Three-dimensional reconstruction system based on kidney wound suture track

Abstract

The invention relates to the technical field of track three-dimensional reconstruction, and particularly discloses a kidney wound suture track-based three-dimensional reconstruction system, which is provided with an image quality qualification judgment module, a suture needle drop point reference data set comparison module, an image operation qualification judgment module and a three-dimensional reconstruction track determination module. The problems that an existing three-dimensional reconstruction system is insufficient in data processing capacity, basic information of a kidney wound surface is not fully considered, complex or high-resolution image data can not be processed, and the quality of a reconstructed model is not high are solved, the suture accuracy and possible problems such as looseness or non-uniformity of a suture line are revealed, and the problem that the quality of the reconstructed model is not high is solved. Therefore, secondary intervention possibly needed is guided, three-dimensional reconstruction can help to monitor the healing process of the wound and serve as an analysis basis for discovering and treating postoperative complications, the operation quality is evaluated through three-dimensional reconstruction, the operation standard is favorably maintained and improved, and then innovation of the operation technology and equipment is promoted.

Description

Technical Field

[0001] The invention relates to the technical field of trajectory three-dimensional reconstruction, and in particular to a three-dimensional reconstruction system based on kidney wound suture trajectory. Background Art

[0002] Three-dimensional reconstruction of the suture trajectory of postoperative renal wounds is crucial because it can accurately evaluate the quality of surgery and serve as a basis for dealing with postoperative complications (such as internal bleeding, suture rupture or infection, etc.). This three-dimensional view can review the accuracy and completeness of the suture in detail, and at the same time provides a powerful tool for medical education and clinical research. Three-dimensional images can help review and analyze every step of the operation. Through the evaluation of the suture trajectory, the surgical effect evaluation and suture operation scoring can be performed, and possible technical errors or improvement points can be identified, thereby improving the success rate of the operation and reducing the recovery time. The results of three-dimensional reconstruction can promote the innovation of surgical techniques and equipment, such as the development of new suturing techniques or improved surgical instruments.

[0003] At present, there are still some shortcomings in the research on three-dimensional reconstruction of renal wound suture trajectory. Specifically, the existing three-dimensional reconstruction system has insufficient data processing capabilities and does not fully consider the basic information of the renal wound. It may not be able to process complex or high-resolution image data, resulting in low quality of the reconstructed model and insufficient detail capture. A three-dimensional reconstruction system with insufficient processing power may require repeated image acquisition and analysis, thereby wasting precious resources. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a three-dimensional reconstruction system based on the suture trajectory of the kidney wound, which can effectively solve the problems involved in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] A three-dimensional reconstruction system based on kidney wound suture trajectory comprises an image quality qualified judgment module, a suture needle drop point reference data set comparison module, an image operation qualified judgment module and a three-dimensional reconstruction trajectory determination module, wherein: the image quality qualified judgment module is used to perform frame processing on kidney wound suture video, analyze each kidney wound suture image, and judge whether the quality of each kidney wound suture image is qualified; the suture needle drop point reference data set comparison module is used to analyze the kidney wound and obtain the suture needle drop point reference data set of each kidney wound suture image by comparison; the image operation qualified judgment module is used to analyze each kidney wound suture image with qualified image quality, obtain the suture needle drop point data set of each kidney wound suture image, and judge whether the operation of each kidney wound suture image is qualified in combination with the suture needle drop point reference data set of each kidney wound suture image; the three-dimensional reconstruction trajectory determination module is used to import the suture needle drop point data set of each kidney wound suture image into a kidney wound suture three-dimensional reconstruction model, obtain the kidney wound suture three-dimensional reconstruction feature value, and determine the kidney wound suture three-dimensional reconstruction trajectory based on the kidney wound suture three-dimensional reconstruction feature value.

[0007] Optionally, the renal wound suture video is frame-processed, and each renal wound suture image is analyzed to determine whether the quality of each renal wound suture image is qualified. The specific analysis process is: obtaining a state data set of each renal wound suture image, and based on the obtained state data set of each renal wound suture image, comprehensively analyzing to obtain a renal wound suture image state evaluation value, and using the renal wound suture image state evaluation value as an analysis basis for determining whether the quality of each renal wound suture image is qualified; comparing the renal wound suture image state evaluation value with a renal wound suture image state reference evaluation value stored in a database; if If the renal wound suture image state evaluation value is higher than or equal to the renal wound suture image state reference evaluation value, then the renal wound suture image quality corresponding to the renal wound suture image state evaluation value is qualified; if the renal wound suture image state evaluation value is lower than the renal wound suture image state reference evaluation value, then the renal wound suture image quality corresponding to the renal wound suture image state evaluation value is unqualified, and it is necessary to reduce the random noise in the renal wound suture image, adjust the contrast of the renal wound suture image, and sharpen the renal wound suture image, and judge again whether the quality of each renal wound suture image is qualified.

[0008] Optionally, the kidney wound suture image status data set specifically includes kidney wound suture image contrast, kidney wound suture image resolution, and kidney wound suture image pixel value.

[0009] Optionally, the renal wound surface is analyzed and a reference data set of suture needle drop points of each renal wound suture image is obtained by comparison. The specific analysis process is: obtaining a renal wound surface feature data set, the renal wound surface feature data set specifically includes the renal wound surface area, the maximum length of the renal wound surface, and the maximum width of the renal wound surface; based on the obtained renal wound surface feature data set, a comprehensive analysis is performed to obtain a renal wound surface feature value, and the renal wound surface feature value is used as an analysis basis for comparing and obtaining a reference data set of suture needle drop points of each renal wound surface suture image; the renal wound surface feature value is compared with a reference data set of suture needle drop points of each renal wound surface suture image corresponding to each renal wound surface feature value stored in a database, to obtain a reference data set of suture needle drop points of each renal wound surface suture image corresponding to the renal wound surface feature value.

[0010] Optionally, the reference data set of the suture needle landing point of each renal wound suture image specifically includes a reference distance between the suture needle landing point of each renal wound suture image and the starting point of the renal wound suture, a reference angle between the suture needle landing point of each renal wound suture image and the line connecting the starting point and the end point of the renal wound suture, and a reference inclination angle of the suture needle landing point of each renal wound suture image.

[0011] Optionally, in combination with a reference data set of suture needle drop points for each renal wound suture image, whether the operation of each renal wound suture image is qualified is judged, and the specific analysis process is: obtaining a data set of suture needle drop points for each renal wound suture image, based on the obtained data set of suture needle drop points for each renal wound suture image, in combination with a reference data set of suture needle drop points for each renal wound suture image, a comprehensive analysis is performed to obtain an estimated suture needle drop score for each renal wound suture image, and the estimated suture needle drop score for each renal wound suture image is used as an analysis basis for judging whether the operation of each renal wound suture image is qualified; comparing the estimated suture needle drop score for each renal wound suture image with the data set The suture needle drop evaluation value of a renal wound suture image is compared with the reference evaluation value of the suture needle drop point of the renal wound suture image stored in the database; if the suture needle drop evaluation value of a renal wound suture image is higher than or equal to the reference evaluation value of the suture needle drop point of the renal wound suture image, then the renal wound suture image operation corresponding to the suture needle drop evaluation value of the renal wound suture image is qualified; if the suture needle drop evaluation value of a renal wound suture image is lower than the reference evaluation value of the suture needle drop point of the renal wound suture image, then the renal wound suture image operation corresponding to the suture needle drop evaluation value of the renal wound suture image is unqualified, and the renal wound suture image with unqualified operation is marked and a prompt is issued.

[0012] Optionally, the data set of suture needle landing points of each renal wound suture image specifically includes the distance between the suture needle landing point of each renal wound suture image and the starting point of the renal wound suture, the angle between the suture needle landing point of each renal wound suture image and the line connecting the starting point and the end point of the renal wound suture, and the inclination angle of the suture needle landing point of each renal wound suture image.

[0013] Optionally, the suture needle drop evaluation of the kidney wound suture image is evaluated, and the specific analysis process is as follows:

[0014]

[0015] In the formula, γ i is the estimation of the suture needle drop in the i-th kidney wound suture image, jl i is the distance between the suture needle drop point and the starting point of the kidney wound suture in the i-th kidney wound suture image, ld i jd is the angle between the suture needle drop point of the i-th kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, i is the inclination angle of the suture needle drop point in the i-th kidney wound suture image, jl 0i is the reference distance between the suture needle drop point and the starting point of the kidney wound suture in the i-th kidney wound suture image, ld 0i jd is the reference angle between the suture needle drop point of the i-th kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, 0i is the reference tilt angle of the suture needle drop point of the i-th kidney wound suture image, and i is the number of the kidney wound suture image.

[0016] Optionally, the suture needle point dataset of each renal wound suture image is imported into the renal wound suture three-dimensional reconstruction model to obtain the renal wound suture three-dimensional reconstruction feature value. The specific analysis process is: the suture needle point dataset of each renal wound suture image is imported into the renal wound suture three-dimensional reconstruction model, and the renal wound suture three-dimensional reconstruction feature value is obtained through comprehensive analysis. The renal wound suture three-dimensional reconstruction feature value is used as the analysis basis for determining the renal wound suture three-dimensional reconstruction trajectory.

[0017] Optionally, based on the three-dimensional reconstruction eigenvalue of the renal wound suture, the three-dimensional reconstruction trajectory of the renal wound suture is determined, and the specific analysis process is: comparing the three-dimensional reconstruction eigenvalue of the renal wound suture with the three-dimensional reconstruction trajectory of the renal wound suture corresponding to each three-dimensional reconstruction eigenvalue of the renal wound suture stored in the database, to obtain the three-dimensional reconstruction trajectory of the renal wound suture corresponding to the three-dimensional reconstruction eigenvalue of the renal wound suture.

[0018] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0019] The above scheme, through a three-dimensional reconstruction system based on the suture trajectory of the kidney wound, can reveal the accuracy of suture and possible problems, such as loose or uneven sutures, thereby guiding the possible secondary intervention. Three-dimensional reconstruction can help monitor the healing process of the wound and serve as an analytical basis for discovering and treating postoperative complications. Using three-dimensional reconstruction to evaluate the quality of surgery will help maintain and improve surgical standards, thereby promoting innovation in surgical techniques and equipment.

[0020] By processing the renal wound suture video in frames and analyzing the renal wound suture images, we can determine whether the quality of each renal wound suture image is qualified. High-quality images are the prerequisite for accurately evaluating the surgical results. By ensuring the image quality, the quality of suture and the healing of the wound can be judged more accurately. Continuous monitoring of image quality can timely identify abnormalities in the image, such as poor suture, signs of infection or other complications. Systematically analyzing image quality and evaluating its pass rate can help the team identify possible technical defects or improper operations, thereby continuously optimizing surgical techniques and improving image acquisition quality.

[0021] By analyzing the renal wound surface and comparing the reference data set of suture needle drop points in each renal wound suture image, the actual drop point of the suture needle is compared with the preset ideal drop point, which can help evaluate the accuracy of the suturing technique. By comparing with the reference data set, the surgical results can be better predicted. The comparison can reveal which operations are successful and which may need improvement. Collecting and analyzing a large amount of suture needle drop point data can help researchers evaluate the effectiveness of different suturing techniques. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0023] Figure 1 It is a schematic diagram of system module connection of the present invention. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] like Figure 1 As shown, an embodiment of the present invention provides a three-dimensional reconstruction system based on the suture trajectory of the kidney wound, including an image quality qualification judgment module, a suture needle landing point reference data set comparison module, an image operation qualification judgment module and a three-dimensional reconstruction trajectory determination module.

[0026] The image quality qualification judgment module is used to perform frame processing on the renal wound suture video, analyze each renal wound suture image, and judge whether the quality of each renal wound suture image is qualified.

[0027] Specifically, the renal wound suture video is frame-processed, each renal wound suture image is analyzed, and whether the quality of each renal wound suture image is qualified is judged. The specific analysis process is: obtain each renal wound suture image state data set, and based on the obtained renal wound suture image state data set, comprehensively analyze to obtain the renal wound suture image state evaluation value, and the renal wound suture image state evaluation value is used as the analysis basis for judging whether the quality of each renal wound suture image is qualified; compare the renal wound suture image state evaluation value with the renal wound suture image state reference evaluation value stored in the database; if the renal wound suture image state evaluation value is higher than or equal to the renal wound suture image state reference evaluation value, then the renal wound suture image quality corresponding to the renal wound suture image state evaluation value is qualified; if the renal wound suture image state evaluation value is lower than the renal wound suture image state reference evaluation value, then the renal wound suture image quality corresponding to the renal wound suture image state evaluation value is unqualified, and it is necessary to reduce the random noise in the renal wound suture image, adjust the contrast of the renal wound suture image, and sharpen the renal wound suture image, and judge again whether the quality of each renal wound suture image is qualified.

[0028] It should be noted that the above-mentioned ensuring that the quality of each renal wound suture image meets or exceeds the reference standard can enable more accurate diagnosis and decision-making based on high-quality images, because high-quality images can better show the details of the renal wound, such as the precise position of the wound edge and suture line. By evaluating the image status and comparing it with the reference value, problems with substandard image quality, such as unclear focus, excessive noise or insufficient contrast, can be discovered in a timely manner, so that necessary adjustments can be made in a timely manner before the problem affects the surgical outcome, and the photographic technology or surgical skills can be improved based on the feedback, thereby improving the overall surgical quality.

[0029] Among them, the renal wound suture image status dataset specifically includes renal wound suture image contrast, renal wound suture image resolution, and renal wound suture image pixel value. Contrast refers to the obvious difference between the brightest and darkest areas in the image. In medical imaging, high contrast can help to more clearly distinguish the boundaries of renal wounds and surrounding tissues, especially the suture area. Resolution refers to the total number of pixels in the image, which is usually determined by the width and height of the image (for example, 1920x1080 pixels). High resolution means that the image contains more pixels, so more details can be displayed. The pixel value usually represents the color or grayscale level of each pixel in the image. In medical imaging, the value of each pixel can represent the tissue density or other related characteristics of the point. The renal wound suture image contrast, renal wound suture image resolution, and renal wound suture image pixel value can be measured by image processing software (such as Adobe Photoshop, GIMP, etc.).

[0030] In a specific embodiment, contrast defines the difference in brightness between the brightest and darkest areas in an image. High contrast can make the details of the image more prominent, especially near the edges and sutures of the renal wound surface. The high contrast in these areas can help see the wound boundary more clearly. Resolution refers to the number of pixels in the image, which determines the level of detail of the image. High resolution means that there are many pixels in the image and more details can be displayed. Even for high-resolution images, if the contrast is insufficient, it may be difficult to distinguish subtle structural differences. Pixel values ​​usually represent the color or grayscale of each pixel in the image. If the pixel values ​​are mainly concentrated in a narrow range, the contrast of the image will be low, which may make it difficult to identify the details of the renal wound surface. High-resolution images contain more pixels, which means that more pixel values ​​are used to describe the same area of ​​the image, which may provide more details and more complex color or grayscale gradients.

[0031] It should be noted that the specific analysis process of the above kidney wound suture image status evaluation value is as follows:

[0032]

[0033] Wherein, α is the state evaluation value of the renal wound suture image, db is the contrast of the renal wound suture image, fb is the resolution of the renal wound suture image, xs is the pixel value of the renal wound suture image, μ1 is the compensation factor of the set renal wound suture image contrast, μ2 is the compensation factor of the set renal wound suture image resolution, μ3 is the compensation factor of the set renal wound suture image pixel value, and e is a natural constant.

[0034] It should be explained that the above-mentioned renal wound suture image status evaluation value is calculated through renal wound suture image contrast, renal wound suture image resolution, and renal wound suture image pixel value. The renal wound suture image contrast, renal wound suture image resolution, and renal wound suture image pixel value are normalized. Comprehensive consideration of contrast, resolution, and pixel value can more comprehensively evaluate the image quality, ensure that the details of the wound suture are clearly recorded, and reduce misjudgment caused by image quality problems. Higher contrast and resolution can make the suture lines and wound edges clearer, thereby helping to better judge the suture effect and wound healing. Regular evaluation of the suture image status can monitor the progress of postoperative wound healing, promptly detect possible complications, such as infection or suture failure, and take necessary measures. Quantifying the image status evaluation value can rely on objective data to make more scientific decisions rather than relying solely on subjective observations.

[0035] μ1, μ2, and μ3 are compensation factors corresponding to the contrast of the kidney wound suture image, the resolution of the kidney wound suture image, and the pixel value of the kidney wound suture image preset in the database, which represent the numerical value of the influence of the contrast of the kidney wound suture image, the resolution of the kidney wound suture image, and the pixel value of the kidney wound suture image on the evaluation value of the kidney wound suture image state. When used, the compensation factors corresponding to the contrast of the kidney wound suture image, the resolution of the kidney wound suture image, and the pixel value of the kidney wound suture image can be directly obtained from the database, and the corresponding relationship can be a preset mapping relationship, in which the mapping relationship can be one-to-one or many-to-one. For example, the contrast of the kidney wound suture image and the compensation factor of the contrast of the kidney wound suture image The compensation factor forms a mapping set, and the real-time kidney wound suture image contrast is input into the mapping set to obtain the compensation factor of the kidney wound suture image contrast. In this example, its value range is between 0 and 1; for example, the kidney wound suture image resolution and the compensation factor of the kidney wound suture image resolution form a mapping set, and the real-time kidney wound suture image resolution is input into the mapping set to obtain the compensation factor of the kidney wound suture image resolution. In this example, its value range is between 0 and 1; for example, the kidney wound suture image pixel value and the compensation factor of the kidney wound suture image pixel value form a mapping set, and the real-time kidney wound suture image pixel value is input into the mapping set to obtain the compensation factor of the kidney wound suture image pixel value. In this example, its value range is between 0 and 1.

[0036] It should be explained that the above-mentioned process of frame-by-frame processing of the renal wound suture video and analysis of each renal wound suture image determines whether the quality of each renal wound suture image is qualified. High-quality images are a prerequisite for accurately evaluating the results of the operation. By ensuring the image quality, the quality of the suture and the healing of the wound can be judged more accurately. Continuous monitoring of the image quality can timely identify abnormalities in the image, such as poor sutures, signs of infection or other complications. Systematically analyzing the image quality and evaluating its pass rate can help the team identify possible technical defects or improper operations, thereby continuously optimizing surgical techniques and improving image acquisition quality.

[0037] The suture needle drop point reference data set comparison module is used to analyze the renal wound surface and obtain the suture needle drop point reference data set of each renal wound surface suture image by comparison.

[0038] Specifically, the renal wound surface is analyzed, and a reference data set of suture needle drop points of each renal wound suture image is obtained by comparison. The specific analysis process is: a renal wound surface feature data set is obtained, and the renal wound surface feature data set specifically includes the renal wound surface area, the maximum length of the renal wound surface, and the maximum width of the renal wound surface; based on the obtained renal wound surface feature data set, a renal wound surface feature value is obtained by comprehensive analysis, and the renal wound surface feature value is used as an analysis basis for comparing and obtaining a reference data set of suture needle drop points of each renal wound suture image; the renal wound surface feature value is compared with a reference data set of suture needle drop points of each renal wound suture image corresponding to each renal wound surface feature value stored in a database, and a reference data set of suture needle drop points of each renal wound suture image corresponding to the renal wound surface feature value is obtained.

[0039] It should be noted that the above-mentioned renal wound area refers to the total area of ​​the kidney surface that is incised or damaged during surgery. The renal wound area is usually obtained through medical imaging equipment, such as CT scan, MRI or ultrasound. The maximum length of the renal wound is the longest straight-line distance from one end of the renal wound to the other end, which is used to describe the maximum longitudinal dimension of the wound and can be measured by the same imaging equipment, such as CT, MRI or ultrasound. The maximum width of the renal wound is the maximum distance of the renal wound in the direction perpendicular to the maximum length, which is used to describe the maximum transverse dimension of the wound. The maximum width of the renal wound is also measured by imaging technologies such as CT, MRI or ultrasound. The ratio of the maximum length and width and the wound area can provide clues to the shape of the wound, which is of guiding significance for planning suturing strategies and predicting potential surgical difficulties.

[0040] It should be noted that the comparison and analysis of the above-mentioned system and the data collected can be used in clinical research, which will help improve existing surgical methods and techniques, and can also evaluate the accuracy of the suturing process. Based on the analysis of the renal wound surface, the reference data set of suture needle drop points of each renal wound suture image is compared to facilitate personalized planning and evaluation and improve the quality of the evaluation.

[0041] It should be noted that the specific analysis process of the above kidney wound surface characteristic values ​​is as follows:

[0042]

[0043] Where β is the characteristic value of the renal wound, cs is the renal wound area, cc is the maximum length of the renal wound, ck is the maximum width of the renal wound, ε1 is the compensation factor for the set renal wound area, ε2 is the compensation factor for the set maximum length of the renal wound, and ε3 is the compensation factor for the set maximum width of the renal wound.

[0044] It should be explained that the above-mentioned renal wound characteristic values ​​are calculated through the renal wound area, the maximum length of the renal wound, and the maximum width of the renal wound. The renal wound area, the maximum length of the renal wound, and the maximum width of the renal wound are normalized. The area, maximum length, and maximum width can comprehensively describe the size and shape of the wound, which helps to fully understand the actual scale of the wound. The wound characteristic values ​​can be used as part of the postoperative record to provide objective data for future research and data analysis, help improve surgical techniques and postoperative management strategies, and serve as the basis for communicating the wound condition, which can more clearly explain the state and healing of the wound.

[0045] ε1, ε2, and ε3 are compensation factors corresponding to the renal wound area, the maximum length of the renal wound, and the maximum width of the renal wound preset in the database, which represent the numerical values ​​of the influence of the renal wound area, the maximum length of the renal wound, and the maximum width of the renal wound on the renal wound characteristic value. When used, the compensation factors corresponding to the renal wound area, the maximum length of the renal wound, and the maximum width of the renal wound can be directly obtained from the database. The corresponding relationship can be a preset mapping relationship, in which the mapping relationship can be one-to-one or many-to-one. For example, the renal wound area and the compensation factor of the renal wound area form a mapping set , the real-time kidney wound area is input into the mapping set to obtain the compensation factor of the kidney wound area, and its value range in this example is between 0 and 1; for example, the maximum length of the kidney wound and the compensation factor of the maximum length of the kidney wound form a mapping set, and the real-time maximum length of the kidney wound is input into the mapping set to obtain the compensation factor of the maximum length of the kidney wound, and its value range in this example is between 0 and 1; for example, the maximum width of the kidney wound and the compensation factor of the maximum width of the kidney wound form a mapping set, and the real-time maximum width of the kidney wound is input into the mapping set to obtain the compensation factor of the maximum width of the kidney wound, and its value range in this example is between 0 and 1.

[0046] Among them, the reference data set of suture needle landing points of each renal wound suture image specifically includes the reference distance between the suture needle landing point of each renal wound suture image and the starting point of the renal wound suture, the reference angle between the suture needle landing point of each renal wound suture image and the connecting line between the starting point and the end point of the renal wound suture, and the reference inclination angle of the suture needle landing point of each renal wound suture image.

[0047] In a specific embodiment, the reference distance between the suture needle landing point in the kidney wound suture image and the starting point of the kidney wound suture is a reference value of the straight-line distance between the suture needle landing point and the suture starting point. The reference angle between the suture needle landing point in the kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture is a reference value for measuring the angle formed between the straight line from the starting point to the end point of the suture and the suture needle landing point, which helps to evaluate whether the layout of the suture line conforms to the expected suture path. The reference inclination angle of the suture needle landing point in the kidney wound suture image refers to the reference value of the inclination angle of the suture needle landing point in the direction perpendicular to the kidney wound, which determines the way the suture needle passes through the tissue and affects the safety and effect of the suture.

[0048] It should be explained that the above-mentioned analysis of renal wounds and comparison of the reference data set of suture needle landing points of each renal wound suture image can help evaluate the accuracy of the suturing technique by comparing the actual landing point of the suture needle with the preset ideal landing point. By comparing with the reference data set, the surgical results can be better predicted. The comparison can reveal which operations are successful and which may need improvement. Collecting and analyzing a large amount of suture needle landing point data can help researchers evaluate the effectiveness of different suturing techniques.

[0049] The image operation qualification judgment module is used to analyze each renal wound suture image with qualified image quality, obtain the suture needle drop point data set of each renal wound suture image, and judge whether the operation of each renal wound suture image is qualified in combination with the suture needle drop point reference data set of each renal wound suture image.

[0050] Specifically, in combination with the reference data set of suture needle drop points of each renal wound suture image, whether the operation of each renal wound suture image is qualified is judged. There is only one current suture needle drop point included in an image, and only the data of the current suture needle drop point is calculated. The specific analysis process is: obtaining the suture needle drop point data set of each renal wound suture image, based on the obtained suture needle drop point data set of each renal wound suture image, combined with the suture needle drop point reference data set of each renal wound suture image, a comprehensive analysis is performed to obtain the suture needle drop evaluation score of each renal wound suture image, and the suture needle drop evaluation score of each renal wound suture image is used as the analysis basis for judging whether the operation of each renal wound suture image is qualified; The suture needle drop evaluation evaluation of each renal wound suture image is compared with the suture needle drop reference evaluation value of the renal wound suture image stored in the database; if the suture needle drop evaluation evaluation of a renal wound suture image is higher than or equal to the suture needle drop reference evaluation value of the renal wound suture image, then the renal wound suture image operation corresponding to the suture needle drop evaluation evaluation of the renal wound suture image is qualified; if the suture needle drop evaluation evaluation of a renal wound suture image is lower than the suture needle drop reference evaluation value of the renal wound suture image, then the renal wound suture image operation corresponding to the suture needle drop evaluation evaluation of the renal wound suture image is unqualified, and the renal wound suture image with unqualified operation is marked and a prompt is issued.

[0051] It should be noted that the above-mentioned evaluation of the suture needle drop point can ensure the accuracy and consistency of the suture operation, thereby improving the overall quality of the operation and reducing the risk of postoperative complications. The use of reference data sets for evaluation can establish a standardized suture operation process, so that the same standards can be followed when performing kidney sutures, reducing the randomness of the operation. The use of data sets for evaluation can provide data support to help them make more scientific decisions. Through the analysis of the suture needle drop evaluation, they can obtain feedback in a timely manner to understand whether their operations are qualified, so as to make necessary adjustments and improvements, mark and prompt unqualified suture operations, and identify potential risks in a timely manner and take corresponding measures.

[0052] Specifically, the data set of suture needle landing points of each renal wound suture image specifically includes the distance between the suture needle landing point of each renal wound suture image and the starting point of the renal wound suture, the angle between the suture needle landing point of each renal wound suture image and the line connecting the starting point and the end point of the renal wound suture, and the inclination angle of the suture needle landing point of each renal wound suture image.

[0053] It should be noted that the distance between the suture needle landing point and the starting point of the renal wound suture in the above-mentioned renal wound suture image is a measure of the straight-line distance between the suture needle landing point and the suture starting point, which is obtained through a high-resolution camera system used in the operation (such as an endoscopic camera or a surgical microscope). The angle between the suture needle landing point in the renal wound suture image and the line connecting the starting point and the end point of the renal wound suture is a measure of the angle formed between the straight line from the starting point to the end point of the suture and the suture needle landing point, which helps to evaluate whether the layout of the suture line conforms to the expected suture path and is obtained through an endoscopic camera or other surgical imaging equipment. The inclination angle of the suture needle landing point in the renal wound suture image refers to the inclination angle of the suture needle landing point in the direction perpendicular to the renal wound, which determines the way the suture needle passes through the tissue and affects the safety and effect of the suture. Using a three-dimensional endoscope The angle between the suture needle landing point and the line connecting the starting point and the end point helps to determine whether the suture is along the predetermined path. Ideally, the suture should be as straight as possible or conform to a specific curve according to the shape and size of the renal wound to maximize the docking and healing of the tissue. The inclination angle of the suture needle affects the way the needle passes through the tissue, which is not only related to the firmness of the suture, but also affects the degree of tissue damage and the speed of healing. The appropriate inclination angle can reduce the risk of tissue tearing and ensure the correct positioning of the suture in the tissue. The correct setting of the distance, angle and inclination angle of the suture needle can help prevent surgical complications such as suture detachment, bleeding or renal damage. Precise control of these parameters can ensure uniform pressure of the suture on the renal wound, thereby promoting better wound docking and healing.

[0054] Among them, the evaluation and valuation of suture needle drop in kidney wound suture images, the specific analysis process is as follows:

[0055]

[0056] In the formula, γ i is the estimation of the suture needle drop in the i-th kidney wound suture image, jl i is the distance between the suture needle drop point and the starting point of the kidney wound suture in the i-th kidney wound suture image, ld i jd is the angle between the suture needle drop point of the i-th kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, i is the inclination angle of the suture needle drop point in the i-th kidney wound suture image, jl 0i is the reference distance between the suture needle drop point and the starting point of the kidney wound suture in the i-th kidney wound suture image, ld 0i jd is the reference angle between the suture needle drop point of the i-th kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, 0i is the reference tilt angle of the suture needle drop point of the i-th kidney wound suture image, and i is the number of the kidney wound suture image.

[0057] It needs to be explained that the above-mentioned evaluation of the suture needle drop in the kidney wound suture image is calculated through the distance between the suture needle drop point in the kidney wound suture image and the starting point of the kidney wound suture, the angle between the suture needle drop point in the kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, the tilt angle of the suture needle drop point in the kidney wound suture image, the reference distance between the suture needle drop point in the kidney wound suture image and the starting point of the kidney wound suture, the reference angle between the suture needle drop point in the kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, and the reference tilt angle of the suture needle drop point in the kidney wound suture image. The reference distance between the landing point and the starting point of kidney wound suture, the reference angle between the landing point of the suture needle in the kidney wound suture image and the connecting line of the starting point and the end point of kidney wound suture, and the reference inclination angle of the suture needle landing point in the kidney wound suture image are normalized to evaluate the position, angle and distance of the suture needle landing point, which can ensure the accuracy of the suturing operation, help confirm the correct position of each needle, avoid uneven or misplaced suture lines, and thus improve the suture quality. Accurate needle landing point and angle can reduce wound tension and complications caused by uneven sutures, such as wound dehiscence and poor healing, thereby improving the healing effect of the wound. Quantifying the landing point and angle of the suture needle provides objective data, which is very important for recording, quality control and training. It can also be used for review and analysis to help understand potential problems in the suturing process and improve future suturing techniques based on feedback.

[0058] The three-dimensional reconstruction trajectory determination module is used to import the suture needle drop point data set of each kidney wound suture image into the kidney wound suture three-dimensional reconstruction model, obtain the kidney wound suture three-dimensional reconstruction feature value, and determine the kidney wound suture three-dimensional reconstruction trajectory based on the kidney wound suture three-dimensional reconstruction feature value.

[0059] Specifically, the suture needle drop point dataset of each renal wound suture image is imported into the renal wound suture three-dimensional reconstruction model to obtain the renal wound suture three-dimensional reconstruction feature value, and the renal wound suture three-dimensional reconstruction trajectory is determined based on the renal wound suture three-dimensional reconstruction feature value. The specific analysis process is: the suture needle drop point dataset of each renal wound suture image is imported into the renal wound suture three-dimensional reconstruction model, and the renal wound suture three-dimensional reconstruction feature value is obtained by comprehensive analysis. The renal wound suture three-dimensional reconstruction feature value is used as the analysis basis for determining the renal wound suture three-dimensional reconstruction trajectory; the renal wound suture three-dimensional reconstruction feature value is compared with the renal wound suture three-dimensional reconstruction trajectory corresponding to each renal wound suture three-dimensional reconstruction feature value stored in the database to obtain the renal wound suture three-dimensional reconstruction trajectory corresponding to the renal wound suture three-dimensional reconstruction feature value.

[0060] It should be noted that the above-mentioned continuous data analysis and feedback are helpful to improve surgical techniques. By systematically comparing the data of different operations, we can learn how to improve surgical skills and reduce errors during surgery. By comparing the actual surgical results with the ideal or expected three-dimensional trajectory, we can more effectively evaluate the quality of surgery and ensure the proper position and sufficient strength of the sutures, which helps prevent postoperative complications such as poor wound healing or suture detachment. If the postoperative suture needle landing point deviates significantly from the predetermined trajectory, timely measures can be taken to correct it and avoid long-term complications. Continuous data analysis and feedback are helpful to improve surgical techniques.

[0061] Among them, the three-dimensional reconstruction model of kidney wound suture has the following specific analysis process:

[0062]

[0063] Where ω is the characteristic value of three-dimensional reconstruction of kidney wound suture, jl i is the distance between the suture needle drop point and the starting point of the kidney wound suture in the i-th kidney wound suture image, ld i jd is the angle between the suture needle drop point of the i-th kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, i is the inclination angle of the suture needle landing point of the i-th renal wound suture image, i is the number of the renal wound suture image, i=1,2,3,...,n, n is the total number of renal wound suture images, and e is a natural constant.

[0064] It should be explained that the above-mentioned three-dimensional reconstruction feature value of kidney wound suture is calculated by the distance between the suture needle landing point and the starting point of kidney wound suture in each kidney wound suture image, the angle between the suture needle landing point and the line connecting the starting point and the end point of kidney wound suture in each kidney wound suture image, and the tilt angle of the suture needle landing point in each kidney wound suture image. The distance between the suture needle landing point and the starting point of kidney wound suture in each kidney wound suture image, the angle between the suture needle landing point and the line connecting the starting point and the end point of kidney wound suture in each kidney wound suture image, and the tilt angle of the suture needle landing point in each kidney wound suture image are normalized, and the three-dimensional reconstruction feature value can comprehensively evaluate the Estimate the position and angle of the suture needle in three-dimensional space, thereby providing a more detailed and accurate analysis of the suture effect, which helps to determine whether the suture line is uniform and meets the expected repair decision. Three-dimensional reconstruction can more intuitively observe the path and direction of the suture needle. Detailed three-dimensional data can accurately analyze the difference between the actual position and the expected position of the suture needle. The three-dimensional reconstruction feature value can be used for postoperative review and analysis to help understand possible problems in the suturing process and make necessary improvements. The three-dimensional reconstruction data provides an objective evaluation standard, which helps to establish a standardized suture technology evaluation system and is used for quality control and standard setting.

[0065] It should be explained that the above-mentioned three-dimensional reconstruction system based on the suture trajectory of the renal wound can reveal the accuracy of the suture and possible problems, such as loose or uneven sutures, thereby guiding the possible secondary intervention. Three-dimensional reconstruction can help monitor the healing process of the wound and serve as an analytical basis for discovering and treating postoperative complications. Using three-dimensional reconstruction to evaluate the quality of surgery will help maintain and improve surgical standards, thereby promoting innovation in surgical techniques and equipment.

[0066] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A three-dimensional reconstruction system based on kidney wound suture trajectory, characterized in that: It includes an image quality qualification judgment module, a suture needle drop point reference data set comparison module, an image operation qualification judgment module and a three-dimensional reconstruction trajectory determination module, wherein: The image quality qualified judgment module is used to perform frame processing on the renal wound suture video, analyze each renal wound suture image, and judge whether the quality of each renal wound suture image is qualified; The suture needle drop point reference data set comparison module is used to analyze the renal wound surface and obtain the suture needle drop point reference data set of each renal wound surface suture image by comparison; The image operation qualified judgment module is used to analyze each renal wound suture image with qualified image quality, obtain a suture needle drop point data set for each renal wound suture image, and judge whether the operation of each renal wound suture image is qualified in combination with a suture needle drop point reference data set for each renal wound suture image; The three-dimensional reconstruction trajectory determination module is used to import the suture needle drop point data set of each kidney wound suture image into the kidney wound suture three-dimensional reconstruction model, obtain the kidney wound suture three-dimensional reconstruction feature value, and determine the kidney wound suture three-dimensional reconstruction trajectory based on the kidney wound suture three-dimensional reconstruction feature value.

2. The three-dimensional reconstruction system based on the suture trajectory of the renal wound according to claim 1, characterized in that: The renal wound suture video is framed, and each renal wound suture image is analyzed to determine whether the quality of each renal wound suture image is qualified. The specific analysis process is as follows: Acquire a data set of the sutured image status of each renal wound surface; based on the acquired data set of the sutured image status of each renal wound surface, comprehensively analyze and obtain a renal wound surface sutured image status evaluation value; the renal wound surface sutured image status evaluation value serves as an analysis basis for judging whether the quality of each renal wound surface sutured image is qualified; comparing the renal wound suture image state assessment value with the renal wound suture image state reference assessment value stored in a database; If the kidney wound suture image state evaluation value is higher than or equal to the kidney wound suture image state reference evaluation value, then the kidney wound suture image quality corresponding to the kidney wound suture image state evaluation value is qualified; If the kidney wound suture image state assessment value is lower than the kidney wound suture image state reference assessment value, the kidney wound suture image quality corresponding to the kidney wound suture image state assessment value is unqualified, and it is necessary to reduce the random noise in the kidney wound suture image, adjust the contrast of the kidney wound suture image, and sharpen the kidney wound suture image, and judge again whether the quality of each kidney wound suture image is qualified.

3. The three-dimensional reconstruction system based on the suture trajectory of the renal wound according to claim 2, characterized in that: The kidney wound suture image state data set specifically includes kidney wound suture image contrast, kidney wound suture image resolution, and kidney wound suture image pixel value.

4. The three-dimensional reconstruction system based on the suture trajectory of the renal wound according to claim 1, characterized in that: The kidney wound surface is analyzed and compared to obtain a reference data set of suture needle drop points of each kidney wound suture image. The specific analysis process is as follows: Acquire a kidney wound surface feature data set, wherein the kidney wound surface feature data set specifically includes a kidney wound surface area, a maximum kidney wound surface length, and a maximum kidney wound surface width; Based on the acquired kidney wound surface feature data set, a comprehensive analysis is performed to obtain kidney wound surface feature values, which are used as the analysis basis for comparing the reference data set of suture needle drop points of each kidney wound surface suture image; The kidney wound surface characteristic value is compared with the reference data set of suture needle drop points of each kidney wound surface suture image corresponding to each kidney wound surface characteristic value stored in the database to obtain the reference data set of suture needle drop points of each kidney wound surface suture image corresponding to the kidney wound surface characteristic value.

5. The three-dimensional reconstruction system based on the suture trajectory of the kidney wound according to claim 4, characterized in that: The reference data set of suture needle landing points of each renal wound suture image specifically includes a reference distance between the suture needle landing point of each renal wound suture image and the starting point of the renal wound suture, a reference angle between the suture needle landing point of each renal wound suture image and the line connecting the starting point and the end point of the renal wound suture, and a reference inclination angle of the suture needle landing point of each renal wound suture image.

6. The three-dimensional reconstruction system based on kidney wound suture trajectory according to claim 1, characterized in that: The reference data set of suture needle drop points of each renal wound suture image is combined to judge whether the operation of each renal wound suture image is qualified. The specific analysis process is as follows: A dataset of suture needle drop points of each renal wound suture image is obtained, and based on the obtained dataset of suture needle drop points of each renal wound suture image, combined with a reference dataset of suture needle drop points of each renal wound suture image, a comprehensive analysis is performed to obtain an evaluation score of the suture needle drop points of each renal wound suture image, and the evaluation score of the suture needle drop points of each renal wound suture image is used as an analysis basis for judging whether the operation of each renal wound suture image is qualified; Compare the needle drop evaluation value of each renal wound suture image with the reference evaluation value of the needle drop point of the renal wound suture image stored in the database; If the suture needle drop evaluation evaluation value of a kidney wound suture image is higher than or equal to the reference evaluation value of the suture needle drop point of the kidney wound suture image, then the kidney wound suture image operation corresponding to the suture needle drop evaluation evaluation value of the kidney wound suture image is qualified; If the suture needle drop evaluation evaluation value of a kidney wound suture image is lower than the suture needle drop point reference evaluation value of the kidney wound suture image, then the kidney wound suture image operation corresponding to the suture needle drop evaluation evaluation value of the kidney wound suture image is unqualified, and the kidney wound suture image with unqualified operation is marked and a prompt is issued.

7. The three-dimensional reconstruction system based on the suture trajectory of the renal wound according to claim 6, characterized in that: The data set of suture needle landing points of each renal wound suture image specifically includes the distance between the suture needle landing point of each renal wound suture image and the starting point of the renal wound suture, the angle between the suture needle landing point of each renal wound suture image and the line connecting the starting point and the end point of the renal wound suture, and the inclination angle of the suture needle landing point of each renal wound suture image.

8. The three-dimensional reconstruction system based on kidney wound suture trajectory according to claim 6, characterized in that: The specific analysis process of the suture needle drop evaluation evaluation of the kidney wound suture image is as follows: In the formula, γ i is the estimation of the suture needle drop in the i-th kidney wound suture image, jl i is the distance between the suture needle drop point and the starting point of the kidney wound suture in the i-th kidney wound suture image, ld i jd is the angle between the suture needle drop point of the i-th kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, i is the inclination angle of the suture needle drop point in the i-th kidney wound suture image, jl 0i is the reference distance between the suture needle drop point and the starting point of the kidney wound suture in the i-th kidney wound suture image, ld 0i jd is the reference angle between the suture needle drop point of the i-th kidney wound suture image and the line connecting the starting point and the end point of the kidney wound suture, 0i is the reference tilt angle of the suture needle drop point of the i-th kidney wound suture image, and i is the number of the kidney wound suture image.

9. The three-dimensional reconstruction system based on kidney wound suture trajectory according to claim 1, characterized in that: The suture needle drop point data set of each renal wound suture image is imported into the renal wound suture three-dimensional reconstruction model to obtain the renal wound suture three-dimensional reconstruction feature value. The specific analysis process is as follows: The suture needle drop point dataset of each renal wound suture image is imported into the renal wound suture 3D reconstruction model, and the renal wound suture 3D reconstruction feature value is obtained by comprehensive analysis. The renal wound suture 3D reconstruction feature value is used as the analysis basis for determining the renal wound suture 3D reconstruction trajectory.

10. The three-dimensional reconstruction system based on kidney wound suture trajectory according to claim 9, characterized in that: The three-dimensional reconstruction trajectory of the kidney wound suture is determined based on the three-dimensional reconstruction feature value of the kidney wound suture, and the specific analysis process is as follows: The three-dimensional reconstruction feature value of the kidney wound suture is compared with the three-dimensional reconstruction trajectory of the kidney wound suture corresponding to each three-dimensional reconstruction feature value of the kidney wound suture stored in the database to obtain the three-dimensional reconstruction trajectory of the kidney wound suture corresponding to the three-dimensional reconstruction feature value of the kidney wound suture.

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