A computer-based surgical simulation assistance and navigation system

Abstract

The present invention relates to the field of medical technology, and specifically to a computer-based surgical simulation assistance and navigation system, the system comprising: 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; the medical image three-dimensional model reconstruction subsystem obtains a three-dimensional simulation model based on the patient's preoperative detection information; a three-dimensional model registration function is constructed in the model calibration and guidance subsystem, and the model is adjusted by the above function to obtain a target three-dimensional simulation model; the surgical space positioning subsystem is used to analyze the target three-dimensional simulation model to obtain spatial distribution information and posture information of the patient's surgical area tissue; a horizontal parallax safety assessment model is established in the surgical planning and simulation subsystem and a safe horizontal parallax distance is obtained, and the surgical planning and simulation subsystem implements surgical simulation based on the target three-dimensional simulation model, spatial distribution information, posture information, and safe horizontal parallax distance.

Description

Technical Field

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

[0002] Current surgical assistance and navigation systems primarily rely on technologies such as electromagnetic navigation tracking, intraoperative X-ray fluoroscopy, and real-time intraoperative CT imaging. Existing technologies typically construct 3D models based on preoperative imaging information. However, standardizing the patient's 3D model to ensure correct posture and effective integration with the target object during surgery remains a significant challenge.

[0003] Furthermore, during surgical simulation and navigation, improper simulation operations can lead to issues with ensuring the correct use of related equipment within the system. Therefore, ensuring accurate operation, effective monitoring, and proper functioning of the surgical simulation and navigation system, while providing reliable visual guidance and auxiliary information for surgical simulation, is a pressing issue. Summary of the Invention

[0004] In response to the shortcomings of existing methods and the needs of practical applications, in order to effectively integrate the three-dimensional model with the 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 process, the present invention obtains the patient's spatial distribution information and posture information based on preoperative detection information and three-dimensional model information, provides visual assistance and guidance 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, which includes: 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; the medical image three-dimensional model reconstruction subsystem obtains a three-dimensional simulation model of the patient based on the patient's preoperative detection information; 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 a 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 spatial distribution information and posture information of the patient's surgical area tissue; a horizontal parallax safety assessment 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 based on the target three-dimensional simulation model, the spatial distribution information, the posture 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, which can significantly reduce the risks during surgery, more accurately locate the patient's lesion area, provide doctors with better surgical assistance and guidance tools, and help achieve more precise, safe and efficient surgical treatment.

[0005] Optionally, constructing a 3D model registration function in the model calibration and guidance subsystem, and adjusting the 3D simulation model according to the 3D model registration function to obtain a target 3D simulation model of the patient, includes: constructing a 3D model registration function based on the 3D simulation model and the preoperative detection information; and adjusting the 3D simulation model according to an output of the 3D model registration function to obtain the target 3D simulation model of the patient. The present invention constructs and applies a 3D model registration function to adjust the 3D simulation model, thereby facilitating the acquisition of a 3D simulation model that more closely matches the patient's actual condition.

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

[0007]

[0008] in, represents the registration result of the 3D model, Indicates 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 mth visible point of the 3D simulation model, represents the intensity value of the green channel in the left camera projection image of the mth visible point of the 3D simulation model, Represents the intensity value of the blue channel in the left camera projection image of the mth visible point of the 3D simulation model, represents the intensity value of the red channel in the right camera projection image of the mth visible point of the 3D simulation model, represents the intensity value of the green channel in the right camera projection image of the mth visible point of the 3D simulation model, Represents the intensity value of the blue channel in the right camera projection image of the mth visible point of the 3D simulation model, represents the average red intensity in the left and right camera projection images of the mth visible point of the 3D simulation model, represents the average green intensity in the left and right camera projection images of the mth visible point of the 3D simulation model, Represents the average blue intensity in the left and right camera projection images of the mth visible point in the 3D simulation model. The 3D model registration function of this invention integrates multi-channel information, left and right camera projection mechanisms, and quantitative analysis, facilitating the development of more accurate and personalized surgical treatment plans, reducing surgical risks and improving surgical success rates.

[0009] Optionally, analyzing the target three-dimensional simulation model using the surgical space positioning subsystem to obtain spatial distribution information and posture information of the patient's surgical area tissue includes: the surgical space positioning subsystem analyzing the target three-dimensional simulation model in combination with the preoperative detection information and obtaining a spatial positioning analysis result; and obtaining spatial distribution information of the patient's surgical area tissue based on the spatial positioning analysis result, wherein the spatial distribution information includes spatial distance and spatial angle values ​​of the patient's surgical area tissue. The present invention utilizes the surgical space positioning subsystem to obtain spatial distribution information and posture information of the patient's surgical area tissue, which facilitates optimizing surgical plans and enabling real-time navigation of simulated surgery.

[0010] Optionally, the spatial distance satisfies the following relationship:

[0011]

[0012] in, 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;

[0013] The spatial angle value satisfies the following relationship:

[0014]

[0015] in, Indicates the angle value between A and B in the three-dimensional simulation model, Indicates the spatial distance between points A and O in the three-dimensional simulation model, Indicates the spatial distance between points B and O in the three-dimensional simulation model, The spatial distance and spatial angle value calculation model of the present invention is helpful for locating and navigating the patient's lesion area during surgical simulation, thereby improving the success rate of the surgery.

[0016] Optionally, establishing a horizontal parallax safety assessment model in the surgical planning and simulation subsystem includes establishing a horizontal parallax safety assessment model based on parallax types of surgical simulation, wherein the parallax types include zero parallax, positive parallax, negative parallax, and divergent parallax. The present invention can simulate the visual experience during a real surgical procedure, further improving the realism, accuracy, and safety of the simulation system and reducing errors and uncertainties during the surgical procedure.

[0017] Optionally, the horizontal parallax safety assessment model satisfies the following relationship:

[0018]

[0019] in, Indicates the visual acuity of the human eye, Indicates the distance between the viewer's eyes and the display screen. The distance between the center of the viewer's pupils. Indicates the horizontal pixel resolution of the display, Indicates the diameter of the pupil of the human eye. The model of the present invention can ensure that the binocular disparity value is within a safe range, thereby reducing the surgical risk caused by visual errors.

[0020] 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 utilizing the horizontal parallax safety assessment model to obtain a horizontal parallax assessment result; and adjusting the operating distance of equipment during the surgical simulation based on the horizontal parallax assessment result to maintain the safe horizontal parallax distance during the surgical simulation. The present invention utilizes a safety assessment model to adjust the operating distance of surgical simulation equipment, thereby enhancing the realism and flexibility of surgical simulations and providing patients with safer and more efficient surgical treatment plans.

[0021] Optionally, the surgical planning and simulation subsystem simulates a patient's surgical plan based on the target three-dimensional simulation model, the spatial distribution information, the posture information, and the safe horizontal parallax distance, including: configuring a visualization monitoring device in the surgical planning and simulation subsystem; and the surgical planning and simulation subsystem visually monitoring the surgical simulation process based on the visualization monitoring device, the target three-dimensional simulation model, the spatial distribution information, the posture information, and the safe horizontal parallax distance. The visualization monitoring device of the present invention can capture and display key information during the surgical simulation in real time. Combined with the target three-dimensional simulation model, the spatial distribution information, and the posture information, the system can achieve a highly realistic surgical simulation environment.

[0022] Optionally, the computer-based surgical simulation assistance and navigation system further includes: setting surgical plan evaluation indicators based on historical surgical information, wherein the surgical plan evaluation indicators include surgical execution quality indicators, postoperative recovery status indicators, and patient satisfaction indicators; and comprehensively evaluating and analyzing the patient's surgical simulation plan in combination with the surgical execution quality indicators, the postoperative recovery status indicators, and the patient satisfaction indicators. The present invention comprehensively evaluates and analyzes surgical simulation plans, allowing the system to predict risks and problems that may arise during the surgical process, helping doctors make adequate preoperative preparations and countermeasures, thereby reducing surgical risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A flowchart of the computer-based surgical simulation assistance and navigation system of the present invention;

[0024] Figure 2 Schematic diagram of different parallax types in the computer-based surgical simulation assistance and navigation system of the present invention;

[0025] Figure 3 This is a structural diagram of the computer-based surgical simulation assistance and navigation system of the present invention. DETAILED DESCRIPTION

[0026] Specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described herein are for illustrative purposes only and are not intended to limit the present invention. In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that these specific details are not necessarily required to practice the present invention. In other instances, well-known circuits, software, or methods are not specifically described to avoid obscuring the present invention.

[0027] Throughout this specification, references to "one embodiment," "an embodiment," "an 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. Therefore, appearances of the phrases "in one embodiment," "in an embodiment," "an example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combinations and / or subcombinations in one or more embodiments or examples. Furthermore, those of ordinary skill in the art will appreciate that the figures provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0028] See Figure 1 The present invention combines relevant algorithms and technologies to perform registration processing on the 3D simulation model, so that the 3D simulation model can fit the surgical target object, providing a solid foundation for surgical simulation; at the same time, based on preoperative detection data and 3D model information, it further analyzes the spatial and posture information of the patient's surgical area, providing visual assistance and navigation basis for surgical simulation, thereby helping doctors to perform accurate surgical planning and operations in a simulated environment, which can reduce surgical risks and improve surgical success rates. The present invention provides a computer-based surgical simulation assistance and navigation system, which mainly includes the following steps:

[0029] A computer-based surgical simulation assistance and navigation system is provided with: 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.

[0030] S1. The above-mentioned medical imaging 3D model reconstruction subsystem obtains a 3D simulation model of the patient based on the patient's preoperative examination information. The specific implementation steps and related contents are as follows:

[0031] The medical imaging three-dimensional model reconstruction subsystem can accurately receive the patient's preoperative examination information. The above information includes but is not limited to CT, MRI, ultrasound and other medical imaging data information. It mainly draws on the patient's preoperative examination data, which helps to accurately construct three-dimensional simulation models of different patients. The above model replicates the patient's lesion area and structure, allowing doctors or relevant simulation participants to fully understand the patient's lesion area's vascular layout, nerve direction, bone structure and other tissue details, providing auxiliary and guiding information for doctors' diagnostic work, surgical strategy planning and surgical simulation practice.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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:

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The three-dimensional model registration function in the embodiment satisfies the following relationship:

[0040]

[0041] in, represents the registration result of the 3D model, Indicates 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 mth visible point of the 3D simulation model, represents the intensity value of the green channel in the left camera projection image of the mth visible point of the 3D simulation model, Represents the intensity value of the blue channel in the left camera projection image of the mth visible point of the 3D simulation model, represents the intensity value of the red channel in the right camera projection image of the mth visible point of the 3D simulation model, represents the intensity value of the green channel in the right camera projection image of the mth visible point of the 3D simulation model, Represents the intensity value of the blue channel in the right camera projection image of the mth visible point of the 3D simulation model, represents the average red intensity in the left and right camera projection images of the mth visible point of the 3D simulation model, represents the average green intensity in the left and right camera projection images of the mth 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.

[0042] The output value of the 3D model registration function refers to the result calculated during the registration process. This result is used to describe the spatial transformation relationship between the 2D information and the 3D model, enabling better alignment or matching between the two. Furthermore, if the output value is within the preset registration parameter threshold or the registration function is minimized, it indicates that the 3D simulation model and the 2D information are well-matched, indicating that this 3D simulation model can be directly used in subsequent surgical simulation processes. If the output value does not meet the pre-qualified conditions, model optimization and adjustment are required.

[0043] In three-dimensional space, when observing a 3D simulation model from a specific perspective or camera position, the number of visible points on the model surface is referred to as the number of visible points. In embodiments, these visible points can be vertices on the model surface or smaller points after subdivision, which together constitute the visible portion of the 3D simulation model from different perspectives. The greater the number of visible points, the richer the detail of the 3D simulation model and the more realistic the visualization.

[0044] The intensity value of the red channel of the visible point of the 3D simulation model in the projected image of the left camera means that when the 3D simulation model is projected onto the 2D image plane of the left camera, the brightness or color intensity of any visible point on the 3D model on the red channel can be obtained. The above intensity value is a scalar that can be used to describe the color depth or brightness of the point on the red channel.

[0045] The intensity value of the green channel of the visible point of the three-dimensional simulation model in the left camera projection image describes the color intensity of any visible point on the model on the green channel.

[0046] The blue channel is a component of a color CT image, forming the color space of the image along with the red and green channels. The intensity value of the blue channel in the left camera projection image of a visible point on the 3D simulation model is also a scalar that can be used to describe the color intensity of the blue channel at any visible point on the 3D model.

[0047] The correlation intensity value plays an important role in the three-dimensional model registration function. It is used to calculate the color intensity difference of the three-dimensional simulation model in the left and right camera projection images, thereby evaluating the degree of alignment 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, thereby obtaining an optimized target three-dimensional simulation model.

[0048] The intensity value of the red channel in the right camera projected image of the visible point of the three-dimensional simulation model, the intensity value of the red channel, and the intensity value of the red channel are explained in the same way as 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 at any visible point is obtained.

[0049] The average intensity value of each color channel reflects the overall brightness or color depth of the 3D model in each color channel. Based on this, the brightness or color distribution of the 3D model in different color channels can be analyzed to assess the alignment between the 3D model and the actual surgical area or structure.

[0050] The 3D model registration function mainly achieves matching by comparing the color intensity information of the camera projection image. 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 3D 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 between the 3D simulation model and the actual surgical area or anatomical structure, thereby ensuring the degree of consistency between the model and the actual situation.

[0051] When the registration function value is minimized, or its output is controlled within a preset reference threshold, an optimal set of parameter configurations can be found. These parameters can ensure that the three-dimensional simulation model is precisely aligned with the actual surgical area or anatomical structure. The target three-dimensional simulation model is obtained using the optimized parameters. This model is an indispensable part of the surgical simulation assistance and navigation system, and can provide doctors with detailed and real-time surgical guidance, helping the smooth progress of the operation.

[0052] The registration function plays a key role in adjusting the 3D simulation model. Based on the feedback from the registration function, the shape, position, and other parameters of the 3D simulation model are adjusted to ensure high consistency with the patient's actual anatomy, ensuring the accuracy and reliability of surgical navigation. Furthermore, to enhance model accuracy, the optimized 3D simulation model is compared with the 2D image during the calibration phase. Coordinate transformation is used to map the 3D model's vertex coordinates to the image coordinate system for direct comparison and verification with the 2D image information.

[0053] Furthermore, the method for acquiring the target three-dimensional simulation model of the patient in this embodiment is only an optional condition of the present invention. In one or some other embodiments, the method for acquiring 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 the model calibration. By adjusting the acquisition method, it can better adapt to the individual differences of different patients, such as body shape, lesion location, lesion degree, etc., thereby generating a three-dimensional simulation model that is more in line with the patient's actual situation.

[0054] S3. Analyze the target three-dimensional simulation model using the above-mentioned surgical space positioning subsystem to obtain the spatial distribution information and posture information of the patient's surgical area tissue. The specific implementation content is as follows:

[0055] The surgical space positioning subsystem combines preoperative detection information to analyze the target three-dimensional simulation model and obtain spatial positioning analysis results.

[0056] The surgical spatial positioning subsystem closely integrates preoperative testing information, performs in-depth analysis of the target 3D simulation model, and produces spatial positioning analysis results. This subsystem integrates medical imaging, electromagnetic tracking, and optical positioning technologies to measure the 3D spatial position and posture of the surgical area tissue and surgical instruments.

[0057] The surgical spatial positioning subsystem analyzes the relative position of surgical instruments and the patient's surgical area in real time, providing surgeons with intuitive and clear visual navigation. During surgical simulations, surgeons can pre-plan surgical paths and procedures based on spatial positioning information and instrument posture data, thereby enhancing surgical accuracy and safety.

[0058] The surgical space positioning subsystem can accurately measure the spatial position and posture of the three-dimensional simulation model. At the same time, it plays a significant role in improving surgical accuracy and safety, effectively reducing surgical risks and further promoting the optimization of surgical simulation effects.

[0059] Based on the results obtained by the spatial positioning analysis subsystem, spatial layout information about the patient's surgical area tissue can be extracted. In an optional embodiment, the above-mentioned spatial layout information specifically includes spatial distance data and spatial angle data between surgical area tissues.

[0060] The above spatial distance satisfies the following relationship:

[0061]

[0062] in, 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;

[0063] In the embodiment, a three-dimensional space distance formula is used to calculate the spatial distance. The above method can accurately reflect the straight-line distance between any two or more points in the three-dimensional simulation model in the three-dimensional space.

[0064] The above space angle values ​​satisfy the following relationship:

[0065]

[0066] in, Indicates the angle value between A and B in the three-dimensional simulation model, Indicates the spatial distance between points A and O in the three-dimensional simulation model, Indicates 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.

[0067] In order to determine the angle between the tissues in the surgical area and the reference point, the embodiment uses a spatial angle value to describe it. In actual operation, the cosine theorem is used for mathematical deduction to obtain the angle between any two points relative to the reference point.

[0068] By calculating the spatial distances and angles between tissues in the surgical area, the precise locations of surgical instruments and lesions can be more accurately determined. Based on this spatial distribution information, doctors can gain a deeper understanding of the layout and relative positions of tissues in the surgical area, effectively preventing accidental damage to critical tissues and further reducing surgical risks. Furthermore, doctors can leverage spatial information and surgical instrument posture data to customize surgical plans for patients, including but not limited to the selection of surgical paths, planning of surgical steps, and selection of surgical instruments, to ensure the smooth progress of the surgical simulation process.

[0069] Furthermore, in this embodiment, the method of acquiring spatial information and posture information is only an optional condition of the present invention. In one or some other embodiments, the method of acquiring information of the three-dimensional model can be changed and optimized according to the patient's surgical plan requirements 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 the technical conditions to ensure that the relevant information of the three-dimensional model can be accurately and efficiently acquired.

[0070] S4. Establish a horizontal parallax safety assessment model in the surgical planning and simulation subsystem to obtain a safe horizontal parallax distance. The surgical planning and simulation subsystem simulates the patient's surgical plan based on the target 3D simulation model, spatial distribution information, posture information, and safe horizontal parallax distance. The specific implementation content is as follows:

[0071] A horizontal parallax safety assessment model is established according to the parallax types of the surgical simulation. In the embodiment, the parallax types mainly include zero parallax, positive parallax, negative parallax, and divergent parallax.

[0072] When observing a three-dimensional model, the human visual system not only focuses on the primary target object but also simultaneously perceives surrounding objects, which are then imaged on the retina. When two adjacent image points on the retina fall within the fusion zone, the brain integrates the relevant visual information to form a single stereoscopic image. However, to maintain stereoscopic vision within the fusion zone, the parallax between the images received by both eyes must remain within a reasonable range.

[0073] According to the principle of parallel binocular vision information acquisition and related research results, the stereoscopic video captured by human vision mostly exhibits negative parallax characteristics, that is, the intersection of the two eyes' sight lines is located in front of the display screen, creating a visual experience that the object seems to jump out of the screen. In order to enhance the immersiveness and stereoscopic depth effect of the naked eye 3D display image, the embodiment includes a variety of parallax types including positive parallax, zero parallax, and negative parallax. For details of the above parallax types, please refer to Figure 2 ,in Figure 2 (a) in the equation represents zero parallax, Figure 2 (b) in the figure indicates positive parallax, Figure 2 (c) in the equation indicates negative parallax, Figure 2 (d) in the figure represents divergent parallax.

[0074] When the intersection of the two eyes' sight lines happens to fall on the display screen, it is a zero parallax state. At this time, the picture appears flat and lacks depth. Figure 2 As shown in (a) in the figure; if the intersection point is behind the screen, a positive parallax is formed, and the viewer will experience the stereoscopic effect of the three-dimensional simulation model going deep into the screen, as shown in Figure 2 On the contrary, if the intersection point is in front of the screen, negative parallax will be generated. At this time, the 3D simulation model seems to jump out of the screen, bringing a strong stereoscopic visual impact, as shown in (b) in the figure. Figure 2 Finally, when the sight lines of both eyes cannot meet, that is, divergent parallax occurs, the viewer will not be able to feel any stereoscopic effect, as shown in (c) in the figure. Figure 2 As shown in 2(d).

[0075] according to Figure 2 It can be seen that by regulating the binocular vision of the surgical simulation participants so that the intersection position of their vision and the parallax range remain within a specific range, better surgical simulation visual effects can be obtained.

[0076] During surgical simulations, the participants' specific viewing distance from the screen and the naked-eye display device used must be considered. To ensure surgical precision and visual comfort for participants, a safe range of horizontal parallax must meet certain conditions. Specifically, to ensure realistic and safe stereoscopic visual effects during surgical simulations, the horizontal parallax range must be adjusted based on 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 to surgeons, thereby improving surgical success rates and ensuring patient safety.

[0077] The above horizontal parallax safety assessment model satisfies the following relationship:

[0078]

[0079] in, Indicates the visual acuity of the human eye, Indicates the distance between the viewer's eyes and the display screen. The distance between the center of the viewer's pupils. Indicates the horizontal pixel resolution of the display, Indicates the diameter of the pupil of the human eye. Indicates the binocular disparity value in the horizontal direction.

[0080] Visual acuity is a visual indicator. Visual acuity refers to a person's ability to distinguish small objects or subtle parts of distant objects. In the embodiment, the visual acuity of the human eye is set to ;

[0081] The pupil diameter of the human eye is set to 4 mm;

[0082] The horizontal pixel resolution of a display, that is, a display that displays three-dimensional simulation models, refers to the number of pixels that the display can display in the horizontal direction. It is an important indicator for measuring the clarity of the display, which determines the level of detail of the image presented by the display.

[0083] The horizontal pixel resolution of the display satisfies the following relationship:

[0084]

[0085] in, Indicates the horizontal pixel resolution of the display, Indicates the diagonal size of the display. Indicates the display resolution of the monitor screen.

[0086] Due to the interpupillary distance between the two eyes, the same object will produce a horizontal difference when imaged on the retinas of both eyes, which is called horizontal parallax. By adjusting the horizontal parallax value between the left and right eye images, a more realistic stereoscopic visual effect can be simulated. If the horizontal parallax value is set improperly, too large or too small, it will cause visual discomfort or weaken the stereoscopic perception effect. Therefore, it is crucial to appropriately adjust the horizontal parallax value according to the specific situation of the doctor or user. Based on this, when observing and analyzing the patient's three-dimensional simulation model, the optimal stereoscopic visual effect and viewing comfort can be obtained, thereby ensuring the smooth progress of the surgical simulation process.

[0087] In an optional embodiment, the surgical planning and simulation subsystem uses a horizontal parallax safety assessment model to obtain a horizontal parallax assessment result; and adjusts the equipment usage distance during the surgical simulation according to the horizontal parallax assessment result to maintain a safe horizontal parallax distance during the surgical simulation.

[0088] The surgical planning and simulation subsystem utilizes a horizontal parallax safety assessment model to accurately assess horizontal parallax. Based on this assessment, the system intelligently adjusts the distance between the surgical simulator and the observer, ensuring that horizontal parallax remains within a safe and appropriate range throughout the entire surgical simulation.

[0089] Assuming the horizontal parallax is within the optimal range, the system will also adjust the horizontal displacement of the left and right images of the 3D simulation model based on the required translation amount to further control the horizontal parallax. However, during this process, some image edge information may be lost due to the translation operation. To effectively address this issue, the embodiment uses a bilinear interpolation algorithm to process image edges, ensuring that the edges of the final rendered 3D simulation model are smooth and natural, thereby maintaining the accuracy and smoothness of the 3D simulation model.

[0090] The surgical planning and simulation subsystem is equipped with a visual monitoring device. Based on the visual monitoring device, the target 3D simulation model, spatial distribution information, posture information, and safe horizontal parallax distance, the surgical planning and simulation subsystem can achieve visual monitoring of the surgical simulation process.

[0091] In this embodiment, a computer-based surgical simulation assistance and navigation system further includes:

[0092] Based on past surgical data, a surgical plan evaluation system was established, which covers the quality of surgical execution, postoperative recovery and patient satisfaction as evaluation indicators.

[0093] In terms of surgical execution quality, the two key indicators mainly examined are surgical time and intraoperative blood loss. The above two indicators are negatively correlated with the surgical effect, that is, the lower the value, the more successful the operation and the more beneficial it is to the patient.

[0094] Postoperative recovery is assessed by the success rate and quality of postoperative recovery, which can be categorized as excellent, good, and poor. The higher the proportion of patients with excellent and good recovery, the better the surgical outcome, demonstrating a positive correlation.

[0095] In terms of patient satisfaction, it is mainly evaluated based on the patient's subjective feelings and can be divided into three levels: dissatisfied, generally satisfied, and very satisfied. The higher the patient's satisfaction, the more the surgical effect meets their expectations.

[0096] In this example, a traditional conventional surgery group and a computer-assisted surgery group were set up, and the specific statistical analysis content is as follows:

[0097] In the statistical analysis phase, SPSS statistical software was selected as the analysis tool to process and analyze the relevant data of different components. For the measurement data, the mean plus or minus standard deviation was used. The data were expressed in the form of , and the t-test method was used to compare the data differences between different groups. The counting data were expressed in the form of percentage (%) and the The difference between the different groups was evaluated by the P-value test. When the P value was less than the threshold of 0.05, the difference between the different components was considered to be significant and statistically meaningful.

[0098] in (X-bar) stands for mean, which is the average value of a set of data. It is obtained by adding all the values ​​in any set of data and then dividing by the number of values. The mean can be used to describe the center position or average level of a set of data.

[0099] Standard Deviation is a statistic that measures the degree of dispersion of a set of data. A larger standard deviation indicates more dispersed data points, while a smaller standard deviation indicates more concentrated data points. Standard deviation is used to describe the volatility or dispersion of data.

[0100] (Chi-squared) represents the statistics of the Chi-squared test. The Chi-squared test is a non-parametric test method that is mainly used to compare the difference between the actual observed frequency and the expected frequency to test the association or independence between categorical variables. The larger the value, the greater the difference between the observed frequency and the expected frequency.

[0101] P stands for probability value, which is used to measure whether the observed data difference is caused by random error or whether it reaches a statistically significant level. In statistics, a significance level is set (such as 0.05). When the P value is less than this significance level, the observed difference is considered not to be caused by random error but to be statistically significant.

[0102] 1. Compare and analyze the indicators related to surgical simulation execution.

[0103] Comparing the operative time and intraoperative blood loss of the conventional surgery group and the computer-assisted surgery group, the computer-assisted surgery group demonstrated a significant advantage. Specifically, the operative time was shorter and the intraoperative blood loss was lower in the computer-assisted surgery group compared to the conventional surgery group. Statistical analysis of the two data sets using a t-test revealed a significant difference between the two groups (P<0.05). See Table 1 for details.

[0104] Table 1 Comparative data of surgical execution quality indicators between the two groups

[0105]

[0106] 2. Compare and analyze the degree of postoperative recovery.

[0107] When comparing the degree of postoperative recovery, the computer-assisted surgery group showed better performance. Specifically, the proportion of patients who achieved excellent postoperative recovery (in percentage) in the computer-assisted surgery group was significantly higher than that in the control group. This difference was confirmed by The test was statistically confirmed, indicating that the difference between the two groups was significant (P<0.05). Please refer to Table 2 for detailed data.

[0108] Table 2 Comparison of postoperative rehabilitation indicators between the two groups

[0109]

[0110] 3. Conduct comparative analysis of patient satisfaction indicators.

[0111] 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 patient satisfaction percentage in the computer-assisted surgery group was significantly higher than that in the control group. The test was statistically verified, indicating that the difference between the two groups was significant (P<0.05). For detailed data, please see Table 3.

[0112] Table 3 Comparison of postoperative recovery between the two groups

[0113]

[0114] An in-depth analysis of the data in Tables 1, 2, and 3 clearly demonstrates that the computer-based surgical simulation and navigation system proposed in this invention demonstrates superior performance in the field of patient surgical simulation and navigation technology. This system not only significantly shortens surgical time but also significantly reduces intraoperative bleeding, thereby enhancing the scientific nature and safety of the surgical process and effectively reducing surgical risks for patients. These data, to a certain extent, validate the effectiveness and feasibility of the surgical simulation and navigation system. Furthermore, the high postoperative patient satisfaction rate of 92.00% further demonstrates the significant advantages of the surgical simulation and navigation system in improving surgical efficacy and clinical value.

[0115] See Figure 3In an optional embodiment, the present invention further provides a computer-based surgical simulation assistance and navigation system, comprising an intelligent traffic monitoring subsystem, an information management subsystem, an intelligent scheduling subsystem, and a safety warning and rescue subsystem. These intelligent traffic monitoring subsystem, information management subsystem, intelligent scheduling subsystem, and safety warning and rescue subsystem are interconnected to implement the specific steps of the 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 is structurally complete, objective, and stable, enhancing the overall applicability and practical application capabilities of the present invention.

[0116] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A computer-based surgical simulation assistance and navigation system, characterized in that include: Medical imaging 3D model reconstruction subsystem, model calibration and guidance subsystem, surgical space positioning subsystem, and surgical planning and simulation subsystem; The medical imaging three-dimensional model reconstruction subsystem obtains a three-dimensional simulation model of the patient based on the patient's preoperative detection information; constructing a three-dimensional model registration function in the model calibration and guidance subsystem based on the three-dimensional simulation model and the preoperative detection information, and adjusting the three-dimensional simulation model according to an output result of the three-dimensional model registration function to obtain a target three-dimensional simulation model of the patient; The 3D model registration function satisfies the following relationship: ， in, represents the registration result of the 3D model, Indicates the number of visible points of the 3D simulation model, They represent the intensity values ​​of the red, green, and blue channels in the left camera projection image of the mth visible point of the 3D simulation model, They represent the intensity values ​​of the red, green, and blue channels in the right camera projection image of the mth visible point of the 3D simulation model, They represent the average values ​​of red, green, and blue intensities in the left and right camera projection images of the m-th visible point of the 3D simulation model; The surgical space positioning subsystem is used to analyze the target three-dimensional simulation model to obtain the spatial distribution and posture information of the patient's surgical area tissue; 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 results, 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; The spatial distance satisfies the following relationship: ， in, 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: ， in, Indicates the angle value between A and B in the three-dimensional simulation model, Indicates the spatial distance between points A and O in the three-dimensional simulation model, Indicates 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; A horizontal parallax safety assessment model is established in the surgical planning and simulation subsystem to obtain the safe horizontal parallax distance, and the patient's surgical plan is simulated by combining the target three-dimensional simulation model, spatial distribution information, posture information and the safe horizontal parallax distance.

2. The computer-based surgical simulation assistance and navigation system according to claim 1, characterized in that: The establishing of a horizontal parallax safety assessment model in the surgical planning and simulation subsystem includes: A horizontal parallax safety assessment model is established according to the parallax types of surgical simulation, wherein the parallax types include zero parallax, positive parallax, negative parallax and divergent parallax.

3. The computer-based surgical simulation assistance and navigation system according to claim 2, characterized in that: The horizontal parallax safety assessment model satisfies the following relationship: ， in, Indicates the visual acuity of the human eye, Indicates the distance between the viewer's eyes and the display screen. The distance between the pupils of the viewer's eyes. Indicates the horizontal pixel resolution of the display, Indicates the diameter of the pupil of the human eye. Indicates the binocular disparity value in the horizontal direction.

4. The computer-based surgical simulation assistance and navigation system according to claim 3, characterized in that: The establishing of 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 using the horizontal parallax safety assessment model; The equipment use distance during the surgical simulation is adjusted according to the horizontal parallax evaluation result to maintain a safe horizontal parallax distance during the surgical simulation.

5. The computer-based surgical simulation assistance and navigation system according to claim 4, characterized in that: The surgical planning and simulation subsystem simulates the patient's surgical plan based on the target three-dimensional simulation model, the spatial distribution information, the posture information, and the safe horizontal parallax distance, including: Configuring 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 posture information and the safe horizontal parallax distance.

6. The computer-based surgical simulation assistance and navigation system according to claim 5, characterized in that: The computer-based surgical simulation assistance and navigation system further includes: Setting surgical plan evaluation indicators based on historical surgical information, wherein the surgical plan evaluation indicators include surgical execution quality indicators, postoperative recovery status indicators, and patient satisfaction indicators; The patient's surgical simulation plan is comprehensively evaluated and analyzed in combination with the surgical execution quality index, the postoperative rehabilitation status index, and the patient satisfaction index.

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