Stripping auxiliary system for endoscopic thyroid surgery

Abstract

The invention discloses a stripping auxiliary system for endoscopic thyroid surgery, and the system comprises an image display module which is used for providing a surgical area image and displaying a tissue fluorescence image through a near-infrared autofluorescence imaging technology; the operation planning module is used for performing operation planning before an operation and displaying a three-dimensional structure of an operation area through an individualized and customized 3D printing positioning guide plate; the instrument monitoring module is used for monitoring the state of the surgical instrument and evaluating the working performance of the surgical instrument in real time; the parameter adjusting module is used for adjusting parameters through an operation interface; the path navigation module is used for providing real-time path navigation through a multi-mode holographic image technology; the vital sign monitoring module displays vital sign data of the patient in real time through a sensor and gives an alarm in danger. The small tumor detection capability is improved, the operation adaptability is enhanced, the accurate operation path planning is ensured, and the monitoring and adjusting functions are perfected.

Description

Technical Field

[0001] The present invention relates to the field of stripping assistance technology, and in particular to a stripping assistance system for laparoscopic thyroid surgery. Background Art

[0002] Thyroid disease is a common disease in clinical practice, mainly benign thyroid tumors. Traditional thyroid surgery is mainly open surgery, which requires a large incision in the neck so that the doctor can directly observe and operate the thyroid gland. Due to the difficulty of the operation and the high number of postoperative complications, this surgical method has gradually been eliminated.

[0003] With the continuous development of science and technology, laparoscopic technology has brought great changes to the treatment of thyroid surgery. This surgical method can choose to enter the areola, axilla, chest cavity and other positions through the laparoscope, and operate under the endoscopic field of view. It has the advantages of less trauma, faster recovery, and better cosmetic effect. Studies have found that although laparoscopic technology can improve thyroid surgery, due to individual differences in the patient's anatomical structure, some smaller tumors are more hidden, so the long-term recurrence rate of patients is still high. During the operation, since a relatively large space needs to be established under the skin and the surgical instruments enter the body through a small incision, the surgical field of view is relatively limited, making it difficult for doctors to fully and intuitively understand the situation in the surgical area. The surgical path planned in advance may also be wrong and need to be temporarily modified, thereby increasing the difficulty and risk of the operation.

[0004] Chinese invention patent CN118383838A is a thyroid peeling auxiliary system, which integrates an ultrasonic scalpel parameter acquisition module, an ultrasonic scalpel work monitoring module, an ultrasonic scalpel state evaluation module, a report generation module and a user interface. The ultrasonic scalpel parameter acquisition module is used to obtain the state parameters of the ultrasonic scalpel, the ultrasonic scalpel work monitoring module is used to monitor the working performance, operation indicators and intraoperative energy efficiency of the ultrasonic scalpel, the ultrasonic scalpel state evaluation module is used to generate a state evaluation model, the report generation module is used to generate a report recording the use of this ultrasonic scalpel, and the user interface is used to display the state of the ultrasonic scalpel. This invention only monitors the ultrasonic scalpel in the surgical instrument, does not set an alarm system, and lacks the function of adjusting parameters. Summary of the invention

[0005] The purpose of the present invention is to solve the problems of trivial and complicated calculation process and large calculation workload in the prior art and to propose a stripping auxiliary system for laparoscopic thyroid surgery.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a stripping auxiliary system for laparoscopic thyroid surgery, comprising:

[0007] Image display module: used to provide images of the surgical area, stimulate tissue fluorescence, capture fluorescence signals, and display tissue fluorescence images through near-infrared autofluorescence imaging technology;

[0008] Surgical planning module: used to plan the operation before the operation, determine the surgical approach, formulate the surgical plan, and display the three-dimensional structure of the surgical area through the customized 3D printed positioning guide;

[0009] Instrument monitoring module: used to monitor the status of surgical instruments and evaluate the working performance of surgical instruments in real time through integrated sensors and data processing technology;

[0010] Parameter adjustment module: input adjustment instructions through the operation interface to adjust the parameters of the stripping auxiliary system;

[0011] Pathway navigation module: Through multimodal holographic imaging technology, combined with imaging data, it provides real-time path navigation during surgery;

[0012] Vital signs monitoring module: By connecting to sensors on the patient, it collects physiological signals, displays the patient's vital signs data in real time, and issues an alarm when in danger.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The present invention is provided with an image display module, which can non-invasively detect the thyroid gland and its surrounding tissues through near-infrared autofluorescence imaging technology, and clearly display the fluorescent image of the surgical area, thus solving the problem that smaller tumors are easy to hide and the patient's long-term recurrence rate is high.

[0015] The present invention provides a surgical planning module, which uses personalized 3D printing positioning guide technology to print out a positioning guide that matches the patient's individual anatomical structure. This personalized customized solution can intuitively display the three-dimensional structure of the surgical area, solving the problems of individual differences among patients and relatively limited surgical field of view.

[0016] The present invention is provided with a path navigation module, which, through multimodal holographic imaging technology, can help doctors accurately locate lesions, avoid key structures during surgery, reduce the risk of injury during surgery, and solve the problem of errors in the planned surgical path that need to be modified.

[0017] The present invention provides an instrument monitoring module, which can evaluate the working performance of four key surgical instruments in real time by integrating sensors and data processing technology, and provides an alarm system that triggers an alarm when a problem occurs with the surgical instrument, thereby solving the problems of the prior art of single monitoring instrument and lack of alarm mechanism.

[0018] The present invention provides a parameter adjustment module, and can input adjustment instructions through an operation interface to achieve instant adjustment of the parameters of the stripping auxiliary system, so that the system can adapt to different task requirements, solving the problem of the lack of parameter adjustment function in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of a system structure provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a system flow provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the image display module provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the structure of a surgical planning module provided in an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the structure of an instrument monitoring module provided in an embodiment of the present invention;

[0025] Figure 6 A flow chart of a path navigation module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation method, structure, characteristics and effects of a dissection auxiliary system for laparoscopic thyroid surgery proposed by the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures, or characteristics in one or more embodiments may be combined in any suitable form.

[0027] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0028] The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0029] A specific scheme of a stripping auxiliary system for laparoscopic thyroid surgery provided by the present invention is described in detail below with reference to the accompanying drawings.

[0030] Example

[0031] In an embodiment of the present invention, a stripping auxiliary system for laparoscopic thyroid surgery is provided, comprising:

[0032] Image display module: used to provide images of the surgical area, stimulate tissue fluorescence, capture fluorescence signals, and display tissue fluorescence images through near-infrared autofluorescence imaging technology;

[0033] Surgical planning module: used to plan the operation before the operation, determine the surgical approach, formulate the surgical plan, and display the three-dimensional structure of the surgical area through the customized 3D printed positioning guide;

[0034] Instrument monitoring module: used to monitor the status of surgical instruments and evaluate the working performance of surgical instruments in real time through integrated sensors and data processing technology;

[0035] Parameter adjustment module: input adjustment instructions through the operation interface to adjust the parameters of the stripping auxiliary system;

[0036] Pathway navigation module: Through multimodal holographic imaging technology, combined with imaging data, it provides real-time path navigation during surgery;

[0037] Vital signs monitoring module: By connecting to sensors on the patient, it collects physiological signals, displays the patient's vital signs data in real time, and issues an alarm when in danger.

[0038] Please refer to Figure 1-2 It is a schematic diagram of the system composition and a schematic diagram of the system flow provided by an embodiment of the present invention.

[0039] The stripping assistance system for laparoscopic thyroid surgery in this embodiment is divided into three stages. The image display module, surgery planning module, instrument monitoring module, and parameter adjustment module belong to the pre-operative preparation stage, the path navigation module and vital signs monitoring module belong to the during-operative stage, and shutting down the equipment after the operation is completed belongs to the post-operative recording stage.

[0040] 1. Image display module

[0041] Please refer to Figure 3 It is a schematic diagram of the image display module provided by an embodiment of the present invention.

[0042] The image display module includes a fluorescence excitation unit, a fluorescence signal capture unit, a signal processing unit and an image display unit;

[0043] The fluorescence excitation unit is used to provide near-infrared light of a specific wavelength to excite the fluorescent substance in the tissue. The excitation tool of the fluorescence excitation unit is a near-infrared laser probe, which can excite near-infrared light of a wavelength of 785nm to irradiate the target tissue. The near-infrared light reacts with the fluorescent substance in the surgical area, and the fluorescent substance emits 830nm wavelength fluorescence after absorbing the light energy.

[0044] A fluorescence signal capture unit is used to capture fluorescence signals, eliminate interference from other non-fluorescent signals through near-infrared autofluorescence visualization equipment, capture fluorescence signals emitted by fluorescent substances in tissues, and convert them into electrical signals;

[0045] A signal processing unit is used to receive and process the signal from the fluorescence signal capture unit, amplify, filter and denoise the original signal through digital signal processing technology, improve the signal-to-noise ratio and clarity of the image, and generate a fluorescence image using an image reconstruction algorithm;

[0046] The image display unit is used to display the fluorescent image in real time on the display screen, and the fluorescent image shows the distribution and intensity of the fluorescent substance in the surgical area.

[0047] It should be noted that near-infrared autofluorescence imaging technology can clearly display the position and morphology of the parathyroid glands by stimulating the autofluorescence of the parathyroid glands and thyroid glands and utilizing the high fluorescence intensity characteristics of the parathyroid glands, helping doctors to more accurately identify the parathyroid glands during surgery, helping to avoid accidental injury to the parathyroid glands during surgery, and thus protecting their normal function.

[0048] The excitation wavelength of the fluorescence excitation unit selects near-infrared light with a wavelength of 785nm as the excitation light, because this wavelength can be effectively absorbed by fluorescent substances in most tissues and emit fluorescence of a specific wavelength.

[0049] The near-infrared autofluorescence visualization device in the fluorescence signal capture unit requires high sensitivity and anti-interference ability. High-sensitivity equipment can capture more fluorescence signals and improve image clarity; anti-interference ability can ensure that pure fluorescence signals are captured.

[0050] A high-quality display screen is selected in the image display unit to avoid the resolution, color reproduction and brightness parameters of the display screen affecting the display of fluorescent images.

[0051] Furthermore, in the image display module, the original signal is amplified, filtered, and denoised by digital signal processing technology to improve the signal-to-noise ratio and clarity of the image, and the fluorescence image is generated by using an image reconstruction algorithm, including:

[0052] Signal amplification is used to ensure signal strength by adjusting the gain of the signal to compensate for attenuation. The amplification process uses a linear amplifier and is amplified using the following formula:

[0053] y[n]=G*x[n]

[0054] Where x[n] is the original signal, G is the gain, and y[n] is the amplified signal;

[0055] Filtering is used to improve the signal-to-noise ratio of an image. The signal is filtered through a digital filter to remove unnecessary components. The filtering process uses a low-pass filter to allow low-frequency signals to pass through and high-frequency signals to be attenuated. The filtering is performed using the following formula:

[0056] y[n]=α*x[n]+(1-α)*y[n-1]

[0057] Among them, α is the smoothing coefficient of the filter, which determines the cutoff frequency of the filter, x[n] is the input signal, and y[n] is the output signal;

[0058] De-noising is used to reduce the noise components in the signal and retain the useful information in the signal. The denoising process uses the LMS algorithm of adaptive filtering and performs filtering through the following formula:

[0059] Output signal: y(n) = w T (n)*x(n)

[0060] Error signal: e(n) = d(n) - y(n)

[0061] Text filter coefficient update: w(n+1)=w(n)+2μe(n)x(n)

[0062] Where w(n) is the filter coefficient vector, x(n) is the input signal vector, d(n) is the desired signal, and μ is the learning rate;

[0063] Image reconstruction is used to generate fluorescence images. According to the spatial distribution and intensity information of the signal, a three-dimensional image is generated through mathematical transformation and interpolation methods. The mathematical transformation and interpolation methods use convolution operations and perform image reconstruction through the following formula:

[0064]

[0065] Among them, x[k] is the input signal (image pixel value), h[nk] is the filter coefficient (convolution kernel), and y[n] is the output signal (processed image pixel value).

[0066] 2. Surgery Planning Module

[0067] Please refer to Figure 4 It is a schematic diagram of the structure of a surgery planning module provided in an embodiment of the present invention.

[0068] The surgical planning module includes an image data acquisition unit, a 3D reconstruction unit, a surgical path planning unit, and a 3D printing positioning guide unit;

[0069] An image data acquisition unit is used to acquire the patient's image data by connecting to the hospital's image system and image display module to acquire the image data, which includes CT images, MRI images, ultrasound images, and fluorescence images;

[0070] A three-dimensional reconstruction unit is used to convert the acquired two-dimensional image data into a three-dimensional model, and to process the image data through a three-dimensional reconstruction algorithm and software to generate a three-dimensional model. The three-dimensional model includes a thyroid structure, a vascular structure, a neural structure, a soft tissue structure, a bone structure, a lymphatic structure, a tracheal structure, and an esophageal structure;

[0071] The surgical path planning unit is used to provide tools and interfaces for surgical path planning. Through the interactive interface and planning tools, annotation, measurement and simulation operations are performed on the 3D model to adjust the entry point, evaluate the feasibility of different surgical paths, determine the instrument trajectory, and develop a surgical path plan;

[0072] The 3D printing positioning guide unit is used to design and 3D print individualized customized positioning guides. The positioning guides are designed by combining the surgical path with the patient's three-dimensional structure model through CAD software. After the design is completed, it is exported to the 3D printing format and printed by a 3D printer.

[0073] It should be noted that the individually customized 3D printed positioning guide is precisely made according to the patient's medical imaging data and can perfectly fit the patient's thyroid area. By using the positioning guide, doctors can more accurately locate tumors and surrounding blood vessels, nerves and other important structures, thereby avoiding damage to these structures during surgery.

[0074] The imaging data acquisition unit is the basis of the surgical planning module and provides the necessary input information for subsequent three-dimensional reconstruction and surgical path planning. When connecting the hospital's imaging system and imaging display module, it is necessary to ensure the security of data transmission and storage to prevent patient privacy leakage or illegal data access.

[0075] The 3D reconstruction unit converts image data into a 3D model, providing a visual operating platform for the surgical path planning unit. The generated 3D model structure helps doctors understand the patient's anatomical structure and pathological changes more intuitively.

[0076] The surgical pathway planning unit is the core part of the surgical planning module. It plans and optimizes the surgical pathway based on the three-dimensional model. Doctors can develop the most suitable surgical plan for the patient based on the patient's specific condition and surgical needs. By evaluating the feasibility of different surgical pathways, doctors can optimize the surgical plan and reduce surgical risks and complications.

[0077] The 3D printed positioning guide unit provides precise guidance and positioning for surgical operations. 3D printing technology is an advanced manufacturing technology that can quickly print complex three-dimensional structures. Through 3D printing technology, a positioning guide that matches the patient's three-dimensional structure can be quickly produced to meet the needs of personalized surgery.

[0078] Furthermore, in the surgical planning module, the processing of the image data by means of a three-dimensional reconstruction algorithm and software to generate a three-dimensional model includes:

[0079] The deep learning technology used in the 3D reconstruction algorithm is a method of mapping from 2D to 3D through the nonlinear mapping capability of neural networks. The following is a formula that explains in detail how deep learning technology converts 2D image data into a 3D model:

[0080] Step 1: Input data: 2D image dataset {I1, I2, ..., I n}, where I i is the i-th two-dimensional image;

[0081] Step 2: Neural network architecture design: Encode the two-dimensional image into a feature vector in the latent space through the encoder, which is expressed by the following formula:

[0082] z i =Encoder(I i θ enc

[0083] Among them, z i is the feature vector of the i-th image, θ enc are the parameters of the encoder;

[0084] The decoder decodes the feature vector in the latent space into a three-dimensional model, which is expressed by the following formula:

[0085]

[0086] Among them, M i is the 3D model corresponding to the i-th image, θ dnc are the parameters of the decoder;

[0087] Step 3: Generate 3D model: Apply the neural network to the new 2D image to generate the corresponding 3D model.

[0088] 3. Equipment Monitoring Module

[0089] Please refer to Figure 5 It is a schematic diagram of the structure of the instrument monitoring module provided in an embodiment of the present invention.

[0090] The device monitoring module includes a sensor unit, a data acquisition unit, a data analysis unit, and a display and alarm unit;

[0091] A sensor unit is used to install sensors and devices at key parts of surgical instruments. The sensors include acceleration sensors, temperature sensors, pressure sensors, current sensors, voltage sensors, optical sensors, displacement sensors, vibration sensors, impedance sensors, image sensors and light intensity sensors.

[0092] The data acquisition unit is used to collect the instrument data collected by the sensor unit, including the cutting efficiency and temperature of the ultrasonic knife; the output power, electrocoagulation mode, and tissue damage of the electrocoagulation instrument; the suction pressure and blockage of the aspirator; and the image clarity and light source stability of the laparoscope and light source system;

[0093] A data analysis unit is used to analyze the data, evaluate the working status of the surgical instrument, calculate and analyze the collected data through data analysis algorithms and models, and determine whether the surgical instrument is in normal working condition;

[0094] The display and alarm unit is used to present evaluation reports and alarm signals. It displays the evaluation report generated by the data analysis unit in real time through the LCD screen. When the data analysis unit determines that the surgical instrument is not working properly, it emits light, sound, and light signals to remind people to pay attention to the status of the surgical instrument through the LED indicator light, sound, and light signal alarm.

[0095] It should be noted that monitoring multiple surgical instruments, compared with monitoring only ultrasonic scalpels, can more comprehensively assess the risks during the operation and improve the overall safety of the operation. Setting up an alarm system when monitoring surgical instruments can help to promptly detect and deal with faulty instruments and prevent surgical risks caused by instrument failure.

[0096] The performance and accuracy of the sensors in the sensor unit are crucial to the accuracy of the monitoring results. When selecting and using sensors, it is necessary to consider their sensitivity, response speed, stability, and anti-interference ability to ensure that they can meet the needs of surgical monitoring.

[0097] The data acquisition unit transmits the data collected by the sensor unit to the data analysis unit. The data acquisition unit must consider the frequency of data collection to ensure that it can capture real-time changes in the status of the device. During the data collection process, it is necessary to ensure the integrity, accuracy and consistency of the data.

[0098] The data analysis unit is the core part of the device monitoring module. Based on the results of data analysis, the data analysis unit will generate an evaluation report that lists in detail the working status of the device, potential problems, and recommended maintenance measures.

[0099] The display and alarm unit displays the evaluation report generated by the data analysis unit in real time through the LCD screen, and sends out light, sound and light signals through the LED indicator light and sound and light signal alarm to remind people to pay attention to the status of the surgical instruments.

[0100] Furthermore, in the instrument monitoring module, the real-time calculation and analysis of sensor data by data analysis algorithms and models to determine whether the surgical instrument is in a normal working state includes:

[0101] Data analysis algorithm and model selection are based on the support vector machine (SVM) model. The core of SVM is to find an optimal hyperplane that can separate data points of different categories. The optimal hyperplane is found by the following formula:

[0102]

[0103] Where w is the normal vector of the hyperplane, b is the intercept, ξ i is a slack variable (used to handle linear inseparable situations), C is a regularization parameter (used to control the complexity and generalization ability of the model), and y i is the class label of the data point, x i is the feature vector of the data point;

[0104] For ultrasonic scalpels, the vibration frequency, amplitude, and time during the cutting process are used as feature vectors x, and the classification results calculated by the SVM model are used to determine whether the cutting efficiency is normal; the working temperature is used as a feature, and the SVM model is used for abnormal detection to determine whether it exceeds the threshold;

[0105] For electrocoagulation devices, the output power data is used as a feature, and the classification results calculated by the SVM model are used to determine whether the output power is stable; the working data in different modes are used as feature vectors, and the SVM model is used for classification and judgment; the tissue temperature change and electrocoagulation time are used as features, and the SVM model is used for classification and judgment to evaluate the degree of tissue damage;

[0106] For the aspirator, the suction pressure data is used as a feature, and anomaly detection is performed through the SVM model to determine whether it is stable; the flow data and pressure changes are used as feature vectors, and anomaly detection is performed through the SVM model;

[0107] For the cavity mirror and light source system, the image data is used as the feature vector to perform quality assessment through the SVM model; the brightness and color temperature of the light source are used as features to perform stability assessment through the SVM model.

[0108] 4. Parameter Adjustment Module

[0109] The parameter adjustment module includes a parameter setting unit, a feedback verification unit and a storage and recording unit;

[0110] The parameter setting unit is used to set and adjust the working parameters of the device. The parameter setting interface is provided through the input device combined with the menu system. The working parameters of the device include the opening angle of the dissector, the cutting speed of the ultrasonic knife, the electrocoagulation intensity of the electrocoagulation device, the suction pressure of the aspirator, and the image clarity of the laparoscope and light source system;

[0111] Feedback verification unit is used to verify the set parameters and provide feedback information. It verifies the set parameters through the built-in algorithm to confirm that they meet the equipment operating conditions and safety range. If the parameters meet the conditions, the adjusted results are presented on the display screen. If the parameters exceed the limit, an abnormality is triggered and a reminder feedback is given through the display screen.

[0112] The storage and recording unit is used to record and store the working parameters during the operation, and realize the persistent storage and fast reading of the parameters through the database or configuration file.

[0113] It should be noted that the size and position of each person's thyroid gland are different. By setting parameters, the dissection assistance system can be personalized according to the individual differences of the patient, helping to ensure that the surgical plan is more in line with the patient's actual situation and improve the success rate of the operation and patient satisfaction.

[0114] The parameter setting unit is the basis of the parameter adjustment module and provides necessary input information for subsequent feedback verification and storage records. The parameter setting interface provides detailed parameter setting options for different instruments and equipment to meet the needs of different surgical scenarios.

[0115] When the parameter settings of the feedback verification unit meet the requirements, the feedback verification unit will present the adjusted results through the display screen for medical staff to confirm. If the parameters exceed the limit, it will trigger an abnormal reminder and provide feedback through the display screen to attract the attention of medical staff and make timely corrections.

[0116] The storage and recording unit is an extension of the parameter adjustment module. It provides important data support by persistently storing and quickly reading the working parameters during the operation. When storing parameters, it is necessary to ensure the security and integrity of the data to prevent illegal access or tampering of the data.

[0117] 5. Path Navigation Module

[0118] Please refer to Figure 6 It is a flow chart of a path navigation module provided by an embodiment of the present invention.

[0119] The path navigation module includes a multi-modal holographic projection display unit, a real-time positioning tracking unit, and a navigation planning and control unit;

[0120] The multimodal holographic projection display unit is used to holographically project multimodal images in the operating room. It uses holographic projection technology to project images into the air through the principles of interference and diffraction, and can directly observe the internal structure of the operating area;

[0121] A real-time positioning and tracking unit is used to locate and track the position and posture of surgical instruments in real time during surgery. Through sensors installed on the surgical instruments, the positioning and tracking of surgical instruments are achieved, and the position of surgical instruments in the holographic projection is updated;

[0122] The navigation planning and control unit is used to display the surgical planning path and adjust it according to the actual situation. Through holographic projection technology, the surgical planning path is superimposed on the real-time surgical image to provide surgical planning path navigation and adjust the surgical path in real time according to the actual situation and operating instructions.

[0123] It should be noted that during the operation, multimodal holographic imaging technology can update the holographic image of the surgical area in real time and provide doctors with real-time navigation information. Doctors can accurately control the depth and range of the dissection based on this information to avoid damage to surrounding nerves, blood vessels, parathyroid glands and other important structures, thereby improving the safety of the operation.

[0124] In order to realize holographic projection, the operating room needs to have certain optical environment and spatial conditions to ensure the clarity and visibility of the projection. The lighting and shadow interference in the operating room also need to be considered to avoid adverse effects on the holographic projection.

[0125] The real-time positioning tracking unit provides key positioning information for the path navigation module. In order to ensure that the position of surgical instruments in the holographic projection can be updated in real time, the real-time positioning tracking unit needs to have a higher update frequency.

[0126] The navigation planning and control unit is the core part of the path navigation module, which realizes the display and adjustment functions of the surgical planning path. During the operation, the navigation planning and control unit can adjust the surgical path in real time according to the operating instructions.

[0127] VI. Vital Signs Monitoring Module

[0128] The vital signs monitoring module includes a data acquisition unit, an alarm prompt unit and a display interface unit;

[0129] The data acquisition unit is used to collect various vital signs data of the patient. It captures the patient's physiological signals through sensors and converts them into digital signals. The vital signs data include heart rate, blood pressure, blood oxygen saturation, blood sugar level, urine volume, bispectral index, central venous pressure, respiratory rate, and body temperature;

[0130] An alarm prompt unit is used to monitor data and compare it with a preset threshold value. By setting a threshold judgment mechanism, when the monitored vital sign data exceeds the preset threshold value, an alarm and prompt are issued, triggering the alarm system, and issuing an alarm and prompt through sound, light signal, and display screen, and multiple levels of alarms are set according to the degree of deviation;

[0131] The display interface unit is used to provide an interface for displaying vital signs data. The interface display methods include charts: displaying data change trends, curves: reflecting continuously monitored data, and numbers: displaying specific values ​​of vital signs data.

[0132] It should be noted that the sensors in the data acquisition unit include electrocardiogram sensor: used to measure heart rate, sphygmomanometer sensor: used to measure blood pressure, blood oxygen saturation sensor, blood glucose meter sensor: measure blood glucose level through blood samples, urine volume meter sensor: used to monitor urine output, bispectral index (BIS) sensor: monitor brain activity level, central venous pressure sensor: monitor heart function, respiratory rate and body temperature sensor.

[0133] The threshold settings in the alarm prompt unit need to be adjusted according to clinical guidelines and patient specific conditions. The thresholds vary depending on factors such as the patient's age, gender, health status, and type of surgery.

[0134] Depending on the degree to which the vital signs data deviates from the preset threshold, the alarm prompt unit sets multiple levels of alarms. When the data deviates slightly from the threshold, only a low-level alarm is triggered: a flashing light; when the data deviates seriously from the threshold, a higher-level alarm is triggered: a continuous sound alarm and a red warning message on the display.

[0135] The design of the display interface unit should be concise and easy for medical staff to understand and operate. The interface should clearly display the patient's vital signs data, and provide charts and curves of data change trends so that medical staff can understand the dynamic changes of the patient's condition.

[0136] For the dissection assist system used for laparoscopic thyroid surgery in this embodiment, after the operation is completed, each module and device is shut down one by one according to the prescribed procedures to ensure safe power off, and the monitoring data and operation records during the operation are organized and saved to provide a basis for subsequent clinical research and quality control.

[0137] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A stripping auxiliary system for laparoscopic thyroid surgery, characterized in that: include: Image display module: used to provide images of the surgical area, stimulate tissue fluorescence, capture fluorescence signals, and display tissue fluorescence images through near-infrared autofluorescence imaging technology; Surgical planning module: used to plan the operation before the operation, determine the surgical approach, formulate the surgical plan, and display the three-dimensional structure of the surgical area through the customized 3D printed positioning guide; Instrument monitoring module: used to monitor the status of surgical instruments and evaluate the working performance of surgical instruments in real time through integrated sensors and data processing technology; Parameter adjustment module: input adjustment instructions through the operation interface to adjust the parameters of the stripping auxiliary system; Pathway navigation module: Through multimodal holographic imaging technology, combined with imaging data, it provides real-time path navigation during surgery; Vital signs monitoring module: By connecting to sensors on the patient, it collects physiological signals, displays the patient's vital signs data in real time, and issues an alarm when in danger.

2. A dissection auxiliary system for laparoscopic thyroid surgery according to claim 1, characterized in that: The image display module comprises: The fluorescence excitation unit is used to provide near-infrared light of a specific wavelength to excite the fluorescent substance in the tissue. The excitation tool of the fluorescence excitation unit is a near-infrared laser probe, which can excite near-infrared light of a wavelength of 785nm to irradiate the target tissue. The near-infrared light reacts with the fluorescent substance in the surgical area, and the fluorescent substance absorbs the light energy and emits fluorescence of a wavelength of 830nm. A fluorescence signal capture unit is used to capture fluorescence signals, eliminate interference from other non-fluorescent signals through near-infrared autofluorescence visualization equipment, capture fluorescence signals emitted by fluorescent substances in tissues, and convert them into electrical signals; A signal processing unit is used to receive and process the signal from the fluorescence signal capture unit, amplify, filter and denoise the original signal through digital signal processing technology, improve the signal-to-noise ratio and clarity of the image, and generate a fluorescence image using an image reconstruction algorithm; The image display unit is used to display the fluorescent image in real time on the display screen, wherein the fluorescent image shows the distribution and intensity of the fluorescent substance in the operation area.

3. A dissection auxiliary system for laparoscopic thyroid surgery according to claim 2, characterized in that: The digital signal processing technology is used to amplify, filter, and denoise the original signal to improve the signal-to-noise ratio and clarity of the image, and the image reconstruction algorithm is used to generate the fluorescence image, including: The signal amplification is used to ensure the signal strength and compensate for the attenuation by adjusting the signal gain. The amplification process uses a linear amplifier and is amplified by the following formula: y[n]=G*x[n] Where x[n] is the original signal, G is the gain, and y[n] is the amplified signal; The filtering is used to improve the signal-to-noise ratio of the image. The signal is filtered through a digital filter to remove unnecessary components. The filtering process uses a low-pass filter to allow low-frequency signals to pass through and high-frequency signals to be attenuated. The filtering is performed using the following formula: y[n]=α*x[n]+(1-α)*y[n-1] Among them, α is the smoothing coefficient of the filter, which determines the cutoff frequency of the filter, x[n] is the input signal, and y[n] is the output signal; The denoising process is used to reduce the noise components in the signal and retain the useful information in the signal. The denoising process adopts the LMS algorithm of adaptive filtering and performs filtering through the following formula: Output signal: y(n) = w T (n)*x(n) Error signal: e(n) = d(n) - y(n) Text filter coefficient update: w(n+1)=w(n)+2μe(n)x(n) Where w(n) is the filter coefficient vector, x(n) is the input signal vector, d(n) is the desired signal, and μ is the learning rate; The image reconstruction is used to generate a fluorescence image. According to the spatial distribution and intensity information of the signal, a three-dimensional image is generated through mathematical transformation and interpolation methods. The mathematical transformation and interpolation methods use convolution operations and perform image reconstruction through the following formula: Among them, x[k] is the input signal (image pixel value), h[nk] is the filter coefficient (convolution kernel), and y[n] is the output signal (processed image pixel value).

4. The stripping auxiliary system for laparoscopic thyroid surgery according to claim 1, characterized in that: The surgical planning module comprises: An image data acquisition unit is used to acquire the patient's image data by connecting to the hospital's image system and image display module to acquire the image data, wherein the image data includes CT images, MRI images, ultrasound images, and fluorescence images; A three-dimensional reconstruction unit, used to convert the acquired two-dimensional image data into a three-dimensional model, and process the image data through a three-dimensional reconstruction algorithm and software to generate a three-dimensional model, wherein the three-dimensional model includes a thyroid structure, a vascular structure, a neural structure, a soft tissue structure, a bone structure, a lymphatic structure, a tracheal structure, and an esophageal structure; The surgical path planning unit is used to provide tools and interfaces for surgical path planning. Through the interactive interface and planning tools, annotation, measurement and simulation operations are performed on the 3D model to adjust the entry point, evaluate the feasibility of different surgical paths, determine the instrument trajectory, and develop a surgical path plan; The 3D printing positioning guide unit is used to design and 3D print individualized customized positioning guides. The positioning guides are designed by combining the surgical path with the patient's three-dimensional structure model through CAD software. After the design is completed, it is exported to the 3D printing format and printed by a 3D printer.

5. The stripping auxiliary system for laparoscopic thyroid surgery according to claim 4, characterized in that: The processing of the image data by the three-dimensional reconstruction algorithm and software to generate the three-dimensional model includes: The 3D reconstruction algorithm uses deep learning technology, which is a method of mapping from 2D to 3D through the nonlinear mapping capability of neural networks. The following is a detailed description of how deep learning technology converts 2D image data into a 3D model using a formula: Step 1: Input data: 2D image dataset {I1, I2, ..., I n }, where I i is the i-th two-dimensional image; Step 2: Neural network architecture design: Encode the two-dimensional image into a feature vector in the latent space through the encoder, which is expressed by the following formula: z i =Encoder(I i ;θ enc Among them, z i is the feature vector of the i-th image, θ enc are the parameters of the encoder; The decoder decodes the feature vector in the latent space into a three-dimensional model, which is expressed by the following formula: M i =Encoder(I i ;θ dnc Among them, M i is the 3D model corresponding to the i-th image, θ dnc are the parameters of the decoder; Step 3: Generate 3D model: Apply the neural network to the new 2D image to generate the corresponding 3D model.

6. The stripping auxiliary system for laparoscopic thyroid surgery according to claim 1, characterized in that: The device monitoring module comprises: A sensor unit, used to install sensors at key parts of the surgical instrument, wherein the sensors include acceleration sensors, temperature sensors, pressure sensors, current sensors, voltage sensors, optical sensors, displacement sensors, vibration sensors, impedance sensors, image sensors and light intensity sensors; A data acquisition unit is used to collect the instrument data collected by the sensor unit, wherein the instrument data includes the cutting efficiency and temperature of the ultrasonic knife; the output power, electrocoagulation mode, and tissue damage of the electrocoagulation instrument; the suction pressure and blockage of the aspirator; and the image clarity and light source stability of the laparoscope and light source system; A data analysis unit is used to analyze the data, evaluate the working status of the surgical instrument, calculate and analyze the collected data through data analysis algorithms and models, and determine whether the surgical instrument is in normal working condition; The display and alarm unit is used to present evaluation reports and alarm signals. It displays the evaluation report generated by the data analysis unit in real time through the LCD screen. When the data analysis unit determines that the surgical instrument is not working properly, it emits light, sound, and light signals to remind people to pay attention to the status of the surgical instrument through the LED indicator light, sound, and light signal alarm.

7. The stripping auxiliary system for laparoscopic thyroid surgery according to claim 6, characterized in that: The real-time calculation and analysis of sensor data by data analysis algorithms and models to determine whether the surgical instrument is in a normal working state includes: The data analysis algorithm and model selection are based on the support vector machine (SVM) model. The core of SVM is to find an optimal hyperplane that can separate data points of different categories. The optimal hyperplane is found by the following formula: Where w is the normal vector of the hyperplane, b is the intercept, ξ i is a slack variable (used to handle linear inseparable situations), C is a regularization parameter (used to control the complexity and generalization ability of the model), and y i is the class label of the data point, x i is the feature vector of the data point; For ultrasonic scalpels, the vibration frequency, amplitude, and time during the cutting process are used as feature vectors x, and the classification results calculated by the SVM model are used to determine whether the cutting efficiency is normal; the working temperature is used as a feature, and the SVM model is used for abnormal detection to determine whether it exceeds the threshold; For electrocoagulation devices, the output power data is used as a feature, and the classification results calculated by the SVM model are used to determine whether the output power is stable; the working data in different modes are used as feature vectors, and the SVM model is used for classification and judgment; the tissue temperature change and electrocoagulation time are used as features, and the SVM model is used for classification and judgment to evaluate the degree of tissue damage; For the aspirator, the suction pressure data is used as a feature, and anomaly detection is performed through the SVM model to determine whether it is stable; the flow data and pressure changes are used as feature vectors, and anomaly detection is performed through the SVM model; For the cavity mirror and light source system, the image data is used as the feature vector to perform quality assessment through the SVM model; the brightness and color temperature of the light source are used as features to perform stability assessment through the SVM model.

8. The stripping auxiliary system for laparoscopic thyroid surgery according to claim 1, characterized in that: The parameter adjustment module comprises: A parameter setting unit is used to set and adjust the working parameters of the device. The parameter setting interface is provided through an input device combined with a menu system. The working parameters of the device include the opening angle of the dissector, the cutting speed of the ultrasonic knife, the electrocoagulation intensity of the electrocoagulation device, the suction pressure of the aspirator, and the image clarity of the laparoscope and light source system; Feedback verification unit is used to verify the set parameters and provide feedback information. It verifies the set parameters through the built-in algorithm to confirm that they meet the equipment operating conditions and safety range. If the parameters meet the conditions, the adjusted results are presented on the display screen. If the parameters exceed the limit, an abnormality is triggered and a reminder feedback is given through the display screen. The storage and recording unit is used to record and store the working parameters during the operation, and realize persistent storage and fast reading of parameters through a database or configuration file.

9. The stripping auxiliary system for laparoscopic thyroid surgery according to claim 1, characterized in that: The path navigation module includes: The multimodal holographic projection display unit is used to holographically project multimodal images in the operating room. It uses holographic projection technology to project images into the air through the principles of interference and diffraction, and can directly observe the internal structure of the operating area; A real-time positioning and tracking unit is used to locate and track the position and posture of surgical instruments in real time during surgery. Through sensors installed on the surgical instruments, the positioning and tracking of surgical instruments are achieved, and the position of surgical instruments in the holographic projection is updated; The navigation planning and control unit is used to display the surgical planning path and adjust it according to the actual situation. Through holographic projection technology, the surgical planning path is superimposed on the real-time surgical image to provide surgical planning path navigation and adjust the surgical path in real time according to the actual situation and operating instructions.

10. The stripping auxiliary system for laparoscopic thyroid surgery according to claim 1, characterized in that: The vital signs monitoring module comprises: A data acquisition unit is used to collect various vital signs data of the patient, capture the patient's physiological signals through sensors, and convert them into digital signals. The vital signs data include heart rate, blood pressure, blood oxygen saturation, blood sugar level, urine volume, bispectral index, central venous pressure, respiratory rate, and body temperature; An alarm prompt unit is used to monitor data and compare it with a preset threshold value. By setting a threshold judgment mechanism, when the monitored vital sign data exceeds the preset threshold value, an alarm and prompt are issued, triggering the alarm system, and issuing an alarm and prompt through sound, light signal, and display screen, and multiple levels of alarms are set according to the degree of deviation; The display interface unit is used to provide an interface for displaying vital signs data. The interface display methods include charts: displaying data change trends, curves: reflecting continuously monitored data, and numbers: displaying specific values ​​of vital signs data.

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