A three-dimensional reconstruction system based on the suture trajectory of kidney wounds

Abstract

The present invention relates to the technical field of three-dimensional reconstruction of trajectories, and specifically discloses a three-dimensional reconstruction system based on the suture trajectory of a kidney wound surface. By setting an image quality qualification judgment module, a comparison module for the suture needle landing point reference data set, an image operation qualification judgment module, and a three-dimensional reconstruction trajectory determination module, the present invention solves the problems of insufficient data processing capabilities of existing three-dimensional reconstruction systems and insufficient consideration of the basic information of the kidney wound surface, which may be unable to process complex or high-resolution image data, resulting in low-quality reconstructed models, reveals the accuracy of suturing and possible existing problems, such as loose or uneven sutures, so as to guide possible secondary interventions. Three-dimensional reconstruction can help monitor the healing process of the wound surface, serve as an analysis basis for discovering and dealing with postoperative complications, and use three-dimensional reconstruction to evaluate the surgical quality, which helps to maintain and improve the surgical standards, and further promotes the innovation of surgical techniques and equipment.

Description

Technical Field

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

[0002] The three-dimensional reconstruction of the suture trajectory of the postoperative kidney wound surface is crucial because it can accurately evaluate the surgical quality and serve as a basis for dealing with postoperative complications (such as internal bleeding, suture rupture, or infection, etc.). Such a three-dimensional view can carefully examine the accuracy and integrity of the suture, and at the same time provide a powerful tool for medical education and clinical research therein. The three-dimensional image can help review and analyze each step during the operation. Through the evaluation of the suture trajectory, the surgical effect is evaluated and the suture operation is scored, and possible technical errors or improvement points are identified, so as to improve the surgical success rate and reduce the recovery time. The results of the three-dimensional reconstruction can promote the innovation of surgical techniques and equipment, such as the development of new suture techniques or the improvement of surgical instruments.

[0003] Nowadays, there are still some deficiencies in the research on the three-dimensional reconstruction of the suture trajectory of the kidney wound surface. Specifically, the existing three-dimensional reconstruction systems have insufficient data processing capabilities and do not fully consider the basic information of the kidney wound surface. They may not be able to process complex or high-resolution image data, resulting in a low-quality reconstructed model and insufficient detail capture. The three-dimensional reconstruction systems with insufficient processing capabilities may lead to repeated image acquisition and analysis, thus wasting valuable resources. Summary of the Invention

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

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

[0006] A three-dimensional reconstruction system based on the suture trajectory of the kidney wound, comprising an image quality qualification judgment module, a comparison module for the reference data set of the suture needle landing points, an image operation qualification judgment module, and a three-dimensional reconstruction trajectory determination module, wherein: the image quality qualification judgment module is used to perform frame-by-frame processing on the kidney wound suture video, analyze each kidney wound suture image, and judge whether the quality of each kidney wound suture image is qualified; the comparison module for the reference data set of the suture needle landing points is used to analyze the kidney wound and obtain the reference data set of the suture needle landing points for each kidney wound suture image through comparison; the image operation qualification judgment module is used to analyze each kidney wound suture image with qualified image quality, obtain the data set of the suture needle landing points for each kidney wound suture image, and combine the reference data set of the suture needle landing points for each kidney wound suture image to judge whether the operation of each kidney wound suture image is qualified; the three-dimensional reconstruction trajectory determination module is used to import the data set of the suture needle landing points for each kidney wound suture image into the three-dimensional reconstruction model of the kidney wound suture to obtain the three-dimensional reconstruction characteristic values of the kidney wound suture, and determine the three-dimensional reconstruction trajectory of the kidney wound suture based on the three-dimensional reconstruction characteristic values of the kidney wound suture.

[0007] Optionally, perform frame-by-frame processing on the kidney wound suture video, analyze each kidney wound suture image, and judge whether the quality of each kidney wound suture image is qualified. The specific analysis process is as follows: obtain the data set of the states of each kidney wound suture image, and based on the obtained data set of the states of each kidney wound suture image, comprehensively analyze to obtain the state evaluation value of the kidney wound suture image. The state evaluation value of the kidney wound suture image is used as the analysis basis for judging whether the quality of each kidney wound suture image is qualified; compare the state evaluation value of the kidney wound suture image with the reference state evaluation value of the kidney wound suture image stored in the database; if the state evaluation value of the kidney wound suture image is higher than or equal to the reference state evaluation value of the kidney wound suture image, the quality of the kidney wound suture image corresponding to the state evaluation value of the kidney wound suture image is qualified; if the state evaluation value of the kidney wound suture image is lower than the reference state evaluation value of the kidney wound suture image, the quality of the kidney wound suture image corresponding to the state evaluation value of the kidney wound suture image 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 perform sharpening processing on the kidney wound suture image, and then judge whether the quality of each kidney wound suture image is qualified again.

[0008] Optionally, the data set of the states of the kidney wound suture image specifically includes 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.

[0009] Optionally, analyze the kidney wound surface, and compare to obtain a reference dataset for the suture needle landing points of each kidney wound surface suture image. The specific analysis process is as follows: Obtain a kidney wound surface feature dataset, which specifically includes the area of the kidney wound surface, the maximum length of the kidney wound surface, and the maximum width of the kidney wound surface; Based on the obtained kidney wound surface feature dataset, comprehensively analyze to obtain a kidney wound surface feature value, and the kidney wound surface feature value is used as the analysis basis for comparing and obtaining the reference dataset for the suture needle landing points of each kidney wound surface suture image; Compare the kidney wound surface feature value with the reference datasets for the suture needle landing points of each kidney wound surface suture image corresponding to the kidney wound surface feature values stored in the database to obtain the reference datasets for the suture needle landing points of each kidney wound surface suture image corresponding to this kidney wound surface feature value.

[0010] Optionally, the reference dataset for the suture needle landing points of each kidney wound surface suture image specifically includes the reference distance between the suture needle landing point of each kidney wound surface suture image and the starting point of the kidney wound surface suture, the reference angle between the suture needle landing point of each kidney wound surface suture image and the line connecting the starting point and the ending point of the kidney wound surface suture, and the reference inclination angle of the suture needle landing point of each kidney wound surface suture image.

[0011] Optionally, combine the reference datasets for the suture needle landing points of each kidney wound surface suture image to determine whether the operation of each kidney wound surface suture image is qualified. The specific analysis process is as follows: Obtain the dataset of the suture needle landing points of each kidney wound surface suture image. Based on the obtained dataset of the suture needle landing points of each kidney wound surface suture image, combine the reference datasets for the suture needle landing points of each kidney wound surface suture image, and comprehensively analyze to obtain an evaluation value for the suture needle landing points of each kidney wound surface suture image. The evaluation value for the suture needle landing points of each kidney wound surface suture image is used as the analysis basis for determining whether the operation of each kidney wound surface suture image is qualified; Compare the evaluation value for the suture needle landing points of each kidney wound surface suture image with the reference evaluation value for the suture needle landing points of the kidney wound surface suture image stored in the database; If the evaluation value for the suture needle landing points of a certain kidney wound surface suture image is higher than or equal to the reference evaluation value for the suture needle landing points of the kidney wound surface suture image, then the operation of the kidney wound surface suture image corresponding to this evaluation value for the suture needle landing points is qualified; If the evaluation value for the suture needle landing points of a certain kidney wound surface suture image is lower than the reference evaluation value for the suture needle landing points of the kidney wound surface suture image, then the operation of the kidney wound surface suture image corresponding to this evaluation value for the suture needle landing points is unqualified, and mark the unqualified kidney wound surface suture image and issue a prompt.

[0012] Optionally, the dataset of the suture needle landing points of each kidney wound surface suture image specifically includes the distance between the suture needle landing point of each kidney wound surface suture image and the starting point of the kidney wound surface suture, the angle between the suture needle landing point of each kidney wound surface suture image and the line connecting the starting point and the ending point of the kidney wound surface suture, and the inclination angle of the suture needle landing point of each kidney wound surface suture image.

[0013] Optionally, the evaluation value of the suture needle landing point of the kidney wound suture image is specifically analyzed as follows:

[0014]

[0015] In the formula, γ i is the evaluation value of the suture needle landing point of the i-th kidney wound suture image, jl i is the distance between the suture needle landing point of the i-th kidney wound suture image and the starting point of the kidney wound suture, ld i is the angle between the suture needle landing point of the i-th kidney wound suture image and the line connecting the starting point and the ending point of the kidney wound suture, jd i is the inclination angle of the suture needle landing point of the i-th kidney wound suture image, jl 0i is the reference distance between the suture needle landing point of the i-th kidney wound suture image and the starting point of the kidney wound suture, ld 0i is the reference angle between the suture needle landing point of the i-th kidney wound suture image and the line connecting the starting point and the ending point of the kidney wound suture, jd 0i is the reference inclination angle of the suture needle landing point of the i-th kidney wound suture image, and i is the number of the kidney wound suture image.

[0016] Optionally, import the suture needle landing point data set of each kidney wound suture image into the three-dimensional reconstruction model of the kidney wound suture to obtain the three-dimensional reconstruction characteristic value of the kidney wound suture. The specific analysis process is as follows: Import the suture needle landing point data set of each kidney wound suture image into the three-dimensional reconstruction model of the kidney wound suture, and comprehensively analyze to obtain the three-dimensional reconstruction characteristic value of the kidney wound suture. The three-dimensional reconstruction characteristic value of the kidney wound suture is used as the analysis basis for determining the three-dimensional reconstruction trajectory of the kidney wound suture.

[0017] Optionally, based on the three-dimensional reconstruction characteristic value of the kidney wound suture, determine the three-dimensional reconstruction trajectory of the kidney wound suture. The specific analysis process is as follows: Compare the three-dimensional reconstruction characteristic value of the kidney wound suture with the three-dimensional reconstruction trajectories of the kidney wound sutures corresponding to the three-dimensional reconstruction characteristic values stored in the database to obtain the three-dimensional reconstruction trajectory of the kidney wound suture corresponding to the three-dimensional reconstruction characteristic value of the kidney wound suture.

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

[0019] The above solution, through a three-dimensional reconstruction system based on the suture trajectory of the kidney wound, can reveal the accuracy of the suture and possible existing problems, such as loose or uneven sutures, so as to guide possible secondary interventions. Three-dimensional reconstruction can help monitor the healing process of the wound and be used as the analysis basis for discovering and dealing with postoperative complications. Using three-dimensional reconstruction to evaluate the surgical quality helps to maintain and improve the surgical standards, and thus promotes the innovation of surgical techniques and equipment.

[0020] By performing frame-by-frame processing on the video of kidney wound suturing and analyzing each kidney wound suturing image, it is determined whether the quality of each kidney wound suturing image is qualified. High-quality images are a prerequisite for accurately evaluating the surgical outcome. By ensuring image quality, the quality of suturing and the healing of the wound can be judged more accurately. Continuously monitoring image quality can promptly identify abnormalities in the images, such as poor suturing, signs of infection, or other complications. Systematically analyzing image quality and evaluating its qualification 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 kidney wound, a reference dataset of the landing points of the suture needles in each kidney wound suturing image is obtained through comparison. Comparing the actual landing points of the suture needles with the preset ideal landing points can help evaluate the accuracy of the suturing technique. By comparing with the reference dataset, the surgical outcome 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 effects of different suturing techniques. Brief Description of the Drawings

[0022] The present invention will be further described with reference to the accompanying drawings. However, the embodiments in the drawings do not constitute any limitation to the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the following drawings.

[0023] Figure 1 It is a schematic diagram of the connection of the system modules of the present invention. Detailed Embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] As Figure 1 shown, the 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 comparison module of the reference dataset of the landing points of the suture needles, 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-by-frame processing on the video of kidney wound suturing, analyze each kidney wound suturing image, and judge whether the quality of each kidney wound suturing image is qualified.

[0027] Specifically, frame the video of kidney wound suture, analyze each kidney wound suture image, and judge whether the quality of each kidney wound suture image is qualified. The specific analysis process is as follows: Obtain the dataset of the states of each kidney wound suture image. Based on the obtained dataset of the states of each kidney wound suture image, comprehensively analyze to obtain the evaluation value of the state of the kidney wound suture image. The evaluation value of the state of the kidney wound suture image is used as the analysis basis for judging whether the quality of each kidney wound suture image is qualified; Compare the evaluation value of the state of the kidney wound suture image with the reference evaluation value of the state of the kidney wound suture image stored in the database; If the evaluation value of the state of the kidney wound suture image is higher than or equal to the reference evaluation value of the state of the kidney wound suture image, the quality of the kidney wound suture image corresponding to this evaluation value of the state of the kidney wound suture image is qualified; If the evaluation value of the state of the kidney wound suture image is lower than the reference evaluation value of the state of the kidney wound suture image, the quality of the kidney wound suture image corresponding to this evaluation value of the state of the kidney wound suture image is unqualified. It is necessary to reduce the random noise in the kidney wound suture image, adjust the contrast of the kidney wound suture image, and perform sharpening processing on the kidney wound suture image, and then judge again whether the quality of each kidney wound suture image is qualified.

[0028] It should be noted that ensuring that the quality of each kidney 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 display the details of the kidney wound, such as the precise position of the wound edge and the suture line. Evaluating the image state and comparing it with the reference value can timely detect problems with substandard image quality, such as unclear focus, excessive noise, or insufficient contrast, enabling necessary adjustments to be made in a timely manner before the problems affect the surgical outcome. The photography technique or surgical skills can be improved according to the feedback, thereby improving the overall surgical quality.

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

[0030] In a specific embodiment, contrast defines the brightness difference between the brightest and darkest regions in an image. High contrast can make the details in the image more prominent. Especially near the edges of the kidney wound surface and the suture lines, high contrast in these areas can help to see the wound boundary more clearly. Resolution refers to the number of pixels in an image, which determines the level of detail in the image. High resolution means a large number of pixels in the image, capable of showing more details. Even for a high-resolution image, if the contrast is insufficient, it may be difficult to distinguish subtle structural differences. Pixel values usually represent the color or gray level of each pixel in the image. If the pixel values are mainly concentrated within a narrow range, the contrast of the image will be low, which may make it difficult to identify the details of the kidney wound surface. High-resolution images contain more pixels, which means more pixel values are used to describe the same area of the image, thus potentially providing more details and more complex color or gray level gradients.

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

[0032]

[0033] In the formula, α is the evaluation value of the kidney wound surface suture image state, db is the contrast of the kidney wound surface suture image, fb is the resolution of the kidney wound surface suture image, xs is the pixel value of the kidney wound surface suture image, μ1 is the compensation factor for the contrast of the set kidney wound surface suture image, μ2 is the compensation factor for the resolution of the set kidney wound surface suture image, μ3 is the compensation factor for the pixel value of the set kidney wound surface suture image, and e is the natural constant.

[0034] It should be explained that the above evaluation value of the kidney wound surface suture image state is calculated through the contrast of the kidney wound surface suture image, the resolution of the kidney wound surface suture image, and the pixel value of the kidney wound surface suture image. By normalizing the contrast of the kidney wound surface suture image, the resolution of the kidney wound surface suture image, and the pixel value of the kidney wound surface suture image, and comprehensively considering contrast, resolution, and pixel value, the image quality can be evaluated more comprehensively, ensuring that the details of the wound suture are clearly recorded and reducing misjudgment caused by image quality problems. Higher contrast and resolution can make the suture line and the wound edge clearer, thus helping to better judge the suture effect and the wound healing situation. Regularly evaluating the suture image state can monitor the healing progress of the postoperative wound, timely detect possible complications such as infection or suture failure, and take necessary measures. Quantifying the image state evaluation value can rely on objective data to make more scientific decisions rather than relying solely on subjective observation.

[0035] μ1, μ2, and μ3 are compensation factors corresponding to the contrast, resolution, and pixel value of the preset kidney wound suture images in the database, representing the numerical values of the influence degrees of the contrast, resolution, and pixel value of the kidney wound suture images on the evaluation value of the kidney wound suture image state. When in use, the compensation factors corresponding to the contrast, resolution, and pixel value of the kidney wound suture image can be directly obtained from the database, and their corresponding relationship can be a pre-set mapping relationship, where 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 form a mapping set. Inputting the real-time contrast of the kidney wound suture image into the mapping set to obtain the compensation factor of the contrast of the kidney wound suture image, and in this example, its value range is between 0 and 1. For example, the resolution of the kidney wound suture image and the compensation factor of the resolution of the kidney wound suture image form a mapping set. Inputting the real-time resolution of the kidney wound suture image into the mapping set to obtain the compensation factor of the resolution of the kidney wound suture image, and in this example, its value range is between 0 and 1. For example, the pixel value of the kidney wound suture image and the compensation factor of the pixel value of the kidney wound suture image form a mapping set. Inputting the real-time pixel value of the kidney wound suture image into the mapping set to obtain the compensation factor of the pixel value of the kidney wound suture image, and in this example, its value range is between 0 and 1.

[0036] It should be noted that by performing frame-by-frame processing on the kidney wound suture video and analyzing each kidney wound suture image, it is judged whether the quality of each kidney wound suture image is qualified. High-quality images are the premise for accurately evaluating the surgical results. By ensuring the image quality, the quality of the suture and the healing condition of the wound can be judged more accurately. Continuously monitoring the image quality can timely identify abnormal situations in the images, such as poor suturing, signs of infection or other complications. Systematically analyzing the image quality and evaluating its qualification rate can help the team identify possible technical defects or improper operations, thereby continuously optimizing the surgical technique and improving the image acquisition quality.

[0037] The suture needle landing point reference data set comparison module is used to analyze the kidney wound and compare to obtain the suture needle landing point reference data set for each kidney wound suture image.

[0038] Specifically, analyze the kidney wound surface, and compare to obtain the reference dataset of the suture needle landing points of each kidney wound surface suture image. The specific analysis process is as follows: Obtain the kidney wound surface feature dataset, which specifically includes the kidney wound surface area, the maximum length of the kidney wound surface, and the maximum width of the kidney wound surface; Based on the obtained kidney wound surface feature dataset, comprehensively analyze to obtain the kidney wound surface feature value, and the kidney wound surface feature value is used as the analysis basis for comparing to obtain the reference dataset of the suture needle landing points of each kidney wound surface suture image; Compare the kidney wound surface feature value with the reference dataset of the suture needle landing points of each kidney wound surface suture image corresponding to the kidney wound surface feature values stored in the database to obtain the reference dataset of the suture needle landing points of each kidney wound surface suture image corresponding to this kidney wound surface feature value.

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

[0040] It should be noted that for the comparison and analysis of the above-mentioned system, the collected data can be used in clinical research, which helps to improve existing surgical methods and techniques. It can also evaluate the accuracy of the suture process. Based on the analysis of the kidney wound surface, comparing to obtain the reference dataset of the suture needle landing points of each kidney wound surface suture image helps to perform personalized planning and evaluation, and improve the quality of evaluation.

[0041] It should be noted that the above-mentioned kidney wound surface feature value, the specific analysis process is as follows:

[0042]

[0043] In the formula, β is the kidney wound surface feature value, cs is the kidney wound surface area, cc is the maximum length of the kidney wound surface, ck is the maximum width of the kidney wound surface, ε1 is the compensation factor for the set kidney wound surface area, ε2 is the compensation factor for the set maximum length of the kidney wound surface, and ε3 is the compensation factor for the set maximum width of the kidney wound surface.

[0044] It should be noted that the above-mentioned kidney wound characteristic values are calculated from the kidney wound area, the maximum length of the kidney wound, and the maximum width of the kidney wound. By normalizing the kidney wound area, the maximum length of the kidney wound, and the maximum width of the kidney wound, the area, the maximum length, and the maximum width can comprehensively describe the size and shape of the wound, which helps to comprehensively understand the actual scale of the wound. The wound characteristic values can be used as part of the postoperative record, providing objective data for future research and data analysis, helping to improve surgical techniques and postoperative management strategies, and can also be used as the basis for communicating the wound condition, enabling a clearer explanation of the wound status and healing situation.

[0045] ε1, ε2, and ε3 are the compensation factors corresponding to the preset kidney wound area, the maximum length of the kidney wound, and the maximum width of the kidney wound in the database, representing the numerical values of the influence degrees of the kidney wound area, the maximum length of the kidney wound, and the maximum width of the kidney wound on the kidney wound characteristic values. When in use, the compensation factors corresponding to the kidney wound area, the maximum length of the kidney wound, and the maximum width of the kidney wound can be directly obtained from the database. Their corresponding relationships can be pre-set mapping relationships, and the mapping relationships therein can be one-to-one or many-to-one relationships. For example, the kidney wound area and the compensation factor of the kidney wound area form a mapping set. By inputting the real-time kidney wound area into the mapping set, the compensation factor of the kidney wound area can be obtained. In this example, its value range 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. By inputting the real-time maximum length of the kidney wound into the mapping set, the compensation factor of the maximum length of the kidney wound can be obtained. In this example, its value range 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. By inputting the real-time maximum width of the kidney wound into the mapping set, the compensation factor of the maximum width of the kidney wound can be obtained. In this example, its value range is between 0 and 1.

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

[0047] In a specific embodiment, the reference distance between the suture needle landing point and the starting point of kidney wound suture in the kidney wound suture image is the reference value of the straight-line distance between the suture needle landing point and the starting point of suture. The reference included angle between the suture needle landing point and the connecting line of the starting point and the ending point of kidney wound suture in the kidney wound suture image is the reference value for measuring the angle formed between the straight line from the starting point of suture to the ending point of 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 tilt angle of the suture needle landing point in the kidney wound suture image refers to the reference value of the tilt 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 suture.

[0048] It should be noted that by analyzing the kidney wound and comparing to obtain the reference data set of the suture needle landing point in each kidney wound suture image, comparing the actual landing point of the suture needle with the preset ideal landing point can help evaluate the accuracy of the suture technique. By comparing with the reference data set, the surgical outcome 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 effects of different suture techniques.

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

[0050] Specifically, combined with the reference dataset of the suture needle landing points in each kidney wound suture image, it is judged whether the operation of each kidney wound suture image is qualified. There is only one current suture needle landing point included in one image, and only the data of the current suture needle landing point is calculated. The specific analysis process is as follows: Obtain the dataset of the suture needle landing points in each kidney wound suture image. Based on the obtained dataset of the suture needle landing points in each kidney wound suture image, combined with the reference dataset of the suture needle landing points in each kidney wound suture image, comprehensively analyze to obtain the evaluation value of the suture needle landing point in each kidney wound suture image. The evaluation value of the suture needle landing point in each kidney wound suture image is used as the analysis basis for judging whether the operation of each kidney wound suture image is qualified; Compare the evaluation value of the suture needle landing point in each kidney wound suture image with the reference evaluation value of the suture needle landing point in the kidney wound suture image stored in the database; If the evaluation value of the suture needle landing point in a certain kidney wound suture image is higher than or equal to the reference evaluation value of the suture needle landing point in the kidney wound suture image, the operation of the kidney wound suture image corresponding to the evaluation value of the suture needle landing point is qualified; If the evaluation value of the suture needle landing point in a certain kidney wound suture image is lower than the reference evaluation value of the suture needle landing point in the kidney wound suture image, the operation of the kidney wound suture image corresponding to the evaluation value of the suture needle landing point is unqualified, mark the unqualified kidney wound suture image and issue a prompt.

[0051] It should be noted that the above evaluation of the suture needle landing point can ensure the accuracy and consistency of the suture operation, thereby improving the overall quality of the surgery and reducing the risk of postoperative complications. Using the reference dataset for evaluation can establish a standardized suture operation process, follow the same standards when performing kidney sutures, and reduce the randomness of the operation. Using the dataset for evaluation can provide data support to help them make more scientific decisions. Through the analysis of the evaluation value of the suture needle landing point, timely feedback can be obtained to understand whether their operation is qualified, so as to make necessary adjustments and improvements. Marking and prompting unqualified suture operations can timely identify potential risks and take corresponding measures.

[0052] Specifically, the dataset of the suture needle landing points in each kidney wound suture image specifically includes the distance between the suture needle landing point in each kidney wound suture image and the starting point of the kidney wound suture, the included angle between the suture needle landing point in each kidney wound suture image and the line connecting the starting point and the ending point of the kidney wound suture, and the inclination angle of the suture needle landing point in each kidney 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 the straight-line distance between the suture needle landing point and the starting point of the suture, which is obtained through a high-resolution imaging system (such as an endoscopic camera or a surgical microscope) used during the operation. The angle between the suture needle landing point and the line connecting the starting point and the ending point of the renal wound suture in the renal wound suture image is the angle formed between the straight line from the starting point to the ending 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 devices. 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, affects the safety and effect of the suture, and is obtained using a three-dimensional endoscope or an advanced ultrasound device. The angle between the suture needle landing point and the line connecting the starting point and the ending point helps to determine whether the suture line follows a predetermined path. Ideally, the suture line should be as straight as possible or conform to a specific curve according to the shape and size of the renal wound to maximize tissue docking and healing. 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 healing rate. An appropriate inclination angle can reduce the risk of tissue tearing and ensure the correct positioning of the suture line in the tissue. The correct setting of the distance, angle, and inclination angle of the suture needle helps to prevent surgical complications such as suture detachment, bleeding, or renal function impairment. Precise control of these parameters can ensure uniform pressure of the suture line on the renal wound, thereby promoting better wound docking and healing.

[0054] Among them, for the evaluation value of the suture needle landing point in the renal wound suture image, the specific analysis process is as follows:

[0055]

[0056] In the formula, γ i is the evaluation value of the suture needle landing point in the i-th renal wound suture image, jl i is the distance between the suture needle landing point in the i-th renal wound suture image and the starting point of the renal wound suture, ld i is the angle between the suture needle landing point in the i-th renal wound suture image and the line connecting the starting point and the ending point of the renal wound suture, jd i is the inclination angle of the suture needle landing point in the i-th renal wound suture image, jl 0i is the reference distance between the suture needle landing point in the i-th renal wound suture image and the starting point of the renal wound suture, ld 0i is the reference angle between the suture needle landing point in the i-th renal wound suture image and the line connecting the starting point and the ending point of the renal wound suture, jd 0i is the reference inclination angle of the suture needle landing point in the i-th renal wound suture image, and i is the number of the renal wound suture image.

[0057] It should be noted that the evaluation value of the suture needle landing point in the above kidney wound suture image is calculated through the distance between the suture needle landing point and the starting point of the kidney wound suture in the kidney wound suture image, the angle between the suture needle landing point and the line connecting the starting point and the ending point of the kidney wound suture in the kidney wound suture image, the inclination angle of the suture needle landing point in the kidney wound suture image, the reference distance between the suture needle landing point and the starting point of the kidney wound suture in the kidney wound suture image, the reference angle between the suture needle landing point and the line connecting the starting point and the ending point of the kidney wound suture in the kidney wound suture image, and the reference inclination angle of the suture needle landing point in the kidney wound suture image. By normalizing the distance between the suture needle landing point and the starting point of the kidney wound suture in the kidney wound suture image, the angle between the suture needle landing point and the line connecting the starting point and the ending point of the kidney wound suture in the kidney wound suture image, the inclination angle of the suture needle landing point in the kidney wound suture image, the reference distance between the suture needle landing point and the starting point of the kidney wound suture in the kidney wound suture image, the reference angle between the suture needle landing point and the line connecting the starting point and the ending point of the kidney wound suture in the kidney wound suture image, and the reference inclination angle of the suture needle landing point in the kidney wound suture image, the position, angle, and distance of the suture needle landing point can be evaluated, ensuring the accuracy of the suture operation, helping to confirm the correct position of each stitch, avoiding unevenness or misalignment of the suture thread, thus improving the suture quality. Accurate needle landing points and angles can reduce complications caused by wound tension and uneven suturing, such as wound dehiscence and poor healing, thereby improving the wound healing effect. Quantifying the landing points and angles of the suture needle provides objective data, which is very important for recording, quality control, and training, and can also be used for review and analysis to help understand potential problems during the suture process and improve future suture techniques based on feedback.

[0058] The three-dimensional reconstruction trajectory determination module is used to import each kidney wound suture image suture needle landing point dataset into the kidney wound suture three-dimensional reconstruction model to obtain the kidney wound suture three-dimensional reconstruction eigenvalue, and based on the kidney wound suture three-dimensional reconstruction eigenvalue, determine the kidney wound suture three-dimensional reconstruction trajectory.

[0059] Specifically, importing each kidney wound suture image suture needle landing point dataset into the kidney wound suture three-dimensional reconstruction model to obtain the kidney wound suture three-dimensional reconstruction eigenvalue, and based on the kidney wound suture three-dimensional reconstruction eigenvalue, determining the kidney wound suture three-dimensional reconstruction trajectory. The specific analysis process is as follows: Importing each kidney wound suture image suture needle landing point dataset into the kidney wound suture three-dimensional reconstruction model, comprehensively analyzing to obtain the kidney wound suture three-dimensional reconstruction eigenvalue, and using the kidney wound suture three-dimensional reconstruction eigenvalue as the analysis basis for determining the kidney wound suture three-dimensional reconstruction trajectory; comparing the kidney wound suture three-dimensional reconstruction eigenvalue with the kidney wound suture three-dimensional reconstruction trajectories corresponding to the kidney wound suture three-dimensional reconstruction eigenvalues stored in the database to obtain the kidney wound suture three-dimensional reconstruction trajectory corresponding to the kidney wound suture three-dimensional reconstruction eigenvalue.

[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 noted that the above three-dimensional reconstruction system based on the suture trajectory of the kidney wound can reveal the accuracy of suture and possible problems, such as suture loosening or unevenness, so as to guide possible secondary interventions. The three-dimensional reconstruction can help monitor the wound healing process, serve as an analysis basis for detecting and dealing with postoperative complications, and using the three-dimensional reconstruction to evaluate the surgical quality helps maintain and improve the surgical standards, thereby promoting the innovation of surgical techniques and equipment.

[0066] The above content is only an example and illustration of the structure of the present invention. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar ways to replace them. As long as they do not deviate from the structure of the invention or exceed the scope defined by this claim book, they should all belong to 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; The kidney wound surface is analyzed and the reference data set of suture needle drop points of each kidney wound surface suture image is obtained by comparison. 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.

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 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.

5. 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.

6. The three-dimensional reconstruction system based on kidney wound suture trajectory according to claim 5, 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.

7. The three-dimensional reconstruction system based on the suture trajectory of the renal wound according to claim 5, 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.

8. 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.

9. The three-dimensional reconstruction system based on kidney wound suture trajectory according to claim 8, 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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