Surgical navigation and microcirculation real-time detection combined method and system

Abstract

The invention relates to a surgical navigation and microcirculation real-time detection combined method and system, and the method comprises the following steps: judging whether a surgical instrument is located on a path point of a 3D surgical path or not when the blood flow velocity of a patient exceeds a first preset value, and if the blood flow velocity of the patient exceeds the first preset value, the surgical instrument is located on the path point of the 3D surgical path, if yes, modifying the position of the path point of the 3D operation path to form a new 3D operation path; if the blood flow velocity of the patient exceeds a first preset value, the surgical instrument is not located at the path point of the 3D surgical path, a new path point is added, and a new 3D surgical path is formed; and the surgical instrument performs an operation according to the new 3D surgical path. Different from the prior art, whether the blood flow speed of the patient exceeds the first preset value or not is monitored, when the blood flow speed of the patient exceeds the first preset value, the path point of the 3D operation path can be adjusted, important capillaries are avoided in the operation process, and the operation risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical navigation and real-time microcirculation detection, and in particular to a method and system for combining surgical navigation and real-time microcirculation detection. Background Art

[0002] In the prior art, CN111529063A discloses a surgical navigation system and method based on multimodal fusion of three-dimensional reconstruction, wherein the system includes an image data preprocessing module, a preoperative planning module and a real-time surgical navigation module; the image data preprocessing module is used to collect and process medical image data; the preoperative planning module performs multimodal fusion on the processed medical image data to establish a preoperative lesion localization model and plan a surgical path; the real-time surgical navigation module establishes a dynamic model based on the four-dimensional ultrasound scanning data during the operation, and compares the dynamic model with the preoperative lesion model to update the surgical path.

[0003] A method for monitoring blood flow as disclosed in the prior art, such as CN111801052A. An unfocused plane wave ultrasound pulse is transmitted into the subject from a single-element ultrasound transducer (2) fixed to the subject (5) along a transmission axis. Reflections of the ultrasound pulse are received, and a series of pulse Doppler response signals are generated over time. Each pulse Doppler response signal is processed to determine a first corresponding spatial maximum velocity value of blood flowing to a single transducer element (2), and a second corresponding spatial maximum velocity value of blood flowing away from the blood. Heartbeats are identified from the spatial maximum velocity values, and a quality metric is assigned to each identified heartbeat. For an assigned quality metric exceeding a threshold level, a subset of spatial maximum velocity values ​​is identified. Values ​​from the subset are monitored, and when a set of values ​​from the subset meets a predetermined alarm criterion, an audible or visual alarm signal is issued.

[0004] During the actual operation, due to changes in the patient's physical condition, the 3D surgical path and surgical range planned by the surgical navigation may cause vascular damage or abnormal blood flow, leading to complications such as postoperative tissue ischemia and necrosis.

[0005] The prior art has the following problems:

[0006] In the existing technology, surgical navigation and real-time microcirculation detection are two systems. It is impossible to use real-time microcirculation monitoring to correct the 3D surgical path, and the risk of complications is high.

[0007] The above statements are only used to provide background information related to the present application and do not necessarily constitute prior art. Summary of the invention

[0008] In view of the above problems, the present application provides a method and system for combining surgical navigation with real-time microcirculation detection, which is used to solve the technical problems that surgical navigation and real-time microcirculation detection are two systems, the 3D surgical path cannot be corrected using real-time microcirculation monitoring, and the risk of complications is high.

[0009] To achieve the above objectives, in a first aspect, the present invention provides a method for combining surgical navigation with real-time microcirculation detection, comprising the following steps:

[0010] Scan the patient, obtain the anatomical structure image of the surgical area, analyze and process the image, and determine the 3D surgical path and surgical scope;

[0011] Place markers and, through surgical navigation, match and calibrate the patient’s actual position with preoperative imaging data to establish the actual three-dimensional coordinate system of the patient’s body;

[0012] The microcirculation real-time monitoring module monitors the flow state of the patient's microvessels in real time, the laser Doppler blood flowmeter detects the blood flow velocity and direction, analyzes the dynamic changes of microcirculation, and displays the blood vessel microcirculation state through the microcirculation display;

[0013] Perform surgery on patients according to the 3D surgical path, monitor the position and direction of surgical instruments and the patient's body in real time, display the real-time position and direction of surgical instruments on the patient's body through the surgical navigation display, judge whether it complies with the 3D surgical path, and issue a reminder if the surgical instrument deviates from the 3D surgical path;

[0014] Determine whether the patient's blood flow velocity exceeds a first preset value. If the patient's blood flow velocity exceeds the first preset value, suspend the movement of the surgical instrument, withdraw the surgical instrument from the patient's body, and repair the patient's blood vessel located at the withdrawal position of the surgical instrument;

[0015] Determine whether the surgical instrument is located at a path point of the 3D surgical path when the patient's blood flow velocity exceeds a first preset value; if the surgical instrument is located at a path point of the 3D surgical path when the patient's blood flow velocity exceeds the first preset value, modify the position of the path point of the 3D surgical path to form a new 3D surgical path;

[0016] If the patient's blood flow velocity exceeds a first preset value and the surgical instrument is not located at a path point of the 3D surgical path, a new path point is added to form a new 3D surgical path;

[0017] The surgical instruments follow the new 3D surgical pathway to perform the operation and conduct real-time monitoring of the patient's vascular microcirculation until the end of the operation.

[0018] As an embodiment of the present invention, the following steps are also included:

[0019] Monitor the patient's blood flow to determine whether the patient's blood flow is lower than a second preset value. If the patient's blood flow is lower than the second preset value, pause the movement of the surgical instrument, withdraw the surgical instrument from the patient's body, repair the patient's blood vessels at the withdrawal position of the surgical instrument, and modify the 3D surgical path.

[0020] As an embodiment of the present invention, the following steps are also included:

[0021] Determine whether the patient's blood flow direction is normal. If the patient's blood flow direction is abnormal during the operation, the movement of the surgical instrument is suspended, the surgical instrument is withdrawn from the patient's body, the patient's blood vessels at the withdrawal position of the surgical instrument are repaired, and the 3D surgical path is modified.

[0022] As an embodiment of the present invention, sound or vibration feedback is used to prompt the patient's microcirculation abnormality.

[0023] As an embodiment of the present invention, the following steps are also included:

[0024] It stores navigation data and microcirculation monitoring data during surgery, provides intraoperative comparison function, and displays the changes in microcirculation before and during surgery on the microcirculation display.

[0025] As an embodiment of the present invention, a near-infrared spectral sensor is used to evaluate the blood oxygen saturation by measuring the absorption of near-infrared light by the patient's tissue to determine whether the patient's blood oxygen saturation is abnormal. If the patient's blood oxygen saturation is abnormal, an alarm is triggered.

[0026] As an embodiment of the present invention, an ultrasonic sensor is used to monitor the changes in the diameter of a patient's blood vessels through ultrasonic imaging technology to determine whether the diameter of the patient's blood vessels is abnormal. If the patient's blood oxygen saturation is abnormal, an alarm is triggered.

[0027] As an embodiment of the present invention, the real-time position and direction of the surgical instrument on the patient's body are displayed in real time by AR glasses;

[0028] Before the operation, markers are placed on the patient's body surface or the surgical area, and positioning sensors are installed in the surgical instruments. The positioning sensors transmit signals to the surgical navigation display and AR glasses through wired transmission.

[0029] As an embodiment of the present invention, the laser Doppler blood flow meter transmits the signal to the microcirculation display through wired transmission, and a timer is set in the surgical navigation display and the microcirculation display to synchronize the display time of the navigation display and the microcirculation display, and the data is synchronously collected and displayed.

[0030] Different from the prior art, the above technical solution determines whether the patient's blood flow velocity exceeds a first preset value. If the patient's blood flow velocity exceeds the first preset value, the movement of the surgical instrument is suspended, the surgical instrument is withdrawn from the patient's body, and the patient's blood vessels located at the withdrawal position of the surgical instrument are repaired; when the patient's blood flow velocity exceeds the first preset value, it is determined whether the surgical instrument is located at a path point of the 3D surgical path. If the patient's blood flow velocity exceeds the first preset value, the surgical instrument is located at a path point of the 3D surgical path, and the position of the path point of the 3D surgical path is modified to form a new 3D surgical path; if the patient's blood flow velocity exceeds the first preset value, the surgical instrument is not located at a path point of the 3D surgical path, a new path point is added to form a new 3D surgical path; the surgical instrument performs surgery according to the new 3D surgical path, and performs real-time monitoring of the microcirculation of the patient's blood vessels until the end of the operation. In this way, by monitoring whether the patient's blood flow velocity exceeds the first preset value, when the patient's blood flow velocity exceeds the first preset value, the path points of the 3D surgical path can be adjusted to avoid important microvessels during the operation and reduce the risk of surgery; help doctors accurately locate and understand the blood supply status of tissues during surgery, provide doctors with a more comprehensive operational perspective, improve the accuracy of surgery, and reduce the risk of complications.

[0031] To achieve the above-mentioned purpose, in a second aspect, the inventor provides a system combining surgical navigation and real-time microcirculation detection, comprising a processor and a storage medium, wherein the processor is used to execute a computer program stored in the storage medium to implement a method combining surgical navigation and real-time microcirculation detection as described in any one of the above-mentioned methods;

[0032] It includes a surgical navigation module, a microcirculation detection module, an integrated computing unit, a surgical navigation display and a microcirculation display;

[0033] The surgical navigation module is used to monitor the position and direction of the surgical instrument and the patient's body in real time;

[0034] The microcirculation detection module monitors the flow status of the patient's microvessels in real time;

[0035] The integrated computing unit is used to process data from the surgical navigation module and the microcirculation detection module;

[0036] The surgical navigation display is used to display the real-time position and direction of the surgical instrument in the patient's body, and the surgical navigation display is also used to modify the 3D surgical path;

[0037] The microcirculation display is used to display the microcirculation status of the patient's blood vessels.

[0038] Different from the existing technology, the system of the technical solution of the present application monitors whether the patient's blood flow velocity exceeds a first preset value. When the patient's blood flow velocity exceeds the first preset value, the path points of the 3D surgical path can be adjusted to avoid important microvessels during the operation and reduce surgical risks; it helps doctors to accurately locate and understand the blood supply status of tissues during the operation, provide doctors with a more comprehensive operational perspective, improve the accuracy of the operation, and reduce the risk of complications.

[0039] The above-mentioned records related to the invention content are only an overview of the technical solution of the present application. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present application, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purpose and other purposes, features and advantages of the present application easier to understand, the following is an explanation in combination with the specific implementation mode and drawings of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of the present application and other related contents, and shall not be considered as limitations of the present application.

[0041] In the drawings of the specification:

[0042] Figure 1 A logic diagram of a method for combining surgical navigation and real-time microcirculation detection according to an embodiment of the present application;

[0043] Figure 2 A schematic diagram of a system combining surgical navigation and real-time microcirculation detection according to an embodiment of the present application;

[0044] Figure 3 This is a system block diagram of a surgical navigation module according to one embodiment of the present application;

[0045] Figure 4 This is a system block diagram of a microcirculation detection module according to one embodiment of the present application.

[0046] The reference numerals in the above drawings are described as follows:

[0047] 1. Bed;

[0048] 2. Intraoperative image navigation mechanism, 201. Navigation host, 202. Equipment mounting frame, 203. Positioning device, 204. Camera;

[0049] 3. surgical operation mechanism, 301. joystick system, 302. surgical robot arm;

[0050] 4. Main console;

[0051] 5. Surgical navigation display;

[0052] 6. Microcirculation display;

[0053] 7. Near infrared spectral sensor;

[0054] 8. Laser Doppler blood flow sensor;

[0055] 9. Ultrasonic sensor;

[0056] 10. surgical navigation module, 1001. 3D visualization display module, 1002. positioning module;

[0057] 11. Microcirculation detection module;

[0058] 12. Integrated computing unit;

[0059] 13. Display and control module, 1301. Display touch module, 1302. Gesture control module. DETAILED DESCRIPTION

[0060] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0061] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0062] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0063] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0064] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0065] Without further limitations, in this application, the words "include", "comprises", "has" or other similar open-ended expressions used in sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0066] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0067] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0068] The processor described in the embodiments of the present application can be implemented by hardware, firmware, software or a combination thereof, and can use a circuit, a single or multiple application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), a digital signal processor (Digital Signal Processor, DSP), a digital signal processing device (Digital Signal Processing Device, DSPD), a programmable logic device (Programmable Logic Device, PLD), a field programmable gate array (Field Programmable Gate Array, FPGA), a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, at least one of a microprocessor, and also includes other physical, biological or chemical structures that can achieve similar or equivalent functions to the processors listed above, such as biological neurons, quantum computing units, DNA computing units, etc., so that the processor can execute some or all of the steps in the computer program or method involved in the various embodiments of the present application, or any combination of the steps mentioned therein.

[0069] The computer program involved in the embodiment can be stored in a computer device readable storage medium, which includes but is not limited to a disk, a tape, a magnetic card, a floppy disk, a flash memory, an optical disk, an optical card, a read-only memory (ROM), a random access memory (RAM), an erasable programmable ROM (EPROM) and an electrically erasable programmable ROM (EEPROM), etc., and also includes other biological, physical or chemical structures that can achieve the same or equivalent functions as the storage media listed above, such as DNA, RNA, protein and other units with information storage capabilities. In a specific embodiment, the storage medium involved can be one of the above-mentioned media types, or a combination of the above-mentioned media types. In different embodiments, the computer program involved in the embodiment can be stored in a single medium in a centralized manner, or it can be stored in multiple media in a distributed manner. The memory containing the computer device readable storage medium can be a non-volatile memory or a random access memory. These computer device readable storage media can be built into the device, or they can be connected to the device involved in the embodiment as an external device or a part of an external device. In some embodiments, a memory with a computer device readable storage medium is deployed locally; in other embodiments, a solution of deploying the memory away from the processor may also be adopted, such as a network attached memory accessed via an RF circuit or an external port and a communication network, wherein the communication network may be the Internet, one or more intranets, a local area network (LAN), a wide area network (WLAN), a storage area network (SAN), etc., or a suitable combination thereof, as long as the computer device can access the memory. In addition, the computer program involved in the embodiment may be stored in plaintext / ciphertext form, or may be designed as training data, which may be integrated and reorganized through model training and implicitly stored in the parameter state of a deep neural network or other machine learning model.

[0070] In the existing technology, surgical navigation and real-time microcirculation detection are two systems. It is impossible to use real-time microcirculation monitoring to correct the 3D surgical path, and the risk of complications is high.

[0071] In view of this, the embodiments of the present application provide a method and system for combining surgical navigation with real-time detection of microcirculation. The method determines whether the patient's blood flow velocity exceeds a first preset value. If the patient's blood flow velocity exceeds the first preset value, the movement of the surgical instrument is paused, and the surgical instrument is withdrawn from the patient's body. According to the position of the surgical instrument, the path points of the 3D surgical path are modified or new path points are added to form a new 3D surgical path. The path points of the 3D surgical path can be adjusted to avoid important microvessels during surgery and reduce surgical risks. The method helps doctors to accurately locate and understand the blood supply status of tissues during surgery, provide doctors with a more comprehensive operating perspective, improve the accuracy of surgery, and reduce the risk of complications.

[0072] According to some embodiments of the present application, please refer to Figures 1 to 4 This embodiment relates to a method for combining surgical navigation with real-time microcirculation detection, comprising the following steps:

[0073] S1. Scan the patient, obtain the anatomical structure image of the surgical area, analyze and process the image, and determine the 3D surgical path and surgical scope;

[0074] S2, placing markers, matching and calibrating the patient's actual position with the preoperative imaging data through surgical navigation, and establishing the actual three-dimensional coordinate system of the patient's body;

[0075] S3, monitor the flow state of the patient's microvessels in real time through the microcirculation real-time monitoring module, detect the blood flow velocity and blood flow direction through the laser Doppler blood flowmeter, analyze the dynamic changes of microcirculation, and display the blood vessel microcirculation state through the microcirculation display 6;

[0076] S4, performing surgery on the patient according to the 3D surgical path, monitoring the position and direction of the surgical instrument and the patient's body in real time, displaying the real-time position and direction of the surgical instrument on the patient's body through the surgical navigation display 5, judging whether it complies with the 3D surgical path, and giving a reminder if the surgical instrument deviates from the 3D surgical path;

[0077] S5, determining whether the patient's blood flow velocity exceeds a first preset value. If the patient's blood flow velocity exceeds the first preset value, pausing the movement of the surgical instrument, withdrawing the surgical instrument from the patient's body, and repairing the patient's blood vessel located at the withdrawal position of the surgical instrument;

[0078] S6, determining whether the surgical instrument is located at a path point of the 3D surgical path when the patient's blood flow velocity exceeds a first preset value; if the surgical instrument is located at a path point of the 3D surgical path when the patient's blood flow velocity exceeds the first preset value, modifying the position of the path point of the 3D surgical path to form a new 3D surgical path;

[0079] S7. If the patient's blood flow velocity exceeds the first preset value and the surgical instrument is not located at a path point of the 3D surgical path, a new path point is added to form a new 3D surgical path;

[0080] S8. The surgical instruments perform the operation according to the new 3D surgical pathway and monitor the microcirculation of the patient's blood vessels in real time until the end of the operation.

[0081] In this embodiment, the surgical path diagram of the surgical instrument is modified by judging whether the patient's blood flow velocity exceeds the first preset value. When the patient's blood flow velocity exceeds the first preset value, it means that the surgical instrument has damaged the patient's important microvessels and the microvessels need to be repaired. After the repair is completed, it is also necessary to judge whether the damaged part of the microvessel is located on the path point of the 3D surgical path. If the damaged part of the microvessel is the path point of the 3D surgical path, the path point of the 3D surgical path needs to be changed; if the damaged part of the microvessel is not the path point of the 3D surgical path, a new path point needs to be added to bypass the damaged part of the microvessel. A new 3D surgical path is formed to avoid secondary damage and avoid vascular damage or abnormal blood flow during surgery.

[0082] In this way, by monitoring whether the patient's blood flow velocity exceeds the first preset value, when the patient's blood flow velocity exceeds the first preset value, the path points of the 3D surgical path can be adjusted to avoid important microvessels during the operation and reduce the risk of surgery; help doctors accurately locate and understand the blood supply status of tissues during surgery, provide doctors with a more comprehensive operational perspective, improve the accuracy of surgery, and reduce the risk of complications.

[0083] According to some embodiments of the present application, optionally, the following steps are further included:

[0084] Monitor the patient's blood flow to determine whether the patient's blood flow is lower than a second preset value. If the patient's blood flow is lower than the second preset value, pause the movement of the surgical instrument, withdraw the surgical instrument from the patient's body, repair the patient's blood vessels at the withdrawal position of the surgical instrument, and modify the 3D surgical path.

[0085] In this embodiment, when determining whether the patient's blood flow is lower than the second preset value, whether the surgical instrument is located at a path point of the 3D surgical path; if the patient's blood flow is lower than the second preset value, the surgical instrument is located at the path point of the 3D surgical path, the position of the path point of the 3D surgical path is modified to form a new 3D surgical path; if the patient's blood flow is lower than the second preset value, the surgical instrument is not located at the path point of the 3D surgical path, a new path point is added to form a new 3D surgical path;

[0086] As in the case of the patient's blood flow velocity, in this embodiment, if the patient's blood flow rate is lower than the second preset value, it also means that the surgical instrument has damaged the patient's important microvessels, and the microvessels need to be repaired in time. After the repair, the point of vascular damage needs to be bypassed to form a new 3D surgical path, so as not to cause secondary damage and avoid vascular damage or abnormal blood flow during surgery. This improves the accuracy of the surgery and reduces the risk of complications.

[0087] According to some embodiments of the present application, optionally, the following steps are further included:

[0088] Determine whether the patient's blood flow direction is normal. If the patient's blood flow direction is abnormal during the operation, the movement of the surgical instrument is suspended, the surgical instrument is withdrawn from the patient's body, the patient's blood vessels at the withdrawal position of the surgical instrument are repaired, and the 3D surgical path is modified.

[0089] In this embodiment, it is determined whether the surgical instrument is located at a path point of the 3D surgical path when the patient's blood flow direction is abnormal. If the surgical instrument is located at a path point of the 3D surgical path when the patient's blood flow direction is abnormal, the position of the path point of the 3D surgical path is modified to form a new 3D surgical path; if the surgical instrument is not located at a path point of the 3D surgical path when the patient's blood flow direction is abnormal, a new path point is added to form a new 3D surgical path;

[0090] Just like the situation with the patient's blood flow speed, in this embodiment, if the patient's blood flow direction is abnormal, it means that the patient's blood flow is reversed, and the surgical instrument has damaged the patient's important microvessels. The microvessels need to be repaired in time. After the repair, it is necessary to bypass the point of vascular damage to form a new 3D surgical path without causing secondary injury, so as to avoid vascular damage or blood flow abnormalities during the operation.

[0091] According to some embodiments of the present application, optionally, sound or vibration feedback is used to prompt the patient that microcirculation abnormalities occur.

[0092] In this way, if there is an abnormality in microcirculation (such as reduced blood flow, local blood flow interruption, etc.), the system will sound an alarm to remind the doctor to take measures. The patient's microcirculation is abnormal through sound or vibration feedback, allowing the doctor to stop the operation.

[0093] According to some embodiments of the present application, optionally, the following steps are further included:

[0094] The navigation data and microcirculation monitoring data during the operation are stored, and a comparison function is provided during the operation. The microcirculation display 6 shows the changes in microcirculation before and during the operation.

[0095] In this way, by storing the navigation data and microcirculation monitoring data during the operation, it is convenient for postoperative review and analysis. It provides an intraoperative comparison function to view the changes in microcirculation before and after the operation. It can view the changes in microcirculation during the operation in real time, which is convenient for comparing the patient's microcirculation data.

[0096] According to some embodiments of the present application, optionally, the near-infrared spectral sensor 7 is used to evaluate the blood oxygen saturation by measuring the absorption of near-infrared light by the patient's tissue to determine whether the patient's blood oxygen saturation is abnormal. If the patient's blood oxygen saturation is abnormal, an alarm is triggered.

[0097] Thus, the near-infrared spectroscopy (NIRS) sensor: monitors the blood oxygen content of the tissue, evaluates the microcirculatory status, and verifies the patient's blood oxygen saturation changes with the laser Doppler blood flowmeter.

[0098] According to some embodiments of the present application, optionally, an ultrasonic sensor 9 is used to monitor changes in the diameter of the patient's blood vessels through ultrasonic imaging technology to determine whether the diameter of the patient's blood vessels is abnormal. If the patient's blood oxygen saturation is abnormal, an alarm is triggered.

[0099] In this way, the ultrasonic sensor 9 observes the diameter change of the blood vessel through ultrasonic imaging technology, monitors the blood flow, and verifies the diameter change of the patient's blood vessel with the laser Doppler blood flowmeter.

[0100] According to some embodiments of the present application, optionally, the real-time position and direction of the surgical instrument in the patient's body are displayed in real time by AR glasses; before the operation, markers are placed on the patient's body surface or the surgical area, and positioning sensors are provided in the surgical instruments, which transmit signals to the surgical navigation display 5 and the AR glasses via wired transmission.

[0101] In this way, through AR glasses or displays, doctors can view the 3D visualization information of the surgical operation area in real time, making the surgery more intuitive. AR glasses can be used to easily view changes in the surgical operation area.

[0102] The positioning sensor transmits the signal to the surgical navigation display 5 and the AR glasses via wired transmission, which can display the position of the surgical instrument in real time without being interfered by wireless signals.

[0103] According to some embodiments of the present application, optionally, the laser Doppler blood flow meter transmits the signal to the microcirculation display 6 through wired transmission, and a timer is set in the surgical navigation display 5 and the microcirculation display 6 to synchronize the display time of the navigation display and the microcirculation display 6, and the data are synchronously collected and displayed.

[0104] Surgical navigation and microcirculation detection data need to be integrated with high precision and in a timely manner. The laser Doppler blood flowmeter transmits the signal to the microcirculation display 6 via wired transmission, which can display the status of the patient's microcirculation in real time without being interfered by wireless signals.

[0105] Microcirculation detection instruments need to maintain high accuracy in dynamic and complex surgical environments while adapting to different tissues and pathological conditions. In complex surgical environments, the equipment needs to have high stability and reliability to avoid delays or errors.

[0106] The surgical navigation system combined with the real-time microcirculation detection device can provide a full range of auxiliary functions during surgery, greatly improving surgical accuracy and safety. By combining the latest medical technology and intelligent tools, doctors can make better decisions with real-time feedback, thereby improving the quality of postoperative recovery of patients and reducing the occurrence of intraoperative complications.

[0107] This embodiment also relates to a surgical navigation and microcirculation real-time detection combined system, comprising a processor and a storage medium, the processor is used to execute a computer program stored in the storage medium to implement any one of the above-mentioned surgical navigation and microcirculation real-time detection combined methods;

[0108] It includes a surgical navigation module 10, a microcirculation detection module 11, an integrated computing unit 12, a surgical navigation display 5 and a microcirculation display 6;

[0109] The surgical navigation module 10 is used to monitor the position and direction of the surgical instrument and the patient's body in real time;

[0110] The microcirculation detection module 11 monitors the flow status of the patient's microvessels in real time;

[0111] The integrated computing unit 12 is used to process data of the surgical navigation module 10 and the microcirculation detection module 11;

[0112] The surgical navigation display 5 is used to display the real-time position and direction of the surgical instrument in the patient's body. The surgical navigation display 5 is also used to modify the 3D surgical path;

[0113] The microcirculation display 6 is used to display the microcirculation status of the patient's blood vessels.

[0114] In this embodiment, Figure 2 As shown, the surgical navigation and microcirculation real-time detection combined system includes a bed 1, an intraoperative image navigation mechanism 2, a surgical operation mechanism 3, a main console 4, a surgical navigation display 5, a microcirculation display 6, a near-infrared spectrum sensor 7, a laser Doppler blood flow sensor 8, an ultrasonic sensor 9, a surgical navigation module 10, a microcirculation detection module 11, an integrated computing unit 12 and a display and control module 13.

[0115] An intraoperative image navigation mechanism 2 and a surgical operation mechanism 3 are respectively arranged at the left and right ends of the bed 1, a main console 4 and a surgical navigation display 5 are respectively arranged at the front and back sides of the bed 1, a microcirculation display 6 is installed on the top of the main console 4, the main console 4 is connected to a near-infrared spectrum sensor 7 and a laser Doppler blood flow sensor 8 through wires, and the main console 4 is connected to an ultrasonic sensor 9 through signals.

[0116] In this embodiment, the intraoperative image navigation mechanism 2 and the surgical navigation display 5 are both movable, and the surgical operation mechanism 3 mainly controls the scalpel to perform surgery on the patient through a mechanical arm, and the surgical position of the scalpel is monitored in real time.

[0117] The intraoperative image navigation mechanism 2 includes a navigation host 201, on the top of which is mounted an equipment mounting frame 202, on which are mounted a positioning device 203 and a camera 204. The positioning device 203 and the camera 204 are both used to monitor the real-time position of the scalpel, verify each other, and improve the accuracy of surgical navigation.

[0118] The surgical operation mechanism 3 includes a joystick system 301, and a surgical robot arm 302 is movably mounted on the top of the joystick system 301. A scalpel is arranged on the surgical robot arm 302, and the doctor only needs to operate the surgical operation mechanism 3 to control the surgical robot arm 302 and locate the position of the scalpel.

[0119] The positioning device 203 includes an electromagnetic transmitting and receiving sensor, a photosensitive sensor and an inertial sensor, and all are installed on the device mounting frame 202. The principle of the positioning device 203 is a conventional technical means, which will not be repeated here.

[0120] The surgical navigation module 10 and the integrated computing unit 12 are both arranged in the surgical navigation display 5 , and the microcirculation detection module 11 and the display and control module 13 are both arranged in the main console 4 .

[0121] The microcirculation detection module 11 is connected to the near-infrared spectrum sensor 7 , the laser Doppler blood flow sensor 8 and the ultrasonic sensor 9 .

[0122] The microcirculation monitoring system composed of the microcirculation detection module, the near-infrared spectrum sensor 7, the laser Doppler blood flow sensor 8 and the ultrasonic sensor 9 detects the microblood flow state of the target area in real time and provides real-time feedback.

[0123] The surgical navigation module 10 is composed of a 3D visualization display module 1001 and a positioning module 1002. The 3D visualization display module 1001 is connected to the camera 204 via signals to provide high-definition images, display 3D images, and display the progress of the operation in real time to help doctors accurately locate. The positioning module 1002 is connected to the positioning device 203 via signals to accurately track the position of surgical instruments.

[0124] The integrated computing unit 12 is used to process preoperative 3D images, real-time sensor data, and perform data fusion and display. The integrated computing unit 12 is a module responsible for computing.

[0125] The display and control module 13 includes a display touch module 1301 and a gesture control module 1302, which are used to simply control the device during surgery. Through the display touch module 1301, the path points of the 3D surgical path can be changed.

[0126] Through the coordinated use of the intraoperative image navigation mechanism 2, the 3D visualization display device and the integrated computing unit 12, high-definition intraoperative image navigation can be provided, and the surgery can be guided by the 3D reconstruction model. Based on the individual anatomical structure of the patient, an accurate 3D map is constructed using preoperative scans (such as CT, MRI or ultrasound), providing real-time position feedback and path planning to guide doctors to perform precise operations. By using the 3D visualization display device, the near-infrared spectrum sensor 7, the laser Doppler blood flow sensor 8, the ultrasonic sensor 9 and the microcirculation detection module 11 in coordination with each other, the flow state of the microvessels can be monitored in real time, the blood supply of the tissue can be evaluated, and the local blood flow and the health state of the microcirculation can be monitored, so that the blood flow velocity, blood flow direction, blood vessel expansion / contraction, etc. can all be visualized in the microcirculation state; by integrating the surgical navigation image with the microcirculation detection data in real time, a comprehensive view is provided to help doctors make better surgical decisions, display the real-time changing microcirculation state, and warn of blood flow abnormalities. In addition, the display touch module 1301 and the gesture control module 1302 are equipped to facilitate doctors to operate, view, and adjust, and provide sound or vibration feedback to prompt microcirculation abnormalities. At the same time, the navigation data and microcirculation monitoring data during the operation can be stored, which is convenient for postoperative review and analysis, as well as providing an intraoperative comparison function to view the changes in microcirculation before and after the operation.

[0127] In this embodiment, the basic principles of surgical navigation and real-time detection of microcirculation are both existing technical solutions. In this embodiment, the process of real-time detection of microcirculation is only used to adjust the 3D surgical path of surgical navigation to avoid heavy bleeding, vascular damage, and abnormal blood flow during the operation, thereby providing a better direction for surgical navigation.

[0128] Different from the existing technology, the system of the technical solution of the present application monitors whether the patient's blood flow velocity exceeds a first preset value. When the patient's blood flow velocity exceeds the first preset value, the path points of the 3D surgical path can be adjusted to avoid important microvessels during the operation and reduce surgical risks; it helps doctors to accurately locate and understand the blood supply status of tissues during the operation, provide doctors with a more comprehensive operational perspective, improve the accuracy of the operation, and reduce the risk of complications.

[0129] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A method for combining surgical navigation with real-time microcirculation detection, characterized in that: The following steps are involved: Scan the patient, obtain the anatomical structure image of the surgical area, analyze and process the image, and determine the 3D surgical path and surgical scope; Place markers and, through surgical navigation, match and calibrate the patient’s actual position with preoperative imaging data to establish the actual three-dimensional coordinate system of the patient’s body; The microcirculation real-time monitoring module monitors the flow state of the patient's microvessels in real time, the laser Doppler blood flowmeter detects the blood flow velocity and direction, analyzes the dynamic changes of microcirculation, and displays the blood vessel microcirculation state through the microcirculation display; Perform surgery on patients according to the 3D surgical path, monitor the position and direction of surgical instruments and the patient's body in real time, display the real-time position and direction of surgical instruments on the patient's body through the surgical navigation display, judge whether it complies with the 3D surgical path, and issue a reminder if the surgical instrument deviates from the 3D surgical path; Determine whether the patient's blood flow velocity exceeds a first preset value. If the patient's blood flow velocity exceeds the first preset value, suspend the movement of the surgical instrument, withdraw the surgical instrument from the patient's body, and repair the patient's blood vessel located at the withdrawal position of the surgical instrument; Determine whether the surgical instrument is located at a path point of the 3D surgical path when the patient's blood flow velocity exceeds a first preset value; if the surgical instrument is located at a path point of the 3D surgical path when the patient's blood flow velocity exceeds the first preset value, modify the position of the path point of the 3D surgical path to form a new 3D surgical path; If the patient's blood flow velocity exceeds a first preset value and the surgical instrument is not located at a path point of the 3D surgical path, a new path point is added to form a new 3D surgical path; The surgical instruments follow the new 3D surgical pathway to perform the operation and conduct real-time monitoring of the patient's vascular microcirculation until the end of the operation.

2. The method for combining surgical navigation and real-time microcirculation detection according to claim 1, characterized in that: The following steps are also included: Monitor the patient's blood flow to determine whether the patient's blood flow is lower than a second preset value. If the patient's blood flow is lower than the second preset value, pause the movement of the surgical instrument, withdraw the surgical instrument from the patient's body, repair the patient's blood vessels at the withdrawal position of the surgical instrument, and modify the 3D surgical path.

3. The method for combining surgical navigation and real-time microcirculation detection according to claim 1, characterized in that: The following steps are also included: Determine whether the patient's blood flow direction is normal. If the patient's blood flow direction is abnormal during the operation, the movement of the surgical instrument is suspended, the surgical instrument is withdrawn from the patient's body, the patient's blood vessels at the withdrawal position of the surgical instrument are repaired, and the 3D surgical path is modified.

4. The method for combining surgical navigation and real-time microcirculation detection according to any one of claims 1 to 3, characterized in that: The patient's microcirculation abnormalities are prompted through sound or vibration feedback.

5. The method for combining surgical navigation and real-time microcirculation detection according to claim 1, characterized in that: The following steps are also included: It stores navigation data and microcirculation monitoring data during surgery, provides intraoperative comparison function, and displays the changes in microcirculation before and during surgery on the microcirculation display.

6. The method for combining surgical navigation with real-time microcirculation detection according to any one of claims 1 to 3, characterized in that: Through the near-infrared spectral sensor, the blood oxygen saturation is evaluated by measuring the absorption of near-infrared light by the patient's tissue to determine whether the patient's blood oxygen saturation is abnormal. If the patient's blood oxygen saturation is abnormal, an alarm is triggered.

7. The method for combining surgical navigation with real-time microcirculation detection according to any one of claims 1 to 3, characterized in that: Through ultrasonic sensors and ultrasonic imaging technology, the diameter changes of the patient's blood vessels are monitored to determine whether there is any abnormality in the diameter of the patient's blood vessels. If the patient's blood oxygen saturation is abnormal, an alarm is triggered.

8. The method for combining surgical navigation and real-time microcirculation detection according to claim 1, characterized in that: The real-time position and direction of surgical instruments on the patient’s body are displayed in real time through AR glasses; Before the operation, markers are placed on the patient's body surface or the surgical area, and positioning sensors are installed in the surgical instruments. The positioning sensors transmit signals to the surgical navigation display and AR glasses through wired transmission.

9. The method for combining surgical navigation and real-time microcirculation detection according to claim 8, characterized in that: The laser Doppler blood flowmeter transmits the signal to the microcirculation display through wired transmission, sets a timer in the surgical navigation display and the microcirculation display, synchronizes the display time of the navigation display and the microcirculation display, and synchronously collects and displays data.

10. A surgical navigation and microcirculation real-time detection combined system, characterized in that: Comprising a processor and a storage medium, wherein the processor is used to execute a computer program stored in the storage medium to implement the method for combining surgical navigation with real-time microcirculation detection as claimed in any one of claims 1 to 9; It includes a surgical navigation module, a microcirculation detection module, an integrated computing unit, a surgical navigation display and a microcirculation display; The surgical navigation module is used to monitor the position and direction of surgical instruments and the patient's body in real time; The microcirculation detection module monitors the flow status of the patient's microvessels in real time; The integrated computing unit is used to process data from the surgical navigation module and the microcirculation detection module; The surgical navigation display is used to display the real-time position and direction of the surgical instrument in the patient's body, and the surgical navigation display is also used to modify the 3D surgical path; The microcirculation display is used to display the microcirculation status of the patient's blood vessels.

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