AI Intelligent Assistant Data Visualization Method and Device for Tumor Surgical Treatment

Abstract

The present invention discloses an AI intelligent-assisted data visualization method and device for tumor surgical treatment, which relates to the technical field of medical devices, and includes: performing preoperative detection on a machine vision imaging device based on a near-infrared light source, collecting the operation status data of the machine vision imaging device based on the near-infrared light source, and determining whether there is an abnormal risk in the machine vision imaging device based on the near-infrared light source; if there is no abnormal risk in the machine vision imaging device based on the near-infrared light source, then obtaining in real time the three-dimensional coordinate positioning data of each surgical instrument at each intraoperative time monitoring point, monitoring the positioning interference factor data, processing the positioning interference factor data to obtain the positioning deviation range of each surgical instrument, and determining whether there is a deviation in the positioning of each surgical instrument; marking the surgical instruments with positioning deviations as abnormal surgical instruments, and performing visualization processing on each abnormal surgical instrument, thus solving the problems existing in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, 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 rising incidence of tumors, the requirements for the accuracy and safety of tumor surgical treatment are increasing day by day. As an emerging medical means, 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. The AI intelligent assisted data visualization method for tumor surgical treatment usually involves parts such as an optical tracking and positioning device, an image processing algorithm, a data fusion technology, and a visualization interface.

[0003] In the current prior art, in the AI intelligent assisted data visualization for tumor surgical treatment, the surgical navigation system uses an optical tracking and positioning device to track the position of the surgical instrument in real time and feedback it to the navigation system, so as to realize the real-time update and display of the surgical instrument.

[0004] For example, the invention patent with the publication number CN111281540B discloses a real-time visualization navigation system for minimally invasive orthopedic surgery based on virtual-real fusion, including: an NDI Polaris optical tracking device: used to obtain the 6-degree-of-freedom pose information of the marked points in the real three-dimensional space; an optical tracking device bracket: used to support the optical tracking device (NDI Polaris) so that the optical tracking device can be placed at the designated position at any angle; a depth camera: used to obtain the frontal and lateral video data and video depth information during the operation; a display: used to display the pose of the tracked surgical instrument during the operation in the frontal video, lateral video, and three-dimensional virtual model in real time, so as to realize the "visualization" of minimally invasive surgery; a video device bracket: used to support the depth camera and display device and fix them at the designated position; a 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 the publication number CN108430373B discloses a device and method for tracking the position of an endoscope in a patient's body, including determining the position of the endoscope in the patient's body in the coordinate system of the endoscope, capturing a reference marker attached to the endoscope in an image by 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 on 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, it is found that the above technologies have at least the following technical problems: In the prior art, surgical instruments are positioned by an optical tracking and positioning device, but there are problems such as easy interference of optical signals and large positioning errors. In addition, the existing system lacks pre-operative detection of the positioning device and does not combine the navigation path planned before surgery for deviation feedback, resulting in a relatively high risk of deviation of the surgical path. Summary of the Invention

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

[0008] To achieve the above objectives, the present invention is realized through the following technical solutions: In the first aspect of the present invention, an AI intelligent auxiliary data visualization method for tumor surgical treatment is provided, including: performing pre-operative detection on a machine vision imaging device based on a near-infrared light source, collecting operation status data of the machine vision imaging device based on the near-infrared light source, and determining whether there is an abnormal risk for the machine vision imaging device based on the near-infrared light source.

[0009] If there is no abnormal risk for the machine vision imaging device based on the near-infrared light source, then obtain the three-dimensional coordinate positioning data of each surgical instrument at each intraoperative time monitoring point in real time, monitor the positioning interference factor data, process the positioning interference factor data to obtain the positioning deviation range of each surgical instrument, and determine whether there is a deviation in the positioning of each surgical instrument.

[0010] Mark the surgical instruments with positioning deviations as abnormal surgical instruments and perform visualization processing on each abnormal surgical instrument.

[0011] As a further method, the process of performing pre-operative detection on the machine vision imaging device based on the near-infrared light source and collecting the operation status data of the machine vision imaging device based on the near-infrared light source is specifically as follows: The operation status data includes the signal-to-noise ratio of the received light, the signal loss rate, and the positioning response time; extract the preset critical signal-to-noise ratio, critical signal loss rate, and critical positioning response time from the optical positioning database; combine the results of respectively correcting the difference degree between the operation status data and its preset reference value with corresponding weights to obtain an operation status abnormal evaluation value; the operation status abnormal evaluation value represents the quantitative data of the degree to which the signal-to-noise ratio, signal loss rate, and positioning response time deviate from the normal operation state of the machine vision imaging device based on the near-infrared light source.

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

[0013] As a further method, the specific analysis process for carrying out the abnormal warning feedback for the machine vision imaging device based on a near-infrared light source is as follows: Subtract the abnormal operation evaluation value of the machine vision imaging device based on a near-infrared light source from the preset abnormal operation evaluation threshold in the optical positioning database, and compare the difference with the preset warning range of the positioning device. The warning range of the positioning device includes a low-abnormality range, a moderate-abnormality range, and a severe-abnormality range; if the difference is within the low-abnormality range, a prompt warning is issued, and potential interference sources are checked; if the difference is within the moderate-abnormality range, an alarm warning is issued, and a preliminary detection of the machine vision imaging device based on a near-infrared light source is carried out; if the difference is within the severe-abnormality range, an emergency alarm warning is issued, and the use of the machine vision imaging device based on a near-infrared light source is stopped, and a standby machine vision imaging device based on a near-infrared light source is switched.

[0014] As a further method, the specific analysis process for real-time obtaining the three-dimensional coordinate positioning data of each surgical instrument at each intraoperative time monitoring point is as follows: The three-dimensional coordinate positioning data includes the coordinates of each positioning point of each surgical instrument; extract the coordinates of each positioning point of each surgical instrument at the current time monitoring point and the adjacent time monitoring point respectively. According to the distance between the positioning point coordinates and the time interval between adjacent time monitoring points, the position change rate of each positioning point is processed, and the position change rates of each positioning point of each surgical instrument are averaged to obtain the position change rate of each surgical instrument at the current time monitoring point; connect the positioning points at the two farthest ends of each surgical instrument to mark it as the surgical instrument tilt reference line, and obtain the minimum angle between the surgical instrument tilt reference lines at the current time monitoring point and the adjacent time monitoring point, which is marked as the direction change angle of each surgical instrument at the current time monitoring point.

[0015] As a further method, the positioning deviation ranges of each surgical instrument are obtained according to the positioning interference factor data, and the specific analysis process is as follows: The positioning interference factor data includes the light interference intensity value, the electromagnetic interference spectrum value, and the physiological displacement amplitude value; the preset critical light interference intensity value, the critical electromagnetic interference spectrum value, and the critical physiological displacement amplitude value are extracted from the optical positioning database; by combining the results of respectively correcting the difference degrees between the positioning interference factor data and their preset reference values with corresponding weights, a positioning interference deviation value is obtained; 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 where the positioning of the surgical instrument is deviated due to the existence of the positioning interference factor.

[0016] As a further method, the specific analysis process for determining whether there is a deviation in the positioning of each surgical instrument is as follows: The preset reference position change rate, the reference direction change angle, the allowable deviation position change rate, and the allowable deviation direction change angle are extracted from the optical positioning database; according to the three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point and the positioning interference deviation value, the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point is obtained and corrected in real time, and through comprehensive processing, the positioning deviation evaluation value of each surgical instrument at the current time monitoring point is obtained, and the positioning deviation evaluation value is used to quantitatively evaluate the deviation degree of the surgical instrument from the ideal positioning state at each time monitoring point; the positioning deviation evaluation value of any surgical instrument is compared with the preset positioning deviation evaluation threshold 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.

[0017] As a further method, the specific analysis process for obtaining the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point and performing real-time correction 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 preset reference time period is set, 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 within 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 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 to obtain the corrected reference three-dimensional coordinate positioning data of each surgical instrument.

[0018] As a further method, visual processing is performed on each abnormal surgical instrument, and the specific analysis process is as follows: The importance level of the surgical instrument includes critical instruments and ordinary instruments. Each critical abnormal surgical instrument and each ordinary abnormal surgical instrument are obtained; according to the positioning deviation evaluation value, each critical abnormal surgical instrument and each ordinary abnormal surgical instrument are sorted in descending order to obtain the critical instrument processing order and the ordinary instrument processing order. If there are critical abnormal surgical instruments, visual processing is sequentially performed on the critical abnormal surgical instruments according to the critical instrument processing order; if there are no critical abnormal surgical instruments or all critical abnormal surgical instruments have been visually processed, visual processing is further sequentially performed on the ordinary abnormal surgical instruments according to the ordinary instrument processing order.

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

[0021] (1) By real-time monitoring and analyzing the data of positioning interference factors such as the light interference intensity value, electromagnetic interference spectrum value, and physiological displacement amplitude value of the machine vision imaging device based on a near-infrared light source, and combining the preset reference value and allowable deviation value, the positioning interference deviation value is calculated, and then based on this value, the positioning deviation range of the surgical instrument is evaluated, realizing the precise quantitative analysis of the positioning interference of the surgical instrument, and greatly improving the stability and reliability of the surgical instrument positioning.

[0022] (2) By obtaining the three-dimensional coordinate positioning data of the surgical instrument at each time monitoring point, calculating the position change rate and the direction change angle, and comparing them with the reference value, and at the same time combining the positioning interference deviation value, the positioning deviation evaluation value is comprehensively processed, and then compared with the preset positioning deviation evaluation threshold to determine whether there is a deviation in the surgical instrument positioning, realizing the precise judgment of the surgical instrument positioning deviation, and further realizing the more effective monitoring of the surgical instrument positioning state, avoiding affecting the surgical process and effect due to the positioning deviation.

[0023] (3) By classifying the surgical instruments with positioning deviations into critical abnormal surgical instruments and ordinary abnormal surgical instruments according to the importance level, sorting them respectively according to the positioning deviation evaluation value, and sequentially performing visual processing in the order of critical instruments first and ordinary instruments later, realizing the efficient and orderly processing of abnormal surgical instruments, reasonably allocating processing resources, improving the efficiency of dealing with instrument positioning abnormalities during the operation, and ensuring the smooth progress of the operation.

[0024] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic flowchart of the method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0028] Referring to Figure 1 As shown, in a first aspect of the present invention, there is provided an AI intelligent-assisted data visualization method for tumor surgical treatment, including: performing preoperative detection on a machine vision imaging device based on a near-infrared light source, collecting operation state data of the machine vision imaging device based on the near-infrared light source, and determining whether there is an abnormal risk in the machine vision imaging device based on the near-infrared light source.

[0029] In this embodiment, the machine vision imaging device based on the near-infrared light source is detected before the operation to obtain the operation state data of the machine vision imaging device based on the near-infrared light source.

[0030] Specifically, preoperative detection is performed on a machine vision imaging device based on a near-infrared light source, and the operating state data of the machine vision imaging device based on the near-infrared light source is collected. The specific analysis process is as follows: The operating state 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, critical signal loss rate, and critical positioning response time are extracted from the optical positioning database; by combining the results of respectively correcting the degree of difference between the operating state data and its preset reference value with corresponding weights, an operating state anomaly evaluation value is obtained; the operating state anomaly evaluation value represents the quantitative data of the degree to which the signal-to-noise ratio, signal loss rate, and positioning response time deviate from the normal operating state of the machine vision imaging device based on the near-infrared light source.

[0031] It should be understood that in this embodiment, the signal-to-noise ratio refers to the ratio of the signal power to the noise power during the process of the machine vision imaging device based on the near-infrared light source receiving light. The signal-to-noise ratio is an index for measuring the relative intensity of the effective information and interference information in the signal. The higher the signal-to-noise ratio, the stronger the signal light relative to the noise light, the better the signal quality, and the machine vision imaging device based on the near-infrared light source can more accurately extract information such as the position of the target object from the received optical signal, thereby improving the accuracy and reliability of positioning; the lower the signal-to-noise ratio, the effective information in the signal will be submerged by the noise, resulting in an increase in positioning errors and even possibly being unable to accurately obtain the position of the target object.

[0032] In this embodiment, the signal loss rate refers to the proportion of the machine vision imaging device based on the near-infrared light source that fails to receive an effective signal within a specified time. The signal loss rate directly reflects the integrity and stability of the signal received by the machine vision imaging device based on the near-infrared light source. The lower the signal loss rate, the more stable the machine vision imaging device based on the near-infrared light source can receive most signals, and the positioning system can continuously and accurately obtain the position information of the target object; the higher the signal loss rate, the more signals fail to be received, resulting in missing or discontinuous positioning data, seriously affecting the accuracy and reliability of positioning, and may prevent the doctor from timely and accurately understanding the position of the surgical instrument or the lesion site.

[0033] In this embodiment, the positioning response time refers to the time interval required from when the machine vision imaging device based on the near-infrared light source receives a positioning request to when an accurate positioning result is given. The shorter the positioning response time, the more timely the doctor can obtain the accurate position information of the instrument during the operation of the surgical instrument, thereby making more precise operation decisions and improving the efficiency and safety of the surgery; 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 surgical risk.

[0034] 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 an error rate tester; the positioning response time can be obtained through performance testing software; the critical signal-to-noise ratio, the critical signal loss rate, and the critical positioning response time can be directly obtained from the optical positioning database.

[0035] In a specific embodiment, the method for obtaining the abnormal operation state evaluation value is as follows:

[0036] ;

[0037] ;

[0038] In the formula, represents the abnormal operation state evaluation value of the machine vision imaging device based on a near-infrared light source, represents the signal-to-noise ratio of the machine vision imaging device based on a near-infrared light source, represents the preset critical signal-to-noise ratio, represents the signal loss rate of the machine vision imaging device based on a near-infrared light source, represents the preset critical signal loss rate, represents the positioning response time of the machine vision imaging device based on a near-infrared light source, represents the preset critical positioning response time, represents the preset signal-to-noise ratio weighting factor, represents the preset signal loss rate weighting factor, represents the preset positioning response time weighting factor.

[0039] , and When in use, the weight factors corresponding to the signal-to-noise ratio, signal loss rate, and positioning response time during the process of obtaining the abnormal operation evaluation value of the operating state can be directly obtained from the optical positioning database. The signal-to-noise ratio weight factor, signal loss rate weight factor, and positioning response time weight factor respectively represent the numerical values of the influence degrees of the signal-to-noise ratio, signal loss rate, and positioning response time on the abnormal operation evaluation value of the operating state. The signal-to-noise ratio weight factor, signal loss rate weight factor, positioning response time weight factor, and signal-to-noise ratio, signal loss rate, and positioning response time can be a preset mapping relationship. For example, the signal-to-noise ratio, signal loss rate, and positioning response time are respectively input into the corresponding preset mapping sets to obtain the weight factors during the process of obtaining the abnormal operation evaluation value corresponding to the signal-to-noise ratio, signal loss rate, and positioning response time, and the mapping relationship therein can be a one-to-one correspondence or a many-to-one relationship. In this embodiment, the value ranges of the signal-to-noise ratio weight factor, signal loss rate weight factor, and positioning response time weight factor are all limited between 0 and 1, and the sum of the signal-to-noise ratio weight factor, signal loss rate weight factor, and positioning response time weight factor is 1.

[0040] In this embodiment, the abnormal operation evaluation value of the operating state 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 operating 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 operating state.

[0041] 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 operation 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 accordingly. 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 degree of signal interference increases, resulting in the signal being more likely to be lost during transmission and processing; as the signal-to-noise ratio decreases, the positioning response time increases accordingly, because a low signal-to-noise ratio will reduce the clarity and stability of the signal, and the positioning system needs more time to analyze and process the signal to determine the position; as the signal loss rate increases, the positioning response time increases accordingly, because after the signal is lost, the system needs to wait for supplementary signals or perform additional processing, such as resending requests to obtain signals, etc., thereby increasing the positioning response time. By comprehensively analyzing the signal-to-noise ratio, signal loss rate, and positioning response time, the abnormal operation evaluation value of the operating state can be accurately obtained, which quantitatively reflects the deviation degree between the actual operating state and the normal operating state of the machine vision imaging device based on the near-infrared light source.

[0042] Specifically, to determine whether there is an abnormal risk in the machine vision imaging device based on a near-infrared light source, the specific analysis process is as follows: Compare the abnormal operation evaluation value of the machine vision imaging device based on a near-infrared light source with the preset abnormal operation evaluation threshold in the optical positioning database. If the abnormal operation evaluation value of the machine vision imaging device based on a near-infrared light source is greater than or equal to the abnormal operation evaluation threshold, it is determined that there is an abnormal risk in the machine vision imaging device based on a near-infrared light source, and an abnormal warning feedback for the machine vision imaging device based on a near-infrared light source is carried out; if the abnormal operation evaluation value of the machine vision imaging device based on a near-infrared light source is less than the abnormal operation evaluation threshold, it is determined that there is no abnormal risk in the machine vision imaging device based on a near-infrared light source, and no additional operation is performed.

[0043] It should be understood that in this embodiment, the abnormal operation evaluation threshold is a preset reference standard stored in the optical positioning database, which is determined based on the normal working parameter range of the machine vision imaging device based on a near-infrared light source and the strict requirements of tumor surgery for positioning accuracy and stability, and is the key boundary for judging whether the device is operating normally.

[0044] In this embodiment, the abnormal operation evaluation value of the machine vision imaging device based on a near-infrared light source is compared with the abnormal operation evaluation threshold. When the abnormal operation evaluation value is greater than or equal to the abnormal operation evaluation threshold, it means that the operation state of the machine vision imaging device based on a 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 an abnormal warning feedback is required so that relevant personnel can take measures in time to avoid affecting the surgery. If the abnormal operation evaluation value is less than the abnormal operation evaluation threshold, it indicates that the machine vision imaging device based on a near-infrared light source is operating normally, no additional operation is required, and the surgery can proceed smoothly as planned.

[0045] Specifically, for the abnormal warning feedback of the machine vision imaging device based on a near-infrared light source, the specific analysis process is as follows: Subtract the abnormal operation evaluation value of the machine vision imaging device based on a near-infrared light source from the preset abnormal operation evaluation threshold in the optical positioning database, and compare the difference with the preset warning interval of the positioning device. The warning interval of the positioning device 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 is carried out on the machine vision imaging device based on a near-infrared light source; 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 a near-infrared light source is stopped, and a standby machine vision imaging device based on a near-infrared light source is switched.

[0046] It should be understood that in this embodiment, the difference between the abnormal operation evaluation value of the machine vision imaging device based on the near-infrared light source and the preset abnormal operation evaluation threshold in the optical positioning database can intuitively reflect the deviation degree 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 precisely, providing a quantitative basis for subsequent early warning and treatment measures.

[0047] In this embodiment, when the difference is in the low-abnormality interval, a prompt early warning is issued to remind relevant personnel to check potential interference sources, such as whether there is electromagnetic interference generated by other electronic devices and whether the surrounding environmental light is abnormal; when the difference is in the moderate-abnormality interval, an alarm early warning is issued, and at this time, a preliminary detection of the machine vision imaging device based on the near-infrared light source is required, such as checking whether the hardware connection of the device is loose and whether the software operation fails, etc.; when the difference is in the severe-abnormality interval, an emergency alarm early warning is issued, and at the same time, the use of the machine vision imaging device based on the near-infrared light source is immediately stopped, and a standby machine vision imaging device based on the near-infrared light source is switched to avoid serious impacts on subsequent tumor surgeries due to device abnormalities.

[0048] If there is no abnormal risk for 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. According to the positioning interference factor data, the positioning deviation range of each surgical instrument is processed, and it is judged whether there is a deviation in the positioning of each surgical instrument.

[0049] In this embodiment, the positioning interference factor data is a series of data that affects the positioning accuracy of the surgical instrument by the machine vision imaging device based on the near-infrared light source during tumor surgery, mainly including the light interference intensity value, the electromagnetic interference spectrum value, and the physiological displacement amplitude value, which interfere with the positioning of the surgical instrument from different aspects.

[0050] 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 respectively extracted, and according to the distance between the positioning point coordinates and the time interval between adjacent time monitoring points, the position change rate of each positioning point is processed, 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 connection line of the positioning points at the two farthest ends of each surgical instrument is marked as the surgical instrument tilt reference line, and the minimum included angle between the surgical instrument tilt reference lines 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.

[0051] 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 is to accurately track and analyze the position of the surgical instrument, and then determine whether there is a deviation in its positioning to ensure the accurate progress 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 combination of the coordinates of these positioning points can more accurately reflect the position of the surgical instrument in space.

[0052] 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, and the displacement between the two points is calculated by the distance formula between two points in three-dimensional space. At the same time, the time interval between these two adjacent time points is determined, and the displacement is divided by the time interval to obtain the position change rate of the positioning point, that is, the displacement change per unit time. For the surgical instrument level, since a surgical instrument has multiple positioning points, the average rate of multiple positioning points is obtained to obtain the value of the overall position change rate of the surgical instrument, avoiding the influence of errors caused by special situations (such as local interference) of a single positioning point on the result.

[0053] It should be understood that in this embodiment, the connection lines of the positioning points at the two farthest ends of each surgical instrument are connected, and this connection line is marked as the surgical instrument inclination reference line. The inclination reference lines of each surgical instrument at the current time monitoring point and the adjacent time monitoring point are obtained respectively, and the included angle between the inclination reference lines at the two time points is obtained. Since there are two included angles (complementary relationship) between the two lines, the smallest included angle is selected, and the smallest included angle between the inclination reference lines of each surgical instrument at the current time monitoring point and the adjacent time monitoring point obtained is marked as the direction change angle of each surgical instrument at the current time monitoring point.

[0054] Specifically, the positioning deviation range of each surgical instrument is obtained according to the processing of the positioning interference factor data. The specific analysis process is as follows: the positioning interference factor data includes the light interference intensity value, the electromagnetic interference spectrum value, and the physiological displacement amplitude value; the preset critical light interference intensity value, the critical electromagnetic interference spectrum value, and the critical physiological displacement amplitude value are extracted from the optical positioning database; the positioning interference deviation value is obtained by combining the results of respectively correcting the difference degree between the positioning interference factor data and its preset reference value with the 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.

[0055] In this embodiment, the positioning interference factor data includes the light interference intensity value, the electromagnetic interference spectrum value, and the physiological displacement amplitude value. During the operation, 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 all interfere with the signal received by the machine vision imaging device based on the near-infrared light source for the surgical instrument. The electromagnetic interference spectrum value reflects the frequency distribution of various electromagnetic signals present in the surgical environment. Since many medical devices generate electromagnetic radiation, this radiation may interfere with the transmission and reception of the surgical instrument positioning signal. The physiological displacement amplitude value reflects the minute displacements caused by physiological activities such as breathing and heartbeat of the patient during the operation. Such displacements may cause the surgical instrument to deviate from the target position.

[0056] It should be understood that in this embodiment, the light interference intensity value can usually be measured by a light intensity meter or a photometer. These tools can detect the intensity and distribution of light, thereby evaluating whether the light environment in the operating room meets the requirements. The electromagnetic interference spectrum value can be measured by a spectrum analyzer. In the operating room environment, a spectrum analyzer can be used to detect and analyze the 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 physiological activities of the patient, such as breathing and heartbeat, and calculate the resulting minute displacements.

[0057] 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 advice and can be directly obtained from the optical positioning database.

[0058] In a specific embodiment, the method for obtaining the positioning interference deviation value is as follows:

[0059] ;

[0060] ;

[0061] In the formula, represents the positioning interference deviation value, represents the light interference intensity value, represents the preset critical light interference intensity value, represents the electromagnetic interference spectrum value, represents the preset critical electromagnetic interference spectrum value, represents the physiological displacement amplitude value, represents the preset critical physiological displacement amplitude value, represents the preset light interference intensity value weighting factor, represents a preset weight factor for the electromagnetic interference spectrum value represents a preset weight factor for the physiological displacement amplitude value.

[0062] 、 and During use, the weight factors corresponding to the light interference intensity value, electromagnetic interference spectrum value, and physiological displacement amplitude value can be directly obtained from the optical positioning database. The weight factor for the light interference intensity value, the weight factor for the electromagnetic interference spectrum value, and the weight factor for the physiological displacement amplitude value respectively represent the numerical values of the influence degrees of the light interference intensity value, electromagnetic interference spectrum value, and physiological displacement amplitude value on the positioning interference deviation value. The weight factor for the light interference intensity value, the weight factor for the electromagnetic interference spectrum value, the weight factor for the physiological displacement amplitude value, and the light interference intensity value, electromagnetic interference spectrum value, and physiological displacement amplitude value can be a preset mapping relationship. For example, by inputting the light interference intensity value, electromagnetic interference spectrum value, and physiological displacement amplitude value into the corresponding preset mapping sets respectively, the weight factors during the process of obtaining the positioning interference deviation values corresponding to the light interference intensity value, electromagnetic interference spectrum value, and physiological displacement amplitude value are obtained. The mapping relationship therein can be one-to-one or a many-to-one relationship. In this embodiment, the value ranges of the weight factor for the light interference intensity value, the weight factor for the electromagnetic interference spectrum value, and the weight factor for the physiological displacement amplitude value are all limited between 0 and 1, and the sum of the weight factor for the light interference intensity value, the weight factor for the electromagnetic interference spectrum value, and the weight factor for the physiological displacement amplitude value is 1.

[0063] In this embodiment, the positioning interference deviation value is used to quantitatively evaluate the range of the positioning deviation of the positioning interference factors on 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 range of the positioning deviation of the positioning interference factors on the surgical instrument.

[0064] 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 affect each other. As the light interference intensity value increases, the influence degree 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 reception 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 the light interference causes the accuracy of the positioning device to decrease. In this case, a small change in the physiological displacement amplitude of the patient may also cause a greater 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 the 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 also increases, because the electromagnetic interference makes the positioning signal unstable, and the position change caused by the physiological displacement of the patient will be amplified in this unstable positioning system, resulting in a greater positioning deviation. As the physiological displacement amplitude value increases, the influence of the light interference intensity value on the positioning deviation range becomes more significant, because a larger physiological displacement will make the position change of the surgical instrument more complex. At this time, the interference effect of the 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 also increases, because the physiological displacement causes a rapid change in the position of the surgical instrument, and the positioning system needs to process the signal more quickly and accurately, while the electromagnetic interference will affect the speed and accuracy of signal processing, resulting in a greater positioning deviation. By comprehensively analyzing the light interference intensity value, the electromagnetic interference spectrum value, and the physiological displacement amplitude value, the positioning interference deviation value can be accurately obtained, which quantitatively reflects the influence degree of the positioning interference factors on the positioning deviation range of the surgical instrument.

[0065] Specifically, to determine whether there are deviations in the positioning of each surgical instrument, the specific analysis process is as follows: 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; according to the three-dimensional coordinate positioning data and positioning interference deviation values of each surgical instrument at each time monitoring point, obtain the reference three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point and perform real-time correction, and comprehensively process to obtain the positioning deviation evaluation value of each surgical instrument at the current time monitoring point, where 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 preset positioning deviation evaluation threshold 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.

[0066] 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 are set on the surgical instrument, and the coordinate combinations of the multiple positioning points reflect the position state of the surgical instrument in the three-dimensional space. Taking a tumor resection operation as an example, the coordinate data of multiple positioning points on the surgical knife can determine the position and posture of the knife in space. When planning the preoperative route, based on information such as the tumor position, the distribution of surrounding tissues and organs of the patient, and in combination with the surgical goal, the ideal position and movement trajectory of the surgical instrument at each stage are determined. The coordinate data corresponding to this ideal movement trajectory is an important part of the planned route. The reference three-dimensional coordinate positioning data is a reference standard used to compare and judge in real time 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 this time period are collected as reference points. Then, 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 within 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 reference coordinates of the positioning point. The reference coordinates of each positioning point of each surgical instrument at the current time monitoring point are statistically analyzed to obtain the corrected reference three-dimensional coordinate positioning data of each surgical instrument. For example, in a complex tumor operation, the time period from 5 to 10 minutes after the start of the operation is set as the reference time period, and the estimated coordinates of each positioning point of the surgical instrument during this period are continuously recorded. During the subsequent operation, the reference three-dimensional coordinate positioning data is continuously corrected according to the above method to make it more in line with the actual operation situation. According to the three-dimensional coordinate positioning data and the positioning interference deviation value of each surgical instrument at each time monitoring point, and in combination with the reference three-dimensional coordinate positioning data for comprehensive processing, the positioning deviation evaluation value of each surgical instrument at the current time monitoring point can be obtained. By comparing the positioning deviation evaluation value with the preset positioning deviation evaluation threshold, it is judged whether there is a deviation in the positioning of the surgical instrument, and a decision is made whether to intervene in the positioning state of the surgical instrument.

[0067] It should be understood that in this embodiment, preset reference data is extracted from the optical positioning database. These data include the position change rate (reference position change rate), the direction change angle (reference direction change angle) of the surgical instrument in the ideal state, 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, while the positioning interference deviation value reflects the influence degree of various interference factors on the positioning. The obtained reference three-dimensional coordinate positioning data is corrected in real time. Since various interference factors may exist during the surgical process, real-time correction can make the reference data more in line 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 brought by the interference factors.

[0068] In a specific embodiment, the obtaining method of the positioning deviation evaluation value is as follows:

[0069] ;

[0070] ;

[0071] ;

[0072] ;

[0073] ;

[0074] In the formula, represents the positioning deviation evaluation value, represents the position change rate deviation value, represents the direction change angle deviation value, represents the positioning interference deviation value, represents the position change rate, represents the preset reference position change rate, represents the preset allowable deviation position change rate, represents the direction change angle, represents the preset reference direction change angle, represents the preset allowable deviation direction change angle, represents the preset weight factor of the position change rate deviation value, represents the preset weight factor of the direction change angle deviation value, represents the preset weight factor of the three-dimensional coordinate positioning data, represents the preset weight factor of the positioning interference deviation value, and e represents the natural constant.

[0075] , and When in use, the weight factors corresponding to the position change rate, the direction change angle, and the positioning interference deviation value in the positioning deviation evaluation 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 degrees 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 preset 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 sets to obtain the weight factors in the process of the positioning deviation evaluation value corresponding to the position change rate, the direction change angle, and the positioning interference deviation value, and the mapping relationship therein can be one-to-one or a many-to-one relationship. 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 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, and 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.

[0076] In this embodiment, the positioning deviation evaluation value is used to quantitatively evaluate the deviation degree 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 degree of the surgical instrument from the ideal positioning state at this time monitoring point.

[0077] In this embodiment, the algorithm 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 deviation between the direction change angle and the reference direction change angle on the deviation degree of the surgical instrument positioning 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 a vehicle is traveling too fast (large deviation of the position change rate), a slight turn (deviation of the direction change angle) may cause the driving route to deviate significantly. In addition, as the deviation between the position change rate and the reference position change rate increases, the influence of the positioning interference deviation value on the deviation degree of the surgical instrument positioning also increases, because the larger the deviation of the position change rate, the more unstable the motion of the surgical instrument in space may be, which leads to the interference factors represented by the positioning interference deviation value (such as light interference, electromagnetic interference, etc.) being 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 deviation between the position change rate and the reference position change rate on the deviation degree of the surgical instrument positioning becomes more obvious. Because when the deviation of the direction change angle is larger, the motion direction of the surgical instrument has deviated from the ideal direction. At this time, the deviation of the position change rate will further exacerbate its deviation in the 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 deviation degree of the surgical instrument positioning is also enhanced. For example, when the direction changes, it may cause the receiving angle of the machine vision imaging device based on the near-infrared light source to change, making it more vulnerable to the influence of 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 deviation degree of the surgical instrument from the ideal positioning state at a certain time monitoring point.

[0078] In this embodiment, the positioning deviation evaluation value of any surgical instrument is compared with the preset positioning deviation evaluation threshold 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 the positioning of the surgical instrument is deviated. At this time, the importance level of the surgical instrument is further obtained to take corresponding measures 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 determined that the positioning of the surgical instrument is not deviated, and no additional operation is performed, and the operation can continue according to the normal process.

[0079] 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 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 preset reference time period is set, 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 of each surgical instrument at each time monitoring point within the reference time period are respectively extracted. The estimated coordinates of the positioning point corresponding to the minimum distance within 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 statistically analyzed to obtain the corrected reference three-dimensional coordinate positioning data of each surgical instrument.

[0080] It should be understood that in this embodiment, a reference time period is preset. During 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 surgery, the time period from 5 to 10 minutes after the start of the surgery 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 distances between the actual coordinates of each positioning point and the estimated coordinates of each positioning point of each surgical instrument at each time monitoring point within the reference time period are respectively extracted. By calculating the distances, the spatial proximity between the current actual positioning and each reference point can be measured, and the minimum value is found and the estimated coordinates of the positioning point corresponding to the minimum distance are marked as the reference coordinates of the positioning point. After marking 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 statistically integrated.

[0081] The surgical instruments with positioning deviations are marked as abnormal surgical instruments, and visual processing is performed on each abnormal surgical instrument.

[0082] Specifically, for visual processing of each abnormal surgical instrument, the specific analysis process is as follows: The importance level of the surgical instrument includes key instruments and ordinary instruments. Each key abnormal surgical instrument and each ordinary abnormal surgical instrument are obtained; According to the positioning deviation evaluation value, each key abnormal surgical instrument and each ordinary abnormal surgical instrument are sorted in descending order to obtain the processing order of key instruments and the processing order of ordinary instruments. If there are key abnormal surgical instruments, the key abnormal surgical instruments are sequentially subjected to visual processing according to the processing order of key instruments; If there are no key abnormal surgical instruments or all key abnormal surgical instruments have been visually processed, then the ordinary abnormal surgical instruments are sequentially subjected to visual processing according to the processing order of ordinary instruments.

[0083] 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 status has deviated from the ideal state, which may have an adverse impact on the progress of the surgery and further treatment is required.

[0084] In this embodiment, before the surgery, surgical instruments are classified into critical instruments and ordinary instruments according to the importance level of the surgical instruments. Critical instruments usually refer to the instruments that play a key role in the success of the surgery. For example, in a tumor resection surgery, a special tool for precisely removing tumor tissue; ordinary instruments are those that have relatively less impact on the surgical process, such as some auxiliary clamping tools.

[0085] In this embodiment, during the surgery, the surgical instruments used within the same time period are visualized. The surgical instruments should move along a preset planned path (i.e., the reference path) to ensure the accuracy of the surgical operation. When an abnormal instrument (a surgical instrument with a positioning deviation evaluation value greater than or equal to the positioning deviation evaluation threshold) appears, comparing its actual movement path with the reference path can visually show the doctor the difference between the actual running track and the ideal track of the instrument. Through this intuitive comparison, the doctor can quickly judge information such as the deviation degree and deviation direction of the instrument, and thus take timely measures to make adjustments to avoid adverse effects on the surgery.

[0086] It should be understood that in this embodiment, in the visualization interface, different colors, line styles or transparencies are usually used to distinguish the movement path of the abnormal instrument and the reference path. For example, the reference path is represented by a green solid line, representing the ideal surgical operation track; the movement path of the abnormal instrument is represented by a red dashed line to highlight its difference from the reference path. For some complex surgical scenarios, a three-dimensional display method may also be used to add arrow indicators between the actual position and the reference position of the surgical instrument to clearly show the deviation direction. When dealing with critical abnormal surgical instruments, by comparing the two displayed paths, the doctor can quickly judge the impact degree of the deviation on the key steps of the surgery. If the critical instrument deviates significantly from the reference path, the doctor can quickly decide whether to recalibrate the instrument, adjust the usage method, or replace the instrument according to the displayed deviation situation. When dealing with ordinary abnormal surgical instruments, the comparison display can also help the doctor judge whether it is feasible to deal with the instrument during the surgical interval and whether it can return to the normal operation track after treatment. During the surgery, when an abnormal instrument is found and its movement path and reference path are compared and displayed, the doctor can, based on this information and combined with the real-time progress of the surgery, flexibly adjust the surgical decision.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. As long as it does not deviate from the structure of the present invention or exceed the scope defined by the present invention, it should fall within 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 interference deviation value 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; The three-dimensional coordinate positioning data of each surgical instrument at each time monitoring point during the operation is obtained in real time. 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 connecting line of 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; the positioning interference factor data includes the light interference intensity value, the electromagnetic interference spectrum value and the physiological displacement amplitude value; 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; Based on the three-dimensional coordinate positioning data and positioning interference deviation value of each surgical instrument at each time monitoring point, comprehensive processing is performed to obtain the positioning deviation evaluation value of each surgical instrument at the current time monitoring point. 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. 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 the potential interference source is checked; if the difference is in the moderate 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 carried out; if the difference is in the severe abnormal range, an emergency alarm warning is issued, the use of the machine vision imaging device based on the near-infrared light source is stopped, and the backup machine vision imaging device based on the near-infrared light source is switched.

5. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 1 is characterized in that: The positioning interference deviation value of each surgical instrument is obtained by processing the positioning interference factor data. The specific analysis process is as follows: 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 difference between the positioning interference factor data and its preset reference value with the corresponding weights.

6. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 5 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.

7. The AI ​​intelligent assisted data visualization method for tumor surgical treatment according to claim 6 is characterized by: 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.

8. 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.

9. 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 1-8.

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