Minimally invasive surgery navigation system and method based on OLED screen

Abstract

The invention is applied to the technical field of minimally invasive surgery navigation, and discloses a minimally invasive surgery navigation system based on an OLED screen, the system comprises a registration module, a display module and a navigation module, the registration module is composed of a marking unit and a display positioning unit, and the display module is composed of an OLED flexible screen, a wireless transmission module and a sign monitoring sensor. The navigation module is composed of a micro mechanical arm, a tracking module and a video data line. According to the minimally invasive surgery navigation system based on the OLED screen, the mode that the skin surface of the affected part of a patient is covered with the OLED flexible screen is adopted, a doctor can directly observe an image in the surgery application process, the surgery process and the navigation system are considered while the sight line is not moved away, the navigation display path is clearly observed, normal operation is guaranteed, and the operation efficiency is improved. The tracking module detects the positions of the endoscope and the surgical instrument at the same time, so that a doctor does not need to manually adjust the position of the endoscope, and the stability of the doctor in the surgical process is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive surgery navigation, and in particular to a minimally invasive surgery navigation system and method based on an OLED screen. Background Art

[0002] With the continuous development of medical technology, minimally invasive surgery is increasingly used in clinical treatment. Minimally invasive surgery has significant advantages such as small trauma, fast recovery, and light pain, which greatly improves the patient's treatment experience and recovery speed. However, minimally invasive surgery also faces some challenges, among which accurate surgical navigation is a key issue. In traditional minimally invasive surgery, doctors mainly rely on preoperative imaging data, such as CT, MRI, etc., as well as their own experience to judge the position and operation direction of surgical instruments in the body. This method has certain limitations and is difficult to accurately reflect the relative relationship between surgical instruments and surrounding tissues in real time. It may lead to errors in surgical operations and increase surgical risks. In recent years, although some minimally invasive surgical navigation technologies have emerged, there are still many shortcomings. For example, the existing navigation systems are often not accurate enough to meet the requirements of complex operations; some navigation devices are complicated to operate, which increases the time and difficulty of the operation. Some navigation technologies rely on expensive special equipment, which limits their wide application in clinical practice. Taking interventional ablation in minimally invasive surgery as an example, doctors need to take into account the surgical process and the navigation system in time, observe the navigation display path, and then look at the patient. The needle is inserted into the target point by the patient, and this process is repeated until the ablation needle is inserted into the target point. This process does not conform to the conventional surgical process and will seriously affect the quality of the operation. Some methods use projection navigation to project the target point and the path onto the patient through a projector. This method greatly solves the problem of asynchronism between eyes and hands. However, this method is not applicable in the operating room, because under the strong light of the surgical lamp, the projected image is extremely difficult to distinguish, and the patient's affected area is covered by a disinfectant towel, which will cause serious distortion to the projection. At the same time, the surgical instruments under the projection and the arms holding the instruments will block the projected image. Therefore, the projection method cannot adapt to the existing surgical methods. In addition, due to the complexity of the internal tissue structure of the human body and individual differences, the existing navigation methods show obvious inadaptability when dealing with some special situations, such as tissue deformation, organ displacement, etc., which not only affects the effect of the operation, but also may cause unnecessary damage to the patient. In order to improve the safety and accuracy of minimally invasive surgery, a more advanced, accurate, easy-to-use and cost-effective minimally invasive surgical navigation technology is urgently needed to meet the actual clinical needs. Therefore, a minimally invasive surgical navigation system and navigation method based on an OLED screen are proposed. Summary of the invention

[0003] The purpose of the present invention is to provide a minimally invasive surgery navigation system and method based on an OLED screen, so as to solve the problem that the navigation method proposed in the above background technology is not suitable for existing surgical methods.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a minimally invasive surgical navigation system based on an OLED screen, the application scenarios of which include but are not limited to laparoscopic surgery, puncture surgery and endoscopic surgery, and the minimally invasive surgical navigation system comprises: a registration module, a display module and a navigation module; The registration module is composed of a marking unit and a display positioning unit; The display module consists of an OLED flexible screen, a wireless transmission module and a vital sign monitoring sensor. The navigation module is composed of a micro-mechanical arm, a tracking module and a video data line.

[0005] Preferably, the marking unit is attached to the patient's skin and is distributed in an integrated dot matrix. The display positioning unit is a flexible positioning frame, and the lower surface of the edge of the display positioning unit fits with the upper surface of the edge of the marking unit.

[0006] Preferably, the vital sign monitoring sensor is attached to the patient's skin, and the vital sign monitoring sensor is connected to the signal input end of the OLED flexible screen through a wireless transmission module.

[0007] Preferably, one or more holes are reserved on the surface of the OLED flexible screen, and a hanging point connected to the display positioning unit is provided at the edge of the OLED flexible screen.

[0008] Preferably, the micro-robotic arm and the tracking module are connected to the signal input terminal of the OLED flexible screen via a video data line, and the tracking module includes one of a three-dimensional space tracking locator based on an optical camera or an electromagnetic.

[0009] A minimally invasive surgery navigation method based on an OLED screen, the navigation method comprising the following steps: S1. Attach the display positioning unit to the skin of the patient's surgical site, and then install the marking unit on the inner side of the display positioning unit; S2. aligning the marking unit with the patient's body parts by means of intraoperative CT scanning, and adjusting the position of the display positioning unit during the process; S3. Then install the OLED flexible screen inside the display positioning unit to cover the marking unit; S4. Install the vital sign monitoring sensor at the appropriate position of the patient's body and connect it to the OLED flexible screen through the wireless transmission module; S5. When the robot-assisted mode is used, the micro-robot arm is placed at a suitable position, and the endoscope and the ablation needle catheter are respectively installed at the ends of different micro-robot arms; S6. When using the freehand mode, the target point of the endoscope position is displayed on the OLED flexible screen through the tracking module and the video data cable; S7. The doctor controls the micro-manipulator and the viewing angle of the endoscope through the touch function of the OLED flexible screen and the navigation software. In the robot-assisted mode, the micro-manipulator drives the endoscope to automatically turn according to one of the three-dimensional space tracking locators based on optical cameras or electromagnetics. Preferably, the vital sign monitoring sensors include but are not limited to blood pressure, respiration and heartbeat sensors.

[0010] Preferably, the signal input end of the OLED flexible screen is connected to the computer via a wireless transmission module.

[0011] Preferably, the marking unit is made of a developing material, and the marking unit is configured as a circular patch.

[0012] Preferably, the display positioning unit is made of rubber material, and the display positioning unit and the marking unit are arranged in upper and lower layers.

[0013] Compared with the prior art, the beneficial effects of the present invention are: the minimally invasive surgery navigation system based on OLED screen: 1. By covering the surface of the patient's affected skin with an OLED flexible screen, the doctor can directly observe the image during the operation, taking into account the surgical process and the navigation system without looking away, and clearly observe the navigation display path to ensure the normal progress of the operation; 2. Use one of the three-dimensional space tracking locators based on optical cameras or electromagnetics in the tracking module to detect the endoscope and surgical instruments at the same time, so as to adjust the angle of the endoscope and monitor the actual position of the ablation needle catheter in real time, so that doctors can avoid manually adjusting the position of the endoscope and ensure the stability of the doctor during the operation; 3. The method of using a micro-robotic arm to precisely control the endoscope and ablation needle catheter is more stable and accurate than the traditional manual control method, ensuring that the direction of surgical instrument implantation and the observation angle are more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the system composition of the present invention. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] The present invention provides a technical solution: a minimally invasive surgery navigation system based on an OLED screen, the application scenarios of the minimally invasive surgery navigation system include but are not limited to laparoscopic surgery, puncture surgery and endoscopic surgery, and the minimally invasive surgery navigation system includes: a registration module, a display module and a navigation module; The registration module consists of a marking unit and a display positioning unit; The display module consists of an OLED flexible screen, a wireless transmission module and a vital sign monitoring sensor. The navigation module consists of a micro robotic arm, a tracking module and a video data cable.

[0017] The marking unit is attached to the patient's skin, and the marking unit is distributed in an integrated dot matrix. The display positioning unit is a flexible positioning frame, and the lower surface of the edge of the display positioning unit is in contact with the upper surface of the edge of the marking unit.

[0018] The vital sign monitoring sensor is attached to the patient's skin, and is connected to the signal input end of the OLED flexible screen through a wireless transmission module.

[0019] One or more holes are reserved on the surface of the OLED flexible screen, and the edge of the OLED flexible screen is provided with hanging points connected to the display positioning unit.

[0020] The micro-robotic arm and the tracking module are connected to the signal input terminal of the OLED flexible screen via a video data cable. The tracking module includes one of a three-dimensional space tracking locator based on an optical camera or an electromagnetic.

[0021] A minimally invasive surgery navigation method based on an OLED screen, the navigation method comprising the following steps: S1. Attach the display positioning unit to the skin of the patient's surgical site, and then install the marking unit on the inner side of the display positioning unit; S2. aligning the marking unit with the patient's body parts by means of intraoperative CT scanning, and adjusting the position of the display positioning unit during the process; S3. Then install the OLED flexible screen inside the display positioning unit to cover the marking unit; S4. Install the vital sign monitoring sensor at the appropriate position of the patient's body and connect it to the OLED flexible screen through the wireless transmission module; S5. When the robot-assisted mode is used, the micro-robot arm is placed at a suitable position, and the endoscope and the ablation needle catheter are respectively installed at the ends of different micro-robot arms; S6. When using the freehand mode, the target point of the endoscope position is displayed on the OLED flexible screen through the tracking module and the video data cable; S7. The doctor uses the touch function of the OLED flexible screen and the navigation software to control the micro-robotic arm and the viewing angle of the endoscope. In the robotic arm auxiliary mode, the micro-robotic arm is controlled by one of the three-dimensional space tracking locators based on optical cameras or electromagnetics to drive the automatic steering of the endoscope.

[0022] Vital sign monitoring sensors include, but are not limited to, blood pressure, respiration, and heart rate sensors.

[0023] The signal input end of the OLED flexible screen is connected to the computer through a wireless transmission module.

[0024] The marking unit is made of a developing material, and the marking unit is configured as a circular patch design.

[0025] The display positioning unit is made of rubber material, and the display positioning unit and the marking unit are arranged in upper and lower layers.

[0026] When in use, the patient's lesion is scanned by medical imaging equipment such as CT or MRI to obtain detailed anatomical structure image data, and then these data are transmitted to the computer that controls the micro-manipulator arm for image preprocessing and three-dimensional reconstruction to generate a three-dimensional model of the patient's lesion. The doctor uses the patient's three-dimensional model on the software interface of the OLED flexible screen to formulate a detailed surgical plan, including the location of the surgical incision, surgical path, and location of the target lesion. The results of the surgical planning are input and saved and used for the micro-manipulator arm to drive the endoscope and ablation needle catheter during the operation; Before the operation begins, the three-dimensional space tracking locator of the tracking module is installed at the designated location to track the position of the surgical instrument in real time; During the operation, the surgical instruments are deeply operated through the opening reserved on the OLED flexible screen, and the image data of the surgical area is collected in real time through endoscopes, CT and other equipment. The collected real-time image data and the information of the positioning tracking device are quickly transmitted to the OLED flexible screen through the wireless transmission module for real-time display. At this time, the OLED flexible screen combines the real-time image with the preoperative registration module through the image registration algorithm for accurate position display, and realizes the generation of real-time navigation images. Doctors can directly observe the navigation image on the OLED flexible screen to understand the position of the surgical instrument in the patient's body, the relative relationship with the lesion site and the progress of the operation in real time. During the operation, the doctor accurately controls the movement and operation of the surgical instrument according to the navigation image displayed on the OLED flexible screen. The navigation image on the OLED flexible screen can provide doctors with real-time distance, angle, depth and other information to help doctors avoid important blood vessels, nerves and other structures, and accurately reach the lesion site for surgical operations. If the patient's position changes or the position of the surgical instrument deviates during the operation, the tracking module will detect these changes in real time and feedback the information to the micro-robotic arm. The micro-robotic arm will automatically adjust the navigation image to ensure that the doctor can always obtain accurate surgical guidance information.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A minimally invasive surgical navigation system based on an OLED screen, characterized in that: The application scenarios of the minimally invasive surgery navigation system include, but are not limited to, laparoscopic surgery, puncture surgery and endoscopic surgery. The minimally invasive surgery navigation system includes: a registration module, a display module and a navigation module; The registration module is composed of a marking unit and a display positioning unit; The display module consists of an OLED flexible screen, a wireless transmission module and a vital sign monitoring sensor. The navigation module is composed of a micro-mechanical arm, a tracking module and a video data line.

2. The minimally invasive surgical navigation system based on an OLED screen according to claim 1, characterized in that: The marking unit is attached to the patient's skin and is distributed in an integrated dot matrix. The display positioning unit is a flexible positioning frame, and the lower surface of the edge of the display positioning unit is in contact with the upper surface of the edge of the marking unit.

3. The minimally invasive surgical navigation system based on an OLED screen according to claim 1, characterized in that: The vital sign monitoring sensor is attached to the patient's skin, and is connected to the signal input end of the OLED flexible screen through a wireless transmission module.

4. The minimally invasive surgical navigation system based on an OLED screen according to claim 1, characterized in that: The surface of the OLED flexible screen is reserved with more than one hole, and the edge of the OLED flexible screen is provided with a hanging point connected to the display positioning unit.

5. The minimally invasive surgical navigation system based on an OLED screen according to claim 1, characterized in that: The micro-robotic arm and the tracking module are connected to the signal input end of the OLED flexible screen via a video data line, and the tracking module includes one of a three-dimensional space tracking locator based on an optical camera or an electromagnetic.

6. A minimally invasive surgery navigation method based on an OLED screen according to any one of claims 1 to 5, characterized in that: The navigation method comprises the following steps: S1. Attach the display positioning unit to the skin of the patient's surgical site, and then install the marking unit on the inner side of the display positioning unit; S2. aligning the marking unit with the patient's body parts by means of intraoperative CT scanning, and adjusting the position of the display positioning unit during the process; S3. Then install the OLED flexible screen inside the display positioning unit to cover the marking unit; S4. Install the vital sign monitoring sensor at the appropriate position of the patient's body and connect it to the OLED flexible screen through the wireless transmission module; S5. When the robot-assisted mode is used, the micro-robot arm is placed at a suitable position, and the endoscope and the ablation needle catheter are respectively installed at the ends of different micro-robot arms; S6. When using the freehand mode, the target point of the endoscope position is displayed on the OLED flexible screen through the tracking module and the video data cable; S7. The doctor uses the touch function of the OLED flexible screen and the navigation software to control the micro-robotic arm and the viewing angle of the endoscope. In the robotic arm auxiliary mode, the micro-robotic arm is controlled by one of the three-dimensional space tracking locators based on optical cameras or electromagnetics to drive the automatic steering of the endoscope.

7. The minimally invasive surgery navigation method based on an OLED screen according to claim 6, characterized in that: The vital sign monitoring sensors include but are not limited to blood pressure, breathing and heart rate sensors.

8. The minimally invasive surgery navigation method based on an OLED screen according to claim 6, characterized in that: The signal input end of the OLED flexible screen is connected to the computer through a wireless transmission module.

9. The minimally invasive surgery navigation method based on an OLED screen according to claim 6, characterized in that: The marking unit is made of a developing material, and the marking unit is configured as a circular patch.

10. The minimally invasive surgery navigation method based on an OLED screen according to claim 6, characterized in that: The display positioning unit is made of rubber material, and the display positioning unit and the marking unit are arranged in upper and lower layers.

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