Scalpel, scalpel cutting depth tracking method, scalpel cutting depth tracking system, scalpel cutting depth tracking device and computer equipment

Abstract

The invention relates to a scalpel, a scalpel cutting depth tracking method, system and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that in the operation process of a scalpel, state information of a target scalpel after rotation is obtained; the state information after rotation comprises angular velocity information after rotation; determining post-rotation space coordinate information of the target scalpel according to the post-rotation angular velocity information and a preset data fusion algorithm; and determining the cutting depth of the target scalpel according to the space coordinate information after rotation and the original space coordinate information of the target scalpel, and outputting the cutting depth. By adopting the method, the operation efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a scalpel, a method, system, device, computer equipment, computer-readable storage medium, and computer program product for tracking the cutting depth of a scalpel. Background Art

[0002] A scalpel is a special knife consisting of a blade and a handle used to cut human or animal tissue. It is an indispensable and important surgical tool in surgery. During clinical surgery, doctors need to use a scalpel to accurately cut biological tissue to an appropriate depth and avoid important structures such as blood vessels and nerves during the operation.

[0003] However, the existing scalpel cutting depth perception method mainly relies on the doctor's personal experience to feel and estimate the cutting depth of the scalpel. Therefore, during the operation, the doctor needs to spend a lot of time constantly sensing the cutting depth of the scalpel and constantly adjusting the cutting position. Therefore, the existing scalpel cutting depth perception method has low surgical efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a scalpel, a cutting depth tracking method, system, device, computer equipment, computer-readable storage medium and computer program product that can improve surgical efficiency in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a method for tracking the cutting depth of a scalpel, comprising:

[0006] During the operation of the scalpel, obtaining the state information of the target scalpel after rotation; the state information after rotation includes the angular velocity information after rotation;

[0007] Determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm;

[0008] The cutting depth of the target scalpel is determined according to the rotated spatial coordinate information and the original spatial coordinate information of the target scalpel, and the cutting depth is output.

[0009] In one embodiment, determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm includes:

[0010] Determining the quaternion posture information of the target scalpel after rotation according to the angular velocity information after rotation;

[0011] Calculating the rotation matrix of the target scalpel after rotation according to the quaternion posture information after rotation;

[0012] The spatial coordinate information of the target scalpel after rotation is calculated according to the rotation matrix after rotation and the distance from the holding point of the target scalpel to the tip of the scalpel.

[0013] In one embodiment, the rotation state information further includes acceleration information after rotation, and determining the rotation space coordinate information of the target scalpel according to the rotation angular velocity information and a preset data fusion algorithm includes:

[0014] Correcting the angular velocity information after rotation according to the acceleration information after rotation to obtain corrected angular velocity information after rotation;

[0015] The spatial coordinate information of the target scalpel after rotation is determined according to the corrected angular velocity information after rotation and a preset data fusion algorithm.

[0016] In one embodiment, the method further comprises:

[0017] Acquire original state information of the target scalpel at an initial position; the original state information includes original angular velocity information;

[0018] The original spatial coordinate information of the target scalpel is determined according to the original angular velocity information and a preset data fusion algorithm.

[0019] In a second aspect, the present application also provides a scalpel, comprising:

[0020] The micro inertial sensor module is used to obtain the state information of the target scalpel after rotation during the operation of the scalpel; the state information after rotation includes the angular velocity information after rotation;

[0021] a data processing module, electrically connected to the micro inertial sensor module, for determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm; and determining the cutting depth of the target scalpel according to the spatial coordinate information after rotation and the original spatial coordinate information of the target scalpel;

[0022] A data transmission module is electrically connected to the data processing module and is used to output the cutting depth.

[0023] In a third aspect, the present application further provides a scalpel cutting depth tracking system, the system comprising the scalpel and a display module as described in the second aspect above, wherein:

[0024] The display module is connected to the scalpel by wire and / or wirelessly, and is used to display the cutting depth of the target scalpel.

[0025] In a fourth aspect, the present application further provides a cutting depth tracking device for a scalpel, comprising:

[0026] A first acquisition module is used to acquire the state information of the target scalpel after rotation during the operation of the scalpel; the state information after rotation includes the angular velocity information after rotation;

[0027] A first determination module, used to determine the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm;

[0028] The second determination module is used to determine the cutting depth of the target scalpel according to the rotated spatial coordinate information and the original spatial coordinate information of the target scalpel, and output the cutting depth.

[0029] In a fifth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps described in the first aspect when executing the computer program.

[0030] In a sixth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps described in the first aspect above.

[0031] In a seventh aspect, the present application further provides a computer program product, comprising a computer program, which implements the steps described in the first aspect when executed by a processor.

[0032] The above-mentioned scalpel, scalpel cutting depth tracking method, system, device, computer equipment, computer readable storage medium and computer program product obtain the rotation state information of the target scalpel during the operation of the scalpel; the rotation state information includes the rotation angular velocity information; according to the rotation angular velocity information and the preset data fusion algorithm, the rotation space coordinate information of the target scalpel is determined; according to the rotation space coordinate information and the original space coordinate information of the target scalpel, the cutting depth of the target scalpel is determined, and the cutting depth is output. In this way, the angular velocity information of the scalpel is obtained in real time, the real-time spatial position of the scalpel is determined by the angular velocity, and the cutting depth of the scalpel is determined and output according to the rotation space coordinate information and the original space coordinate information, so as to realize the automatic real-time quantitative output of the cutting depth of the scalpel, assist the doctor to complete the cutting, help the doctor to accurately adjust the cutting position, and improve the efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments of the present application or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0034] FIG1 is a schematic flow chart of a method for tracking cutting depth of a scalpel in one embodiment;

[0035] FIG2 is a flow chart of the steps of determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm in one embodiment;

[0036] 3 is a flow chart of the steps of determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm in another embodiment;

[0037] FIG4 is a flow chart showing steps further included in the method for tracking the cutting depth of a scalpel in one embodiment;

[0038] FIG5 is a schematic diagram of a physical model of a target scalpel in one embodiment;

[0039] FIG6 is a schematic diagram of a cutting depth calculation model in one embodiment;

[0040] FIG7 is a block diagram of a surgical knife in one embodiment;

[0041] FIG8 is a block diagram of a cutting depth tracking system for a scalpel in one embodiment;

[0042] FIG9 is a block diagram of a cutting depth tracking device for a scalpel in one embodiment;

[0043] FIG. 10 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] In one embodiment, as shown in FIG1 , a method for tracking the cutting depth of a scalpel is provided. This embodiment uses the method applied to a terminal as an example for illustration. It is understandable that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. Among them, the terminal can be, but is not limited to, a scalpel, a host computer, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, projection devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. In this embodiment, the method includes the following steps:

[0046] Step 101, during the operation of the scalpel, obtaining the rotation state information of the target scalpel.

[0047] The state information after rotation includes angular velocity information after rotation.

[0048] In the embodiment of the present application, the target scalpel is a scalpel to be tracked for cutting depth. During clinical surgery, the doctor or the control device controls the scalpel to perform a cutting operation. The post-rotation state information is the state information of the scalpel after any rotation after the original state, and is used to indicate the motion state of the scalpel after the rotation after the original state.

[0049] In one example, during the operation of the scalpel, the terminal obtains the rotation state information of the target scalpel in real time through an inertial measurement unit (MEMS-IMU, referred to as micro inertial sensor) based on a micro-electromechanical system. Among them, MEMS-IMU is a high-precision sensor that integrates an accelerometer, a gyroscope and / or a magnetometer, and has the characteristics of miniaturization and low power consumption. MEMS-IMU has better stability and will not be restricted by environmental interference, insufficient positioning accuracy and other problems. In this way, the accuracy, precision and stability of angular velocity acquisition can be improved, thereby improving the accuracy, precision and stability of the scalpel's cutting depth tracking.

[0050] Step 102, determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm.

[0051] In the embodiment of the present application, the spatial coordinate information after rotation is used to indicate the spatial position of the scalpel after rotation from the original state. The data fusion algorithm is an algorithm for determining the spatial coordinates of the scalpel through the angular velocity of the scalpel.

[0052] Step 103, determining the cutting depth of the target scalpel according to the rotated spatial coordinate information and the original spatial coordinate information of the target scalpel, and outputting the cutting depth.

[0053] In an embodiment of the present application, the terminal uses the difference between the z-axis coordinate contained in the rotated spatial coordinate information and the z-axis coordinate contained in the original spatial coordinate information of the target scalpel as the cutting depth of the target scalpel. Then, the terminal outputs the cutting depth. Among them, the original spatial coordinate information is used to represent the spatial position of the scalpel in the original state. The original state is the state where the target scalpel is at the initial position.

[0054] In one embodiment, the terminal uses the space coordinate information after rotation. And the original space coordinate information of the target scalpel , determine the cutting depth depth of the target scalpel, which can be expressed as: .

[0055] In one example, the terminal displays the depth of cut.

[0056] In another example, the terminal sends the cutting depth to other devices.

[0057] In an example, the post-rotation state information also includes post-rotation acceleration information, and the terminal may further output the post-rotation acceleration information.

[0058] In the above-mentioned scalpel cutting depth tracking method, the angular velocity information of the scalpel is obtained in real time, the real-time spatial position of the scalpel is determined by the angular velocity, and the cutting depth of the scalpel is determined and output according to the spatial coordinate information after rotation and the original spatial coordinate information, which can realize the automatic real-time quantitative output of the scalpel cutting depth, assist the doctor to complete the cutting, help the doctor to accurately adjust the cutting position, and improve the efficiency of the operation. In addition, this method can also display the cutting depth and angle of the scalpel in real time during the operation of the scalpel, and even combine the cutting depth and angle of the scalpel with data of other medical imaging modalities such as ultrasound, CT, and MRI images for fusion display, which can further assist the doctor to complete the cutting, help the doctor to accurately adjust the cutting position and angle, realize precise surgery, avoid key tissues such as blood vessels and nerves, further improve clinical operation efficiency, reduce surgical risks, and have great clinical value.

[0059] In an exemplary embodiment, as shown in FIG2 , the specific process of determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm includes the following steps:

[0060] Step 201, determining the quaternion posture information of the target scalpel after rotation according to the angular velocity information after rotation.

[0061] In an embodiment of the present application, the terminal determines the quaternion posture information of the target scalpel after rotation based on the angular velocity information after rotation and a preset posture fusion algorithm. Among them, the posture fusion algorithm is an algorithm that combines the information provided by multiple sensors (such as accelerometers, gyroscopes, magnetometers, etc.) to calculate the posture of the object in three-dimensional space (including pitch angle, roll angle and yaw angle), and fuses and solves the body quaternion. The posture fusion algorithm includes: Mahony algorithm and quaternion posture update algorithm. The quaternion posture information after rotation is used to represent the posture of the scalpel after rotation from the original state, and can be in the form of quaternion.

[0062] In one example, the terminal establishes a spatial coordinate system based on a pre-established physical model of the target scalpel. Then, the terminal determines the quaternion posture information of the target scalpel after rotation based on the angular velocity information after rotation and the pre-established spatial coordinate system. Specifically, the terminal establishes a spatial coordinate system o based on the pre-established physical model of the target scalpel, taking the direction in which the target scalpel is placed horizontally as the x-axis and the direction perpendicular to the ground as the z-axis.

[0063] Step 202, calculating the rotation matrix of the target scalpel after rotation according to the quaternion posture information after rotation.

[0064] In the embodiment of the present application, the terminal uses the quaternion attitude information after rotation , calculate the rotation matrix of the target scalpel after rotation , which can be expressed as:

[0065]

[0066] in, It represents the posture of the scalpel after it is rotated from the original state to the time t.

[0067] Step 203, calculating the spatial coordinate information of the target scalpel after rotation according to the rotation matrix after rotation and the distance from the holding point of the target scalpel to the tip of the scalpel.

[0068] In the embodiment of the present application, the terminal determines the horizontal placement matrix of the target scalpel according to the distance from the holding point of the target scalpel to the tip of the scalpel. Then, the terminal uses the product of the rotation matrix and the horizontal placement matrix as the rotated spatial coordinate information of the target scalpel.

[0069] In one example, the terminal obtains the distance from the holding point of the target scalpel to the tip of the scalpel through a sensor.

[0070] In one embodiment, step 203 can be expressed as: , where d is the distance from the holding point of the target scalpel to the tip of the scalpel, To place the matrix horizontally.

[0071] In the above-mentioned scalpel cutting depth tracking method, the quaternion posture information of the target scalpel after rotation is determined according to the angular velocity information after rotation; the rotation matrix of the target scalpel after rotation is calculated according to the quaternion posture information after rotation; the spatial coordinate information of the target scalpel after rotation is calculated according to the rotation matrix after rotation and the distance from the holding point of the target scalpel to the scalpel tip. In this way, the quaternion representation of the real-time posture of the scalpel is determined by the real-time angular velocity information, the rotation matrix of the scalpel is determined according to the quaternion, and the spatial coordinates of the scalpel are calculated according to the rotation matrix and the distance from the holding point of the scalpel to the scalpel tip. Compared with the method of calculating the spatial position by quadratic integration of acceleration, which will amplify the error many times, this method adopts an original data fusion algorithm, calculates the cutting depth of the scalpel by angular velocity, and only involves one integration, which can reduce the error, improve the accuracy and precision of the scalpel's cutting depth perception, further improve the surgical accuracy and clinical surgical efficiency, and further reduce the surgical risk.

[0072] In an exemplary embodiment, as shown in FIG3 , the rotation state information further includes the rotation acceleration information. According to the rotation angular velocity information and the preset data fusion algorithm, the specific process of determining the rotation space coordinate information of the target scalpel includes the following steps:

[0073] Step 301, correcting the angular velocity information after rotation according to the acceleration information after rotation to obtain the corrected angular velocity information after rotation.

[0074] Step 302: Determine the spatial coordinate information of the target scalpel after rotation according to the corrected angular velocity information after rotation and a preset data fusion algorithm.

[0075] It can be understood that the specific process of step 302 is similar to the specific process of steps 201-203.

[0076] In the above-mentioned scalpel cutting depth tracking method, the angular velocity is corrected by the acceleration obtained in real time, and the corrected angular velocity is used to calculate the spatial coordinates of the scalpel, which can improve the accuracy of the angular velocity, and further improve the accuracy of the scalpel's cutting depth perception, further improve surgical accuracy and clinical surgical efficiency, and further reduce surgical risks.

[0077] In an exemplary embodiment, as shown in FIG4 , the method further includes the following steps:

[0078] Step 401, obtaining original state information of a target scalpel at an initial position.

[0079] The original state information includes original angular velocity information.

[0080] In the embodiment of the present application, the initial position is the position at which the scalpel starts to operate during operation. The initial position may be the starting position of the scalpel during the cutting process, for example, the position of the scalpel on the cutting surface.

[0081] In one example, the terminal obtains the original state information of the target scalpel through a micro-electro-mechanical systems inertial measurement unit (MEMS-IMU).

[0082] In one embodiment, the operator of the target scalpel triggers the trigger device. The terminal uses the current position of the target scalpel as the initial position and obtains the original state information of the target scalpel at the current position. The operator may be a doctor or a device.

[0083] Step 402: determining the original spatial coordinate information of the target scalpel according to the original angular velocity information and a preset data fusion algorithm.

[0084] In an embodiment of the present application, the terminal determines the original quaternion posture information of the target scalpel according to the original angular velocity information. Then, the terminal calculates the original rotation matrix of the target scalpel according to the original quaternion posture information. Then, the terminal calculates the original spatial coordinate information of the target scalpel according to the original rotation matrix and the distance from the holding point of the target scalpel to the scalpel tip. It is understandable that the specific process of step 402 is similar to the specific process of steps 201-203.

[0085] In one embodiment, step 402 may be expressed as:

[0086]

[0087]

[0088]

[0089] in, is the original quaternion attitude information, is the original rotation matrix, is the original space coordinate information.

[0090] In the above-mentioned scalpel cutting depth tracking method, a method similar to the method of calculating the spatial coordinates of the scalpel after rotation is used to calculate the original spatial coordinates of the scalpel at the beginning of cutting, which can reduce the calculation complexity and improve the accuracy of the scalpel's cutting depth perception.

[0091] In one embodiment, the physical model of the target scalpel is shown in FIG5 , and the distance from the holding point of the target scalpel to the tip of the scalpel is d. The cutting depth calculation model in the above-mentioned scalpel cutting depth tracking method is shown in FIG6 . The terminal uses the original quaternion posture information And the quaternion attitude information after rotation , calculate the cutting depth depth of the target scalpel.

[0092] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0093] Based on the same inventive concept, the embodiment of the present application also provides a scalpel for implementing the above-mentioned scalpel cutting depth tracking method. The implementation scheme for solving the problem provided by the scalpel is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more scalpel embodiments provided below can refer to the limitations of the scalpel cutting depth tracking method above, and will not be repeated here.

[0094] In an exemplary embodiment, as shown in FIG7 , a surgical knife 10 is provided, the surgical knife comprising:

[0095] The micro inertial sensor module 11 is used to obtain the rotation state information of the target scalpel during the operation of the scalpel, wherein the rotation state information includes the rotation angular velocity information.

[0096] The data processing module 12 is electrically connected to the micro inertial sensor module 11, and is used to determine the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm; and to determine the cutting depth of the target scalpel according to the spatial coordinate information after rotation and the original spatial coordinate information of the target scalpel.

[0097] The data transmission module 13 is electrically connected to the data processing module 12 and is used to output the cutting depth.

[0098] In an embodiment of the present application, the micro inertial sensor module 11 includes at least one micro inertial sensor (MEMS-IMU) for collecting the acceleration and angular velocity of the surgical instrument. The micro inertial sensor is constructed using micro-electromechanical system (MEMS) technology and has the characteristics of small size, high sensitivity and low power consumption. The micro inertial sensor module 11 may also include a microcontroller unit (MCU) or a microprocessor (MPU) for controlling the micro inertial sensor to realize data acquisition and data processing, and converting the data collected by the IMU into string data. Among them, due to the better performance of the MPU and the better data storage capacity, the MPU can be used as a preferred choice. The data processing module 12 may include one or more of a data correction algorithm, a posture update algorithm and a depth calculation algorithm. The data transmission module 13 (also referred to as the first data transmission module for the sake of distinction) can transmit the cutting depth data to other devices or other modules, and can also be a display module for displaying the cutting depth.

[0099] The above-mentioned scalpel obtains the angular velocity information of the scalpel in real time through the micro-inertial sensor module, determines the real-time spatial position of the scalpel according to the angular velocity through the data processing module, determines the cutting depth of the scalpel according to the spatial coordinate information after rotation and the original spatial coordinate information, and outputs the cutting depth through the data transmission module, which can realize the real-time quantification of the cutting depth of the scalpel and improve the accuracy of the perception of the cutting depth of the scalpel. Not only that, the scalpel can also display the cutting depth and angle of the scalpel in real time during the operation of the scalpel, assist the doctor to complete the cutting, help the doctor to accurately adjust the cutting position and angle, realize precise surgery, avoid key tissues such as blood vessels and nerves, and can effectively improve the efficiency of clinical surgery, reduce surgical risks, and have great clinical value.

[0100] Optionally, the data processing module 12 is specifically used to:

[0101] Determining the quaternion posture information of the target scalpel after rotation according to the angular velocity information after rotation;

[0102] Calculating the rotation matrix of the target scalpel after rotation according to the quaternion posture information after rotation;

[0103] The spatial coordinate information of the target scalpel after rotation is calculated according to the rotation matrix after rotation and the distance from the holding point of the target scalpel to the tip of the scalpel.

[0104] Optionally, the post-rotation state information further includes post-rotation acceleration information, and the data processing module 12 is specifically used for:

[0105] Correcting the angular velocity information after rotation according to the acceleration information after rotation to obtain corrected angular velocity information after rotation;

[0106] The spatial coordinate information of the target scalpel after rotation is determined according to the corrected angular velocity information after rotation and a preset data fusion algorithm.

[0107] Optionally, the micro inertial sensor module 11 is also used to obtain original state information of the target scalpel at an initial position; the original state information includes original angular velocity information;

[0108] The data processing module 12 is further used to determine the original spatial coordinate information of the target scalpel according to the original angular velocity information and a preset data fusion algorithm.

[0109] In an exemplary embodiment, as shown in FIG8 , a cutting depth tracking system 1 for a scalpel is provided. The system 1 includes the scalpel 10 and a display module 20 as described above, wherein:

[0110] The display module 20 is connected to the scalpel 10 by wire and / or wirelessly, and is used to display the cutting depth of the target scalpel.

[0111] In an embodiment of the present application, the display module 20 can be other devices other than a scalpel, for example, a display terminal or a host computer. The data transmission module 13 may include a data receiving part and a data sending part. The receiving part is wired to the data processing module 12 for receiving cutting depth data. The sending part is electrically connected to the receiving part, and is wired and / or wirelessly connected to the display module 20. The receiving part and the data processing module 12, and the sending part and the display module 20 can be wired via a serial port or a high-speed USB port, and data transmission is performed via a data cable. The sending part can also transmit data to the display module 20 via Bluetooth or other wireless transmission methods.

[0112] The above-mentioned scalpel cutting depth tracking system can realize the real-time quantification of the scalpel cutting depth through the scalpel, and can improve the accuracy of the scalpel cutting depth perception. In addition, the system can also display the scalpel's cutting depth and angle in real time during the operation of the scalpel through the display module, assisting the doctor to complete the cutting, helping the doctor to accurately adjust the cutting position and angle, and achieve precise surgery, avoiding key tissues such as blood vessels and nerves, which can effectively improve clinical surgery efficiency, reduce surgical risks, and has great clinical value.

[0113] In an exemplary embodiment, a cutting depth tracking system for a surgical knife is provided, the system comprising:

[0114] The micro inertial sensor module is used to obtain the rotation state information of the target scalpel during the operation of the scalpel, wherein the rotation state information includes the rotation angular velocity information.

[0115] The second data transmission module is electrically connected to the micro inertial sensor module and is connected to the upper display module by wire and / or wirelessly, and is used for transmitting the rotation state information to the upper display module.

[0116] The upper display module is used to determine the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm; determine the cutting depth of the target scalpel according to the spatial coordinate information after rotation and the original spatial coordinate information of the target scalpel, and display the cutting depth.

[0117] In an embodiment of the present application, the second data transmission module may also include a second receiving part and a second sending part, the second receiving part may be electrically connected to the MPU included in the micro-inertial sensor module, and the second sending part may be wired and / or wirelessly connected to the host display module. The second receiving part and the MPU, and the second sending part and the host display module may be wired and / or wirelessly connected via a serial port or a high-speed USB port, and data transmission is performed via a data cable. The second sending part may also transmit data to the host display module via Bluetooth or other wireless transmission methods. The cutting depth tracking system of the scalpel may include a scalpel and a host display module, and the scalpel includes a micro-inertial sensor module and a second data transmission module.

[0118] Based on the same inventive concept, the embodiment of the present application also provides a scalpel cutting depth tracking device for implementing the above-mentioned scalpel cutting depth tracking method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of one or more scalpel cutting depth tracking devices provided below can refer to the limitations of the scalpel cutting depth tracking method above, and will not be repeated here.

[0119] In an exemplary embodiment, as shown in FIG9 , a cutting depth tracking device 900 for a surgical knife is provided, comprising: a first acquisition module 910 , a first determination module 920 , and a second determination module 930 , wherein:

[0120] The first acquisition module 910 is used to acquire the state information of the target scalpel after rotation during the operation of the scalpel; the state information after rotation includes the angular velocity information after rotation;

[0121] A first determination module 920 is used to determine the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm;

[0122] The second determination module 930 is used to determine the cutting depth of the target scalpel according to the rotated spatial coordinate information and the original spatial coordinate information of the target scalpel, and output the cutting depth.

[0123] Optionally, the first determining module 920 is specifically configured to:

[0124] Determining the quaternion posture information of the target scalpel after rotation according to the angular velocity information after rotation;

[0125] Calculating the rotation matrix of the target scalpel after rotation according to the quaternion posture information after rotation;

[0126] The spatial coordinate information of the target scalpel after rotation is calculated according to the rotation matrix after rotation and the distance from the holding point of the target scalpel to the tip of the scalpel.

[0127] Optionally, the post-rotation state information further includes post-rotation acceleration information, and the first determining module 920 is specifically configured to:

[0128] Correcting the angular velocity information after rotation according to the acceleration information after rotation to obtain corrected angular velocity information after rotation;

[0129] The spatial coordinate information of the target scalpel after rotation is determined according to the corrected angular velocity information after rotation and a preset data fusion algorithm.

[0130] Optionally, the device 900 further includes:

[0131] A second acquisition module is used to acquire original state information of the target scalpel at an initial position; the original state information includes original angular velocity information;

[0132] The third determination module is used to determine the original spatial coordinate information of the target scalpel according to the original angular velocity information and a preset data fusion algorithm.

[0133] Each module in the above-mentioned scalpel cutting depth tracking device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0134] In an exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in FIG10. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for tracking the cutting depth of a scalpel is implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0135] Those skilled in the art will understand that the structure shown in FIG. 10 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0136] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0137] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0138] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0139] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0140] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0141] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0142] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for tracking the cutting depth of a surgical knife, characterized in that: The method comprises: During the operation of the scalpel, obtaining the state information of the target scalpel after rotation; the state information after rotation includes the angular velocity information after rotation; Determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm; The cutting depth of the target scalpel is determined according to the rotated spatial coordinate information and the original spatial coordinate information of the target scalpel, and the cutting depth is output.

2. The method according to claim 1, characterized in that Determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm includes: Determining the quaternion posture information of the target scalpel after rotation according to the angular velocity information after rotation; Calculating the rotation matrix of the target scalpel after rotation according to the quaternion posture information after rotation; The spatial coordinate information of the target scalpel after rotation is calculated according to the rotation matrix after rotation and the distance from the holding point of the target scalpel to the tip of the scalpel.

3. The method according to claim 1, characterized in that The rotation state information also includes acceleration information after rotation. The determining of the rotation space coordinate information of the target scalpel according to the rotation angular velocity information and a preset data fusion algorithm includes: Correcting the angular velocity information after rotation according to the acceleration information after rotation to obtain corrected angular velocity information after rotation; The spatial coordinate information of the target scalpel after rotation is determined according to the corrected angular velocity information after rotation and a preset data fusion algorithm.

4. The method according to claim 1, characterized in that The method further comprises: Acquire original state information of the target scalpel at an initial position; the original state information includes original angular velocity information; The original spatial coordinate information of the target scalpel is determined according to the original angular velocity information and a preset data fusion algorithm.

5. A surgical knife, characterized in that: The scalpel comprises: The micro inertial sensor module is used to obtain the state information of the target scalpel after rotation during the operation of the scalpel; the state information after rotation includes the angular velocity information after rotation; a data processing module, electrically connected to the micro inertial sensor module, for determining the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm; and determining the cutting depth of the target scalpel according to the spatial coordinate information after rotation and the original spatial coordinate information of the target scalpel; A data transmission module is electrically connected to the data processing module and is used to output the cutting depth.

6. A cutting depth tracking system for a surgical knife, characterized in that: The system comprises a surgical knife as claimed in claim 5 and a display module, wherein: The display module is connected to the scalpel by wire and / or wirelessly, and is used to display the cutting depth of the target scalpel.

7. A cutting depth tracking device for a surgical knife, characterized in that: The device comprises: A first acquisition module is used to acquire the state information of the target scalpel after rotation during the operation of the scalpel; the state information after rotation includes the angular velocity information after rotation; A first determination module, used to determine the spatial coordinate information of the target scalpel after rotation according to the angular velocity information after rotation and a preset data fusion algorithm; The second determination module is used to determine the cutting depth of the target scalpel according to the rotated spatial coordinate information and the original spatial coordinate information of the target scalpel, and output the cutting depth.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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