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

Abstract

The present application relates to a scalpel, a method, system, apparatus, computer device, computer-readable storage medium, and computer program product for tracking the cutting depth of a scalpel. The method comprises: obtaining, during the operation of the scalpel, rotational state information of a target scalpel; the rotational state information includes rotational angular velocity information; determining the rotational spatial coordinate information of the target scalpel based on the rotational angular velocity information and a preset data fusion algorithm; determining the cutting depth of the target scalpel based on the rotational spatial coordinate information and the original spatial coordinate information of the target scalpel, and outputting the cutting depth. This method can improve surgical efficiency.

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, a specialized knife consisting of a blade and a handle, is used to cut human or animal tissue. It's an essential surgical tool. During clinical surgery, doctors use a scalpel to accurately cut tissue to the appropriate depth while avoiding vital structures like blood vessels and nerves.

[0003] However, existing methods for sensing the cutting depth of a scalpel rely primarily on the surgeon's personal experience and estimation of the blade's cutting depth. Consequently, during surgery, the surgeon must spend considerable time constantly sensing the blade's cutting depth and adjusting the cutting position accordingly. Consequently, existing methods of sensing the cutting depth of a scalpel are inefficient. Summary of the Invention

[0004] Based on this, it is necessary to provide a scalpel, a scalpel cutting depth tracking method, system, device, computer equipment, computer-readable storage medium and computer program product that can improve surgical efficiency in order to address the above 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 based on 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 according to the rotated quaternion posture information;

[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 scalpel tip.

[0013] In one embodiment, the post-rotation state information further includes post-rotation acceleration information, and determining the post-rotation spatial coordinate information of the target scalpel based on the post-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] Acquiring 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 further provides a scalpel, comprising:

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

[0021] a data processing module electrically connected to the micro inertial sensor module, configured to determine the spatial coordinate information of the target scalpel after rotation based on the angular velocity information after rotation and a preset data fusion algorithm; and determine the cutting depth of the target scalpel based on 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 described in the second aspect and a display module, 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 scalpel cutting depth tracking device, comprising:

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

[0027] A first determining module is configured to determine the spatial coordinate information of the target scalpel after rotation based on the angular velocity information after rotation and a preset data fusion algorithm;

[0028] The second determining module is configured 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 on which a computer program is stored, and when the computer program is executed by a processor, the steps described in the first aspect are implemented.

[0031] In a seventh aspect, the present application also 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 device, computer-readable storage medium, and computer program product obtain, during the operation of the scalpel, rotational state information of the target scalpel; the rotational state information includes rotational angular velocity information; the rotational spatial coordinate information of the target scalpel is determined based on the rotational angular velocity information and a preset data fusion algorithm; the cutting depth of the target scalpel is determined based on the rotational spatial coordinate information and the original spatial coordinate information of the target scalpel, and the cutting depth is output. In this way, the scalpel's angular velocity information is obtained in real time, the real-time spatial position of the scalpel is determined based on the angular velocity, and the cutting depth of the scalpel is determined and output based on the rotational spatial coordinate information and the original spatial coordinate information. This can achieve automatic real-time quantitative output of the scalpel's cutting depth, assist the surgeon in completing the cut, help the surgeon accurately adjust the cutting position, and improve surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. 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 any creative work.

[0034] Figure 1 1 is a flow chart of a method for tracking the cutting depth of a scalpel in one embodiment;

[0035] Figure 2 FIG1 is a flow chart of the steps of determining the spatial coordinate information of a target scalpel after rotation based on the angular velocity information after rotation and a preset data fusion algorithm in one embodiment;

[0036] Figure 3 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 another embodiment;

[0037] Figure 4 A flowchart of the steps further included in the method for tracking the cutting depth of a scalpel in one embodiment is shown;

[0038] Figure 5 is a schematic diagram of a physical model of a target scalpel in one embodiment;

[0039] Figure 6 is a schematic diagram of a cutting depth calculation model in one embodiment;

[0040] Figure 7 is a block diagram of a scalpel according to an embodiment;

[0041] Figure 8 is a structural block diagram of a cutting depth tracking system for a scalpel in one embodiment;

[0042] Figure 9 is a structural block diagram of a cutting depth tracking device for a scalpel in one embodiment;

[0043] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0045] In one embodiment, Figure 1As shown, 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 devices can be virtual reality (VR) devices, augmented reality (AR) devices, 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 this embodiment of the present application, the target scalpel is the scalpel for which cutting depth tracking is to be performed. During a clinical surgical procedure, a doctor or a 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 from its original state, representing the motion state of the scalpel after the rotation from its original state.

[0049] In one example, during the operation of a scalpel, the terminal obtains real-time information on the rotational state of the target scalpel through a micro-electro-mechanical systems inertial measurement unit (MEMS-IMU, referred to as a micro inertial sensor). Among them, MEMS-IMU is a high-precision sensor that integrates an accelerometer, gyroscope and / or magnetometer, with the characteristics of miniaturization and low power consumption. MEMS-IMU has better stability and is not 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 represent 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. The terminal then outputs the cutting depth. The original spatial coordinate information is used to represent the spatial position of the scalpel in its original state. The original state is the state in which the target scalpel is in its 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 scalpel's angular velocity information is acquired in real time, and the real-time spatial position of the scalpel is determined by the angular velocity. The scalpel's cutting depth is determined and output based on the rotated spatial coordinate information and the original spatial coordinate information. This method can automatically and quantitatively output the scalpel's cutting depth in real time, assisting the surgeon in completing the cut and helping the surgeon precisely adjust the cutting position, thereby improving surgical efficiency. Furthermore, this method can also display the scalpel's cutting depth and angle in real time during the operation of the scalpel. It can even combine the scalpel's cutting depth and angle with data from other medical imaging modalities, such as ultrasound, CT, and MRI images, for a fused display. This can further assist the surgeon in completing the cut, helping the surgeon precisely adjust the cutting position and angle, achieving precise surgery while avoiding critical tissues such as blood vessels and nerves, further improving clinical surgical efficiency and reducing surgical risks, thus possessing significant clinical value.

[0059] In an exemplary embodiment, Figure 2As shown, the specific process of determining the spatial coordinate information of the target scalpel after rotation based on the angular velocity information after rotation and the preset data fusion algorithm includes the following steps:

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

[0061] In this embodiment of the present application, the terminal determines the quaternion pose information of the target scalpel after rotation based on the angular velocity information after rotation and a preset pose fusion algorithm. The pose fusion algorithm combines information provided by multiple sensors (such as accelerometers, gyroscopes, and magnetometers) to calculate the object's pose in three-dimensional space (including pitch, roll, and yaw angles) and fuses them to resolve the quaternion. The pose fusion algorithm includes the Mahony algorithm and the quaternion pose update algorithm. The quaternion pose information after rotation represents the pose of the scalpel after its original state and can be expressed in quaternion form.

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

[0063] Step 202 : Calculate the rotation matrix of the target scalpel according to the rotated quaternion posture information.

[0064] In the embodiment of the present application, the terminal uses the quaternion posture 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 at time t after it rotates from its original state.

[0067] Step 203 : Calculate the spatial coordinate information of the target scalpel after rotation according to the rotation matrix and the distance from the grip 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 based on the distance from the grip point of the target scalpel to the tip of the scalpel. The terminal then multiplies 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 pose information of the target scalpel after rotation is determined based on the angular velocity information after rotation; the rotation matrix of the target scalpel after rotation is calculated based on the quaternion pose information after rotation; and the spatial coordinate information of the target scalpel after rotation is calculated based on the rotation matrix and the distance from the grip point to the scalpel tip. In this way, the quaternion representation of the real-time pose of the scalpel is determined based on the real-time angular velocity information, the rotation matrix of the scalpel is determined based on the quaternion, and the spatial coordinates of the scalpel are calculated based on the rotation matrix and the distance from the grip point to the scalpel tip. Compared with the method of calculating spatial position by quadratic integration of acceleration, which amplifies errors multiple times, this method uses an original data fusion algorithm to calculate the scalpel cutting depth from angular velocity, involving only a single integration. This method can reduce errors, improve the accuracy and precision of the scalpel cutting depth perception, further enhance surgical precision and clinical efficiency, and further reduce surgical risks.

[0072] In an exemplary embodiment, Figure 3 As shown, the rotation state information also includes the acceleration information after rotation. The specific process of determining the spatial coordinate information of the target scalpel after rotation based on the angular velocity information after rotation and the preset data fusion algorithm includes the following steps:

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

[0074] Step 302 : Determine the spatial coordinate information of the target scalpel after rotation based on 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 method for tracking the cutting depth of a scalpel, 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, thereby further improving the accuracy of the scalpel's cutting depth perception, further improving surgical accuracy and clinical surgical efficiency, and further reducing surgical risks.

[0077] In an exemplary embodiment, Figure 4 As shown, the method further includes the following steps:

[0078] Step 401: Acquire 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 can 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 triggering 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 can be a doctor or a device.

[0083] Step 402: Determine the original spatial coordinate information of the target scalpel based on 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 based on the original angular velocity information. Then, the terminal calculates the original rotation matrix of the target scalpel based on the original quaternion posture information. Then, the terminal calculates the original spatial coordinate information of the target scalpel based on the original rotation matrix and the distance from the grip point to the scalpel tip of the target scalpel. It will be understood 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 as follows: Figure 5 As shown in , 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 scalpel cutting depth tracking method is as follows: Figure 6 As shown. The terminal uses the original quaternion attitude 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 various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed 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 portion of steps or stages in other steps.

[0093] Based on the same inventive concept, embodiments of the present application also provide a scalpel for implementing the aforementioned method for tracking the cutting depth of a scalpel. The solution provided by this scalpel is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more scalpel embodiments provided below can be found in the aforementioned definition of the method for tracking the cutting depth of a scalpel, and will not be further elaborated here.

[0094] In an exemplary embodiment, Figure 7 As shown, a scalpel 10 is provided, which includes:

[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 based on the angular velocity information after rotation and a preset data fusion algorithm; and to determine the cutting depth of the target scalpel based on 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 this embodiment of the present application, the micro-inertial sensor module 11 includes at least one micro-inertial sensor (MEMS-IMU) for collecting acceleration and angular velocity of the surgical instrument. The micro-inertial sensor is constructed using micro-electromechanical systems (MEMS) technology and features small size, high sensitivity, and low power consumption. The micro-inertial sensor module 11 may also include a microcontroller unit (MCU) or microprocessor unit (MPU) for controlling the micro-inertial sensor to acquire and process data, converting the data collected by the IMU into string data. MPUs are preferred due to their superior performance and, in particular, data storage capacity. 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 ease of distinction) can transmit cutting depth data to other devices or other modules, and may also be a display module for displaying the cutting depth.

[0099] The scalpel uses a micro-inertial sensor module to acquire real-time angular velocity information. The data processing module determines the scalpel's real-time spatial position based on the angular velocity. The data transmission module then outputs the cutting depth, which enables real-time quantification of the scalpel's cutting depth and improves the accuracy of the scalpel's cutting depth perception. Furthermore, the scalpel displays the cutting depth and angle in real time during operation, assisting the surgeon in performing the cut and helping them precisely adjust the cutting position and angle, achieving precision surgery while avoiding critical tissues such as blood vessels and nerves. This significantly improves clinical surgical efficiency and reduces surgical risks, demonstrating its significant clinical value.

[0100] Optionally, the data processing module 12 is specifically configured 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 according to the rotated quaternion posture information;

[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 scalpel tip.

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

[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 further 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 configured 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, Figure 8 As shown, a scalpel cutting depth tracking system 1 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 can include a data receiving part and a data sending part. The receiving part is connected to the data processing module 12 by wire for receiving cutting depth data. The sending part is electrically connected to the receiving part and is connected to the display module 20 by wire and / or wirelessly. The receiving part and the data processing module 12, and the sending part and the display module 20 can be connected by wire 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 aforementioned scalpel cutting depth tracking system can achieve real-time quantification of the scalpel's cutting depth, improving the accuracy of the scalpel's cutting depth perception. Furthermore, the system, through a display module, can display the scalpel's cutting depth and angle in real time during operation, assisting the surgeon in completing the cut. This helps the surgeon precisely adjust the cutting position and angle, enabling precise surgery and avoiding critical tissues such as blood vessels and nerves. This system can effectively improve clinical surgical efficiency and reduce surgical risks, thus possessing significant 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 to transmit 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 based on the angular velocity information after rotation and the preset data fusion algorithm; determine the cutting depth of the target scalpel based on 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 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, embodiments of the present application also provide a device for tracking the cutting depth of a scalpel, which is used to implement the aforementioned method for tracking the cutting depth of a scalpel. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of the one or more embodiments of the device for tracking the cutting depth of a scalpel provided below can be found in the aforementioned definition of the method for tracking the cutting depth of a scalpel, and will not be further elaborated here.

[0119] In an exemplary embodiment, Figure 9 As shown, a device 900 for tracking the cutting depth of 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 rotation state information of the target scalpel during the operation of the scalpel; the rotation state information includes the rotation angular velocity information;

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

[0122] The second determining module 930 is configured 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 according to the rotated quaternion posture information;

[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 scalpel tip.

[0127] Optionally, the post-rotation state information further includes post-rotation acceleration information. 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 apparatus 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 aforementioned scalpel cutting depth tracking device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0134] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 10 As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and 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 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 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 external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless communication, and the wireless communication can be achieved via Wi-Fi, a mobile cellular network, near-field communication (NFC), or other technologies. When executed by the processor, the computer program implements a method for tracking the cutting depth of a scalpel. The display unit of the computer device is used to form a visually visible image and can 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 casing, or an external keyboard, touchpad or mouse.

[0135] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the 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 component arrangement.

[0136] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above 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-mentioned 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] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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. In particular, any reference to memory, database, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0141] The technical features of the above embodiments can be combined arbitrarily. In order 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A cutting depth tracking device for a surgical knife, used to perform a cutting depth tracking method for 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 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 according to the rotated quaternion posture information; Calculating the spatial coordinate information of the target scalpel after rotation according to the rotation matrix and the distance from the grip point to the tip of the target scalpel; 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 device according to claim 1, characterized in that The post-rotation state information further includes post-rotation acceleration information. The post-rotation angular velocity information is corrected according to the post-rotation acceleration information to obtain corrected post-rotation angular velocity information.

3. The device according to claim 1, characterized in that The method further comprises: Acquiring 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.

4. The device according to any one of claims 1 to 3, characterized in that The device comprises: A first acquisition module is configured to acquire the post-rotation state information of the target scalpel during the operation of the scalpel; the post-rotation state information includes the post-rotation angular velocity information; A first determining module is configured to determine the spatial coordinate information of the target scalpel after rotation based on the angular velocity information after rotation and a preset data fusion algorithm; The second determining module is configured 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.

5. A surgical knife, characterized in that: The scalpel comprises: A micro inertial sensor module is used to obtain the post-rotation state information of the target scalpel during the operation of the scalpel; the post-rotation state information includes the post-rotation angular velocity information; a data processing module electrically connected to the micro inertial sensor module, configured to determine the quaternion posture information of the target scalpel after rotation based on the angular velocity information after rotation; calculate the rotation matrix of the target scalpel after rotation based on the quaternion posture information after rotation; calculate the spatial coordinate information of the target scalpel after rotation based on the rotation matrix and the distance from the grip point of the target scalpel to the scalpel tip; and determine the cutting depth of the target scalpel based on 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 scalpel cutting depth tracking system, characterized in that: The system comprises the surgical knife of 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 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 performed by the apparatus according to any one of claims 1 to 3 are implemented.

8. 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 performed by the apparatus according to any one of claims 1 to 3 are implemented.

9. 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 performed by the apparatus according to any one of claims 1 to 3 are implemented.

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