at least three steel balls on the registration plate assembly, and the pre-acquired spatial relationship between the multi-axis robotic arm and the registration plate assembly, includes:

[0079] Based on the spatial relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first three-dimensional medical image is obtained. Then, based on the pre-acquired spatial relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first three-dimensional medical image is obtained.

[0080] In some embodiments of this application, the step S103 described above, which determines the location, shape, and size of the flap in the donor flap area, includes:

[0081] The first three-dimensional medical images of the donor and recipient flap areas are reconstructed. The shape and outline of the recipient flap area are delineated in the first three-dimensional medical image. Combined with the state of blood vessels and skin in the first three-dimensional medical image, the location, shape, and size of the flap in the donor flap area are determined.

[0082] like Figure 3 This is a schematic diagram of a flap formation device according to an exemplary embodiment of the present invention. The device 200 includes:

[0083] The first acquisition module 210 is configured to acquire a first three-dimensional medical image obtained by the imaging device capturing images of the donor flap area and the recipient flap area, wherein the first three-dimensional medical image contains at least three steel balls on the registration plate assembly.

[0084] The first registration module 220 is configured to determine the position information of the multi-axis robotic arm in the first three-dimensional medical image based on the first three-dimensional medical image, the spatial position relationship of at least three steel balls on the registration plate assembly, and the pre-acquired spatial position relationship between the multi-axis robotic arm and the registration plate assembly.

[0085] The first determining module 230 is configured to determine the position, shape, and size of the flap in the flap donor area based on the acquired first three-dimensional medical image;

[0086] The first planning module 240 is configured to plan the motion path of the multi-axis robotic arm based on the determined flap location, shape and size of the flap donor area and the position information of the multi-axis robotic arm in the first three-dimensional medical image.

[0087] Optionally, when acquiring the first three-dimensional medical image obtained by the imaging device capturing images of the donor flap area and the recipient flap area, the first acquisition module 210 is configured to:

[0088] The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area and the recipient flap area. The imaging device is controlled to capture images of the donor flap area, the recipient flap area, and the registration plate assembly to obtain the first three-dimensional medical image and record the current posture of the multi-axis robotic arm.

[0089] Optionally, when determining the position information of the multi-axis robotic arm in the first three-dimensional medical image based on the spatial positional relationship of at least three steel balls on the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, the first registration module 220 is configured as follows:

[0090] Based on the spatial relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first three-dimensional medical image is obtained. Then, based on the pre-acquired spatial relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first three-dimensional medical image is obtained.

[0091] Optionally, when determining the location, shape, and size of the flap in the donor flap area based on the acquired first three-dimensional medical image, the first determining module 230 is configured to:

[0092] The first three-dimensional medical images of the donor and recipient flap areas are reconstructed. The shape and outline of the recipient flap area are delineated in the first three-dimensional medical image. Combined with the state of blood vessels and skin in the first three-dimensional medical image, the location, shape, and size of the flap in the donor flap area are determined.

[0093] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the present invention according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0094] like Figure 4 This is a schematic diagram of the structure of an electronic device 300 according to an example embodiment of the present invention; it includes: a memory 310, a processor 320, and a control program stored in the memory 310 and executable on the processor 320. When the control program is executed by the processor 320, it implements the flap formation method in any of the above embodiments.

[0095] Furthermore, the electronic device may also include a bus 330 and a communication interface 340, with the processor 320, the communication interface 340, and the memory 310 connected via the bus 330.

[0096] The memory 310 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 340 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network.

[0097] Bus 330 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 310 is used to store programs. After receiving an execution instruction, the processor 320 executes the program. The flap formation method disclosed in any of the foregoing embodiments of this application can be applied to the processor 320, or implemented by the processor 320.

[0098] The processor 320 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 320 or by instructions in software form. The processor 320 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 310. Processor 320 reads the information in memory 310 and completes the steps of the above method in conjunction with its hardware.

[0099] The electronic device 300 provided in this embodiment is based on the same inventive concept as the flap formation method provided in the above embodiment, and has the same beneficial effects as the method it adopts, operates or implements.

[0100] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the flap formation method provided in any of the above embodiments.

[0101] like Figure 5 As shown, an embodiment of the second aspect of the present invention provides a method for forming a skin flap, which includes the following steps:

[0102] Step S501: Acquire at least two first two-dimensional medical images of the flap area obtained by the imaging device taking pictures of the flap area from different shooting angles, each first two-dimensional medical image containing at least three steel balls on the registration plate assembly;

[0103] The two-dimensional medical image can be an image of different slices from a tomographic scan, such as a PET (positron emission tomography) slice or a CT (computed tomography) slice; it can also be an X-ray image. Currently, X-ray images (the first two-dimensional medical image) are generally used for navigation during surgery.

[0104] Step S502: Based on the spatial positional relationship of the first two-dimensional medical image, at least three steel balls in the registration plate assembly, and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, determine the positional information of the multi-axis robotic arm in the first two-dimensional medical image;

[0105] Step S503: Acquire second three-dimensional medical images of the donor flap area and the recipient flap area, and determine the position, shape and size of the flap in the donor flap area;

[0106] Three-dimensional medical images are medical images with high spatial resolution, such as CT images, PET images, MRI (magnetic resonance imaging) images, etc., preferably CT images with vascular enhancement.

[0107] Step S504: Register the second three-dimensional medical image and the first two-dimensional medical image, and determine the position information of the multi-axis robotic arm in the second three-dimensional medical image based on the registration result and the position information of the multi-axis robotic arm and the first two-dimensional medical image.

[0108] Step S505: Based on the position information of the multi-axis robotic arm in the second three-dimensional medical image and the position, shape and size of the flap in the determined flap donor area, plan the motion path of the multi-axis robotic arm.

[0109] According to the flap formation method of the present invention, the motion path of a multi-axis robotic arm can be planned to obtain a flap with precise position, shape, and size. Specifically, at least two first two-dimensional medical images of the donor flap area are acquired; based on the spatial positional relationship of the first two-dimensional medical images, at least three steel balls in the registration plate assembly, and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, the positional information of the multi-axis robotic arm in the first two-dimensional medical images is determined; second three-dimensional medical images of the donor flap area and the recipient flap area are acquired, and the position, shape, and size of the flap in the donor flap area are determined; the acquired second three-dimensional medical images and the first two-dimensional medical images are registered, and based on the registration result and the positional information of the multi-axis robotic arm in the first two-dimensional medical images, the positional information of the multi-axis robotic arm in the second three-dimensional medical images is determined; combining the determined flap position, shape, and size of the donor flap area and the positional information of the multi-axis robotic arm in the second three-dimensional medical images, the motion path of the multi-axis robotic arm is planned, thereby cutting a flap with precise position, shape, and size in the donor flap area.

[0110] In some embodiments of this application, in step 501 above, at least two first two-dimensional medical images are obtained by the imaging device capturing images of the donor flap area from different shooting angles. Each first two-dimensional medical image contains at least three steel balls on the registration plate assembly, including...

[0111] The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area, and the imaging device is controlled to take pictures of the donor flap area and the registration plate assembly at different shooting angles to obtain at least two first two-dimensional medical images.

[0112] In some embodiments of this application, step 502 above, which determines the position information of the multi-axis robotic arm in the first two-dimensional medical image based on the spatial positional relationship of at least three steel balls in the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, includes:

[0113] Based on the spatial positional relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first two-dimensional medical image is obtained. Then, based on the pre-acquired spatial positional relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first two-dimensional medical image is obtained.

[0114] In some embodiments of this application, step 503 above, which involves acquiring second three-dimensional medical images of the donor flap area and the recipient flap area, and determining the position, shape, and size of the flap in the donor flap area, includes:

[0115] The second three-dimensional medical images of the donor and recipient flap areas are reconstructed. The shape and outline of the recipient flap area are delineated in the second three-dimensional medical images. Combined with the state of blood vessels and skin in the second three-dimensional medical images, the location, shape, and size of the flap in the donor flap area are determined.

[0116] Corresponding to the aforementioned embodiments of the flap formation method, the present invention also provides embodiments of the flap formation apparatus.

[0117] Figure 6 This is a schematic diagram of a flap formation device according to an exemplary embodiment of the present invention. The device 600 may include:

[0118] The second acquisition module 610 is configured to acquire at least two first two-dimensional medical images obtained by the imaging device taking pictures of the donor flap area from different shooting angles, each first two-dimensional medical image containing at least three steel balls on the registration plate assembly.

[0119] The second registration module 620 is configured to determine the position information of the multi-axis robotic arm in the first two-dimensional medical image based on the spatial positional relationship of at least three steel balls in the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly.

[0120] The second determining module 630 is configured to acquire a second three-dimensional medical image of the donor flap area and the recipient flap area, and determine the position, shape and size of the flap in the donor flap area;

[0121] The third registration module 640 is configured to register the second three-dimensional medical image and the first two-dimensional medical image, and determine the position information of the multi-axis robotic arm in the second three-dimensional medical image based on the registration result and the position information of the multi-axis robotic arm and the first two-dimensional medical image.

[0122] The second planning module 650 is configured to plan the motion path of the multi-axis robotic arm based on the position information of the multi-axis robotic arm in the second three-dimensional medical image and the position, shape and size of the flap in the determined flap donor area.

[0123] In some embodiments of this application, when acquiring at least two first two-dimensional medical images obtained by the imaging device capturing images of the donor flap area from different shooting angles, and each first two-dimensional medical image contains at least three steel balls on the registration plate assembly, the second acquisition module 610 is configured to:

[0124] The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area, and the imaging device is controlled to take pictures of the donor flap area and the registration plate assembly at different shooting angles to obtain at least two first two-dimensional medical images.

[0125] In some embodiments of this application, when determining the positional information of the multi-axis robotic arm and the first two-dimensional medical image based on the spatial positional relationship of at least three steel balls in the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, the second registration module 620 is configured as follows:

[0126] Based on the spatial positional relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first two-dimensional medical image is obtained. Then, based on the pre-acquired spatial positional relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first two-dimensional medical image is obtained.

[0127] In some embodiments of this application, when acquiring a second three-dimensional medical image of the donor flap area and the recipient flap area, and determining the position, shape, and size of the flap in the donor flap area, the second determining module 630 is configured to:

[0128] The second three-dimensional medical images of the donor and recipient flap areas are reconstructed. The shape and outline of the recipient flap area are delineated in the second three-dimensional medical images. Combined with the state of blood vessels and skin in the second three-dimensional medical images, the location, shape, and size of the flap in the donor flap area are determined.

[0129] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the present invention according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0130] like Figure 7 This is a schematic diagram of the structure of an electronic device 700 according to an example embodiment of the present invention; it includes: a memory 710, a processor 720, and a control program stored in the memory 710 and executable on the processor 720. When the control program is executed by the processor 720, it implements the flap formation method in any of the above embodiments.

[0131] Furthermore, the electronic device may also include a bus 730 and a communication interface 740, with the processor 720, communication interface 740 and memory 710 connected via the bus 730.

[0132] The memory 710 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 740 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network.

[0133] Bus 730 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 710 is used to store programs. After receiving an execution instruction, the processor 720 executes the program. The flap formation method disclosed in any of the foregoing embodiments of this application can be applied to the processor 720, or implemented by the processor 720.

[0134] The processor 720 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 720 or by instructions in software form. The processor 720 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 710. Processor 720 reads the information in memory 710 and completes the steps of the above method in conjunction with its hardware.

[0135] The electronic device 700 provided in this embodiment is based on the same inventive concept as the flap formation method provided in the above embodiment, and has the same beneficial effects as the method used, operated or implemented therein.

[0136] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the flap formation method provided in any of the above embodiments.

[0137] It should be noted that the computer-readable medium may include, but is not limited to, optical discs, variable memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be described in detail here.

[0138] The computer-readable storage medium provided in this embodiment and the flap formation method provided in the above embodiments are based on the same inventive concept and have the same beneficial effects as the methods adopted, run, or implemented by the applications stored therein. It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0139] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0140] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0141] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0142] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0143] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application.

Claims

1. A method for forming a skin flap, characterized in that, include: A first three-dimensional medical image is obtained by capturing images of the donor flap area and the recipient flap area using an imaging device. The first three-dimensional medical image includes at least three steel balls on the registration plate assembly. Based on the spatial positional relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first three-dimensional medical image is obtained. Then, based on the pre-acquired spatial positional relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first three-dimensional medical image is obtained. The first three-dimensional medical image containing the donor flap area and the recipient flap area is reconstructed. The shape and outline of the recipient flap area are delineated in the first three-dimensional medical image. Combined with the state of blood vessels and skin in the first three-dimensional medical image, the flap location, shape and size of the donor flap area are determined. Based on the determined location, shape, and size of the flap in the donor area, and the position information of the multi-axis robotic arm in the first three-dimensional medical image, the motion path of the multi-axis robotic arm is planned.

2. The flap formation method as described in claim 1, characterized in that, A first three-dimensional medical image is obtained by acquiring images of the donor flap area and the recipient flap area using an imaging device. The first three-dimensional medical image contains at least three steel balls on the registration plate assembly, including: The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area and the recipient flap area, and the imaging device is controlled to capture images of the donor flap area, the recipient flap area, and the registration plate assembly to obtain the first three-dimensional medical image.

3. A flap formation device, characterized in that, include: The first acquisition module is configured to acquire a first three-dimensional medical image of the donor flap area and the recipient flap area obtained by the imaging device. The first three-dimensional medical image contains at least three steel balls on the registration plate assembly. The first registration module is configured to determine the position information of the multi-axis robotic arm in the first three-dimensional medical image based on the spatial positional relationship of at least three steel balls on the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly. The first determining module is configured to determine the position, shape, and size of the flap in the donor flap area based on the acquired first three-dimensional medical image; The first planning module is configured to plan the motion path of the multi-axis robotic arm based on the determined location, shape and size of the flap in the donor flap area and the position information of the multi-axis robotic arm in the first three-dimensional medical image. When determining the position information of the multi-axis robotic arm in the first three-dimensional medical image based on the spatial positional relationship of at least three steel balls on the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, the first registration module is configured to: solve the positional relationship of the registration plate assembly in the first three-dimensional medical image based on the spatial positional relationship of at least three steel balls on the registration plate assembly, and then solve the position information of the multi-axis robotic arm in the first three-dimensional medical image based on the pre-acquired spatial positional relationship between the registration plate assembly and the multi-axis robotic arm; When determining the position, shape, and size of the flap in the donor flap area based on the acquired first three-dimensional medical image, the first determining module is configured to: reconstruct the first three-dimensional medical image containing the donor flap area and the recipient flap area, delineate the shape outline of the recipient flap area in the first three-dimensional medical image, and determine the position, shape, and size of the flap in the donor flap area in combination with the state of blood vessels and skin in the first three-dimensional medical image.

4. The flap formation device as described in claim 3, characterized in that, When acquiring the first three-dimensional medical image of the recipient flap area obtained by the imaging device from capturing images of the donor flap area and the recipient flap area, the first acquisition module is configured as follows: The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area and the recipient flap area, and the imaging device is controlled to capture images of the donor flap area, the recipient flap area and the registration plate assembly to obtain the first three-dimensional medical image.

5. A method for forming a skin flap, characterized in that, include: At least two first two-dimensional medical images are obtained by the imaging device taking pictures of the flap area from different shooting angles, and each first two-dimensional medical image contains at least three steel balls on the registration plate assembly; Based on the spatial positional relationship of at least three steel balls on the registration plate assembly, the positional relationship of the registration plate assembly in the first two-dimensional medical image is obtained. Then, based on the pre-obtained spatial positional relationship between the registration plate assembly and the multi-axis robotic arm, the positional information of the multi-axis robotic arm in the first two-dimensional medical image is obtained. The second three-dimensional medical images of the donor flap area and the recipient flap area are acquired, and the second three-dimensional medical images of the donor flap area and the recipient flap area are reconstructed. The shape and outline of the recipient flap area are delineated in the second three-dimensional medical images. Combined with the state of blood vessels and skin in the second three-dimensional medical images, the flap position, shape and size of the donor flap area are determined. The second three-dimensional medical image and the first two-dimensional medical image are registered, and the position information of the multi-axis robotic arm in the second three-dimensional medical image is determined based on the registration result and the position information of the multi-axis robotic arm and the first two-dimensional medical image. Based on the position information of the multi-axis robotic arm in the second-dimensional medical image and the position, shape and size of the flap in the determined flap donation area, the motion path of the multi-axis robotic arm is planned.

6. The flap formation method as described in claim 5, characterized in that, At least two first two-dimensional medical images are obtained by acquiring images of the donor flap area from different shooting angles using an imaging device. Each first two-dimensional medical image contains at least three steel balls on the registration plate assembly, including: The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area, and the imaging device is controlled to take pictures of the donor flap area and the registration plate assembly at different shooting angles to obtain at least two first two-dimensional medical images.

7. A flap formation device, characterized in that, include: The second acquisition module is configured to acquire at least two first two-dimensional medical images obtained by the imaging device taking pictures of the flap area from different shooting angles, and each first two-dimensional medical image contains at least three steel balls on the registration plate assembly. The second registration module is configured to determine the position information of the multi-axis robotic arm in the first two-dimensional medical image based on the spatial positional relationship of at least three steel balls in the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly. The second determining module is configured to acquire a second three-dimensional medical image of the donor flap area and the recipient flap area, and determine the position, shape and size of the flap in the donor flap area; The third registration module is configured to register the second three-dimensional medical image and the first two-dimensional medical image, and determine the position information of the multi-axis robotic arm in the second three-dimensional medical image based on the registration result and the position information of the multi-axis robotic arm and the first two-dimensional medical image. The second planning module is configured to plan the motion path of the multi-axis robotic arm based on the position information of the multi-axis robotic arm in the second three-dimensional medical image and the position, shape and size of the flap in the determined flap donation area. When determining the position information of the multi-axis robotic arm in the first two-dimensional medical image based on the spatial positional relationship of at least three steel balls in the registration plate assembly and the pre-acquired spatial positional relationship between the multi-axis robotic arm and the registration plate assembly, the second registration module is configured to: solve the positional relationship of the registration plate assembly in the first two-dimensional medical image based on the spatial positional relationship of at least three steel balls on the registration plate assembly, and then solve the position information of the multi-axis robotic arm in the first two-dimensional medical image based on the pre-acquired spatial positional relationship between the registration plate assembly and the multi-axis robotic arm; When acquiring second three-dimensional medical images of the donor and recipient flap areas and determining the position, shape, and size of the flap in the donor flap area, the second determining module is configured to: acquire second three-dimensional medical images of the donor and recipient flap areas, reconstruct the second three-dimensional medical images of the donor and recipient flap areas, delineate the shape outline of the recipient flap area in the second three-dimensional medical images, and determine the position, shape, and size of the flap in the donor flap area by combining the state of blood vessels and skin in the second three-dimensional medical images.

8. The flap formation apparatus as described in claim 7, characterized in that, When acquiring at least two first two-dimensional medical images of the donor flap area obtained by the imaging device from different shooting angles, each first two-dimensional medical image containing at least three steel balls on the registration plate assembly, the second acquisition module is configured to: The multi-axis robotic arm equipped with a registration plate assembly at its end is controlled to move to the vicinity of the donor flap area, and the imaging device is controlled to take pictures of the donor flap area and the registration plate assembly at different shooting angles to obtain at least two first two-dimensional medical images.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the flap formation method according to any one of claims 1 to 2 or claims 5 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the flap formation method according to any one of claims 1 to 2 or claims 5 to 6.

Images