AI intelligent auxiliary data visualization method and device for tumor operation treatment

Abstract

The invention discloses an AI intelligent auxiliary data visualization method and device for tumor surgical treatment, and relates to the technical field of medical instruments.The AI intelligent auxiliary data visualization method comprises the steps that preoperative detection is conducted on a machine vision imaging device based on a near-infrared light source, and operation state data of the machine vision imaging device based on the near-infrared light source are collected; judging whether the machine vision imaging device based on the near-infrared light source has an abnormal risk or not; if the machine vision imaging device based on the near-infrared light source does not have the abnormal risk, three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point in the operation are obtained in real time, positioning interference factor data are monitored, and the positioning interference factor data are processed to obtain the positioning deviation range of each surgical instrument; judging whether the positioning of each surgical instrument has deviation or not; and the surgical instruments with the positioning deviation are marked as the abnormal surgical instruments, and the abnormal surgical instruments are visualized, so that the problems in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the field of medical device technology, and specifically to an AI intelligent-assisted data visualization method and device for tumor surgical treatment. Background Art

[0002] With the development of medical technology and the increase in the incidence of tumors, the requirements for the accuracy and safety of tumor surgical treatment are increasing. As an emerging medical method, AI intelligent-assisted data visualization technology is widely used in the field of tumor surgical treatment because it can provide intuitive and accurate surgical data and real-time surgical navigation. AI intelligent-assisted data visualization methods for tumor surgical treatment usually involve optical tracking and positioning devices, image processing algorithms, data fusion technology, and visualization interfaces.

[0003] With the current existing technology, in the AI ​​intelligent assisted data visualization of tumor surgical treatment, the surgical navigation system uses an optical tracking and positioning device to track the position of surgical instruments in real time and feed back to the navigation system, thereby achieving real-time updating and display of surgical instruments.

[0004] For example, the invention patent with the announcement number CN111281540B announced a real-time visualization navigation system for minimally invasive orthopedic surgery based on virtual-reality fusion, including: NDI Polaris optical tracking device: used to obtain the 6-DOF position information of the marker point in the real three-dimensional space; optical tracking device bracket: used to support the optical tracking device (NDI Polaris) so that the optical tracking device can be placed at the pointed position at any angle; depth camera: used to obtain the anteroposterior and lateral video data and video depth information during surgery; display: used to display the position of the tracked surgical instrument in the anteroposterior video, lateral video and three-dimensional virtual model in real time during surgery, so as to realize the "visualization" of minimally invasive surgery; video device bracket: used to support the depth camera and display device, and fix them in the specified position; video navigation calculation device, used to process the data obtained by the optical tracking device and the depth camera, calculate the video navigation data and send it to the display.

[0005] For example, the invention patent with publication number CN108430373B discloses an apparatus and method for tracking the position of an endoscope in a patient's body, including determining the position of an endoscope in the patient's body in the coordinate system of the endoscope, capturing a reference marker attached to the endoscope in an image through an external optical tracker, transforming the captured reference marker from the coordinate system of the endoscope to the coordinate system of the optical tracker, projecting a virtual image of the endoscope onto a model of the patient's organ, and projecting or displaying a combined image.

[0006] However, in the process of implementing the technical solutions in the embodiments of the present application, the present application found that the above technology has at least the following technical problems: In the prior art, surgical instruments are positioned by optical tracking and positioning devices, but there are problems such as optical signals being easily interfered with and large positioning errors. In addition, the existing system lacks preoperative detection of the positioning device and does not provide deviation feedback in combination with the preoperatively planned navigation path, resulting in a high risk of surgical path deviation. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides an AI intelligent-assisted data visualization method and device for tumor surgical treatment, which can effectively solve the problems involved in the above-mentioned background technology.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: The first aspect of the present invention provides an AI intelligent assisted data visualization method for tumor surgical treatment, including: preoperative detection of a machine vision imaging device based on a near-infrared light source, collecting operating status data of the machine vision imaging device based on a near-infrared light source, and determining whether the machine vision imaging device based on a near-infrared light source has abnormal risks.

[0009] If there is no abnormal risk in the machine vision imaging device based on near-infrared light source, the three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point during the operation is obtained in real time, and the positioning interference factor data is monitored. The positioning deviation range of each surgical instrument is obtained based on the positioning interference factor data, and it is determined whether there is a deviation in the positioning of each surgical instrument.

[0010] Surgical instruments with positioning deviations are marked as abnormal surgical instruments, and each abnormal surgical instrument is visualized.

[0011] As a further method, the machine vision imaging device based on near-infrared light source is pre-operated tested, and the operating status data of the machine vision imaging device based on near-infrared light source is collected. The specific analysis process is: the operating status data includes the signal-to-noise ratio of the received light, the signal loss rate and the positioning response time; the preset critical signal-to-noise ratio, the critical signal loss rate and the critical positioning response time are extracted from the optical positioning database; the operating status abnormality evaluation value is obtained by combining the results of correcting the degree of difference between the operating status data and its preset reference value by corresponding weights; the operating status abnormality evaluation value represents quantitative data of the degree to which the signal-to-noise ratio, the signal loss rate and the positioning response time of the machine vision imaging device based on near-infrared light source deviate from the normal operating state.

[0012] As a further method, the determination of whether there is an abnormal risk in the machine vision imaging device based on a near-infrared light source is carried out by a specific analysis process: comparing the abnormal operation status evaluation value of the machine vision imaging device based on a near-infrared light source with the abnormal operation status evaluation threshold preset in the optical positioning database; if the abnormal operation status evaluation value of the machine vision imaging device based on a near-infrared light source is greater than or equal to the abnormal operation status evaluation threshold, then it is determined that there is an abnormal risk in the machine vision imaging device based on the near-infrared light source, and abnormal early warning feedback of the machine vision imaging device based on the near-infrared light source is performed; if the abnormal operation status evaluation value of the machine vision imaging device based on a near-infrared light source is less than the abnormal operation status evaluation threshold, then it is determined that there is no abnormal risk in the machine vision imaging device based on the near-infrared light source, and no additional operation is performed.

[0013] As a further method, the abnormal warning feedback of the machine vision imaging device based on near-infrared light source is performed, and the specific analysis process is: subtracting the operating state abnormality assessment value of the machine vision imaging device based on near-infrared light source from the operating state abnormality assessment threshold preset in the optical positioning database, and comparing the difference with the preset positioning device warning interval, and the positioning device warning interval includes a low abnormality interval, a moderate abnormality interval and a severe abnormality interval; if the difference is in the low abnormality interval, a prompt warning is issued, and potential interference sources are checked; if the difference is in the moderate abnormality interval, an alarm warning is issued, and a preliminary detection of the machine vision imaging device based on the near-infrared light source is performed; if the difference is in the severe abnormality interval, an emergency alarm warning is issued, and the use of the machine vision imaging device based on the near-infrared light source is stopped, and a spare machine vision imaging device based on the near-infrared light source is switched.

[0014] As a further method, the real-time acquisition of three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point during the operation, the specific analysis process is: the three-dimensional coordinate positioning data includes the coordinates of each positioning point of each surgical instrument; the coordinates of each positioning point of each surgical instrument at the current time monitoring point and the adjacent time monitoring point are extracted respectively, and the position change rate of each positioning point is obtained according to the distance between the positioning point coordinates and the time interval of the adjacent time monitoring points, and the position change rate of each positioning point of each surgical instrument is averaged to obtain the position change rate of each surgical instrument at the current time monitoring point; the line connecting the positioning points at the farthest ends of each surgical instrument is marked as the surgical instrument tilt reference line, and the minimum angle between the tilt reference lines of each surgical instrument at the current time monitoring point and the adjacent time monitoring point is obtained, and marked as the direction change angle of each surgical instrument at the current time monitoring point.

[0015] As a further method, the positioning deviation range of each surgical instrument is obtained based on the positioning interference factor data processing, and the specific analysis process is: the positioning interference factor data includes light interference intensity value, electromagnetic interference spectrum value and physiological displacement amplitude value; the preset critical light interference intensity value, critical electromagnetic interference spectrum value and critical physiological displacement amplitude value are extracted from the optical positioning database; the positioning interference deviation value is obtained by combining the results of correcting the degree of difference between the positioning interference factor data and its preset reference value by corresponding weights; the positioning interference deviation value represents the quantitative data of the positioning interference factor data for the deviation range, and the deviation range represents the range of deviation in the positioning of the surgical instrument due to the existence of the positioning interference factor.

[0016] As a further method, the determination of whether there is a deviation in the positioning of each surgical instrument is carried out by the following specific analysis process: extracting the preset reference position change rate, reference direction change angle, allowable deviation position change rate and allowable deviation direction change angle from the optical positioning database; obtaining the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point and performing real-time correction based on the three-dimensional coordinate positioning data and positioning interference deviation value of each surgical instrument at each time monitoring point, and obtaining the positioning deviation evaluation value of each surgical instrument at the current time monitoring point through comprehensive processing, wherein the positioning deviation evaluation value is used to quantitatively evaluate the degree of deviation of the surgical instrument from the ideal positioning state at each time monitoring point; comparing the positioning deviation evaluation value of any surgical instrument with the positioning deviation evaluation threshold preset in the optical positioning database; if the positioning deviation evaluation value is greater than or equal to the positioning deviation evaluation threshold, then determining that there is a deviation in the positioning of the surgical instrument, and obtaining the importance level of the surgical instrument; if the positioning deviation evaluation value of any surgical instrument is less than the positioning deviation evaluation threshold, then determining that there is no deviation in the positioning of the surgical instrument, and no additional operation is performed.

[0017] As a further method, the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point is obtained and corrected in real time. The specific analysis process is: the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point includes the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point; a reference time period is preset, and the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point within the reference time period are collected as reference points, and the distances between the actual coordinates of each positioning point at the current time monitoring point and the estimated coordinates of each positioning point at each time monitoring point in the reference time period are respectively extracted, and the estimated coordinates of the positioning point corresponding to the minimum distance within the reference time period are marked as the positioning point reference coordinates, and the reference coordinates of each positioning point of each surgical instrument at the current time monitoring point are counted to obtain the corrected reference three-dimensional coordinate positioning data of each surgical instrument.

[0018] As a further method, the visualization processing of each abnormal surgical instrument is carried out, and the specific analysis process is as follows: the importance level of the surgical instruments includes key instruments and common instruments, and each key abnormal surgical instrument and each common abnormal surgical instrument are obtained; each key abnormal surgical instrument and each common abnormal surgical instrument are sorted in order from large to small according to the positioning deviation evaluation value, and the key instrument processing order and the common instrument processing order are obtained. If there is a key abnormal surgical instrument, the key abnormal surgical instrument is visualized in turn according to the key instrument processing order; if there is no key abnormal surgical instrument or all the key abnormal surgical instruments have been visualized, the common abnormal surgical instruments are further visualized in turn according to the common instrument processing order.

[0019] The second aspect of the present invention provides an AI intelligent assisted data visualization device for tumor surgical treatment, comprising: a memory and a processor, the memory is used to store a computer program, the processor is used to call the computer program, and the computer program includes a method for executing the AI ​​intelligent assisted data visualization method for tumor surgical treatment.

[0020] Compared with the prior art, the embodiments of the present invention have at least the following beneficial effects: (1) The present invention performs real-time monitoring and analysis on the data of positioning interference factors such as the light interference intensity value, electromagnetic interference spectrum value and physiological displacement amplitude value of a machine vision imaging device based on a near-infrared light source, and calculates the positioning interference deviation value in combination with a preset reference value and an allowable deviation value. The positioning deviation range of the surgical instrument is then evaluated based on this value, thereby achieving accurate quantitative analysis of the positioning interference of the surgical instrument and greatly improving the stability and reliability of the positioning of the surgical instrument.

[0021] (2) The present invention obtains the three-dimensional coordinate positioning data of the surgical instrument at each time monitoring point, calculates the position change rate and the direction change angle, and compares them with the reference value. At the same time, it combines the positioning interference deviation value and obtains the positioning deviation evaluation value through comprehensive processing. The positioning deviation evaluation value is then compared with the preset positioning deviation evaluation threshold to determine whether there is a deviation in the positioning of the surgical instrument. This achieves accurate judgment of the positioning deviation of the surgical instrument, and further achieves more effective monitoring of the positioning status of the surgical instrument, thereby avoiding the impact of positioning deviation on the surgical process and effect.

[0022] (3) The present invention classifies surgical instruments with positioning deviations into critical abnormal surgical instruments and common abnormal surgical instruments according to their importance levels, sorts them according to their positioning deviation evaluation values, and performs visualization processing in the order of critical instruments first and common instruments later. This achieves efficient and orderly processing of abnormal surgical instruments, reasonably allocates processing resources, improves the efficiency of dealing with instrument positioning abnormalities during surgery, and ensures the smooth progress of the surgery.

[0023] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0027] Reference Figure 1 As shown, the first aspect of the present invention provides an AI intelligent assisted data visualization method for tumor surgical treatment, including: preoperative detection of a machine vision imaging device based on a near-infrared light source, collecting operating status data of the machine vision imaging device based on a near-infrared light source, and determining whether there is an abnormal risk in the machine vision imaging device based on a near-infrared light source.

[0028] In this embodiment, the machine vision imaging device based on the near-infrared light source is tested before the operation to obtain the operation status data of the machine vision imaging device based on the near-infrared light source.

[0029] Specifically, a preoperative inspection is performed on a machine vision imaging device based on a near-infrared light source, and operating status data of the machine vision imaging device based on a near-infrared light source is collected. The specific analysis process is as follows: the operating status data includes a signal-to-noise ratio of received light, a signal loss rate, and a positioning response time; a preset critical signal-to-noise ratio, a critical signal loss rate, and a critical positioning response time are extracted from an optical positioning database; an operating status abnormality evaluation value is obtained by combining the results of correcting the degree of difference between the operating status data and its preset reference values ​​using corresponding weights; the operating status abnormality evaluation value represents quantitative data of the degree to which the signal-to-noise ratio, the signal loss rate, and the positioning response time of the machine vision imaging device based on a near-infrared light source deviate from the normal operating state.

[0030] It should be understood that the signal-to-noise ratio in this embodiment refers to the ratio of signal power to noise power in the process of receiving light by a machine vision imaging device based on a near-infrared light source. The signal-to-noise ratio is an indicator to measure the relative strength of effective information and interference information in a signal. The higher the signal-to-noise ratio means that the signal light is stronger than the noise light and the signal quality is better. The machine vision imaging device based on a near-infrared light source can more accurately extract information such as the location of the target object from the received light signal, thereby improving the accuracy and reliability of positioning; the lower the signal-to-noise ratio, the more effective information in the signal will be submerged by noise, resulting in an increase in positioning errors, and may even fail to accurately obtain the location of the target object.

[0031] In this embodiment, the signal loss rate refers to the proportion of valid signals that the machine vision imaging device based on near-infrared light source fails to receive within a specified time. The signal loss rate directly reflects the integrity and stability of the signals received by the machine vision imaging device based on near-infrared light source. The lower the signal loss rate, the more signals can be stably received by the machine vision imaging device based on near-infrared light source, and the positioning system can continuously and accurately obtain the location information of the target object; the higher the signal loss rate, the more signals cannot be received, resulting in missing or discontinuous positioning data, which seriously affects the accuracy and reliability of positioning, and may prevent doctors from timely and accurately understanding the location of surgical instruments or lesions.

[0032] In this embodiment, the positioning response time refers to the time interval from when the machine vision imaging device based on the near-infrared light source receives the positioning request to when it gives an accurate positioning result. The shorter the positioning response time, the more accurate the position information of the instrument can be obtained in time when the doctor is operating the surgical instrument, so as to make more accurate operation decisions and improve the efficiency and safety of the operation; if the positioning response time is too long, the position information obtained by the doctor will lag behind the actual situation, which may cause deviations in the surgical operation and increase the risk of surgery.

[0033] It should be understood that in this embodiment, the signal-to-noise ratio can be obtained through an optical signal-to-noise ratio monitoring device; the signal loss rate can be obtained through a bit error rate tester; the positioning response time can be obtained through performance testing software; the critical signal-to-noise ratio, critical signal loss rate and critical positioning response time can be directly obtained through the optical positioning database.

[0034] In a specific embodiment, the abnormal operation status evaluation value is obtained in the following manner: ; ; In the formula, Indicates the abnormal evaluation value of the operating status of the machine vision imaging device based on near-infrared light source, Represents the signal-to-noise ratio of a machine vision imaging device based on a near-infrared light source, represents the preset critical signal-to-noise ratio, Indicates the signal loss rate of the machine vision imaging device based on near-infrared light source, Indicates the preset critical signal loss rate, represents the positioning response time of a machine vision imaging device based on a near-infrared light source, Indicates the preset critical positioning response time. represents the preset signal-to-noise ratio weight factor, represents the preset signal loss rate weight factor, Indicates the preset positioning response time weight factor.

[0035] , and When used, the weight factors in the process of abnormal operation status evaluation value corresponding to the signal-to-noise ratio, signal loss rate and positioning response time can be directly obtained from the optical positioning database. The signal-to-noise ratio weight factor, the signal loss rate weight factor and the positioning response time weight factor respectively represent the numerical values ​​of the degree of influence of the signal-to-noise ratio, the signal loss rate and the positioning response time on the abnormal operation status evaluation value. The signal-to-noise ratio weight factor, the signal loss rate weight factor, the positioning response time weight factor and the signal-to-noise ratio, the signal loss rate and the positioning response time can be a pre-set mapping relationship. For example, the signal-to-noise ratio, the signal loss rate and the positioning response time are respectively input into the corresponding preset mapping set to obtain the weight factors in the process of abnormal operation status evaluation value corresponding to the signal-to-noise ratio, the signal loss rate and the positioning response time, wherein the mapping relationship can be one-to-one or a many-to-one relationship. In this embodiment, the value ranges of the signal-to-noise ratio weight factor, the signal loss rate weight factor and the positioning response time weight factor are all limited to between 0 and 1, and the sum of the signal-to-noise ratio weight factor, the signal loss rate weight factor and the positioning response time weight factor is 1.

[0036] In this embodiment, the abnormal operation status evaluation value is used to quantitatively evaluate the degree to which the machine vision imaging device based on the near-infrared light source deviates from the normal operation state. The lower the signal-to-noise ratio, or the higher the signal loss rate, or the longer the positioning response time, the higher the degree to which the machine vision imaging device based on the near-infrared light source deviates from the normal operation state.

[0037] The algorithm of this embodiment combines the signal-to-noise ratio, signal loss rate and positioning response time, and comprehensively analyzes to obtain the abnormal evaluation value of the operating state. In this formula, the signal-to-noise ratio, signal loss rate and positioning response time affect each other. As the signal-to-noise ratio decreases, the signal loss rate increases. For example, in a machine vision imaging device based on a near-infrared light source, when the signal-to-noise ratio of the received light decreases, the interference degree of the signal increases, causing the signal to be more easily lost during transmission and processing; as the signal-to-noise ratio decreases, the positioning response time increases, because the low signal-to-noise ratio will reduce the clarity and stability of the signal, and the positioning system needs more time to parse and process the signal to determine the position; as the signal loss rate increases, the positioning response time increases, because after the signal is lost, the system needs to wait for a supplementary signal or perform additional processing, such as resending a request to obtain the signal, thereby increasing the positioning response time. By comprehensively analyzing the signal-to-noise ratio, signal loss rate and positioning response time, the abnormal evaluation value of the operating state can be accurately obtained, which quantitatively reflects the degree of deviation between the actual operating state of the machine vision imaging device based on a near-infrared light source and the normal operating state.

[0038] Specifically, determine whether the machine vision imaging device based on near-infrared light source has abnormal risks. The specific analysis process is: compare the operating status abnormality assessment value of the machine vision imaging device based on near-infrared light source with the operating status abnormality assessment threshold preset in the optical positioning database. If the operating status abnormality assessment value of the machine vision imaging device based on near-infrared light source is greater than or equal to the operating status abnormality assessment threshold, then it is determined that the machine vision imaging device based on near-infrared light source has abnormal risks, and abnormal early warning feedback of the machine vision imaging device based on near-infrared light source is performed; if the operating status abnormality assessment value of the machine vision imaging device based on near-infrared light source is less than the operating status abnormality assessment threshold, then it is determined that the machine vision imaging device based on near-infrared light source does not have abnormal risks, and no additional operations are performed.

[0039] It should be understood that the abnormal operating status assessment threshold in this embodiment is a pre-set reference standard, which is stored in the optical positioning database and is determined based on the normal operating parameter range of the machine vision imaging device with a near-infrared light source and the strict requirements of tumor surgery for positioning accuracy and stability. It is the key limit for judging whether the device is operating normally.

[0040] In this embodiment, the abnormal operation status evaluation value of the machine vision imaging device based on the near-infrared light source is compared with the abnormal operation status evaluation threshold. When the abnormal operation status evaluation value is greater than or equal to the abnormal operation status evaluation threshold, it means that the operation status of the machine vision imaging device based on the near-infrared light source deviates from the normal range and reaches or exceeds the acceptable risk level. At this time, it is determined that there is an abnormal risk and abnormal warning feedback is required so that relevant personnel can take timely measures to avoid affecting the operation. If the abnormal operation status evaluation value is less than the abnormal operation status evaluation threshold, it means that the machine vision imaging device based on the near-infrared light source is operating normally, no additional operation is required, and the operation can proceed smoothly as planned.

[0041] Specifically, an abnormal warning feedback of a machine vision imaging device based on a near-infrared light source is performed, and the specific analysis process is: subtracting the operating state abnormality assessment value of the machine vision imaging device based on a near-infrared light source from the operating state abnormality assessment threshold preset in the optical positioning database, and comparing the difference with the preset positioning device warning interval, wherein the positioning device warning interval includes a low abnormality interval, a moderate abnormality interval, and a severe abnormality interval; if the difference is in the low abnormality interval, a prompt warning is issued, and potential interference sources are checked; if the difference is in the moderate abnormality interval, an alarm warning is issued, and a preliminary detection of the machine vision imaging device based on the near-infrared light source is performed; if the difference is in the severe abnormality interval, an emergency alarm warning is issued, and the use of the machine vision imaging device based on the near-infrared light source is stopped, and a spare machine vision imaging device based on the near-infrared light source is switched.

[0042] It should be understood that in this embodiment, the difference between the abnormal evaluation value of the operation state of the machine vision imaging device based on the near-infrared light source and the abnormal evaluation threshold of the operation state preset in the optical positioning database can intuitively reflect the degree of deviation between the current operation state of the machine vision imaging device based on the near-infrared light source and the normal state standard. By comparing the difference with the preset interval, the severity of the abnormality can be judged more accurately, providing a quantitative basis for subsequent warnings and treatment measures.

[0043] In this embodiment, when the difference is in the low abnormal range, a prompt warning is issued to remind relevant personnel to check potential interference sources, such as whether there are other electronic devices generating electromagnetic interference, whether the surrounding light is abnormal, etc.; when the difference is in the moderate abnormal range, an alarm warning is issued, and at this time, it is necessary to conduct preliminary inspection of the machine vision imaging device based on the near-infrared light source, such as checking whether the hardware connection of the device is loose, whether there is any failure in the software operation, etc.; when the difference is in the severe abnormal range, an emergency alarm warning is issued, and the use of the machine vision imaging device based on the near-infrared light source is immediately stopped, and the spare machine vision imaging device based on the near-infrared light source is switched to avoid serious impact on subsequent tumor surgery due to device abnormality.

[0044] If there is no abnormal risk in the machine vision imaging device based on near-infrared light source, the three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point during the operation is obtained in real time, and the positioning interference factor data is monitored. The positioning deviation range of each surgical instrument is obtained based on the positioning interference factor data, and it is determined whether there is a deviation in the positioning of each surgical instrument.

[0045] In this embodiment, the positioning interference factor data is a series of data that affects the accuracy of surgical instrument positioning by a machine vision imaging device based on a near-infrared light source during tumor surgery, mainly including light interference intensity values, electromagnetic interference spectrum values, and physiological displacement amplitude values, which interfere with the positioning of surgical instruments from different aspects.

[0046] Specifically, the three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point during the operation is obtained in real time, and the specific analysis process is as follows: the three-dimensional coordinate positioning data includes the coordinates of each positioning point of each surgical instrument; the coordinates of each positioning point of each surgical instrument at the current time monitoring point and the adjacent time monitoring point are extracted respectively, and the position change rate of each positioning point is obtained according to the distance between the positioning point coordinates and the time interval of the adjacent time monitoring points, and the position change rate of each positioning point of each surgical instrument is averaged to obtain the position change rate of each surgical instrument at the current time monitoring point; the line connecting the positioning points at the farthest ends of each surgical instrument is marked as the surgical instrument tilt reference line, and the minimum angle between the tilt reference lines of each surgical instrument at the current time monitoring point and the adjacent time monitoring point is obtained, and marked as the direction change angle of each surgical instrument at the current time monitoring point.

[0047] In this embodiment, the three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point during the operation is obtained in real time, the purpose of which is to accurately track and analyze the position of the surgical instrument, and then determine whether there is a deviation in its positioning, so as to ensure the accurate performance of the operation. The three-dimensional coordinate positioning data includes the coordinates of each positioning point of each surgical instrument. Multiple positioning points are set on the surgical instrument, and the coordinates of these positioning points combined can more accurately reflect the position of the surgical instrument in space.

[0048] It should be understood that in this embodiment, for the positioning point level, the coordinates of any positioning point of any surgical instrument at adjacent time points are obtained, the displacement between the two points is calculated by the distance formula between the two points in three-dimensional space, and the time interval between the two adjacent time points is determined. The position change rate of the positioning point is obtained by dividing the displacement by the time interval, that is, the displacement change per unit time. For the surgical instrument level, since a surgical instrument has multiple positioning points, the value of the overall position change rate of the surgical instrument is obtained by calculating the average rate of multiple positioning points, thereby avoiding the influence of errors caused by special circumstances (such as local interference) on the results of a single positioning point.

[0049] It should be understood that, in this embodiment, a line is connected between the positioning points at the farthest ends of each surgical instrument, and this line is marked as the surgical instrument tilt reference line. The tilt reference lines of each surgical instrument at the current time monitoring point and the adjacent time monitoring point are obtained respectively, and the angle between the tilt reference lines of the two time points is obtained. Since there are two angles between the two lines (complementary relationship), the smallest angle is selected, and the minimum angle between the obtained tilt reference lines of each surgical instrument at the current time monitoring point and the adjacent time monitoring point is marked as the direction change angle of each surgical instrument at the current time monitoring point.

[0050] Specifically, the positioning deviation range of each surgical instrument is obtained according to the positioning interference factor data processing, and the specific analysis process is: the positioning interference factor data includes light interference intensity value, electromagnetic interference spectrum value and physiological displacement amplitude value; the preset critical light interference intensity value, critical electromagnetic interference spectrum value and critical physiological displacement amplitude value are extracted from the optical positioning database; the positioning interference deviation value is obtained by combining the results of correcting the degree of difference between the positioning interference factor data and its preset reference value by corresponding weights; the positioning interference deviation value represents the quantitative data of the positioning interference factor data for the deviation range, and the deviation range represents the range of deviation in the positioning of the surgical instrument due to the existence of the positioning interference factor.

[0051] The positioning interference factor data in this embodiment includes light interference intensity values, electromagnetic interference spectrum values, and physiological displacement amplitude values. During surgery, the light interference intensity value measures the impact of the operating room light conditions on the positioning of surgical instruments. For example, the lights in the operating room, external light, etc. may interfere with the signals of surgical instruments received by the machine vision imaging device based on near-infrared light sources. The electromagnetic interference spectrum value reflects the frequency distribution of various electromagnetic signals existing in the surgical environment, because many medical devices generate electromagnetic radiation, which may interfere with the transmission and reception of surgical instrument positioning signals. The physiological displacement amplitude value reflects the slight displacement of the patient caused by physiological activities such as breathing and heartbeat during surgery. This displacement may cause the surgical instrument to shift relative to the target position.

[0052] It should be understood that the light interference intensity value in this embodiment can usually be measured by a light intensity meter or a photometer. These tools can detect the intensity and distribution of light, so as to evaluate whether the light environment of the operating room meets the requirements. The electromagnetic interference spectrum value can be measured by a spectrum analyzer. In the operating room environment, the spectrum analyzer can be used to detect and analyze electromagnetic interference from various electronic devices, such as other medical devices, wireless communication devices, etc. The physiological displacement amplitude value usually needs to be measured by professional physiological monitoring equipment or displacement sensors. These devices can monitor the patient's physiological activities, such as breathing, heartbeat, etc., and calculate the resulting small displacements.

[0053] It should be understood that in this embodiment, the critical light interference intensity value, the critical electromagnetic interference spectrum value and the critical physiological displacement amplitude value are used to evaluate whether the interference factors in the current surgical environment are at an acceptable level. They are usually set based on historical data, industry standards or expert recommendations, and can be directly obtained from the optical positioning database.

[0054] In a specific embodiment, the positioning interference deviation value is obtained in the following manner: ; ; In the formula, Indicates the positioning interference deviation value, Indicates the light interference intensity value. Indicates the preset critical light interference intensity value. Represents the electromagnetic interference spectrum value, Indicates the preset critical electromagnetic interference spectrum value, Represents the physiological displacement amplitude value, Indicates the preset critical physiological displacement amplitude value, Indicates the preset light interference intensity value weight factor, Represents the preset electromagnetic interference spectrum value weight factor, Represents the preset physiological displacement amplitude value weight factor.

[0055] , and When in use, the weight factors in the positioning interference deviation value corresponding to the light interference intensity value, the electromagnetic interference spectrum value and the physiological displacement amplitude value can be directly obtained from the optical positioning database. The light interference intensity value weight factor, the electromagnetic interference spectrum value weight factor and the physiological displacement amplitude value weight factor respectively represent the numerical values ​​of the influence of the light interference intensity value, the electromagnetic interference spectrum value and the physiological displacement amplitude value on the positioning interference deviation value. The light interference intensity value weight factor, the electromagnetic interference spectrum value weight factor, the physiological displacement amplitude value weight factor and the light interference intensity value, the electromagnetic interference spectrum value and the physiological displacement amplitude value can be a pre-set mapping relationship. For example, the light interference intensity value, the electromagnetic interference spectrum value and the physiological displacement amplitude value are respectively input into the corresponding preset mapping set to obtain the weight factors in the positioning interference deviation value corresponding to the light interference intensity value, the electromagnetic interference spectrum value and the physiological displacement amplitude value, wherein the mapping relationship can be one-to-one or many-to-one. In this embodiment, the value ranges of the light interference intensity value weight factor, the electromagnetic interference spectrum value weight factor and the physiological displacement amplitude value weight factor are all limited to between 0 and 1, and the sum of the light interference intensity value weight factor, the electromagnetic interference spectrum value weight factor and the physiological displacement amplitude value weight factor is 1.

[0056] In this embodiment, the positioning interference deviation value is used to quantitatively evaluate the positioning interference factor's impact on the positioning deviation range of the surgical instrument. The greater the light interference intensity value, or the greater the electromagnetic interference spectrum value, or the greater the physiological displacement amplitude value, the greater the positioning interference factor's impact on the positioning deviation range of the surgical instrument.

[0057] The algorithm of this embodiment combines the light interference intensity value, the electromagnetic interference spectrum value and the physiological displacement amplitude value, and comprehensively analyzes to obtain the positioning interference deviation value. In this formula, the light interference intensity value, the electromagnetic interference spectrum value and the physiological displacement amplitude value influence each other. As the light interference intensity value increases, the influence of the electromagnetic interference spectrum value on the positioning deviation range of the surgical instrument also increases. For example, when the light interference intensity is greater, the signal receiving ability of the machine vision imaging device based on the near-infrared light source decreases. At this time, the change of the electromagnetic interference spectrum value is more likely to have a greater impact on the positioning deviation range; as the light interference intensity value increases, the influence of the physiological displacement amplitude value on the positioning deviation range also increases accordingly, because light interference causes the positioning device to reduce its accuracy. In this case, a small change in the patient's physiological displacement amplitude may also cause a larger positioning deviation. As the electromagnetic interference spectrum value increases, the influence of the light interference intensity value on the positioning deviation range is further enhanced, because electromagnetic interference may affect the performance of the electronic components of the machine vision imaging device based on the near-infrared light source, making it more sensitive to light interference; at the same time, as the electromagnetic interference spectrum value increases, the influence of the physiological displacement amplitude value on the positioning deviation range is also increased, because electromagnetic interference will make the positioning signal unstable, and the position change caused by the patient's physiological displacement will be amplified under this unstable positioning system, resulting in a larger positioning deviation. As the physiological displacement amplitude value increases, the influence of the light interference intensity value on the positioning deviation range is more significant, because a larger physiological displacement will make the position change of the surgical instrument more complicated, and at this time, the interference effect of light interference on the positioning device to obtain accurate position information will be more prominent; in addition, as the physiological displacement amplitude value increases, the influence of the electromagnetic interference spectrum value on the positioning deviation range is also increased, because physiological displacement causes rapid changes in the position of the surgical instrument, and the positioning system needs to process the signal more quickly and accurately, and electromagnetic interference will affect the speed and accuracy of signal processing, thereby resulting in a larger positioning deviation. By comprehensively analyzing the light interference intensity value, electromagnetic interference spectrum value and physiological displacement amplitude value, the positioning interference deviation value can be accurately obtained, which quantitatively reflects the influence of the positioning interference factors on the positioning deviation range of surgical instruments.

[0058] Specifically, determine whether there is a deviation in the positioning of each surgical instrument. The specific analysis process is: extract the preset reference position change rate, reference direction change angle, allowable deviation position change rate and allowable deviation direction change angle from the optical positioning database; obtain the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point and perform real-time correction based on the three-dimensional coordinate positioning data and positioning interference deviation value of each surgical instrument at each time monitoring point, and obtain the positioning deviation evaluation value of each surgical instrument at the current time monitoring point through comprehensive processing. The positioning deviation evaluation value is used to quantitatively evaluate the degree of deviation of the surgical instrument from the ideal positioning state at each time monitoring point; compare the positioning deviation evaluation value of any surgical instrument with the positioning deviation evaluation threshold preset in the optical positioning database. If the positioning deviation evaluation value is greater than or equal to the positioning deviation evaluation threshold, it is determined that there is a deviation in the positioning of the surgical instrument, and the importance level of the surgical instrument is obtained; if the positioning deviation evaluation value of any surgical instrument is less than the positioning deviation evaluation threshold, it is determined that there is no deviation in the positioning of the surgical instrument, and no additional operation is performed.

[0059] In this embodiment, the reference three-dimensional coordinate positioning data includes the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point. Multiple positioning points will be set on the surgical instrument, and the coordinates of multiple positioning points are combined to reflect the position status of the surgical instrument in three-dimensional space. Taking tumor resection surgery as an example, the coordinate data of multiple positioning points on the surgical tool can determine the position and posture of the tool in space. When planning the route before surgery, the ideal position and motion trajectory of the surgical instrument at each stage will be determined based on the patient's tumor location, the distribution of surrounding tissues and organs, and the surgical goals. The coordinate data corresponding to this ideal motion trajectory is an important part of the planned route. The reference three-dimensional coordinate positioning data is a reference standard for real-time comparison and judgment of whether the surgical instrument is moving along the planned route during the actual operation. A reference time period is preset, and the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point within the time period are collected as reference points. Then, the distance between the actual coordinates of each positioning point at the current time monitoring point and the estimated coordinates of each positioning point at each time monitoring point in the reference time period is extracted respectively, and the estimated coordinates of the positioning point corresponding to the minimum distance in the reference time period are marked as the reference coordinates of the positioning point, and the reference coordinates of each positioning point of each surgical instrument at the current time monitoring point are counted, so as to obtain the corrected reference three-dimensional coordinate positioning data of each surgical instrument. For example, in a complex tumor surgery, 5-10 minutes after the start of the surgery is set as the reference time period, and the estimated coordinates of each positioning point of the surgical instrument in this period are continuously recorded. In the subsequent surgical process, the reference three-dimensional coordinate positioning data is continuously corrected according to the above method to make it more consistent with the actual surgical situation. According to the three-dimensional coordinate positioning data and the positioning interference deviation value of each surgical instrument at each time monitoring point, combined with the reference three-dimensional coordinate positioning data, comprehensive processing is performed to obtain the positioning deviation evaluation value of each surgical instrument at the current time monitoring point. By comparing the positioning deviation evaluation value with the preset positioning deviation evaluation threshold, it is determined whether there is a deviation in the positioning of the surgical instrument, and whether to intervene in the positioning state of the surgical instrument.

[0060] It should be understood that in this embodiment, preset reference data are extracted from the optical positioning database. These data include the position change rate (reference position change rate), direction change angle (reference direction change angle) of the surgical instrument under ideal conditions, and the allowable deviation range, that is, the allowable deviation position change rate and the allowable deviation direction change angle. The three-dimensional coordinate positioning data of the surgical instrument is obtained through each time monitoring point. The three-dimensional coordinate positioning data reflects the actual position of the surgical instrument in space, and the positioning interference deviation value reflects the degree of influence of various interference factors on positioning. The obtained reference three-dimensional coordinate positioning data is corrected in real time. Since various interference factors may exist during the operation, the real-time correction can make the reference data more consistent with the actual situation and improve the accuracy of positioning judgment. For example, when the positioning interference deviation value is large, the reference data is adjusted accordingly to compensate for the influence of the interference factors.

[0061] In a specific embodiment, the positioning deviation evaluation value is obtained in the following manner: ; ; ; ; ; In the formula, Indicates the positioning deviation evaluation value, Indicates the position change rate deviation value, Indicates the direction change angle deviation value, Indicates the positioning interference deviation value, represents the rate of position change, Indicates the preset reference position change rate, Indicates the preset allowable deviation position change rate, Indicates the angle of direction change, Indicates the preset reference direction change angle, Indicates the preset allowable deviation direction change angle, Represents the preset position change rate deviation value weight factor, Indicates the preset direction change angle deviation value weight factor, Represents the preset 3D coordinate positioning data weight factor, represents the preset positioning interference deviation value weight factor, and e represents a natural constant.

[0062] , and When in use, the weight factors in the process of positioning deviation evaluation corresponding to the position change rate, direction change angle and positioning interference deviation value can be directly obtained from the optical positioning database. The position change rate weight factor, the direction change angle weight factor and the positioning interference deviation value weight factor respectively represent the numerical values ​​of the influence of the position change rate, the direction change angle and the positioning interference deviation value on the positioning deviation evaluation value. The position change rate weight factor, the direction change angle weight factor, the positioning interference deviation value weight factor and the position change rate, the direction change angle and the positioning interference deviation value can be a pre-set mapping relationship. For example, the position change rate, the direction change angle and the positioning interference deviation value are respectively input into the corresponding preset mapping set to obtain the weight factors in the process of positioning deviation evaluation corresponding to the position change rate, the direction change angle and the positioning interference deviation value, wherein the mapping relationship can be one-to-one or many-to-one. In this embodiment, the value ranges of the position change rate weight factor, the direction change angle weight factor and the positioning interference deviation value weight factor are all limited to between 0 and 1. The sum of the position change rate weight factor and the direction change angle weight factor is the three-dimensional coordinate positioning data weight factor. The sum of the position change rate weight factor, the direction change angle weight factor and the positioning interference deviation value weight factor is 1.

[0063] In this embodiment, the positioning deviation evaluation value is used to quantitatively evaluate the degree of deviation of the surgical instrument from the ideal positioning state at each time monitoring point. The greater the deviation between the position change rate and the reference position change rate, or the greater the deviation between the direction change angle and the reference direction change angle, or the greater the positioning interference deviation value, the greater the deviation between the surgical instrument and the ideal positioning state at the time monitoring point.

[0064] The algorithm of this embodiment combines the position change rate, the direction change angle and the positioning interference deviation value, and comprehensively analyzes to obtain the positioning deviation evaluation value. In this formula, the position change rate, the direction change angle and the positioning interference deviation value affect each other. As the deviation between the position change rate and the reference position change rate increases, the influence of the direction change angle and the reference direction change angle deviation on the degree of positioning deviation of the surgical instrument increases. For example, when the deviation of the position change rate is larger, the motion state of the surgical instrument has deviated from normal. At this time, the deviation of the direction change angle is more likely to cause the position of the surgical instrument in space to deviate significantly from the ideal state, just like when the vehicle is driving too fast (the deviation of the position change rate is large), a slight turn (direction change angle deviation) may cause the driving route to deviate significantly. In addition, as the deviation of the position change rate and the reference position change rate increases, the influence of the positioning interference deviation value on the degree of positioning deviation of the surgical instrument also increases, because the larger the deviation of the position change rate, the more unstable the movement of the surgical instrument in space may be, which makes the interference factors represented by the positioning interference deviation value (such as light interference, electromagnetic interference, etc.) more likely to have a significant impact on its positioning. As the deviation between the direction change angle and the reference direction change angle increases, the effect of the position change rate and the reference position change rate deviation on the degree of deviation of the surgical instrument positioning becomes more obvious. Because when the direction change angle deviation is larger, the movement direction of the surgical instrument has deviated from the ideal direction. At this time, the deviation of the position change rate will further aggravate its deviation in spatial position. At the same time, as the deviation between the direction change angle and the reference direction change angle increases, the influence of the positioning interference deviation value on the degree of deviation of the surgical instrument positioning is also enhanced. For example, when the direction changes, the receiving angle of the machine vision imaging device based on the near-infrared light source may change, making it more susceptible to light interference. By comprehensively analyzing the position change rate, the direction change angle and the positioning interference deviation value, the positioning deviation evaluation value can be accurately obtained, which quantitatively reflects the degree of deviation of the surgical instrument from the ideal positioning state at a certain time monitoring point.

[0065] In this embodiment, the positioning deviation evaluation value of any surgical instrument is compared with the positioning deviation evaluation threshold preset in the optical positioning database. If the positioning deviation evaluation value is greater than or equal to the positioning deviation evaluation threshold, it is judged that there is a deviation in the positioning of the surgical instrument. At this time, the importance level of the surgical instrument is further obtained so that corresponding measures can be taken according to the importance of the surgical instrument. If the positioning deviation evaluation value of the surgical instrument is less than the positioning deviation evaluation threshold, it is judged that there is no deviation in the positioning of the surgical instrument, and no additional operation is performed, and the operation can continue according to the normal process.

[0066] Specifically, the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point is obtained and corrected in real time. The specific analysis process is: the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point includes the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point; a reference time period is preset, and the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point within the reference time period are collected as reference points, and the distances between the actual coordinates of each positioning point at the current time monitoring point and the estimated coordinates of each positioning point at each time monitoring point in the reference time period are respectively extracted, and the estimated coordinates of the positioning point corresponding to the minimum distance within the reference time period are marked as the positioning point reference coordinates, and the reference coordinates of each positioning point of each surgical instrument at the current time monitoring point are counted to obtain the corrected reference three-dimensional coordinate positioning data of each surgical instrument.

[0067] It should be understood that in this embodiment, a reference time period is pre-set, and within this time period, the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point are collected, and these collected data points are the reference points for subsequent analysis. For example, in a complex tumor resection operation, the 5-10 minutes after the start of the operation may be set as the reference time period, and the estimated coordinates of each positioning point of the surgical instrument during this period are continuously recorded. For the current time monitoring point, the distance between the actual coordinates of each positioning point and the estimated coordinates of each positioning point at each time monitoring point in the reference time period are extracted respectively. By calculating the distance, the spatial proximity between the current actual positioning and each reference point can be measured, the minimum value is found, and the estimated coordinates of the positioning point corresponding to the minimum distance are marked as the positioning point reference coordinates. After completing the marking of the reference coordinates of each positioning point of each surgical instrument at the current time monitoring point, the corrected reference three-dimensional coordinate positioning data of each surgical instrument is obtained by statistical integration.

[0068] Surgical instruments with positioning deviations are marked as abnormal surgical instruments, and each abnormal surgical instrument is visualized.

[0069] Specifically, each abnormal surgical instrument is visualized, and the specific analysis process is as follows: the importance level of the surgical instruments includes key instruments and common instruments, and each key abnormal surgical instrument and each common abnormal surgical instrument are obtained; each key abnormal surgical instrument and each common abnormal surgical instrument are sorted in order from large to small according to the positioning deviation evaluation value, and a key instrument processing order and a common instrument processing order are obtained. If there is a key abnormal surgical instrument, the key abnormal surgical instrument is visualized in turn according to the key instrument processing order; if there is no key abnormal surgical instrument or all the key abnormal surgical instruments have been visualized, the common abnormal surgical instruments are further visualized in turn according to the common instrument processing order.

[0070] In this embodiment, when the positioning deviation evaluation value of any surgical instrument is greater than or equal to the positioning deviation evaluation threshold, the surgical instrument is marked as an abnormal surgical instrument. These marked abnormal surgical instruments mean that their current positioning state has deviated from the ideal state, which may have an adverse effect on the operation and requires further processing.

[0071] In this embodiment, surgical instruments are divided into key instruments and common instruments according to their importance before surgery. Key instruments usually refer to instruments that play a key role in the success of surgery, such as special knives used to accurately remove tumor tissue in tumor resection surgery; common instruments are instruments that have relatively little impact on the surgical process, such as some auxiliary clamping tools.

[0072] In this embodiment, during the operation, the surgical instruments used in the same time period are visualized, and the surgical instruments should move according to the preset planning path (i.e., the reference path) to ensure that the surgical operation is carried out accurately. When an abnormal instrument appears (a surgical instrument with a positioning deviation evaluation value greater than or equal to the positioning deviation evaluation threshold), its actual moving path is displayed in comparison with the reference path, allowing the doctor to intuitively see the difference between the actual running trajectory of the instrument and the ideal trajectory. Through this intuitive comparison, the doctor can quickly determine the degree of deviation, deviation direction and other information of the instrument, so as to take timely measures to make adjustments to avoid adverse effects on the operation.

[0073] It should be understood that in the visualization interface of this embodiment, different colors, line styles or transparency are usually used to distinguish the movement path of abnormal instruments from the reference path. For example, the reference path is represented by a green solid line, representing the ideal surgical operation trajectory; the movement path of the abnormal instrument is represented by a red dotted line to highlight its difference from the reference path. For some complex surgical scenes, it is also possible to add arrows between the actual position and the reference position of the surgical instrument through a three-dimensional display to clearly display the direction of the deviation. When dealing with key abnormal surgical instruments, the doctor can quickly determine the degree of impact of the deviation on the key steps of the operation by comparing the two displayed paths. If the key instrument deviates from the reference path by a lot, the doctor can quickly decide whether to recalibrate the instrument, adjust the usage method, or replace the instrument based on the displayed deviation. When dealing with ordinary abnormal surgical instruments, the comparison display can also help the doctor determine whether it is feasible to handle the instrument during the operation interval, and whether it can return to the normal operation trajectory after treatment. During the operation, when an abnormal instrument is found and its movement path and reference path are displayed in comparison, the doctor can flexibly adjust the surgical decision based on this information and the real-time progress of the operation.

[0074] It should be understood that in this embodiment, each key abnormal surgical instrument and each common abnormal surgical instrument are obtained respectively, that is, the parts with positioning deviations in key instruments and common instruments are distinguished from all marked abnormal surgical instruments. According to the positioning deviation evaluation value, each key abnormal surgical instrument and each common abnormal surgical instrument are sorted in order from large to small, and the key instrument processing order and the common instrument processing order are obtained by sorting. If there is a key abnormal surgical instrument, the key abnormal surgical instrument is preferentially visualized in sequence according to the key instrument processing order, because the key instrument has a great impact on the operation, and timely processing of its positioning deviation problem can minimize the interference with the operation and ensure the smooth progress of the operation. For example, for a key abnormal surgical instrument, it may be necessary to stop using the instrument immediately, recalibrate or replace it, etc. If there is no key abnormal surgical instrument, or all key abnormal surgical instruments have been visualized, the common abnormal surgical instruments are further visualized in sequence according to the common instrument processing order. For common abnormal surgical instruments, the urgency of processing is relatively low, but it still needs to be processed in sequence to ensure that the positioning of all instruments is in a reasonable state during the entire operation.

[0075] The second aspect of the present invention provides an AI intelligent assisted data visualization device for tumor surgical treatment, comprising: a memory and a processor, the memory is used to store a computer program, the processor is used to call the computer program, and the computer program includes a method for executing the AI ​​intelligent assisted data visualization method for tumor surgical treatment.

[0076] The optical positioning database is used to store various data related to optical positioning, including critical light interference intensity value, critical electromagnetic interference spectrum value, critical physiological displacement amplitude value, critical signal-to-noise ratio, critical signal loss rate, critical positioning response time, reference position change rate, allowable deviation position change rate, reference direction change angle and allowable deviation direction change angle. The data in the optical positioning database can be obtained from channels such as light intensity sensors, electromagnetic spectrum analyzers, motion sensors, monitoring modules of machine vision imaging devices based on near-infrared light sources, surgical operation recording systems, and professional medical equipment data acquisition and analysis software.

[0077] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that technicians in the relevant technical field can understand and use the present invention well. As long as they do not deviate from the structure of the present invention or exceed the scope defined by the present invention, they should all belong to the protection scope of the present invention.

Claims

1. An AI-assisted data visualization method for tumor surgical treatment, characterized by: include: Conduct preoperative testing on the machine vision imaging device based on near-infrared light source, collect the operation status data of the machine vision imaging device based on near-infrared light source, and determine whether the machine vision imaging device based on near-infrared light source has abnormal risks; If there is no abnormal risk in the machine vision imaging device based on the near-infrared light source, the three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point during the operation is obtained in real time, and the positioning interference factor data is monitored. The positioning deviation range of each surgical instrument is obtained according to the positioning interference factor data processing, and it is determined whether there is a deviation in the positioning of each surgical instrument; Surgical instruments with positioning deviations are marked as abnormal surgical instruments, and each abnormal surgical instrument is visualized.

2. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 1 is characterized in that: The preoperative detection of the machine vision imaging device based on the near-infrared light source is performed to collect the operation status data of the machine vision imaging device based on the near-infrared light source. The specific analysis process is as follows: The operating status data includes the signal-to-noise ratio of the received light, the signal loss rate and the positioning response time; Extracting a preset critical signal-to-noise ratio, a critical signal loss rate, and a critical positioning response time from an optical positioning database; The abnormality evaluation value of the operating state is obtained by combining the results of respectively correcting the difference between the operating state data and its preset reference value with the corresponding weights; The operational state abnormality evaluation value represents quantitative data of the degree to which the signal-to-noise ratio, signal loss rate and positioning response time of the machine vision imaging device based on a near-infrared light source deviate from the normal operational state.

3. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 2 is characterized in that: The specific analysis process of judging whether there is an abnormal risk in the machine vision imaging device based on the near-infrared light source is as follows: Compare the abnormal operation status evaluation value of the machine vision imaging device based on the near-infrared light source with the abnormal operation status evaluation threshold preset in the optical positioning database; if the abnormal operation status evaluation value of the machine vision imaging device based on the near-infrared light source is greater than or equal to the abnormal operation status evaluation threshold, then it is judged that the machine vision imaging device based on the near-infrared light source has an abnormal risk, and provide abnormal warning feedback of the machine vision imaging device based on the near-infrared light source; If the operating state abnormality assessment value of the machine vision imaging device based on near-infrared light source is less than the operating state abnormality assessment threshold, it is judged that there is no abnormality risk in the machine vision imaging device based on near-infrared light source, and no additional operation is performed.

4. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 3 is characterized by: The specific analysis process of the abnormal warning feedback of the machine vision imaging device based on the near-infrared light source is as follows: Subtracting the abnormality evaluation value of the operation state of the machine vision imaging device based on the near-infrared light source from the abnormality evaluation threshold of the operation state preset in the optical positioning database, and comparing the difference with the preset positioning device warning interval, wherein the positioning device warning interval includes a low abnormality interval, a moderate abnormality interval, and a severe abnormality interval; If the difference is in the low abnormal range, a prompt warning is issued and potential interference sources are checked; If the difference is in the moderately abnormal range, an alarm warning is issued and a preliminary inspection of the machine vision imaging device based on the near-infrared light source is performed; If the difference is in the severe abnormal range, an emergency alarm warning will be issued, and the use of the machine vision imaging device based on the near-infrared light source will be stopped, and a backup machine vision imaging device based on the near-infrared light source will be switched.

5. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 1 is characterized in that: The real-time acquisition of the three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point during the operation, the specific analysis process is as follows: The three-dimensional coordinate positioning data includes the coordinates of each positioning point of each surgical instrument; The coordinates of each positioning point of each surgical instrument at the current time monitoring point and the adjacent time monitoring points are extracted respectively, and the position change rate of each positioning point is obtained according to the distance between the positioning point coordinates and the time interval of the adjacent time monitoring points, and the position change rate of each positioning point of each surgical instrument is averaged to obtain the position change rate of each surgical instrument at the current time monitoring point; The line connecting the positioning points at the farthest ends of each surgical instrument is marked as the surgical instrument tilt reference line, and the minimum angle between the surgical instrument tilt reference lines at the current time monitoring point and the adjacent time monitoring point is obtained, which is marked as the direction change angle of each surgical instrument at the current time monitoring point.

6. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 1 is characterized in that: The positioning deviation range of each surgical instrument is obtained by processing the positioning interference factor data. The specific analysis process is as follows: The positioning interference factor data includes light interference intensity value, electromagnetic interference spectrum value and physiological displacement amplitude value; Extracting preset critical light interference intensity values, critical electromagnetic interference spectrum values, and critical physiological displacement amplitude values ​​from an optical positioning database; The positioning interference deviation value is obtained by combining the results of respectively correcting the positioning interference factor data with the difference degree between the positioning interference factor data and the preset reference value with the corresponding weights; The positioning interference deviation value represents the quantitative data of the positioning interference factor data with respect to the deviation range, and the deviation range represents the range of deviation caused by the positioning of the surgical instrument due to the existence of the positioning interference factor.

7. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 6 is characterized by: The specific analysis process of judging whether there is a deviation in the positioning of each surgical instrument is as follows: Extracting preset reference position change rate, reference direction change angle, allowable deviation position change rate and allowable deviation direction change angle from an optical positioning database; According to the three-dimensional coordinate positioning data and positioning interference deviation value of each surgical instrument at each time monitoring point, the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point is obtained, and real-time correction is performed, and the positioning deviation evaluation value of each surgical instrument at the current time monitoring point is obtained by comprehensive processing. The positioning deviation evaluation value is used to quantitatively evaluate the degree of deviation of the surgical instrument from the ideal positioning state at each time monitoring point; Compare the positioning deviation evaluation value of any surgical instrument with the positioning deviation evaluation threshold preset in the optical positioning database; if the positioning deviation evaluation value is greater than or equal to the positioning deviation evaluation threshold, determine that there is a deviation in the positioning of the surgical instrument, and obtain the importance level of the surgical instrument; If the positioning deviation evaluation value of any surgical instrument is less than the positioning deviation evaluation threshold, it is determined that there is no deviation in the positioning of the surgical instrument and no additional operation is performed.

8. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 7 is characterized in that: The reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point is obtained and corrected in real time. The specific analysis process is as follows: The reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point includes the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point; A reference time period is preset, and the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point within the reference time period are collected as reference points. The distances between the actual coordinates of each positioning point at the current time monitoring point and the estimated coordinates of each positioning point at each time monitoring point in the reference time period are extracted respectively, and the estimated coordinates of the positioning point corresponding to the minimum distance within the reference time period are marked as the positioning point reference coordinates. The reference coordinates of each positioning point of each surgical instrument at the current time monitoring point are counted to obtain the corrected reference three-dimensional coordinate positioning data of each surgical instrument.

9. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 1 is characterized by: The specific analysis process of visualizing each abnormal surgical instrument is as follows: The importance levels of the surgical instruments include key instruments and common instruments, and each key abnormal surgical instrument and each common abnormal surgical instrument are obtained; According to the positioning deviation evaluation value, each key abnormal surgical instrument and each common abnormal surgical instrument are sorted in order from large to small, and the key instrument processing order and the common instrument processing order are obtained. If there is a key abnormal surgical instrument, the key abnormal surgical instrument is visualized in turn according to the key instrument processing order; If there are no critical abnormal surgical instruments or all critical abnormal surgical instruments have been visualized, the common abnormal surgical instruments are further visualized in sequence according to the processing order of common instruments.

10. An AI-assisted data visualization device for tumor surgical treatment, characterized in that: include: A memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call the computer program, wherein the computer program includes a method for executing an AI intelligent assisted data visualization method for tumor surgical treatment as described in any one of claims 1-9.

Images