Operation simulation assisting and navigation system based on computer

Abstract

The invention relates to the technical field of medical treatment, in particular to a computer-based operation simulation assistance and navigation system, which comprises a medical image three-dimensional model reconstruction subsystem, a model calibration and guidance subsystem, an operation space positioning subsystem and an operation planning and simulation subsystem, the medical image three-dimensional model reconstruction subsystem obtains a three-dimensional simulation model according to preoperative detection information of a patient; constructing a three-dimensional model registration function in the model calibration and guidance subsystem, and adjusting the model through the function to obtain a target three-dimensional simulation model; analyzing the target three-dimensional simulation model by using an operation space positioning subsystem so as to obtain space distribution information and attitude information of the operation area tissue of the patient; a horizontal parallax safety evaluation model is established in the operation planning and simulation subsystem, a safety horizontal parallax distance is obtained, and the operation planning and simulation subsystem achieves operation simulation according to the target three-dimensional simulation model, the spatial distribution information, the attitude information and the safety horizontal parallax distance.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and particularly to a computer-based surgical simulation assistance and navigation system. Background Art

[0002] Current surgical assistance and navigation systems mainly rely on technologies such as electromagnetic navigation tracking, intraoperative X-ray fluoroscopy, and intraoperative real-time CT imaging. Existing technologies usually construct a three-dimensional model based on preoperative image information. However, how to standardize the adjustment of the patient's three-dimensional model to ensure the correctness of its posture and effectively fuse it with the target object in the actual surgery is still a huge challenge.

[0003] In addition, during the process of surgical simulation assistance and navigation, due to non-standard simulation operations, the correct use of related devices in the surgical simulation system cannot be guaranteed. Therefore, during the process of surgical simulation and assisted navigation, how to ensure the accurate operation, effective monitoring, and normal operation of the surgical simulation and navigation system, and provide reliable visual guidance and auxiliary information for surgical simulation, is an urgent problem to be solved. Summary of the Invention

[0004] In view of the deficiencies of existing methods and the requirements of practical applications, in order to effectively fuse a three-dimensional model with a surgical target object, the present invention performs model registration processing on the three-dimensional simulation model; on the other hand, in order to optimize the visual assistance and navigation functions during the surgical simulation, the present invention obtains the spatial distribution information and pose information of the patient based on the preoperative detection information and the three-dimensional model information, provides visual assistance and guiding information for the surgical simulation process, and helps to improve the accuracy and safety of the surgery. On the one hand, the present invention provides a computer-based surgical simulation assistance and navigation system, and the system includes: a three-dimensional medical image model reconstruction subsystem, a model calibration and guidance subsystem, a surgical space positioning subsystem, and a surgical planning and simulation subsystem; the three-dimensional medical image model reconstruction subsystem obtains a three-dimensional simulation model of the patient according to the preoperative detection information of the patient; a three-dimensional model registration function is constructed in the model calibration and guidance subsystem, and the model calibration and guidance subsystem adjusts the three-dimensional simulation model according to the three-dimensional model registration function to obtain the target three-dimensional simulation model of the patient; the surgical space positioning subsystem is used to analyze the target three-dimensional simulation model to obtain the spatial distribution information and pose information of the patient's surgical area tissue; a horizontal parallax safety evaluation model is established in the surgical planning and simulation subsystem to obtain a safe horizontal parallax distance, and the surgical planning and simulation subsystem realizes the simulation of the patient's surgical plan according to the target three-dimensional simulation model, the spatial distribution information, the pose information, and the safe horizontal parallax distance. The system of the present invention has functions such as three-dimensional simulation, model calibration, surgical space positioning, and surgical planning simulation, can significantly reduce the risks during the surgery, more accurately locate the lesion area of the patient, provides a good surgical assistance and guiding tool for doctors, and helps to achieve more accurate, safe, and efficient surgical treatment.

[0005] Optionally, constructing a three-dimensional model registration function in the model calibration and guidance subsystem, and the model calibration and guidance subsystem adjusts the three-dimensional simulation model according to the three-dimensional model registration function to obtain the target three-dimensional simulation model of the patient includes: constructing a three-dimensional model registration function based on the three-dimensional simulation model and the preoperative detection information; adjusting the three-dimensional simulation model according to the output result of the three-dimensional model registration function to obtain the target three-dimensional simulation model of the patient. The present invention constructs and applies a three-dimensional model registration function to adjust the three-dimensional simulation model, which helps to obtain a three-dimensional simulation model that is more in line with the actual situation of the patient.

[0006] Optionally, the three-dimensional model registration function satisfies the following relationship:

[0007] Wherein, represents the registration result of the three-dimensional model, Indicates the number of visible points of the three-dimensional simulation model, Indicates the intensity value of the red channel in the left camera projection image of the m-th visible point of the three-dimensional simulation model, Indicates the intensity value of the green channel in the left camera projection image of the m-th visible point of the three-dimensional simulation model, Indicates the intensity value of the blue channel in the left camera projection image of the m-th visible point of the three-dimensional simulation model, Indicates the intensity value of the red channel in the right camera projection image of the m-th visible point of the three-dimensional simulation model, Indicates the intensity value of the green channel in the right camera projection image of the m-th visible point of the three-dimensional simulation model, Indicates the intensity value of the blue channel in the right camera projection image of the m-th visible point of the three-dimensional simulation model, Indicates the average red intensity of the left and right camera projection images of the m-th visible point of the three-dimensional simulation model, Indicates the average green intensity of the left and right camera projection images of the m-th visible point of the three-dimensional simulation model, Indicates the average blue intensity of the left and right camera projection images of the m-th visible point of the three-dimensional simulation model. The three-dimensional model registration function of the present invention integrates multi-channel information, left and right camera projection mechanisms, quantitative analysis and other factors, which helps to formulate more accurate and personalized surgical treatment plans, reduce surgical risks and improve surgical success rates.

[0008] Optionally, the analysis of the target three-dimensional simulation model by the surgical space positioning subsystem to obtain the spatial distribution information and pose information of the patient's surgical area tissues includes: the surgical space positioning subsystem analyzes the target three-dimensional simulation model in combination with the preoperative detection information and obtains a spatial positioning analysis result; based on the spatial positioning analysis result, the spatial distribution information of the patient's surgical area tissues is obtained, and the spatial distribution information includes the spatial distance and spatial angle values of the patient's surgical area tissues. The present invention uses the surgical space positioning subsystem to obtain the spatial distribution information and pose information of the patient's surgical area tissues, which is beneficial to optimizing the surgical plan and realizing the real-time navigation of the simulated surgery.

[0009] Optionally, the spatial distance satisfies the following relationship:

[0010] Wherein, Indicates the spatial distance between A and B in the three-dimensional simulation model, ( , , ) represents the spatial coordinates of point A in the three-dimensional simulation model, ( , , ) represents the spatial coordinates of point B in the three-dimensional simulation model; The spatial angle value satisfies the following relationship:

[0011] wherein, represents the angular value of A and B in the three-dimensional simulation model, represents the spatial distance between points A and O in the three-dimensional simulation model, represents the spatial distance between points B and O in the three-dimensional simulation model, represents the spatial distance between A and B in the three-dimensional simulation model. The spatial distance and spatial angle value calculation model of the present invention helps to locate and navigate the lesion area of the patient during the surgical simulation process, thereby improving the success rate of the surgery.

[0012] Optionally, establishing a horizontal parallax safety assessment model in the surgical planning and simulation subsystem includes: establishing a horizontal parallax safety assessment model according to the parallax type of the surgical simulation, and the parallax types include zero parallax, positive parallax, negative parallax, and divergent parallax. The present invention can simulate the visual experience during the real surgical process, further improving the authenticity, accuracy, and safety of the simulation system, and reducing errors and uncertainties during the surgical process.

[0013] Optionally, the horizontal parallax safety assessment model satisfies the following relationship:

[0014] wherein, represents the visual acuity of the human eye, represents the distance between the viewer's eyes and the display screen, represents the central distance between the viewer's binocular pupils, represents the horizontal pixel resolution of the display, represents the pupil diameter size of the human eye, represents the binocular parallax value in the horizontal direction. The model of the present invention can ensure that the binocular parallax value is within a safe range, reducing the surgical risk caused by visual errors.

[0015] Optionally, establishing a horizontal parallax safety assessment model in the surgical planning and simulation subsystem to obtain a safe horizontal parallax distance includes: the surgical planning and simulation subsystem uses the horizontal parallax safety assessment model to obtain a horizontal parallax assessment result; adjusting the device use distance during the surgical simulation according to the horizontal parallax assessment result to maintain a safe horizontal parallax distance during the surgical simulation process. The present invention adjusts the use distance of the surgical simulation device through a safety assessment model, which is beneficial to improving the authenticity and flexibility of the surgical simulation, and providing a safer and more efficient surgical treatment plan for patients.

[0016] Optionally, the surgical planning and simulation subsystem realizes the simulation of the patient's surgical plan based on the target three-dimensional simulation model, the spatial distribution information, the attitude information, and the safety-level parallax distance, including: configuring a visual monitoring device in the surgical planning and simulation subsystem; the surgical planning and simulation subsystem realizes the visual monitoring of the surgical simulation process based on the visual monitoring device, the target three-dimensional simulation model, the spatial distribution information, the attitude information, and the safety-level parallax distance. The visual monitoring device of the present invention can capture and display the key information in the surgical simulation process in real time. At the same time, combined with the target three-dimensional simulation model, the spatial distribution information, and the attitude information, the system can highly restore the surgical simulation environment.

[0017] Optionally, the computer-based surgical simulation assistance and navigation system further includes: setting surgical plan evaluation indicators based on historical surgical information, where the surgical plan evaluation indicators include surgical execution quality indicators, postoperative rehabilitation status indicators, and patient satisfaction indicators; comprehensively evaluating and analyzing the patient's surgical simulation plan in combination with the surgical execution quality indicators, the postoperative rehabilitation status indicators, and the patient satisfaction indicators. The present invention comprehensively evaluates and analyzes the surgical simulation plan, enabling the system to predict possible risks and problems during the surgery, which helps doctors make full preparations and countermeasures before the surgery and reduce the surgical risk. Description of the Drawings

[0018] Figure 1 It is a flowchart of the computer-based surgical simulation assistance and navigation system of the present invention; Figure 2 It is a schematic diagram of different parallax types in the computer-based surgical simulation assistance and navigation system of the present invention; Figure 3 It is a structural diagram of the computer-based surgical simulation assistance and navigation system of the present invention. Detailed Embodiments

[0019] The specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described here are only for illustrative purposes and do not limit the present invention. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is obvious to those of ordinary skill in the art that: the present invention does not have to adopt these specific details. In other instances, well-known circuits, software, or methods are not specifically described to avoid obscuring the present invention.

[0020] Throughout the specification, references to "one embodiment", "an embodiment", "one example" or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Thus, the phrases "in one embodiment", "in an embodiment", "one example" or "an example" appearing throughout the specification do not necessarily all refer to the same embodiment or example. In addition, the particular features, structures, or characteristics may be combined in any suitable combination and / or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will understand that the diagrams provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0021] Please refer to Figure 1 , the present invention combines relevant algorithms and technologies to perform registration processing on a three-dimensional simulation model, enabling the three-dimensional simulation model to fit the surgical target object and providing a solid foundation for surgical simulation; at the same time, based on the preoperative detection data and three-dimensional model information, it further analyzes the spatial and pose information of the patient's surgical area, providing visual assistance and navigation basis for surgical simulation, thereby helping doctors to perform precise surgical planning and operations in the simulation environment, reducing surgical risks and increasing the surgical success rate. The present invention provides a computer-based surgical simulation assistance and navigation system, and the above computer-based surgical simulation assistance and navigation system mainly includes the following steps: In a computer-based surgical simulation assistance and navigation system, there are provided: a medical image three-dimensional model reconstruction subsystem, a model calibration and guidance subsystem, a surgical space positioning subsystem, and a surgical planning and simulation subsystem.

[0022] S1. The above medical image three-dimensional model reconstruction subsystem obtains the three-dimensional simulation model of the patient according to the preoperative detection information of the patient, and its specific implementation steps and related content are as follows: The medical image three-dimensional model reconstruction subsystem can accurately receive the preoperative detection information of the patient. The above information includes but is not limited to medical image data information such as CT, MRI, and ultrasound. It mainly extracts the preoperative examination data of the patient, which helps to accurately construct the three-dimensional simulation models of different patients. The above models replicate the lesion areas and structural conditions of the patients, enabling doctors or relevant simulation participants to fully understand the tissue details such as the blood vessel layout, nerve orientation, and bone structure in the patient's lesion area, providing assistance and guiding information for doctors' diagnosis work, surgical strategy planning, and surgical simulation practice.

[0023] In actual operation, the medical imaging three-dimensional model reconstruction subsystem first needs to combine two-dimensional imaging technologies such as CT and MRI to timely receive and analyze the imaging data and detection information of the patient's surgical target area; then, through medical image processing technology, the patient's two-dimensional image data is converted into a three-dimensional stereo model, thereby completing the conversion from plane to three-dimensional information. This conversion process not only ensures the complete preservation of the original diagnostic images and examination data, but also enables doctors to observe the patient's lesions and adjacent tissues from different perspectives, which is conducive to doctors designing more accurate and safe patient surgical plans.

[0024] In summary, the medical imaging three-dimensional model reconstruction subsystem converts the patient's two-dimensional information into a three-dimensional simulation model, presenting an intuitive model of the patient's lesion and its surrounding tissue, which is conducive to promoting the advancement and development of medical diagnostic technology.

[0025] Furthermore, the method of establishing the patient's three-dimensional simulation model in this embodiment is only an optional condition of the present invention. In one or some other embodiments, the method of constructing the patient's three-dimensional simulation model can be replaced according to the patient's actual situation and surgical simulation requirements. Different patients and surgical scenarios require different model accuracy and levels of detail. The present invention replaces and selects the model construction method, so that the surgical simulation assistance and navigation system can better adapt to various complex situations and ensure the practicality and feasibility of the system.

[0026] S2. Construct a 3D model registration function in the above-mentioned model calibration and guidance subsystem. The model calibration and guidance subsystem adjusts the 3D simulation model according to the 3D model registration function to obtain the target 3D simulation model of the patient. The specific implementation content is as follows: A three-dimensional model registration function is constructed based on the three-dimensional simulation model and preoperative detection information; at the same time, the three-dimensional simulation model is adjusted according to the output result of the three-dimensional model registration function to obtain the target three-dimensional simulation model of the patient.

[0027] A 3D model registration function is constructed in the model calibration and guidance subsystem, and the patient's 3D simulation model is adjusted accordingly to obtain a target 3D simulation model that is highly consistent with the actual surgical situation.

[0028] First, the patient's preoperative examination information and the constructed 3D simulation model were compared and analyzed, and a 3D model registration function was constructed based on the correspondence between the two. This function can optimize the alignment between the 3D simulation model and the patient's actual surgical area or structure, thereby providing more accurate surgical simulation information.

[0029] The three-dimensional model registration function in the embodiment satisfies the following relationship:

[0030] Among them, represents the registration result of the three-dimensional model, represents the number of visible points of the three-dimensional simulation model, represents the intensity value of the red channel in the left camera projection image of the m-th visible point of the three-dimensional simulation model, represents the intensity value of the green channel in the left camera projection image of the m-th visible point of the three-dimensional simulation model, represents the intensity value of the blue channel in the left camera projection image of the m-th visible point of the three-dimensional simulation model, represents the intensity value of the red channel in the right camera projection image of the m-th visible point of the three-dimensional simulation model, represents the intensity value of the green channel in the right camera projection image of the m-th visible point of the three-dimensional simulation model, represents the intensity value of the blue channel in the right camera projection image of the m-th visible point of the three-dimensional simulation model, represents the average red intensity in the left and right camera projection images of the m-th visible point of the three-dimensional simulation model, represents the average green intensity in the left and right camera projection images of the m-th visible point of the three-dimensional simulation model, represents the average blue intensity in the left and right camera projection images of the m-th visible point of the three-dimensional simulation model.

[0031] The output value of the three-dimensional model registration function refers to the result calculated during the registration process. The above result is used to describe the spatial transformation relationship between the two-dimensional information and the three-dimensional model, enabling the two to achieve a better alignment or matching relationship. Further, if the output value is within the preset registration parameter threshold or the registration function is minimized, it indicates that the three-dimensional simulation model and the two-dimensional information have a good degree of adaptation at this time, indicating that this three-dimensional simulation model can be directly used for the subsequent surgical simulation process; if the output value does not meet the pre-trial conditions, model optimization and adjustment are required.

[0032] In three-dimensional space, when observing the three-dimensional simulation model from a certain determined perspective or camera position, the number of model surface points that can be seen is the number of visible points. In the embodiments, the relevant visible points can be the vertices on the model surface or smaller points after subdivision, which together constitute the visible part of the three-dimensional simulation model from different perspectives. At the same time, the more the above-mentioned visible points, the richer the details of the three-dimensional simulation model and the more realistic the visualization effect.

[0033] The intensity value of the red channel in the left camera projection image of the visible point of the three-dimensional simulation model refers to that when the three-dimensional simulation model is projected onto the two-dimensional image plane of the left camera, for any visible point on the three-dimensional model, its brightness or color intensity on the red channel can be obtained. The above intensity value is a scalar and can be used to describe the color depth or brightness level of the point on the red channel.

[0034] The intensity value of the visible point of the three-dimensional simulation model in the green channel of the left camera projection image describes the color intensity of any visible point on the model in the green channel.

[0035] The blue channel is one of the components of the color CT image and, together with the red and green channels, constitutes the color space of the color CT image. The intensity value of the visible point of the three-dimensional simulation model in the blue channel of the left camera projection image is also a scalar, which can be used to describe the color intensity of any visible point on the three-dimensional model in the blue channel.

[0036] The relevant intensity values play an important role in the three-dimensional model registration function. They are used to calculate the color intensity difference between the three-dimensional simulation model in the left and right camera projection images, so as to evaluate the alignment degree between the three-dimensional model and the real surgical area or structure. In this embodiment, by minimizing the color intensity difference, the optimal parameters for aligning the three-dimensional simulation model with the real surgical structure can be found, and thus the optimized target three-dimensional simulation model can be obtained.

[0037] The intensity values of the red channel, the intensity values of the red channel, and the intensity values of the red channel in the right camera projection image of the visible point of the three-dimensional simulation model are the same as the explanations of the above parameters. The difference is that the three-dimensional simulation model is projected onto the two-dimensional image plane of the right camera, and the brightness or intensity of different colors of any visible point is obtained.

[0038] The average value of the intensity values of different color channels reflects the overall brightness or color depth of the three-dimensional model in different color channels. Based on this, the brightness or color distribution information of the three-dimensional model in different color channels can be analyzed, and then the alignment degree between the three-dimensional model and the real surgical area or structure can be evaluated.

[0039] The three-dimensional model registration function mainly realizes the matching by comparing the color intensity information of the camera projection images. It comprehensively considers the intensity distribution of the three primary colors of red, green, and blue in the left and right camera projection images of the three-dimensional simulation model. The function calculates the deviation between the color intensity of each visible point in the camera projection image and the average intensity, and then measures the alignment status between the three-dimensional simulation model and the real surgical area or anatomical structure, so as to ensure the coincidence degree between the model and the actual situation.

[0040] When the registration function value is minimized, or its output is controlled within a preset reference threshold, a set of optimal parameter configurations can be found. The above parameters can ensure the precise alignment of the three-dimensional simulation model with the real surgical area or anatomical structure. The target three-dimensional simulation model is obtained by using the optimized parameters. This model is an indispensable part of the surgical simulation assistance and navigation system, which can provide doctors with detailed and real-time surgical guidance and help the smooth progress of the surgery.

[0041] The registration function plays a crucial role in the adjustment process of the three-dimensional simulation model. According to the feedback results of the registration function, parameters such as the shape and position of the three-dimensional simulation model are adjusted to be highly consistent with the patient's real anatomical structure, ensuring the accuracy and reliability of surgical navigation. In addition, to enhance the model's accuracy, during the calibration phase, the optimized three-dimensional simulation model is compared with the two-dimensional image, and the vertex coordinates of the three-dimensional model are mapped to the image coordinate system through coordinate transformation for direct comparison and verification with the two-dimensional image information.

[0042] Furthermore, the method for obtaining the patient's target three-dimensional simulation model in this embodiment is only an optional condition of the present invention. In one or some other embodiments, the method for obtaining the target three-dimensional simulation model can be adjusted according to the target requirements of the three-dimensional simulation model and the actual situation of model calibration, so as to better adapt to individual differences of different patients, such as body shape, lesion location, lesion degree, etc., thereby generating a three-dimensional simulation model that more conforms to the actual situation of the patient.

[0043] S3. Use the above surgical space positioning subsystem to analyze the target three-dimensional simulation model to obtain the spatial distribution information and pose information of the patient's surgical area tissue. The specific implementation content is as follows: The surgical space positioning subsystem analyzes the target three-dimensional simulation model in combination with the pre-operative detection information and obtains the spatial positioning analysis result.

[0044] The surgical space positioning subsystem closely cooperates with the pre-operative detection information, deeply analyzes the target three-dimensional simulation model, and obtains the spatial positioning analysis result. This subsystem integrates medical imaging, electromagnetic tracking, and optical positioning technologies to measure the three-dimensional spatial positions and poses of the surgical area tissue and surgical instruments.

[0045] The surgical space positioning subsystem can real-time analyze the relative position relationship between the surgical instrument and the patient's surgical area, providing intuitive and clear visual navigation for the doctor. During the surgical simulation process, the doctor can pre-determine the surgical path and implementation plan based on the spatial positioning information and the pose data of the surgical instrument, thereby improving the accuracy and safety of the surgery.

[0046] The surgical space positioning subsystem can accurately determine the spatial position and pose of the three-dimensional simulation model. At the same time, it plays a significant role in improving the surgical accuracy and safety, can effectively reduce the surgical risk, and further promotes the optimization of the surgical simulation effect.

[0047] Based on the results obtained by the spatial positioning analysis subsystem, the spatial layout information of the patient's surgical area tissue can be extracted. In an optional embodiment, the above spatial layout information specifically includes the spatial distance data and spatial angle data between the surgical area tissues.

[0048] The above spatial distance satisfies the following relationship:

[0049] Wherein, represents the spatial distance between A and B in the three-dimensional simulation model, ( , , ) represents the spatial coordinates of point A in the three-dimensional simulation model, ( , , ) represents the spatial coordinates of point B in the three-dimensional simulation model; In the embodiment, a three-dimensional spatial distance formula is adopted to calculate the spatial distance, and the above method can accurately reflect the straight-line distance in the three-dimensional space between any two points or multiple points in the three-dimensional simulation model.

[0050] The above spatial angle value satisfies the following relationship:

[0051] Wherein, represents the angle value between A and B in the three-dimensional simulation model, represents the spatial distance between points A and O in the three-dimensional simulation model, represents the spatial distance between points B and O in the three-dimensional simulation model, represents the spatial distance between A and B in the three-dimensional simulation model.

[0052] In order to determine the included angle relationship between the tissues in the surgical area and the reference point, the spatial angle value is used to describe it in the embodiment. In actual operation, the cosine theorem is used for mathematical derivation to obtain the included angle between any two points relative to the reference point.

[0053] By calculating the spatial distance and angle between the tissues in the surgical area, the precise positions of the surgical instruments and the lesions can be determined more accurately. Based on the spatial distribution information, doctors can deeply understand the layout and mutual positional relationship of the tissues in the surgical area, thereby effectively preventing accidental damage to key tissues and further reducing the surgical risk. In addition, doctors can also use the spatial information and the attitude data of the surgical instruments to customize the surgical plan for the patient, including but not limited to the selection of the surgical path, the planning of the surgical steps, and the selection of the surgical instruments, etc., to ensure the smooth progress of the surgical simulation process.

[0054] Furthermore, the method of obtaining spatial information and attitude information in this embodiment is only an optional condition of the present invention. In one or some other embodiments, the information acquisition method of the three-dimensional model can be changed and optimized according to the requirements of the patient's surgical plan and the specific structure of the three-dimensional simulation model. In other embodiments, the information acquisition process can be modified and improved according to the actual needs of the surgery, the complexity of the model, and technical conditions to ensure that the relevant information of the three-dimensional model can be accurately and efficiently obtained.

[0055] S4. Establish a horizontal parallax safety evaluation model in the above surgical planning and simulation subsystem to obtain the safe horizontal parallax distance. The surgical planning and simulation subsystem realizes the simulation of the patient's surgical plan based on the target three-dimensional simulation model, spatial distribution information, attitude information, and safe horizontal parallax distance. The specific implementation content is as follows: Establish a horizontal parallax safety evaluation model according to the parallax type of surgical simulation. In the embodiment, the parallax types mainly include zero parallax, positive parallax, negative parallax, and divergent parallax.

[0056] When the human visual system observes a three-dimensional model, it not only focuses on the main target object but also simultaneously perceives the surrounding objects and then forms images on the retina. When two adjacent imaging points on the retina fall within the fusion zone, the brain can integrate the relevant visual information to form a single stereoscopic vision. However, to ensure the stereoscopic vision effect within the fusion zone, the image parallax received by both eyes must be maintained within a reasonable range.

[0057] According to the principle of parallel binocular vision information acquisition and related research results, the stereoscopic videos captured by human vision mostly exhibit negative parallax characteristics, that is, the intersection point of the binocular lines of sight is in front of the display screen, creating a visual feeling that the object seems to jump out of the screen. In the embodiment, to enhance the immersion and stereoscopic depth effect of the naked-eye 3D display image, the parallax types cover various situations such as positive parallax, zero parallax, and negative parallax. For the specific above parallax types, please refer to Figure 2 , where Figure 2 (a) in represents zero parallax, Figure 2 (b) in represents positive parallax, Figure 2 (c) in represents negative parallax, Figure 2 (d) in represents divergent parallax.

[0058] When the intersection point of the binocular lines of sight exactly falls on the display screen, it is in the zero parallax state. At this time, the picture shows a flat and depthless visual effect, as shown in Figure 2 (a) in; if the intersection point is behind the screen, positive parallax is formed, and the viewer will experience the stereoscopic effect that the three-dimensional simulation model goes deep into the screen, as shown in Figure 2as shown in (b) of [reference]; on the contrary, if the intersection point is in front of the screen, a negative parallax is generated, and at this time, the 3D simulation model seems to jump out of the screen, bringing a strong stereoscopic visual impact, as Figure 2 shown in (c) of [reference]; finally, when the binocular lines of sight cannot intersect, that is, when a divergent parallax occurs, the viewer will not feel any stereoscopic effect, as Figure 2 shown in 2(d) of [reference].

[0059] According to Figure 2 it can be known that by adjusting the binocular lines of sight of the surgical simulation participants so that the position of the intersection point of their lines of sight and the parallax range are kept within a specific interval, a better visual effect of surgical simulation can be obtained.

[0060] During the surgical simulation operation process, it is necessary to consider the naked-eye display device used by the surgical participants and their specific viewing distance from the screen. To ensure the accuracy of the surgery and the visual comfort of the participants, the safe range of horizontal parallax must meet certain conditions. That is, for the realism and safety of the stereoscopic visual effect during the surgical simulation process, it is necessary to adjust the range of horizontal parallax according to the characteristics of the parallax type and the actual viewing distance. By carefully classifying and processing various types of parallax, a more realistic and reliable surgical simulation environment can be constructed, providing comprehensive visual assistance for doctors, thereby improving the success rate of the surgery and ensuring the safety of patients.

[0061] The above horizontal parallax safety evaluation model satisfies the following relationship:

[0062] where represents the visual acuity of the human eye, represents the distance between the viewer's eyes and the display screen, represents the distance between the centers of the viewer's binocular pupils, represents the horizontal pixel resolution of the display, represents the pupil diameter size of the human eye, represents the binocular parallax value in the horizontal direction.

[0063] Visual acuity is a visual index. Visual acuity, that is, visual sharpness, refers to the ability of a person to distinguish fine objects or the fine parts of distant objects. In the embodiment, the visual acuity of the human eye is set to ; The pupil diameter size of the human eye is set to 4 mm; The horizontal pixel resolution of the display, that is, the display for showing the 3D simulation model, refers to the number of pixels that the display can show in the horizontal direction. It is an important index to measure the clarity of the display and determines the detail level of the image presented by the display.

[0064] The horizontal pixel resolution of the display satisfies the following relationship:

[0065] Wherein, represents the horizontal pixel resolution of the display, represents the diagonal size of the display, represents the display resolution of the display screen.

[0066] Due to the existence of the interpupillary distance, when the same object is imaged on the retinas of both eyes, there will be a horizontal difference, that is, a horizontal parallax is formed. By adjusting the horizontal parallax value between the left and right eye images, a more realistic stereoscopic vision effect can be simulated. If the horizontal parallax is set improperly, too large or too small, it will cause visual discomfort or weaken the perception effect of stereoscopic vision. Therefore, it is crucial to appropriately adjust the horizontal parallax value according to the specific situation of the doctor or user. When observing and analyzing the three-dimensional simulation model of the patient based on this, the best stereoscopic vision effect and viewing comfort can be obtained, thus ensuring the smooth progress of the surgical simulation process.

[0067] In an optional embodiment, the above surgical planning and simulation subsystem uses a horizontal parallax safety evaluation model to obtain a horizontal parallax evaluation result; and adjusts the device use distance during the surgical simulation according to the horizontal parallax evaluation result to maintain a safe horizontal parallax distance during the surgical simulation.

[0068] The surgical planning and simulation subsystem uses a horizontal parallax safety evaluation model to accurately evaluate the horizontal parallax. Based on the evaluation result, the system can intelligently adjust the distance between the surgical simulation device and the observer to ensure that the horizontal parallax is always within a safe and appropriate range throughout the surgical simulation process.

[0069] On the premise that the horizontal parallax is within the optimal range, the system will also perform corresponding horizontal displacement adjustment on the left and right images of the three-dimensional simulation model according to the required translation amount to further adjust the horizontal parallax. However, during this process, some image edge information may be missing due to the translation operation. To effectively solve this problem, a bilinear interpolation algorithm is adopted in the embodiment to process the image edges to ensure that the edges of the finally presented three-dimensional simulation model are smooth and natural, thereby maintaining the accuracy and smoothness of the three-dimensional simulation model.

[0070] A visualization monitoring device is configured in the surgical planning and simulation subsystem. The surgical planning and simulation subsystem realizes the visual monitoring of the surgical simulation process based on the visualization monitoring device, the target three-dimensional simulation model, the spatial distribution information, the pose information, and the safe horizontal parallax distance.

[0071] In this embodiment, a computer-based surgical simulation assistance and navigation system further includes: Based on past surgical data, a surgical plan evaluation system has been set up, which covers the quality of surgical execution, postoperative rehabilitation and patient satisfaction as evaluation indicators.

[0072] In terms of the quality of surgical execution, two key indicators, namely the operation time and the intraoperative blood loss, are mainly examined. The above two indicators are negatively correlated with the surgical effect, that is, the lower the value, the more successful the surgery and the more beneficial it is to the patient.

[0073] The postoperative rehabilitation status is evaluated by the success rate and quality of the patient's postoperative recovery, which can be specifically divided into three grades: excellent, good and poor. Among them, the higher the proportion of patients with excellent and good recovery, the better the surgical effect usually is, showing a positive correlation.

[0074] In terms of patient satisfaction, it is mainly evaluated based on the subjective feelings of the patients, which can be divided into three levels: dissatisfied, generally satisfied and very satisfied. Among them, the higher the patient satisfaction, the more in line with their expectations the surgical effect is.

[0075] In this embodiment, a traditional conventional surgery group and a computer-assisted surgery group are set up, and the specific statistical analysis content is as follows: In the statistical analysis process, the SPSS statistical software is selected as the analysis tool to process and analyze the relevant data of different components. For measurement data, the form of mean plus or minus standard deviation is used for expression, and the t-test method is used to compare the data differences between different groups. For count data, the form of percentage (%) is used to represent, and the test is used to evaluate the differences between different groups. When the P value is less than the threshold of 0.05, it is determined that the differences between different components are significant and have clear significance in statistics.

[0076] Among them (X-bar) represents the mean, that is, the average value of a set of data, which is obtained by adding all the values of any set of data and then dividing by the number of values. The mean can be used to describe the central position or average level of a set of data.

[0077] represents the standard deviation, which is a statistic that measures the degree of dispersion of a set of data. The larger the above standard deviation, the more dispersed the data points; the smaller the standard deviation, the more concentrated the data points. The standard deviation is used to describe the volatility or dispersion degree of the data.

[0078] (Chi-squared) represents the statistic of the Chi-squared test, which is a non-parametric test method mainly used to compare the differences between the actual observed frequencies and the expected frequencies to test the association or independence between categorical variables. Among them The larger the value, the greater the difference between the observed frequency and the expected frequency.

[0079] P represents the probability value, which is used to measure whether the observed data differences are caused by random errors or whether they reach the statistical significance level. In statistics, a significance level (such as 0.05) is set. When the P value is less than this significance level, it is considered that the observed differences are not caused by random errors but are statistically significant.

[0080] 1. Conduct a comparative analysis of the indicators related to surgical simulation.

[0081] By comparing the performance of the traditional conventional surgery group and the computer-assisted surgery group in terms of operation time and intraoperative blood loss, it is found that the computer-assisted surgery group shows significant advantages. Specifically, the operation time of the computer-assisted surgery group is shorter than that of the traditional conventional surgery group, and at the same time, the intraoperative blood loss is also less. Through t-test statistical analysis of these two groups of data, the results show that the differences between the two groups are significant (P < 0.05). The relevant data are shown in Table 1.

[0082] Table 1 Comparison data table of the quality indicators of the two groups of surgical executions

[0083] 2. Conduct a comparative analysis of the degree of postoperative recovery.

[0084] When comparing the degree of postoperative recovery, the computer-assisted surgery group shows better performance. Specifically, the proportion (in percentage) of the computer-assisted surgery group reaching the excellent and good levels of postoperative recovery is significantly higher than that of the control group. This difference is statistically confirmed through testing, indicating that the differences between the two groups are significant (P < 0.05). For detailed data, please refer to Table 2.

[0085] Table 2 Comparison data table of the postoperative rehabilitation status indicators of the two groups of surgeries

[0086] 3. Conduct a comparative analysis of the patient satisfaction indicators.

[0087] The results of the postoperative satisfaction survey showed that the patient satisfaction in the computer-assisted surgery group was significantly higher than that in the control group. Specifically, the percentage of patient satisfaction in the computer-assisted surgery group was significantly higher than that in the control group, which was verified statistically by test, indicating that the difference between the two groups was significant (P < 0.05). For detailed data, please refer to Table 3.

[0088] Table 3 Comparison data table of the postoperative recovery degree of the two groups of surgeries

[0089] By deeply analyzing the data in Table 1, Table 2 and Table 3, it can be clearly seen that in the field of patient surgical simulation assistance and navigation technology, the computer-based surgical simulation assistance and navigation system proposed by the present invention demonstrated better performance. This system not only significantly shortened the operation time required, but also significantly reduced the intraoperative blood loss, thus enhancing the scientific nature and safety during the operation, effectively reducing the surgical risks of patients. The above data verified the effectiveness and feasibility of the surgical simulation assistance and navigation system to a certain extent. In addition, the postoperative patient satisfaction as high as 92.00% further proved that the surgical simulation assistance and navigation system of the present invention had significant advantages in improving the surgical efficacy and clinical value.

[0090] Please refer to Figure 3 , in an optional embodiment, the present invention also provides a computer-based surgical simulation assistance and navigation system, which includes a traffic intelligent monitoring subsystem, an information management subsystem, an intelligent scheduling subsystem and a safety warning and rescue subsystem. The above traffic intelligent monitoring subsystem, information management subsystem, intelligent scheduling subsystem and safety warning and rescue subsystem are interconnected to implement the specific steps of the related embodiments of the computer-based surgical simulation assistance and navigation system provided by the present invention. The computer-based surgical simulation assistance and navigation system of the present invention has a complete structure, is objective and stable, and improves the overall applicability and practical application ability of the present invention.

[0091] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A computer-based surgical simulation assistance and navigation system, characterized in that, The computer-based surgical simulation assistance and navigation system includes: a three-dimensional model reconstruction subsystem for medical images, a model calibration and guidance subsystem, a surgical space positioning subsystem, and a surgical planning and simulation subsystem; The three-dimensional model reconstruction subsystem for medical images obtains a three-dimensional simulation model of the patient based on the preoperative detection information of the patient; In the model calibration and guidance subsystem, a three-dimensional model registration function is constructed, and the model calibration and guidance subsystem adjusts the three-dimensional simulation model according to the three-dimensional model registration function to obtain the target three-dimensional simulation model of the patient; The surgical space positioning subsystem is used to analyze the target three-dimensional simulation model to obtain the spatial distribution information and pose information of the patient's surgical area tissue; In the surgical planning and simulation subsystem, a horizontal parallax safety assessment model is established to obtain a safe horizontal parallax distance, and the surgical planning and simulation subsystem realizes the simulation of the patient's surgical plan based on the target three-dimensional simulation model, the spatial distribution information, the pose information, and the safe horizontal parallax distance.

2. The computer-based surgical simulation assistance and navigation system according to claim 1, wherein The constructing a three-dimensional model registration function in the model calibration and guidance subsystem, and the model calibration and guidance subsystem adjusting the three-dimensional simulation model according to the three-dimensional model registration function to obtain the target three-dimensional simulation model of the patient includes: Constructing a three-dimensional model registration function based on the three-dimensional simulation model and the preoperative detection information; Adjusting the three-dimensional simulation model according to the output result of the three-dimensional model registration function to obtain the target three-dimensional simulation model of the patient.

3. The computer-based surgical simulation assistance and navigation system according to claim 2, wherein, The three-dimensional model registration function satisfies the following relationship: ， Among them, represents the registration result of the 3D model, represents the number of visible points of the 3D simulation model, represents the intensity value of the red channel in the left camera projection image of the m-th visible point of the 3D simulation model, represents the intensity value of the green channel in the left camera projection image of the m-th visible point of the 3D simulation model, represents the intensity value of the blue channel in the left camera projection image of the m-th visible point of the 3D simulation model, represents the intensity value of the red channel in the right camera projection image of the m-th visible point of the 3D simulation model, represents the intensity value of the green channel in the right camera projection image of the m-th visible point of the 3D simulation model, represents the intensity value of the blue channel in the right camera projection image of the m-th visible point of the 3D simulation model, represents the average red intensity in the left and right camera projection images of the m-th visible point of the 3D simulation model, represents the average green intensity in the left and right camera projection images of the m-th visible point of the 3D simulation model, represents the average blue intensity in the left and right camera projection images of the m-th visible point of the 3D simulation model.

4. The computer-based surgical simulation assistance and navigation system according to claim 1, characterized in that, The using the surgical space positioning subsystem to analyze the target three-dimensional simulation model to obtain the spatial distribution information and pose information of the patient's surgical area tissue includes: The surgical space positioning subsystem analyzes the target three-dimensional simulation model in combination with the preoperative detection information and obtains a spatial positioning analysis result; Based on the spatial positioning analysis result, the spatial distribution information of the patient's surgical area tissue is obtained, and the spatial distribution information includes the spatial distance and spatial angle value of the patient's surgical area tissue.

5. The computer-based surgical simulation assistance and navigation system according to claim 4, characterized in that, The spatial distance satisfies the following relationship: ， Among them, represents the spatial distance between A and B in the three-dimensional simulation model, ( , , ) represents the spatial coordinates of point A in the three-dimensional simulation model, ( , , ) represents the spatial coordinates of point B in the three-dimensional simulation model; The spatial angle value satisfies the following relationship: ， Among them, represents the angular value of A and B in the three-dimensional simulation model, represents the spatial distance between points A and O in the three-dimensional simulation model, represents the spatial distance between points B and O in the three-dimensional simulation model, represents the spatial distance between A and B in the three-dimensional simulation model.

6. The computer-based surgical simulation assistance and navigation system according to claim 1, characterized in that, The establishing a horizontal parallax safety assessment model in the surgical planning and simulation subsystem includes: Establishing a horizontal parallax safety assessment model according to the parallax type of surgical simulation, and the parallax type includes zero parallax, positive parallax, negative parallax, and divergent parallax.

7. The computer-based surgical simulation assistance and navigation system according to claim 6, characterized in that, The horizontal parallax safety assessment model satisfies the following relationship: ， Among them, represents the visual acuity of the human eye, represents the distance between the viewer's eyes and the display screen, represents the center distance between the pupils of the viewer's two eyes, represents the horizontal pixel resolution of the display, represents the pupil diameter size of the human eye, represents the binocular parallax value in the horizontal direction.

8. The computer-based surgical simulation assistance and navigation system according to claim 7, wherein The establishing a horizontal parallax safety assessment model in the surgical planning and simulation subsystem to obtain a safe horizontal parallax distance includes: The surgical planning and simulation subsystem obtains a horizontal parallax assessment result by using the horizontal parallax safety assessment model; Adjusting the device use distance in the surgical simulation process according to the horizontal parallax assessment result to maintain the safe horizontal parallax distance in the surgical simulation process.

9. The computer-based surgical simulation assistance and navigation system according to claim 8, wherein The surgical planning and simulation subsystem realizing the simulation of the patient's surgical plan based on the target three-dimensional simulation model, the spatial distribution information, the pose information, and the safe horizontal parallax distance includes: Configure a visual monitoring device in the surgical planning and simulation subsystem; The surgical planning and simulation subsystem realizes visual monitoring of the surgical simulation process based on the visual monitoring device, the target three-dimensional simulation model, the spatial distribution information, the attitude information, and the safety level parallax distance.

10. The computer-based surgical simulation assistance and navigation system according to claim 9, characterized in that, The computer-based surgical simulation assistance and navigation system further includes: Set surgical plan evaluation indicators based on historical surgical information, and the surgical plan evaluation indicators include surgical execution quality indicators, postoperative rehabilitation status indicators, and patient satisfaction indicators; Comprehensively evaluate and analyze the surgical simulation plan of the patient in combination with the surgical execution quality indicators, the postoperative rehabilitation status indicators, and the patient satisfaction indicators.

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