Interventional surgery navigation device based on artificial intelligence technology

Abstract

The invention discloses an interventional operation navigation device based on an artificial intelligence technology, and relates to the technical field of medical engineering, the interventional operation navigation device comprises a data monitoring unit, a central processing unit, an optimization management unit and an alarm prompt unit, the central processing unit comprises a navigation path design module, a navigation response evaluation module and an interference factor analysis module, interventional surgery navigation data are collected through the data monitoring unit, a data processing model is constructed through the central processing unit for data analysis and processing, so that an optimal navigation planning scheme of an interventional surgery is obtained, a navigation abnormity alarm signal is generated for real-time monitoring, and meanwhile the comprehensive influence degree of environmental interference on navigation quality is evaluated. And a surgical navigation optimization scheme is output, then visual prompt operation is performed through the alarm prompt unit, regulation and control management operation is performed through the optimization management unit, the precision and safety of the interventional surgery are ensured, and the intelligent application level of man-machine cooperation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical engineering, and particularly to an interventional surgery navigation device based on artificial intelligence technology. Background Art

[0002] With the in-depth understanding and promotion of the concept of precision medicine, both doctors and patients are paying more and more attention to the accuracy of surgery and the formulation of personalized treatment plans. The rapid development of artificial intelligence technology, especially artificial intelligence technologies such as image recognition and machine learning, provides the possibility to achieve this goal; Currently, percutaneous coronary intervention has become a general treatment method for cardiovascular diseases, and an interventional surgery navigation system has emerged accordingly. It uses medical imaging technologies, such as X-ray angiography images, ultrasound images, etc., for image registration, reconstruction, and analysis, thereby creating a virtual reality. In this virtual reality, doctors can plan and simulate surgical plans to achieve precise navigation of the surgical process; However, the existing interventional surgery navigation technology may have problems of insufficient navigation accuracy and untimely abnormal monitoring. The interference of the patient's own lesions and operating room environmental factors will affect the performance of the navigation device, resulting in defects of inaccurate surgical navigation recognition and insufficient accuracy. Moreover, poor device performance will affect the quality of interventional surgery navigation, leading to untimely abnormal monitoring responses, thus making the interventional surgery may have safety problems; In view of the above technical defects, a solution is proposed herein. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems of insufficient navigation accuracy and untimely abnormal monitoring existing in the prior art, and the resulting possible safety problems in interventional surgery.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: An interventional surgery navigation device based on artificial intelligence technology, comprising a data monitoring unit, a central processing unit, an alarm prompt unit, and an optimization management unit. Among them, the central processing unit includes a navigation path design module, a navigation response evaluation module, and an interference factor analysis module; The data monitoring unit, the central processing unit, the alarm prompt unit, and the optimization management unit are communicatively connected; the navigation path design module, the navigation response evaluation module, and the interference factor analysis module are communicatively connected; The data monitoring unit is used to collect interventional surgery navigation data: the interventional surgery navigation data includes patient medical record information, device operation information, and environmental interference information, and a data acquisition period Ts is set to collect the interventional surgery navigation data at regular intervals; The central processing unit is used to build a data processing model to analyze and process the navigation data of interventional surgery: through the navigation path design module, image analysis and three-dimensional simulation are carried out on the patient's medical record information, so as to obtain and output the optimal navigation planning scheme for interventional surgery; through the navigation response evaluation module, the optimal navigation planning scheme is received and the real-time positioning of the surgical instrument is monitored, so as to comprehensively evaluate the navigation quality of interventional surgery and generate a navigation anomaly alarm signal; through the interference factor analysis module, the comprehensive influence degree of environmental interference on the navigation quality is evaluated, and a surgical navigation optimization scheme is output. The alarm prompt unit is used to receive the navigation anomaly alarm signal and perform corresponding visual prompt operations. The optimization management unit is used to receive the surgical navigation optimization scheme and perform corresponding regulation and management operations.

[0005] Furthermore, the specific process of building the data processing model is as follows: The data processing model includes a navigation path design sub-model, a navigation response evaluation sub-model, and an interference factor analysis sub-model. Through the navigation path design sub-model, image analysis and three-dimensional simulation are carried out on the patient's medical record information, so as to obtain and output the optimal navigation planning scheme for interventional surgery. The optimal navigation planning scheme includes the entry point, target position, and navigation path of the surgical instrument. Through the navigation response evaluation sub-model, the optimal navigation planning scheme is received and the real-time positioning of the surgical instrument is monitored, so as to analyze and process the equipment operation information, evaluate the accuracy and efficiency of human-machine cooperation, and then comprehensively evaluate the navigation quality of interventional surgery and generate a corresponding navigation anomaly alarm signal. Through the interference factor analysis sub-model, environmental interference information is introduced, and a correlation function between the navigation quality and the environmental interference information is constructed to evaluate the comprehensive influence degree of environmental interference on the navigation quality, and a surgical navigation optimization scheme is output.

[0006] Furthermore, the specific processing process of the navigation path design sub-model is as follows: The patient's medical record information is collected by accessing and retrieving the patient's electronic medical record. The patient's medical record information includes medical image pictures and diagnosis and treatment parameters. Through three-dimensional modeling of the medical image pictures, the optimal navigation planning scheme for interventional surgery is obtained. The optimal navigation planning scheme includes the entry point, target position, and navigation path of the surgical instrument. A three-dimensional coordinate system is constructed to mark the coordinates of the navigation path. The entry point of the surgical instrument is marked as Din(Xa, Ya, Za), the target position of the surgical instrument is marked as the feature area TP, and the navigation path of the surgical instrument is marked as Srt.

[0007] Furthermore, the specific processing process of the navigation response evaluation sub-model is as follows: The device operation information includes response time, actual path, and navigation speed; the actual path of the real-time positioning of the surgical instrument is marked as Sra, the response time of the interventional surgical navigation device is marked as Tg, and the navigation speed of the surgical instrument is marked as Vg; A1. Compare and analyze the navigation path Srt of the surgical instrument with the actual path Sra. The specific process is as follows: Divide the navigation path Srt into N0 discrete points through the data acquisition period Ts, and mark any discrete point and its coordinates on the navigation path Srt as Ei (Xe, Ye, Ze); Extract N0 feature points corresponding to the N0 discrete points of the navigation path Srt in the actual path Sra, and mark the time period between two adjacent feature points on the actual path Sra as Te; Mark the feature point and its coordinates corresponding to the discrete point Ei in the actual path Sra as Ji (Xj, Yj, Zj), and mark the feature point adjacent to the point Ji (Xj, Yj, Zj) as Ci (Xc, Yc, Zc); Integrate and mark any group of corresponding discrete points and feature points as navigation point pairs. Any group of navigation point pairs includes the feature point Ji and the discrete point Ei; Obtain the accuracy evaluation coefficient Xacc of human-machine cooperation through the coordinate deviation between the feature point Ji and the discrete point Ei of N0 groups of navigation point pairs, set the evaluation interval of the accuracy evaluation coefficient Xacc of human-machine cooperation, and evaluate the accuracy of human-machine cooperation through interval comparison; A2. Through the coordinate distance between two adjacent feature points on the actual path Sra and the time period Te, obtain the navigation speed Vg corresponding to the point Ji; A3. Combine the navigation speed Vg of the interventional surgical navigation device with the response time Tg to obtain the effectiveness evaluation coefficient Xeff of human-machine cooperation, set the evaluation interval of the effectiveness evaluation coefficient Xeff of human-machine cooperation, and evaluate the effectiveness of human-machine cooperation through interval comparison; A4. Furthermore, combine the accuracy evaluation coefficient Xacc and the effectiveness evaluation coefficient Xeff of human-machine cooperation to comprehensively obtain the interventional surgical navigation quality index NQ, set the evaluation interval of the interventional surgical navigation quality index NQ, comprehensively evaluate the navigation quality of the interventional surgery through interval comparison, and generate corresponding navigation anomaly alarm signals.

[0008] Furthermore, the specific processing process of the interference factor analysis sub-model is as follows: The environmental interference information includes environmental electromagnetic parameters and lesion interference parameters; among them, the environmental electromagnetic parameters include the electric field strength Ess and the magnetic field strength Css, and the lesion interference parameters include the area Stp and the signal strength Qtp of the characteristic region TP; Establish an interference factor vector group \(R\lt r_1, r_2\gt\) through environmental interference information; Among them, \(r_1\) is the environmental electromagnetic parameter vector, \(r_1 = \lt E_{ss}, C_{ss}\gt\); \(r_2\) is the lesion interference parameter vector, \(r_2 = \lt S_{tp}, Q_{tp}\gt\), where \(S_{tp}\) is the area of the characteristic region \(TP\) and \(Q_{tp}\) is the signal intensity of the characteristic region \(TP\); Construct a correlation function \(F_0\) between the navigation quality and the environmental interference information through the interventional surgery navigation quality index \(NQ\) and the interference factor vector group \(R\lt r_1, r_2\gt\); Set the data measurement period \(T_c\) to measure the correlation function \(F_0\) regularly, and obtain the dynamic curve \(S_f\) between the data value of the correlation function \(F_0\) and the data measurement period \(T_c\); Obtain the risk index \(Risk\) of the interventional surgery navigation quality through curve analysis, so as to evaluate the comprehensive influence degree of environmental interference on the navigation quality, and output the surgical navigation optimization plan.

[0009] Furthermore, the specific process of outputting the surgical navigation optimization plan is as follows: Set the risk interval of the risk index \(Risk\) of the interventional surgery navigation quality, evaluate the comprehensive influence degree of environmental interference on the navigation quality through interval comparison, and output the corresponding risk prompt signal; Preset the risk interval of the risk index \(Risk\) of the interventional surgery navigation quality as \([Q_{f1}, Q_{f2}]\); When the risk index \(Risk\) is lower than the risk interval \([Q_{f1}, Q_{f2}]\), it is determined that the comprehensive influence degree of environmental interference on the navigation quality is mild, and a level-I risk prompt signal is generated; When the risk index \(Risk\) is within the risk interval \([Q_{f1}, Q_{f2}]\), it is determined that the comprehensive influence degree of environmental interference on the navigation quality is moderate, and a level-II risk prompt signal is generated; When the risk index \(Risk\) is higher than the risk interval \([Q_{f1}, Q_{f2}]\), it is determined that the comprehensive influence degree of environmental interference on the navigation quality is severe, and a level-III risk prompt signal is generated; Furthermore, receive the signal and deeply analyze the influence degree of the environmental interference information to obtain the surgical navigation optimization plan; When receiving the level-I risk prompt signal, no processing is performed; When receiving the level-II risk prompt signal, set a comparison factor for refined comparison, so as to perform targeted processing on the environmental electromagnetic parameter vector \(r_1\) and the lesion interference parameter vector \(r_2\); When receiving the level-III risk prompt signal, comprehensively regulate and manage the interference factor vector group \(R\); Integrate and mark the processing plan corresponding to the risk prompt signal as the surgical navigation optimization plan.

[0010] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows: The present invention collects interventional surgery navigation data through a data monitoring unit, and then constructs a data processing model through a central processing unit for data analysis and processing, so as to obtain the optimal navigation planning scheme for interventional surgery, generate a navigation anomaly alarm signal for real-time monitoring, and at the same time evaluate the comprehensive impact degree of environmental interference on navigation quality, output a surgical navigation optimization scheme, and then the alarm prompt unit receives the navigation anomaly alarm signal and performs a visual prompt operation, and the optimization management unit receives the surgical navigation optimization scheme and performs a regulation and management operation to ensure the accuracy and safety of interventional surgery and improve the intelligent application level of human-machine cooperation; The present invention performs image analysis and three-dimensional simulation on patient medical record information through a navigation path design module, so as to obtain and output the optimal navigation planning scheme for interventional surgery, assist doctors in surgical operations, and the navigation response evaluation module receives the optimal navigation planning scheme and monitors the real-time positioning of surgical instruments, so as to comprehensively evaluate the navigation quality of interventional surgery, generate a navigation anomaly alarm signal, ensure the timeliness of anomaly monitoring and processing, and then the interference factor analysis module evaluates the comprehensive impact degree of environmental interference on navigation quality, outputs a surgical navigation optimization scheme for regulation and management to improve navigation positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 Shows a connection schematic diagram of the device modules of the present invention; Figure 2 Shows a step schematic diagram of the overall process of the present invention; Figure 3 Shows a process schematic diagram of the data processing model of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0012] The following will clearly and completely describe the technical solutions in the embodiments of the present invention 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0013] Embodiment 1: As Figures 1 - 3 shown, an interventional surgery navigation device based on artificial intelligence technology includes a data monitoring unit, a central processing unit, an optimization management unit, and an alarm prompt unit. Among them, the central processing unit includes a navigation path design module, a navigation response evaluation module, and an interference factor analysis module; The data monitoring unit, the central processing unit, the optimization management unit, and the alarm prompt unit are communicatively connected; the navigation path design module, the navigation response evaluation module, and the interference factor analysis module are communicatively connected; This device realizes human-machine collaboration based on artificial intelligence technology. By analyzing and processing a large amount of medical image data, it assists doctors in making more accurate diagnoses, surgical planning, and navigation, thereby improving the accuracy and success rate of surgeries. S1. The data monitoring unit collects interventional surgery navigation data: The interventional surgery navigation data includes patient medical record information, device operation information, and environmental interference information. Set a data acquisition period Ts to collect the interventional surgery navigation data at regular intervals. Collect patient medical record information by accessing and retrieving the patient's electronic medical record. The patient medical record information includes medical image pictures and diagnostic parameters. Obtain medical image pictures through medical imaging techniques. Medical imaging techniques such as CT, MRI magnetic resonance, ultrasound, etc. are used to take images of the patient's lesion site; obtain diagnostic parameters by performing external examinations on the patient using devices such as sphygmomanometers, thermometers, electrocardiogram monitors, etc.; the diagnostic parameters include blood pressure, body temperature, heart rate, etc. Obtain device operation information through system monitoring tools. The device operation information includes response time, actual path, and navigation speed. By receiving the optimal navigation planning scheme and monitoring the real-time positioning of the surgical instrument, mark the actual path of the real-time positioning of the surgical instrument as Sra, mark the response time of the interventional surgery navigation device as Tg, and mark the navigation speed of the surgical instrument as Vg. The attending doctor accurately delivers the surgical instrument to the target position according to the guidance of the preset optimal navigation planning scheme and performs corresponding treatment operations such as injecting drugs, placing stents, etc. During the surgery, the device continuously monitors the position and status of the surgical instrument to ensure the accuracy and safety of the surgery. The environmental interference information includes environmental electromagnetic parameters and lesion interference parameters; among them, the environmental electromagnetic parameters include the electric field strength Ess and the magnetic field strength Css, and the lesion interference parameters include the area Stp of the characteristic region TP and the signal intensity Qtp; among them, the signal intensity Qtp refers to the average gray value of the pixel points of the medical image. Extract n1 pixel points of the characteristic region TP. The higher the average gray value HDu of the n1 pixel points of the characteristic region TP, the higher the signal intensity Qtp of the characteristic region TP. S2. The central processing unit constructs a data processing model to analyze and process the interventional surgery navigation data. The specific process of constructing the data processing model is as follows: The data processing model includes a navigation path design sub-model, a navigation response evaluation sub-model, and an interference factor analysis sub-model. S2-1. Analyze the patient's medical record information through the navigation path design sub-model for image analysis and 3D simulation, so as to obtain and output the optimal navigation planning scheme for the interventional surgery. The optimal navigation planning scheme includes the entry point of the surgical instrument, the target position, and the navigation path. The specific processing process of the navigation path design sub-model is as follows: Perform 3D modeling on the medical image pictures and combine the diagnostic opinions of the attending physician to conduct virtual surgery dynamic demonstrations and preset the optimal navigation planning scheme for the interventional surgery. The optimal navigation planning scheme includes the entry point of the surgical instrument, the target position, and the navigation path. Construct a 3D coordinate system to mark the coordinates of the navigation path. Mark the entry point of the surgical instrument as Din(Xa, Ya, Za), mark the target position of the surgical instrument as the feature area TP, and mark the navigation path of the surgical instrument as Srt. S2-2. Receive the optimal navigation planning scheme through the navigation response evaluation sub-model and monitor the real-time positioning of the surgical instrument, so as to analyze and process the device operation information, evaluate the accuracy and efficiency of human-machine cooperation, and then comprehensively evaluate the navigation quality of the interventional surgery and generate corresponding navigation anomaly alarm signals. The specific processing process of the navigation response evaluation sub-model is as follows: S2-201. Compare and analyze the navigation path Srt of the surgical instrument with the actual path Sra. Divide the navigation path Srt into N0 discrete points through the data acquisition period Ts, and mark any discrete point and its coordinates on the navigation path Srt as Ei(Xe, Ye, Ze). Extract N0 feature points corresponding to the N0 discrete points of the navigation path Srt in the actual path Sra, and mark the time period between two adjacent feature points of the actual path Sra as Te. Mark the feature point and its coordinates corresponding to the discrete point Ei in the actual path Sra as Ji(Xj, Yj, Zj), and mark the feature point adjacent to the point Ji(Xj, Yj, Zj) as Ci(Xc, Yc, Zc). Integrate and mark any group of corresponding discrete points and feature points as a navigation point pair. Any group of navigation point pairs includes the feature point Ji and the discrete point Ei, where the feature point Ji is the point with the shortest distance from the discrete point Ei of the navigation path Srt to the actual path Sra. Obtain the accuracy evaluation coefficient Xacc of human-machine cooperation through the coordinate deviation between the feature point Ji and the discrete point Ei of N0 groups of navigation point pairs: ; The greater the coordinate deviation between the feature point Ji and the discrete point Ei of the N0 group of navigation point pairs, the lower the precision evaluation coefficient Xacc of the human-machine collaboration, and the lower the evaluated precision of the human-machine collaboration; Set the evaluation interval of the precision evaluation coefficient Xacc of the human-machine collaboration, and evaluate the precision of the human-machine collaboration through interval comparison; S2-202, through the coordinate distance between two adjacent feature points of the actual path Sra and the time period Te, obtain the navigation speed Vg corresponding to the point Ji: ; S2-203, by combining the navigation speed Vg of the interventional surgery navigation device with the response time Tg, obtain the effectiveness evaluation coefficient Xeff of the human-machine collaboration: ; Among them, and are the conversion coefficients of the navigation speed Vg and the response time Tg respectively, and and are both greater than 1. The conversion coefficients are preset after being calculated from a large amount of experimental data, and are specifically set in combination with the actual application situation; when the navigation speed Vg is higher and the response time Tg is lower, the effectiveness evaluation coefficient Xeff of the human-machine collaboration is higher, and the evaluated effectiveness of the human-machine collaboration is higher; Set the evaluation interval of the effectiveness evaluation coefficient Xeff of the human-machine collaboration, and evaluate the effectiveness of the human-machine collaboration through interval comparison; S2-204, and then through the combination of the precision evaluation coefficient Xacc and the effectiveness evaluation coefficient Xeff of the human-machine collaboration, comprehensively obtain the interventional surgery navigation quality index NQ: ; Among them, and are the weight coefficients of the precision evaluation coefficient Xacc and the effectiveness evaluation coefficient Xef respectively, and are preset and are both greater than 0, ; is a correction coefficient and is greater than 0. The correction coefficient is a preset constant value to ensure that is always greater than 1; when the precision evaluation coefficient Xacc and the effectiveness evaluation coefficient Xeff of the human-machine collaboration are higher, the interventional surgery navigation quality index NQ is higher, and the comprehensive evaluation of the navigation quality of the interventional surgery is better; S2-205, set the evaluation interval of the interventional surgery navigation quality index NQ, comprehensively evaluate the navigation quality of the interventional surgery through interval comparison, and generate a corresponding navigation anomaly alarm signal; There are M0 evaluation intervals for the preset intervention surgery navigation quality index NQ. Any one of the evaluation intervals is marked as Qm. When the intervention surgery navigation quality index NQ is within the evaluation interval Qm, the navigation quality of the intervention surgery is comprehensively evaluated as level Hm, and a navigation anomaly alarm signal of level Hm is generated. The lower the intervention surgery navigation quality index NQ, the higher the level Hm of the navigation anomaly alarm signal, indicating a higher degree of navigation anomaly; S2-3. Introduce environmental interference information through the interference factor analysis sub-model, construct the correlation function between the navigation quality and the environmental interference information, evaluate the comprehensive influence degree of the environmental interference on the navigation quality, and output the surgical navigation optimization plan; The specific processing process of the interference factor analysis sub-model is as follows: S2-301. Establish an interference factor vector group R<r1, r2> through the environmental interference information, where r1 is the environmental electromagnetic parameter vector, r1 = <electric field strength Ess, magnetic field strength Css>; r2 is the lesion interference parameter vector, r2 = <area Stp of the characteristic region TP, signal strength Qtp of the characteristic region TP>; S2-302. Construct the correlation function F0 between the navigation quality and the environmental interference information through the intervention surgery navigation quality index NQ and the interference factor vector group R<r1, r2>: ; Among them, refers to the correlation function between the environmental electromagnetic parameter vector r1 and the intervention surgery navigation quality index NQ; refers to the correlation function between the lesion interference parameter vector r2 and the intervention surgery navigation quality index NQ; and are the proportionality coefficients of the correlation functions and respectively, and and are both greater than 0, and it is preset that ; , ; Among them, and are the conversion coefficients of the electric field strength Ess and the magnetic field strength Css respectively, and and are both greater than 1. When the electric field strength Ess and the magnetic field strength Css are higher, the data value of the correlation function F0 is lower; and are the conversion coefficients of the area Stp and the signal strength Qtp respectively, and it is preset that and Located within the interval (0, 1), when the area Stp of the feature region TP and the signal intensity Qtp are higher, the data value of the correlation function F0 is lower; Then it can be deduced that ; Set the data measurement period Tc to measure the correlation function F0 at regular intervals. Using the data value of the correlation function F0 as the ordinate and the data measurement period Tc as the abscissa, construct the dynamic curve Sf of the correlation function F0; S2 - 303, obtain the risk index Risk of the interventional surgery navigation quality through curve analysis: ; Among them, refers to the standard deviation of the ordinate of the dynamic curve Sf, is the average value of the ordinate of the dynamic curve Sf, and Kf refers to the average value of the slope of the dynamic curve Sf; Preset any point and its coordinates on the dynamic curve Sf as p(Xp, Yp), and mark the coordinates of the adjacent point q of point p as (Xq, Yq), so as to obtain the average value of the ordinate and the standard deviation of the ordinate , as well as the average value of the slope Kf; Among them, , , ; e1 is the base of the natural logarithm, and it is preset that e1 is greater than 1. When the standard deviation of the ordinate of the dynamic curve Sf is higher and the average value of the ordinate is lower, the risk index Risk is higher, indicating that the dynamic curve Sf of the correlation function F0 is more unstable and the overall level is lower, indicating that the risk degree of the interventional surgery navigation quality is higher; e2 is the conversion coefficient of the average value of the slope Kf of the dynamic curve Sf and e2 is within the interval (0, 1). When the average value of the slope Kf of the dynamic curve Sf is negative and smaller, the risk index Risk is larger, indicating that the dynamic curve Sf of the correlation function F0 shows a downward trend and the degree of decline is higher, indicating that the risk degree of the interventional surgery navigation quality is higher; S2 - 304, set the risk interval of the risk index Risk of the interventional surgery navigation quality, evaluate the comprehensive influence degree of environmental interference on the navigation quality through interval comparison, and output the surgical navigation optimization plan; Preset the risk interval of the risk index Risk of the interventional surgery navigation quality as [Qf1, Qf2]. When the risk index Risk of the interventional surgery navigation quality is higher, the comprehensive influence degree of environmental interference on the navigation quality is higher; When the risk index Risk is lower than the risk range [Qf1, Qf2], it is determined that the comprehensive impact degree of environmental interference on the navigation quality is mild, and a level-I risk prompt signal is generated; When the risk index Risk is within the risk range [Qf1, Qf2], it is determined that the comprehensive impact degree of environmental interference on the navigation quality is moderate, and a level-II risk prompt signal is generated; When the risk index Risk is higher than the risk range [Qf1, Qf2], it is determined that the comprehensive impact degree of environmental interference on the navigation quality is severe, and a level-III risk prompt signal is generated; S3. The alarm prompt unit is used to receive the navigation anomaly alarm signal and perform corresponding visual prompt operations; The main process of the visual prompt operation is as follows: when receiving the Hm-level navigation anomaly alarm signal, a corresponding alarm prompt text is generated and displayed. The content of the alarm prompt text is "The navigation anomaly level is Hm level, and the navigation quality index NQ of the interventional surgery", so as to prompt the medical staff to perform corresponding emergency treatments; S4. The optimization management unit is used to receive the surgical navigation optimization plan and perform corresponding regulation and management operations; By deeply and carefully comparing the influence degree of environmental interference information, the surgical navigation optimization plan is obtained; When receiving the level-I risk prompt signal, no processing is performed; When receiving the level-II risk prompt signal, deep and careful comparison is carried out and targeted processing is performed. The specific process is as follows: The comparison factors of each sub-vector in the preset interference factor vector group R<r1, r2> are set: the comparison factors of the environmental electromagnetic parameter vector r1 and the lesion interference parameter vector r2 are respectively marked as φ1 and φ2; When the correlation function is lower than the comparison factor φ1, regulation and management are carried out for the environmental electromagnetic parameter vector r1; when the correlation function is lower than the comparison factor φ2, regulation and management are carried out for the lesion interference parameter vector r2; When receiving the level-III risk prompt signal, comprehensive regulation and management are carried out on the interference factor vector group R; The processing scheme corresponding to the risk prompt signal is integrated and marked as the surgical navigation optimization plan; The specific process of the regulation and management operation is as follows: Regulate and manage the environmental electromagnetic parameter vector r1: Process by regulating the electric field strength Ess and the magnetic field strength Css. For example, in combination with the actual situation, take measures such as using conductive or magnetic materials to shield the operating room, designing circuit grounding, installing filters, reasonably arranging the positions of multiple devices, and using wave-absorbing materials to reduce the intensity of electromagnetic interference in the operating room, ensuring the normal operation of surgical navigation medical equipment and the safety of patients; Regulate and manage the lesion interference parameter vector r2: Improve through the area Stp and signal intensity Qtp of the characteristic region TP. For example, taking coronary artery intervention surgery as an example, if a patient has multiple predisposing factors such as hypertension and diabetes before surgery, then the patient's blood vessel condition may still be poor, which will affect the accurate identification of the blood vessel position by the navigation device. Therefore, when the medical images of the patient's medical record information show that the lesion area of the surgical instrument caused by blood vessel abnormalities is large and the signal intensity is strong, it is necessary to prompt professional physicians to conduct a comprehensive analysis of lesion interference on the navigation path when presetting the optimal navigation planning scheme for the intervention surgery in the early stage, so as to adjust the preset intervention surgery navigation path, improve the doctor's surgical simulation operation level and experience, and comprehensively measure the blood vessels by combining the information of multiple imaging devices during the surgery, such as CTA (CT angiography), MRA (magnetic resonance imaging), DSA (digital subtraction angiography), etc., so as to improve the navigation accuracy of blood vessel identification, thereby improving the accuracy and safety of the surgery.

[0014] In summary, the present invention collects intervention surgery navigation data through a data monitoring unit, and then constructs a data processing model through a central processing unit for data analysis and processing, so as to obtain the optimal navigation planning scheme for the intervention surgery, generate a navigation anomaly alarm signal for real-time monitoring, and at the same time evaluate the comprehensive impact degree of environmental interference on the navigation quality, output a surgery navigation optimization scheme, and then receive the navigation anomaly alarm signal through an alarm prompt unit and perform a visual prompt operation, and receive the surgery navigation optimization scheme through an optimization management unit and perform a regulation and management operation to ensure the accuracy and safety of the intervention surgery and improve the intelligent application level of human-machine collaboration; The present invention performs image analysis and three-dimensional simulation on the patient's medical record information through a navigation path design module, so as to obtain and output the optimal navigation planning scheme for the intervention surgery, assist the doctor in performing the surgery, and receive the optimal navigation planning scheme through a navigation response evaluation module and monitor the real-time positioning of the surgical instrument, so as to comprehensively evaluate the navigation quality of the intervention surgery and generate a navigation anomaly alarm signal, ensuring the timeliness of anomaly monitoring and processing. Then, evaluate the comprehensive impact degree of environmental interference on the navigation quality through an interference factor analysis module, and output a surgery navigation optimization scheme for regulation and management to improve the navigation positioning accuracy.

[0015] The setting of the size of the interval and the threshold is for the convenience of comparison. Regarding the size of the threshold, it depends on the amount of sample data and the base quantity set by those skilled in the art for each group of sample data; as long as the proportional relationship between the parameter and the quantized value is not affected.

[0016] The above formulas are all dimensionless and take their numerical calculations. The formula is a formula obtained by collecting a large amount of data for software simulation to get the closest to the real situation. The preset parameters in the formula are set by those skilled in the art according to the actual situation. The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An interventional surgery navigation device based on artificial intelligence technology, characterized in that: It includes a data monitoring unit, a central processing unit, an alarm prompt unit and an optimization management unit, wherein the central processing unit includes a navigation path design module, a navigation response evaluation module and an interference factor analysis module; The data monitoring unit, the central processing unit, the alarm prompt unit and the optimization management unit are connected in communication; the navigation path design module, the navigation response evaluation module and the interference factor analysis module are connected in communication; The data monitoring unit is used to collect interventional surgery navigation data: the interventional surgery navigation data includes patient medical record information, equipment operation information and environmental interference information. The data collection cycle Ts is set to collect the interventional surgery navigation data regularly; The central processing unit is used to build a data processing model to analyze and process the interventional surgery navigation data: the navigation path design module performs image analysis and three-dimensional simulation on the patient's medical record information, so as to obtain and output the optimal navigation planning scheme for the interventional surgery; the navigation response evaluation module receives the optimal navigation planning scheme and monitors the real-time positioning of the surgical instrument, so as to comprehensively evaluate the navigation quality of the interventional surgery and generate a navigation abnormality alarm signal; the interference factor analysis module evaluates the comprehensive impact of environmental interference on navigation quality and outputs the surgical navigation optimization scheme; The alarm prompt unit is used to receive the navigation abnormality alarm signal and perform corresponding visual prompt operations; The optimization management unit is used to receive the surgical navigation optimization plan and perform corresponding regulation and management operations.

2. The interventional surgery navigation device based on artificial intelligence technology according to claim 1, characterized in that: The specific process of building a data processing model is as follows: The data processing model includes a navigation path design sub-model, a navigation response evaluation sub-model and an interference factor analysis sub-model; Through the navigation path design sub-model, the patient's medical record information is image analyzed and 3D simulated to obtain and output the optimal navigation planning scheme for interventional surgery. The optimal navigation planning scheme includes the entry point, target position and navigation path of the surgical instrument. The navigation response evaluation sub-model receives the optimal navigation planning scheme and monitors the real-time positioning of surgical instruments, thereby analyzing and processing the equipment operation information, evaluating the accuracy and efficiency of human-machine collaboration, and then comprehensively evaluating the navigation quality of interventional surgery and generating corresponding navigation abnormality alarm signals; Environmental interference information is introduced through the interference factor analysis sub-model, and the correlation function between navigation quality and environmental interference information is constructed to evaluate the comprehensive impact of environmental interference on navigation quality and output the surgical navigation optimization plan.

3. The interventional surgery navigation device based on artificial intelligence technology according to claim 2, characterized in that: The specific processing process of the navigation path design sub-model is as follows: Collect patient medical record information by accessing and retrieving the patient's electronic medical record, which includes medical imaging images and diagnosis and treatment parameters; Obtain the optimal navigation planning scheme for interventional surgery by performing 3D modeling on medical images; The optimal navigation planning solution includes the surgical instrument’s entry point, target location, and navigation path; A three-dimensional coordinate system is constructed to mark the coordinates of the navigation path. The entry point of the surgical instrument is marked as Din (Xa, Ya, Za), the target position of the surgical instrument is marked as the feature area TP, and the navigation path of the surgical instrument is marked as Srt.

4. The interventional surgery navigation device based on artificial intelligence technology according to claim 3, characterized in that: The specific processing process of the navigation response evaluation sub-model is as follows: The equipment operation information includes response time, actual path and navigation speed; the actual path of real-time positioning of the surgical instrument is marked as Sra, the response time of the interventional surgery navigation device is marked as Tg, and the navigation speed of the surgical instrument is marked as Vg; A1, compare and analyze the navigation path Srt of the surgical instrument with the actual path Sra. The specific process is as follows: The navigation path Srt is divided into N0 discrete points through the data collection period Ts, and any discrete point of the navigation path Srt and its coordinates are marked as Ei (Xe, Ye, Ze); Extract N0 feature points in the actual path Sra corresponding to N0 discrete points of the navigation path Srt, and mark the time period between two adjacent feature points of the actual path Sra as Te; The feature points and their coordinates corresponding to the discrete point Ei in the actual path Sra are marked as Ji (Xj, Yj, Zj), and the feature points adjacent to the point Ji (Xj, Yj, Zj) are marked as Ci (Xc, Yc, Zc); Integrate any set of corresponding discrete points and feature points into a navigation point pair, and any set of navigation point pairs includes feature point Ji and discrete point Ei; Obtain the accuracy evaluation coefficient Xacc of human-machine collaboration through the coordinate deviation of the feature point Ji and the discrete point Ei of the N0 group of navigation point pairs, set the evaluation interval of the accuracy evaluation coefficient Xacc of human-machine collaboration, and evaluate the accuracy of human-machine collaboration through interval comparison; A2, the coordinate distance between two adjacent feature points along the actual path Sra With the time period Te, obtain the navigation speed Vg corresponding to the point Ji; A3, by combining the navigation speed Vg and the response time Tg of the interventional surgery navigation device, the efficiency evaluation coefficient Xeff of the human-machine collaboration is obtained, the evaluation interval of the efficiency evaluation coefficient Xeff of the human-machine collaboration is set, and the efficiency of the human-machine collaboration is evaluated by interval comparison; A4, and then through the combination of the accuracy evaluation coefficient Xacc and the efficiency evaluation coefficient Xeff of human-machine collaboration, the interventional surgery navigation quality index NQ is comprehensively obtained, and the evaluation interval of the interventional surgery navigation quality index NQ is set. The navigation quality of the interventional surgery is comprehensively evaluated through interval comparison, and a corresponding navigation abnormality alarm signal is generated.

5. The interventional surgery navigation device based on artificial intelligence technology according to claim 4, characterized in that: The specific processing process of the interference factor analysis sub-model is as follows: The environmental interference information includes environmental electromagnetic parameters and lesion interference parameters; wherein the environmental electromagnetic parameters include the electric field strength Ess and the magnetic field strength Css, and the lesion interference parameters include the area Stp and signal strength Qtp of the characteristic region TP; Establish the interference factor vector group R through environmental interference information<r1,r2> ; Where r1 is the environmental electromagnetic parameter vector, r1=<electric field strength Ess, magnetic field strength Css>; r2 is the lesion interference parameter vector, r2=<area Stp of the characteristic region TP, signal intensity Qtp of the characteristic region TP>; The interventional surgery navigation quality index NQ and interference factor vector group R<r1,r2> , construct the correlation function F0 between navigation quality and environmental interference information; Set the data calculation period Tc to perform regular calculation on the correlation function F0, and use the dynamic curve Sf between the data value of the correlation function F0 and the data calculation period Tc; The risk index Risk of interventional surgery navigation quality is obtained through curve analysis, so as to evaluate the comprehensive impact of environmental interference on navigation quality and output the surgical navigation optimization plan.

6. The interventional surgery navigation device based on artificial intelligence technology according to claim 5, characterized in that: The specific process of outputting the surgical navigation optimization plan is as follows: Set the risk interval of the risk index Risk of the navigation quality of interventional surgery, evaluate the comprehensive impact of environmental interference on the navigation quality through interval comparison, and output the corresponding risk warning signal; The risk interval of the risk index Risk of the quality of interventional surgery navigation is preset to be [Qf1, Qf2]; When the risk index Risk is lower than the risk interval [Qf1, Qf2], it is determined that the comprehensive impact of environmental interference on navigation quality is mild, and a level I risk warning signal is generated; When the risk index Risk is in the risk interval [Qf1, Qf2], it is determined that the comprehensive impact of environmental interference on navigation quality is moderate, and a level II risk warning signal is generated; When the risk index Risk is higher than the risk interval [Qf1, Qf2], the comprehensive impact of environmental interference on navigation quality is judged to be severe, and a level III risk warning signal is generated; Then, the signal is received and the impact of environmental interference information is deeply analyzed to obtain the optimal surgical navigation solution; When a Level I risk warning signal is received, no action will be taken; When a level II risk warning signal is received, the contrast factor is set for detailed contrast, so as to carry out targeted processing on the environmental electromagnetic parameter vector r1 and the lesion interference parameter vector r2; When a level III risk warning signal is received, the interference factor vector group R will be fully regulated and managed; The treatment plans corresponding to the risk warning signals are integrated and marked as surgical navigation optimization plans.

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