Teaching auxiliary device for female pelvic organ prolapse repair operation

Abstract

The invention discloses a teaching auxiliary device for a female pelvic floor organ prolapse repair operation, and belongs to the technical field of female pelvic floor repair teaching aids. The pelvic floor teaching device comprises a pelvic floor simulation mold, pelvic floor teaching gloves and an auxiliary display system, wherein audible and visual alarms and contact sensors are arranged at the positions of organs in the pelvic floor simulation mold. The pelvic floor teaching glove solves the problems that an existing green hand is difficult to practice an operation and resources of a corpse dissecting teaching aid are tight, the pelvic floor teaching glove is inserted into the pelvic floor simulation mold through the vagina by wearing the pelvic floor teaching glove, the probe at the front end and the contact type sensor are used for sensing each other, and if the pelvic floor teaching glove mistakenly enters an organ which is not required to be examined, the audible and visual alarm gives an alarm; various simulation teaching scenes are set, the image is blurred through the image blurring module to simulate the serious bleeding phenomenon, an operator observes the actual condition of a simulation operation through the display terminal, it is ensured that the teaching auxiliary device has the visualization, guiding and feedback functions, and the defects that a green hand is difficult to learn and simulation tools are tight are overcome.

Description

Technical Field

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

[0002] The female pelvic floor is composed of multiple layers of muscles and fascia that close the pelvic outlet, with the urethra, vagina and rectum running through it. The pelvic floor muscle groups, fascia, ligaments and their nerves constitute a complex pelvic floor support system, which interact and support each other, support and maintain the normal position of pelvic organs such as the uterus, bladder and rectum, and realize the mechanism of urine and stool control. The front of the pelvic floor is the lower edge of the pubic symphysis, the back is the tip of the coccyx, and the two sides are the descending ramus of the pubic bone, the ascending ramus of the sciatic bone and the ischial tuberosity. Delivery injuries or premature physical labor after childbirth affect the recovery of pelvic floor muscle tension, constipation, chronic cough, etc. continue to increase intra-abdominal pressure, or due to aging, low estrogen levels, and iatrogenic injuries, which will cause the pelvic floor structure to be weak and lead to functional defects.

[0003] At present, transvaginal pelvic floor repair surgery requires the surgeon to be familiar with the pelvic floor ligaments, fascia tissues and gastrointestinal tract, separate and dissect the anatomy without visual inspection, and find the corresponding anatomical indication points for puncture and suturing. Since it is difficult for novices to learn, the puncture route that the instructor walks depends on feeling and experience, and the learning curve is long; however, the current teaching methods are mainly fresh cadaver dissection and intraoperative teaching. The former has limited resources, and the latter cannot be practiced repeatedly, and there is a lack of feedback.

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

[0005] The purpose of the present invention is to provide a teaching auxiliary device for female pelvic organ prolapse repair surgery. The pelvic floor teaching glove is worn on the right hand of the operator. After the hand is inserted into the pelvic floor simulation mold through the vagina, the actual situation inside the pelvic floor simulation mold is photographed by a micro camera fixed to the middle section of the index finger or middle finger of the pelvic floor teaching glove, and the probe fixed to the front end of the middle finger of the pelvic floor teaching glove and the contact sensor are used for mutual perception. If the probe mistakenly enters a non-examination organ, the sound and light alarm at the place emits an alarm sound; a variety of simulated teaching scenes are set. If there is damage to important organs and severe bleeding, the internal real-time image is blurred by an image blur module. The operator observes the simulated operation through a display terminal connected to the outside, ensuring that the teaching auxiliary device has the functions of visualization, guidance and feedback, avoiding the learning difficulties of novices and the shortage of simulation tools, and solving the problems raised in the above-mentioned background technology.

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

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

[0008] Furthermore, the auxiliary display system includes:

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

[0010] Model building module, which obtains multi-angle images of the pelvic floor simulation mold and uses computer vision technology to build a 3D pelvic floor model;

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

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

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

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

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

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

[0017] A representation label acquisition unit, used to determine the angle representation of each target image according to the acquisition angle of the pelvic floor simulation model, encode the angle representation and mark the encoding result in the corresponding target image, and determine the representation label of each target image based on the marking result;

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

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

[0020] An image stitching unit, used for stitching a plurality of sub-target images between target image clusters based on an association relationship;

[0021] An image processing unit, used for obtaining pixel information of each sub-target image in the target image cluster, and when the pixel information of every two sub-target images overlap, the overlapping pixel points in the two sub-target images are marked, and redundant pixel points are determined based on the marking results, and the redundant pixel points are removed;

[0022] Model modification unit for:

[0023] The target image cluster is processed based on the elimination result, and at the same time, the processed target image cluster is mapped in the first pelvic floor three-dimensional model, and first point cloud data of the processed target image cluster in the first pelvic floor three-dimensional model is obtained based on the mapping result;

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

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

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

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

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

[0029] Furthermore, the teaching subsystem includes:

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

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

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

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

[0034] Furthermore, the image acquisition module includes:

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

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

[0037] Furthermore, the image processing module includes:

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

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

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

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

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

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

[0044]

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

[0046] The second computing unit is configured to:

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

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

[0049]

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

[0051] The third computing unit is configured to:

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

[0053]

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

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

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

[0057] 1. The present invention provides a pelvic floor simulation mold and a pelvic floor three-dimensional model. The operator wears a pelvic floor teaching glove and inserts the index finger sensor part into the pelvic floor simulation mold through the vagina, so as to detect the important anatomical indicator points (sacrospinous ligament, sacrotuberous ligament, ischial spine and its fascia, pelvic fascia tendinous arch, uterosacral ligament, vaginal vault (two cases after hysterectomy and uterus retention), coccyx, descending ramus pubis, ischial tuberosity, obturator membrane, pubic symphysis and other structures) in the pelvic floor repair surgery to be inspected. During the detection process, the probe part of the pelvic floor teaching glove is sensed by the contact sensor provided for each organ. If the operator's probe part mistakenly enters the non-inspection organ, the sound and light alarm at the place emits an alarm sound to remind the operator that the non-inspection organ is mistakenly touched, indicating that the operation has failed; and in its auxiliary display system, the probe part of the pelvic floor teaching glove is sensed. A variety of simulation teaching scenarios for pelvic floor organ repair surgery are set, and the operator can select the mode for practice and testing; secondly, a micro camera is installed in the middle section of the middle finger of the pelvic floor teaching glove to collect real-time images inside the pelvic floor simulation mold, and the collected images are synchronized with the display terminal connected to the outside world; during the practice, if important organs are damaged and severe bleeding occurs, the image blur module will be used to blur the current real-time image inside the pelvic floor simulation mold, and the operator can understand the actual situation of the simulated surgery by observing the images synchronized by the display terminal, ensuring that the teaching auxiliary device has the functions of visualization, guidance and feedback, thereby improving the authenticity and feasibility of the teaching auxiliary device for female pelvic floor organ prolapse repair surgery, and avoiding the learning difficulties of novices and the disadvantages of tight simulation tool resources.

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

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

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

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

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

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

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

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

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

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

[0068] The auxiliary display system includes:

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

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

[0071] The image acquisition module includes:

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

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

[0074] Continuing with the above embodiment, for example, a surgical simulation scheme is selected in the host by the keyboard to determine the position of the pelvic floor organs to be detected, such as selecting uterine state detection to simulate vaginal hysterectomy; at this time, the sound and light alarm 3 and the contact sensor 4 belonging to the uterus are turned off, and the sound and light alarm 3 and the contact sensor 4 belonging to the remaining organs are turned on; the pelvic floor teaching gloves 2 are activated, and the probe is inserted into the pelvic floor simulation mold 1 through the vagina, and the internal real-time image of the pelvic floor simulation mold 1 is obtained by using a micro camera; after determining the surgical position according to the internal real-time image, the novice doctor relies on the learned technique to send the surgical tools into the uterus through the vagina and perform the resection treatment; if during this period, the surgical tools damage the remaining organs, such as: damage the ureter wall, then the contact sensor 4 belonging to the ureter senses the contact signal and feeds it back to the auxiliary display system, and after being distinguished by the auxiliary display system, the sound and light alarm 3 here is turned on for reminder, and the image blur module is used to blur the internal real-time image displayed by the host at this time to represent the failure of the surgical simulation, thereby improving the authenticity of the repair surgery simulation.

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

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

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

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

[0079] Continuing with the above embodiment, for example, after the signal identification module determines that the signal is an abnormal contact signal, the abnormal positioning module checks the label of the contact sensor 4 that sends the abnormal contact signal, for example, if the label of the contact sensor 4 is number five, it determines the organ position to which the number five contact sensor 4 belongs, and finds the number five sound and light alarm 3 accordingly, and then synchronously feeds back the abnormal contact signal and the label of the sound and light alarm 3 to which it belongs to the instruction transceiver module.

[0080] An instruction transceiver module, used for receiving the abnormal contact signal and converting it into an alarm instruction, and sending the alarm instruction to the sound and light alarm 3 corresponding to the position of the abnormal contact signal;

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

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

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

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

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

[0086] The teaching subsystem includes:

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

[0088] The simulated teaching scenarios of pelvic floor organ repair surgery set by the teaching subsystem include: vaginal hysterectomy, anterior and posterior vaginal wall suture, transvaginal sacrosacral ligament suspension, sacrospinous ligament fixation, ischiospinous fascia fixation, retropubic mid-urethral sling and transobturator mid-urethral sling.

[0089] The working principle of the above content is: by setting up the pelvic floor simulation mold 1 and the pelvic floor three-dimensional model, the operator uses the right hand to insert the machine probe part of the pelvic floor teaching glove 2 into the pelvic floor simulation mold 1 through the vagina, so as to detect the health status of the pelvic floor organs to be inspected; in the detection process, the probe part of the pelvic floor teaching glove 2 is sensed by the contact sensor 4 set in each organ. If the operator's probe part mistakenly enters the non-inspection organ, the sound and light alarm 3 at that place will sound an alarm to remind the operator that the non-inspection organ is accidentally touched, indicating that the operation has failed; and the pelvic floor organ repair function is set in the host connected to its auxiliary display system. There are multiple simulated teaching scenes for surgery, and the operator can select the mode for practice and testing; secondly, the front end and both sides of the intracavitary probe in the pelvic floor teaching glove 2 are equipped with micro cameras for collecting real-time images inside the pelvic floor simulation mold 1, and the collected images are synchronized with the display terminal connected to the auxiliary display system; during the practice, if there is damage to important organs and severe bleeding, the image blurring module will be used to blur the current real-time image inside the pelvic floor simulation mold 1, and the operator can understand the real situation of the simulated surgery by observing the images synchronized by the display terminal in the pelvic floor teaching glove 2.

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

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

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

[0093] A representation label acquisition unit, used to determine the angle representation of each target image according to the acquisition angle of the pelvic floor simulation model, encode the angle representation and mark the encoding result in the corresponding target image, and determine the representation label of each target image based on the marking result;

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

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

[0096] An image stitching unit, used for stitching a plurality of sub-target images between target image clusters based on an association relationship;

[0097] An image processing unit, used for obtaining pixel information of each sub-target image in the target image cluster, and when the pixel information of every two sub-target images overlap, the overlapping pixel points in the two sub-target images are marked, and redundant pixel points are determined based on the marking results, and the redundant pixel points are removed;

[0098] Model modification unit for:

[0099] The target image cluster is processed based on the elimination result, and at the same time, the processed target image cluster is mapped in the first pelvic floor three-dimensional model, and first point cloud data of the processed target image cluster in the first pelvic floor three-dimensional model is obtained based on the mapping result;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0114]

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

[0116] The second computing unit is configured to:

[0117] Obtain the repair steps of the pelvic floor simulation mold 1 during the simulation test, determine the surgical volume corresponding to each repair step, and record the surgical time for each repair step to be completed during the simulation test;

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

[0119]

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

[0121] The third computing unit is configured to:

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

[0123]

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

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

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

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

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

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

[0130] 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 teaching aid for female pelvic organ prolapse repair surgery, comprising: A pelvic floor simulation mold (1), a pelvic floor teaching glove (2) and an auxiliary display system, characterized in that: each organ, ligament and fascia, blood vessel and nerve position in the pelvic floor simulation mold (1) is provided with an audible and visual alarm (3) and a contact sensor (4); the pelvic floor teaching glove (2) is provided with a probe at the front end of the middle finger, and the probe part of the pelvic floor teaching glove (2) and the contact sensor (4) are mutually inductive; the pelvic floor simulation mold (1), the pelvic floor teaching glove (2), the audible and visual alarm (3) and the contact sensor (4) are all connected to the auxiliary display system, and the auxiliary display system is used to control and display the use status of the pelvic floor teaching glove (2) and the pelvic floor simulation mold (1).

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

3. A teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 1, characterized in that: The auxiliary display system comprises: The image acquisition module is a miniature camera, which is fixed to the middle section of the index finger or middle finger of the pelvic floor teaching glove (2) through a strap and is used to acquire real-time images of the interior of the pelvic floor simulation mold (1); A model building module, which obtains multi-angle images of the pelvic floor simulation mold (1) and uses computer vision technology to build a three-dimensional pelvic floor model; A signal distinguishing module is used to receive the contact signal transmitted by the contact sensor (4), distinguish whether there is an abnormal contact signal in the contact signal, and then send the abnormal contact signal to the abnormal positioning module for position locking; The abnormal positioning module is used to locate the abnormal contact signal, determine the organ position to which the abnormal contact signal belongs, and then send the abnormal contact signal to the command transceiver module to issue an alarm command; An instruction transceiver module is used to receive the abnormal contact signal and convert it into an alarm instruction, and send the alarm instruction to the sound and light alarm (3) corresponding to the position of the abnormal contact signal; The teaching subsystem is used to set up simulation teaching scenarios for pelvic floor organ repair surgery, and to practice and assess important anatomical positions, structures, and teaching simulation surgeries.

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

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

6. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 3, characterized in that: The teaching subsystem includes: Teaching and drill module, used to set up various simulation and drill scenarios for pelvic floor organ repair surgery; Teaching test module, used to set up various simulation test scenarios for pelvic organ repair surgery; The mode selection module is used to select the current teaching mode.

7. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 3, characterized in that: The simulated teaching scenarios of pelvic floor organ repair surgery set by the teaching subsystem specifically include: vaginal hysterectomy, anterior and posterior vaginal wall suture, transvaginal sacrosacral ligament suspension, sacrospinous ligament fixation, ischiospinous fascia fixation, retropubic mid-urethral sling and transobturator mid-urethral sling.

8. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 3, characterized in that: The image acquisition module comprises: An image processing module is used to receive a real-time image of the interior of the pelvic floor simulation mold (1), and to perform noise reduction and image enhancement processing on light and noise in the received real-time two-dimensional image, so as to ensure the clarity of the real-time two-dimensional image; The image blur module is used to blur the real-time image inside the pelvic floor simulation mold (1) based on Gaussian blur technology to simulate the performance of severe bleeding or damage to important organs during surgery.

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

10. The teaching auxiliary device for female pelvic organ prolapse repair surgery according to claim 6, characterized in that: The teaching and drill module is used to set up simulation test scenarios and also includes: The preparation unit is used to obtain the evaluation indicators of the simulation test results, calculate the simulation test evaluation comprehensive score based on the evaluation indicators of the simulation test results, and output the simulation test evaluation grade based on the simulation test evaluation comprehensive score, specifically including: An evaluation index reading unit is used to read the evaluation index of the simulation test result, and the evaluation index of the simulation test result includes: a structural position repair degree evaluation index and a simulation test efficiency evaluation index; A first calculation unit is used to obtain a first coordinate point corresponding to the lowest point of the structure of the pelvic floor simulation mold (1) after the simulation test repair and a second coordinate point corresponding to the lowest point of the normal pelvic floor simulation mold (1), and calculate the degree of structural position repair based on the first coordinate value and the second coordinate value; Wherein, μ represents the degree of structural position repair; x1 represents the abscissa value corresponding to the first coordinate point; x2 represents the abscissa value corresponding to the second coordinate point; y1 represents the ordinate value corresponding to the first coordinate point; y2 represents the ordinate value corresponding to the second coordinate point; The second computing unit is configured to: Obtaining the repair steps of the pelvic floor simulation mold (1) during the simulation test, and determining the amount of surgery corresponding to each repair step, and at the same time, recording the surgery time for each repair step to be completed during the simulation test; The simulation test efficiency is calculated based on the surgical volume corresponding to each repair step and the surgical time to complete each repair step; Where η represents the simulation test efficiency; n represents the total number of repair steps; i represents the repair step sequence number; s i represents the amount of surgery corresponding to the i-th repair step; t i represents the operation time to complete the i-th repair step; v0 represents the baseline rate, and The third computing unit is configured to: Calculate the comprehensive score of simulation test evaluation based on the structural position repair degree evaluation index and the simulation test efficiency evaluation index; Wherein, f represents the comprehensive score of simulation test evaluation; φ1 represents the first impact weight corresponding to the structural position repair degree evaluation index when calculating the comprehensive score of simulation test evaluation; φ2 represents the second impact weight corresponding to the simulation test efficiency evaluation index when calculating the comprehensive score of simulation test evaluation; The simulation test evaluation grade output unit is used to output the simulation test evaluation grade based on the comprehensive score of the simulation test evaluation.

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