A quantification method and system for the ability to complete specified minimally invasive surgical movements

Abstract

This application discloses a method and system for quantifying the ability to complete a specified minimally invasive surgical action, which involves the field of surgical skill assessment, including: M The training paths are standardized and the distances between all the path points in each training path and the corresponding path points in the standard path are calculated, and the distances are sorted from large to small to obtain a second distance set; for each distance value in the second distance set d j Calculate the volume of the cylinder with the standard path as the central axis as the action space volume V j ; Traverse the second distance set in sequence d j , in each d j The reliability of multiple training paths is checked within the corresponding cylindrical range. d j The corresponding number of reliable paths T j and combined M Calculation reliability R j ; Based on each d j Corresponding R j and V j Determine each d j The corresponding reliability degradation acceleration and reliability degradation distance are used to quantify the ability to complete a specified minimally invasive surgical action. This application quantifies the ability of medical personnel to complete a specified minimally invasive surgical action.

Description

Technical Field

[0001] The present application relates to the field of surgical skill assessment, and is related to, but not limited to, a method and system for quantifying the ability to complete specified minimally invasive surgical actions. Background Art

[0002] During surgical skills training, surgical skill method assessment is integrated throughout the training process. It is a crucial method for measuring medical students' skill learning ability and physicians' professional proficiency, and is crucial for developing appropriate skill training programs for both students and physicians. Limited by the challenges of reduced operating times, shorter resident work schedules, and ethical and legal issues, surgical skill assessment methods based on surgical instrument motion primarily utilize kinematic metrics to assess a trainee's ability to complete a specific action within a specified time and under specified conditions.

[0003] However, when trainees attempt to improve the accuracy of a given surgical action through repetitive training over a period of time, uncertainties such as fatigue can have both positive and negative effects on the learning process, making it difficult to definitively determine. For example, the "working volume" metric, which represents the space occupied by the wrist to complete a movement, can lead to movement distortions with increased working volume and longer training sessions. Alternatively, training sessions can lead to movement rigidity with decreased working volume and shorter working sessions. Clearly, even though working volume and other metrics have been used to assess skill characteristics within a single surgical session in simulation training, periodontal probing, surgical skill assessment, open surgery suturing simulation systems, non-field physical examinations, laparoscopic ventral hernia repair simulations, laparoscopic skill assessments, intestinal repair and laparoscopic ventral hernia (LVH) repair, and rapid trauma ultrasound, they are still insufficient for assessing trainees' ability to repeat minimally invasive surgical actions during surgical skill training.

[0004] Therefore, if a composite indicator based on action space volume and reliability is used, and the reliability of trainees completing specified actions under a specified space volume is used to repair the shortcomings of traditional indicators in surgical skill evaluation, that is, to evaluate the trainees' ability to repeatedly complete specified surgical actions in a continuous time and a limited space under a specified similarity during surgical training, then when the number of training times is large and there are approximate specified space volumes and reliabilities, how to effectively select a reasonable quantitative indicator from such a large number of composite indicators becomes a practical problem in evaluating the trainees' ability to repeatedly complete specified minimally invasive surgical actions in a continuous time and a specified space during surgical training. Summary of the Invention

[0005] In order to make up for the shortcomings of existing indicators, the embodiments of the present application provide a method and system for quantifying the ability to complete specified minimally invasive surgical actions.

[0006] The technical solution of the embodiment of the present application is implemented as follows:

[0007] In a first aspect, embodiments of the present application provide a method for quantifying the ability to complete a specified minimally invasive surgical action, the method comprising:

[0008] The standard path corresponding to the specified action and M The training paths are respectively converted into a standard path point set and a training path point set in three-dimensional space; for each training path, the distances between all path points in each training path and the corresponding path points in the standard path are calculated, and sorted from large to small to obtain a second distance set; for each distance value in the second distance set, the volume of a cylinder with the standard path as the central axis is calculated as the action space volume; wherein the height of the cylinder is the geometric length of the standard path; the distance values ​​in the second distance set are traversed in turn, and based on each distance value d j The corresponding cylindrical range checks the reliability of multiple training paths and obtains the distance value d j The corresponding number of reliable paths T j , and calculate the distance value based on the total number of training paths d j Corresponding reliability; based on the reliability corresponding to each distance value and the corresponding action space volume, the reliability degradation acceleration corresponding to each distance value is obtained by constructing a reliability degradation acceleration calculation formula; based on the reliability degradation acceleration corresponding to each distance value, the reliability degradation distance corresponding to each distance value is obtained by constructing a reliability degradation distance calculation formula; based on the reliability degradation distance corresponding to each distance value, the quantification of the specified minimally invasive surgical action capability is completed.

[0009] In some embodiments, the reliability degradation acceleration calculation formula is:

[0010] ;

[0011] in, is the first distance in the second distance set j The reliability degradation acceleration corresponding to the distance value; is the first distance in the second distance set j +1 distance value corresponding to the reliability; is the first distance in the second distance set j The reliability of the distance value; is the first distance in the second distance set j-1 reliability corresponding to the distance value; is the first distance in the second distance set j +1 distance value corresponding to the action space volume; is the first distance in the second distance set j The action space volume corresponding to the distance value; is the first distance in the second distance set j -1 distance value corresponding to the action space volume; is the number of waypoints on the standard path; is the default value.

[0012] In some embodiments, the reliability degradation distance calculation formula is:

[0013] ;

[0014] in, is the first distance in the second distance set j The reliability degradation distance corresponding to the distance value; is the first distance in the second distance set j The reliability degradation acceleration corresponding to the distance value; is the first distance in the second distance set j The action space volume corresponding to the distance value; is the first distance in the second distance set j -1 distance value corresponding to the action space volume.

[0015] In some embodiments, the quantification of the ability to complete a specified minimally invasive surgical action based on the reliability degradation distance corresponding to each distance value includes:

[0016] Compare the reliability degradation distances corresponding to all distance values ​​in the second distance set and select the smallest reliability degradation distance. , and get the corresponding distance value d k , select the distance value d k Corresponding reliability volume As a quantitative indicator.

[0017] In some embodiments, the distances between all path points in each training path and the corresponding path points in the standard path are calculated using the following formula:

[0018] ;

[0019] in, For the m The first training path n Waypoints With the standard path nWaypoints The distance value; For the m The first training path n waypoints; The first n waypoints; is the Euclidean norm.

[0020] In some embodiments, the volume of the cylinder is calculated by the following formula:

[0021] ;

[0022] in, is the first in the second distance set j distance values; h is the geometric length of the standard path; is the first distance in the second distance set j The volume of the cylinder corresponding to the distance value.

[0023] In some embodiments, the reliability corresponding to the distance value is calculated using the following formula:

[0024] ;

[0025] ;

[0026] in, is the first distance in the second distance set j The reliability of the distance value; is the first distance in the second distance set j The number of reliable paths corresponding to the distance value; M is the total number of training paths; To satisfy The number of training paths; For the m The first training path n Waypoints With the standard path n Waypoints The distance value; is the first in the second distance set j distance values.

[0027] In a second aspect, an embodiment of the present application provides a system for quantifying the ability to complete a specified minimally invasive surgical action, the system comprising:

[0028] The second distance set acquisition module is used to compare the standard path corresponding to the specified action with MThe training paths are converted into a standard path point set and a training path point set in three-dimensional space respectively; for each training path, the distances between all path points in each training path and the corresponding path points in the standard path are calculated, and the distances are sorted from largest to smallest to obtain a second distance set;

[0029] an action space volume calculation module, configured to calculate, for each distance value in the second distance set, a volume of a cylinder with the standard path as a central axis as the action space volume; wherein the height of the cylinder is the geometric length of the standard path;

[0030] The reliability calculation module is used to sequentially traverse the distance values ​​in the second distance set, and based on each distance value The corresponding cylindrical range checks the reliability of multiple training paths and obtains the distance value The corresponding number of reliable paths , and calculate the distance value based on the total number of training paths Corresponding reliability;

[0031] A reliability degradation acceleration calculation module is used to obtain the reliability degradation acceleration corresponding to each distance value based on the reliability corresponding to each distance value and the corresponding action space volume through the constructed reliability degradation acceleration calculation formula;

[0032] A reliability degradation distance calculation module is used to obtain the reliability degradation distance corresponding to each distance value based on the reliability degradation acceleration corresponding to each distance value and the constructed reliability degradation distance calculation formula;

[0033] A specified action capability quantification module is completed, which is used to complete the quantification of the specified minimally invasive surgery action capability based on the reliability degradation distance corresponding to each distance value.

[0034] The beneficial effects of the technical solutions provided in the embodiments of the present application include at least:

[0035] In the embodiments of the present application, a new indicator, the reliability degradation acceleration, is proposed to quantify the ability of medical personnel to repeatedly complete specified minimally invasive surgical actions within a confined space within a continuous time. This indicator shows obvious feasibility in evaluating the ability to train actions within a small space within a continuous time, especially in minimally invasive surgical action training that is mainly based on subjective evaluation. How to provide a more reasonable evaluation training accuracy. This method provides guidance for the reasonable quantification of the ability to repeatedly complete specified actions within a continuous time and in a surgical training environment by proposing a reliability degradation acceleration for completing specified minimally invasive surgical actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0037] Figure 1 Schematic diagram of a method for quantifying the ability to complete specified minimally invasive surgical maneuvers;

[0038] Figure 2 A schematic diagram of the action space volume provided in an embodiment of the present application;

[0039] Figure 3 A reliability diagram provided by an embodiment of the present invention;

[0040] Figure 4 The present invention is a block diagram of a system for quantifying the ability to complete specified minimally invasive surgical actions;

[0041] Reference numerals: 1 - initial action space; 2 - action space after the first iteration; 3 - action space after the second or subsequent iterations; 4 - final action space; 5 - path outside the action space. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0043] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0044] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0045] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as generally understood by those skilled in the art in the art to which the embodiments of the present application belong. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein. Example 1

[0046] Figure 1 A flowchart of a method for quantifying the ability to complete a specified minimally invasive surgical action is shown in FIG. Figure 1 As shown, the method includes:

[0047] Step S1: specify the standard path and M The training paths are converted into a standard path point set and a training path point set in three-dimensional space respectively; for each training path, the distances between all path points in each training path and the corresponding path points in the standard path are calculated, and they are sorted from large to small to obtain a second distance set.

[0048] Here, the standard path for a specific action refers to the standardized operating procedures and trajectory standards for a specific surgical action (such as tissue separation, suturing, and hemostasis), established by industry consensus, clinical guidelines, or authoritative organizations. The training path for a specific action is a phased, systematic training process designed to help surgeons master the standard action path. This path follows the principles of skill learning (from cognitive stage to connection stage to automation stage) and gradually improves operational accuracy and proficiency through simulation training, step-by-step practice, and feedback optimization.

[0049] Convert the standard path corresponding to the specified action into a standard path point set in three-dimensional space, assuming N Waypoints, Indicates that the specified action corresponds to training paths, and transform them into a set of training path points in three-dimensional space. Indicates that Indicates the m training paths, .

[0050] For example, for the m The distances between all path points in each training path and the corresponding path points in the standard path are calculated using the following formula:

[0051] ;

[0052] in, For them The first training path n Waypoints With the standard path n Waypoints The distance value; For the m The first training path n waypoints; The first n waypoints; is the Euclidean norm.

[0053] Collect the distance values ​​between all training path points and the corresponding path points in the standard path to obtain the first distance set D : .

[0054] The first distance set D Sort the distance values ​​in from large to small to get the second distance set : ;in, is the maximum distance value, is the minimum distance value.

[0055] Step S2: For each distance value in the second distance set, calculate the volume of a cylinder with the standard path as the central axis as the action space volume; wherein the height of the cylinder is the geometric length of the standard path.

[0056] Here, the height of the cylinder is the geometric length of the standard path, which is known by default. The volume of the cylinder corresponding to each distance value is calculated using the cylinder volume calculation formula.

[0057] The action space volume represents the gap between the training actions and standard actions of medical staff in continuous time.

[0058] Step S3, sequentially traverse the distance values ​​in the second distance set, and based on each distance value The corresponding cylindrical range checks the reliability of multiple training paths and obtains the distance value The corresponding number of reliable paths , and calculate the distance value based on the total number of training paths The corresponding reliability.

[0059] Here, initialize a counter to record the current distance value The number of paths that are considered reliable is traversed. Each training path in the plurality of training paths is checked for each training path to see whether it satisfies the distance value. A condition is determined to be within the cylinder. This typically involves checking whether one or more points in the training path are within the cylinder. If the training path satisfies the condition (i.e., at least one point is within the cylinder), a counter representing the number of reliable paths is incremented by 1.

[0060] Here, as Figure 3 As shown, for a specific distance value The calculated cylindrical range is used as the corresponding action space. The training paths outside the action space are considered unreliable. The total number of training paths within the action space is the number of reliable paths. .

[0061] Reliability represents the ability of medical staff to complete specified minimally invasive surgical actions under the gap between their training actions and standard actions over a continuous period of time.

[0062] Step S4: Based on the reliability and the corresponding action space volume corresponding to each distance value, the reliability degradation acceleration corresponding to each distance value is obtained by using the constructed reliability degradation acceleration calculation formula.

[0063] Here, reliability degradation acceleration is a quantitative indicator that quantifies the degradation acceleration of the ability of medical personnel to repeatedly complete specified actions in a continuous time and limited space. Its full name is reliability degradation acceleration, abbreviated as RDA .

[0064] Step S5 : Based on the reliability degradation acceleration corresponding to each distance value, the reliability degradation distance corresponding to each distance value is obtained by using the constructed reliability degradation distance calculation formula.

[0065] Here, reliability degradation distance is a quantitative indicator that quantifies the degradation distance of medical personnel's ability to repeatedly complete a specified action in a continuous time and a limited space. Its full name is reliability degradation displacement, abbreviated as RDD .

[0066] Step S6: completing the quantification of the specified minimally invasive surgical action capability based on the reliability degradation distance corresponding to each distance value.

[0067] This step helps assessors select a reliability volume to quantify the medical personnel's ability to repeat a specific minimally invasive surgical action during training. The reliability volume is used to quantify the medical personnel's ability to repeat a specific minimally invasive surgical action within a continuous time and limited space.

[0068] In some embodiments, the reliability degradation acceleration calculation formula is:

[0069] ;

[0070] in, is the first distance in the second distance set j The reliability degradation acceleration corresponding to the distance value; is the first distance in the second distance set j +1 distance value corresponding to the reliability; is the first distance in the second distance set j The reliability of the distance value; is the first distance in the second distance set j -1 reliability corresponding to the distance value; is the first distance in the second distance set j +1 distance value corresponding to the action space volume; is the first distance in the second distance set j The action space volume corresponding to the distance value; is the first distance in the second distance set j -1 distance value corresponding to the action space volume; is the number of waypoints on the standard path; is the default value.

[0071] In some embodiments, the reliability degradation distance calculation formula is:

[0072] ;

[0073] in, is the first distance in the second distance set j The reliability degradation distance corresponding to the distance value; is the first distance in the second distance set j The reliability degradation acceleration corresponding to the distance value; is the first distance in the second distance set j The action space volume corresponding to the distance value; is the first distance in the second distance set j -1 distance value corresponding to the action space volume.

[0074] In some embodiments, the quantification of the ability to complete a specified minimally invasive surgical action based on the reliability degradation distance corresponding to each distance value includes:

[0075] Compare the reliability degradation distances corresponding to all distance values ​​in the second distance set and select the smallest reliability degradation distance. , and get the corresponding distance value d k , select the distance value d k Corresponding reliability volume As a quantitative indicator.

[0076] Here, the reliability volume is used to quantify the ability of medical personnel to repeatedly complete specified minimally invasive surgical actions within a continuous time and limited space.

[0077] In some embodiments, the volume of the cylinder is calculated by the following formula:

[0078] ;

[0079] in, is the first in the second distance set j distance values; h is the geometric length of the standard path; is the first distance in the second distance set j The volume of the cylinder corresponding to the distance value.

[0080] Here, for each distance value in the second distance set , the calculation takes the standard path as the central axis, The volume of a cylinder with a radius of Figure 2 As shown in the figure, the cylindrical range corresponding to the maximum distance value is the initial action space. The action space after the second or more iterations gradually shrinks until the minimum distance value is traversed. The cylindrical range with the smallest radius is calculated as the final action space.

[0081] In some embodiments, the reliability corresponding to the distance value is calculated using the following formula:

[0082] ;

[0083] ;

[0084] in, is the first distance in the second distance set j The reliability of the distance value; is the first distance in the second distance set j The number of reliable paths corresponding to the distance value; M is the total number of training paths; To satisfy The number of training paths; For the m The first training path n Waypoints With the standard path n Waypoints The distance value; is the first in the second distance set j distance values.

[0085] Here, as Figure 3 As shown, for a specific distance value The calculated cylindrical range is used as the corresponding action space. The training paths outside the action space are considered unreliable. The total number of training paths within the action space is the number of reliable paths. .

[0086] In the embodiments of the present application, a new indicator, reliability degradation acceleration, is proposed to quantify the ability of medical personnel to repeatedly complete specified minimally invasive surgical actions within a limited space within a continuous time. This indicator shows obvious feasibility in evaluating the ability to train actions within a small space within a continuous time, especially in minimally invasive surgical action training that is mainly based on subjective evaluation. How to provide a more reasonable evaluation training accuracy. This method provides guidance for the reasonable quantification of the ability to repeatedly complete specified actions within a continuous time and in a surgical training environment by proposing a reliability degradation acceleration for completing specified minimally invasive surgical actions.

[0087] Example 2

[0088] Based on the foregoing embodiments, the embodiments of the present application further provide a quantification system for the ability to complete specified minimally invasive surgical actions. The system includes the modules included therein and the units included in each module, which can be implemented by a processor in an electronic device; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0089] Figure 4 This is a structural block diagram of a quantitative system for the ability to complete specified minimally invasive surgical actions, such as Figure 4 As shown, the system includes:

[0090] The second distance set acquisition module 201 is used to compare the standard path corresponding to the specified action with the M The training paths are converted into a standard path point set and a training path point set in three-dimensional space respectively; for each training path, the distances between all path points in each training path and the corresponding path points in the standard path are calculated, and the distances are sorted from largest to smallest to obtain a second distance set;

[0091] an action space volume calculation module 202 for calculating, for each distance value in the second distance set, a volume of a cylinder with the standard path as a central axis as the action space volume; wherein the height of the cylinder is the geometric length of the standard path;

[0092] The reliability calculation module 203 is used to sequentially traverse the distance values ​​in the second distance set and calculate the reliability of each distance value. d j The corresponding cylindrical range checks the reliability of multiple training paths and obtains the distance value d j The corresponding number of reliable paths T j , and calculate the distance value based on the total number of training paths d j Corresponding reliability;

[0093] The reliability degradation acceleration calculation module 204 is configured to obtain the reliability degradation acceleration corresponding to each distance value based on the reliability and the corresponding motion space volume corresponding to each distance value using the constructed reliability degradation acceleration calculation formula;

[0094] The reliability degradation distance calculation module 205 is configured to obtain the reliability degradation distance corresponding to each distance value based on the reliability degradation acceleration corresponding to each distance value and using a constructed reliability degradation distance calculation formula;

[0095] The module 206 for completing the quantification of the specified action capability is configured to complete the quantification of the specified minimally invasive surgery action capability based on the reliability degradation distance corresponding to each distance value.

[0096] The system addresses the problem of quantifying medical personnel's ability to repeatedly perform designated minimally invasive surgical maneuvers within a confined space and continuous time by proposing a new metric, the reliability degradation acceleration. This metric demonstrates significant feasibility in assessing movement training capabilities within a confined space and continuous time. This is particularly relevant in minimally invasive surgical maneuver training, which relies primarily on subjective evaluations and challenges the accuracy of training. By proposing a reliability degradation acceleration for completing designated minimally invasive surgical maneuvers, the system provides guidance for the rational quantification of the ability to repeatedly perform designated movements within a continuous time and surgical training environment.

[0097] It should be noted that the above system description is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the system embodiment of this application, please refer to the description of the method embodiment of this application for understanding.

[0098] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0099] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0101] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0102] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0103] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling the automatic test line of the device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0104] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0105] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0106] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for quantifying the ability to complete a specified minimally invasive surgical action, characterized in that: The method comprises: The standard path and the M training paths corresponding to the specified action are converted into a standard path point set and a training path point set in three-dimensional space, respectively. For each training path, the distances between all path points in the training path and the corresponding path points in the standard path are calculated and sorted from largest to smallest to obtain a second distance set. For each distance value in the second distance set, calculating the volume of a cylinder with the standard path as the central axis as the action space volume; wherein the height of the cylinder is the geometric length of the standard path; Sequentially traverse the distance values ​​in the second distance set, based on each distance value d j The corresponding cylindrical range checks the reliability of multiple training paths and obtains the distance value d j The corresponding number of reliable paths T j , and calculate the distance value d based on the total number of training paths j Corresponding reliability; Based on the reliability and the corresponding action space volume corresponding to each distance value, the reliability degradation acceleration corresponding to each distance value is obtained by constructing a reliability degradation acceleration calculation formula; wherein, the reliability degradation acceleration calculation formula is: ； in, is the reliability degradation acceleration corresponding to the j-th distance value in the second distance set; is the reliability corresponding to the j+1th distance value in the second distance set; is the reliability corresponding to the j-th distance value in the second distance set; is the reliability corresponding to the j-1th distance value in the second distance set; is the action space volume corresponding to the j+1th distance value in the second distance set; is the action space volume corresponding to the j-th distance value in the second distance set; is the action space volume corresponding to the j-1th distance value in the second distance set; is the number of waypoints on the standard path; is the default value; Based on the reliability degradation acceleration corresponding to each distance value, the reliability degradation distance corresponding to each distance value is obtained by constructing a reliability degradation distance calculation formula; wherein, the reliability degradation distance calculation formula is: ； in, is the reliability degradation distance corresponding to the j-th distance value in the second distance set; is the reliability degradation acceleration corresponding to the j-th distance value in the second distance set; is the action space volume corresponding to the j-th distance value in the second distance set; is the action space volume corresponding to the j-1th distance value in the second distance set; Compare the reliability degradation distances corresponding to all distance values ​​in the second distance set and select the smallest reliability degradation distance. , and get the corresponding distance value d k , select the distance value d k Corresponding reliability volume As a quantitative indicator.

2. The method according to claim 1, characterized in that The distances between all path points in each training path and the corresponding path points in the standard path are calculated using the following formula: ； in, is the nth path point in the mth training path The nth path point in the standard path The distance value; is the nth path point in the mth training path; is the nth path point in the standard path; is the Euclidean norm.

3. The method according to any one of claims 1 or 2, characterized in that The volume of the cylinder is calculated using the following formula: ； in, is the jth distance value in the second distance set; h is the geometric length of the standard path; is the volume of the cylinder corresponding to the j-th distance value in the second distance set.

4. The method according to any one of claims 1 to 3, characterized in that The reliability corresponding to the distance value is calculated using the following formula: ； ； in, is the reliability corresponding to the j-th distance value in the second distance set; is the number of reliable paths corresponding to the jth distance value in the second distance set; M is the total number of training paths; To satisfy The number of training paths; is the nth path point in the mth training path The nth path point in the standard path The distance value; is the jth distance value in the second distance set.

5. A quantification system for the ability to complete a specified minimally invasive surgical action, characterized in that: The system comprises: A second distance set acquisition module is configured to convert the standard path and the M training paths corresponding to the specified action into a standard path point set and a training path point set in three-dimensional space, respectively; for each training path, the distances between all path points in the training path and the corresponding path points in the standard path are calculated, and the distances are sorted from largest to smallest to obtain a second distance set; an action space volume calculation module, configured to calculate, for each distance value in the second distance set, a volume of a cylinder with the standard path as a central axis as the action space volume; wherein the height of the cylinder is the geometric length of the standard path; The reliability calculation module is used to sequentially traverse the distance values ​​in the second distance set and calculate the reliability of each distance value d. j The corresponding cylindrical range checks the reliability of multiple training paths and obtains the distance value d j The corresponding number of reliable paths T j , and calculate the distance value d based on the total number of training paths j Corresponding reliability; The reliability degradation acceleration calculation module is used to obtain the reliability degradation acceleration corresponding to each distance value based on the reliability and the corresponding action space volume corresponding to each distance value through the constructed reliability degradation acceleration calculation formula; wherein the reliability degradation acceleration calculation formula is: ； in, is the reliability degradation acceleration corresponding to the j-th distance value in the second distance set; is the reliability corresponding to the j+1th distance value in the second distance set; is the reliability corresponding to the j-th distance value in the second distance set; is the reliability corresponding to the j-1th distance value in the second distance set; is the action space volume corresponding to the j+1th distance value in the second distance set; is the action space volume corresponding to the j-th distance value in the second distance set; is the action space volume corresponding to the j-1th distance value in the second distance set; is the number of waypoints on the standard path; is the default value; The reliability degradation distance calculation module is used to obtain the reliability degradation distance corresponding to each distance value based on the reliability degradation acceleration corresponding to each distance value through the constructed reliability degradation distance calculation formula; wherein the reliability degradation distance calculation formula is: ； in, is the reliability degradation distance corresponding to the j-th distance value in the second distance set; is the reliability degradation acceleration corresponding to the j-th distance value in the second distance set; is the action space volume corresponding to the j-th distance value in the second distance set; is the action space volume corresponding to the j-1th distance value in the second distance set; Complete the specified action capability quantification module to compare the reliability degradation distances corresponding to all distance values ​​in the second distance set and select the minimum reliability degradation distance , and get the corresponding distance value d k , select the distance value d k Corresponding reliability volume As a quantitative indicator.

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