Intraoperative instruction system

Abstract

The application relates to an intraoperative indication system, comprising: a surgical lamp; a camera module for shooting a surgical area; an indication module comprising an indication piece and a driving assembly connected to the surgical lamp, the indication piece is used for emitting indication light to form a mark point, and a power output end of the driving assembly is connected to the indication piece; an interaction module and a control module, the surgical lamp, the camera module, the indication module and the interaction module are all communicatively connected to the control module; wherein the interaction module is configured to display a surgical field picture shot by the camera module and receive position information of a to-be-indicated area input by a user; the control module can control the driving assembly based on the position information, and the driving assembly can drive the indication piece to move so that the mark point marks the to-be-indicated area. The intraoperative indication system can realize remote interactive explanation of a surgical process in an operating room, is not easy to interfere with a surgeon, and can remotely guide a surgeon who is insufficient in experience, thereby improving a surgical success rate.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to intraoperative guidance systems. Background Technology

[0002] During surgery, if external teaching or intraoperative surgical guidance is required, teaching staff typically need to be in the operating room with a laser pointer to indicate the path to be located or the organs and tissues to be described, in order to assist in the teaching explanation or intraoperative surgical guidance. However, this requires teaching staff to enter the operating room, resulting in a large number of people in the operating room, which can easily interfere with the surgeon and affect the progress of the operation. Summary of the Invention

[0003] Therefore, it is necessary to provide an intraoperative instruction system to enable remote interactive explanation of the surgical process in the operating room, which is less likely to interfere with the surgeon. Moreover, for surgeons with insufficient experience, the intraoperative instruction system can also provide remote guidance, thereby improving the success rate of the surgery.

[0004] An intraoperative guidance system, the intraoperative guidance system comprising:

[0005] Surgical lights;

[0006] The camera module is used to capture images of the surgical area.

[0007] The indicator module includes an indicator element and a driving assembly connected to the surgical light. The indicator element emits an indicator light to form a marker point, and the power output terminal of the driving assembly is connected to the indicator element.

[0008] The interactive module and control module are all communicatively connected to the control module, including the surgical light, the camera module, the indicator module, and the interactive module. The interactive module is configured to display the surgical field image captured by the camera module and receive the location information of the area to be indicated input by the user. The control module can control the driving component based on the location information, and the driving component can drive the indicator to move so that the marker point marks the area to be indicated.

[0009] In one embodiment, the position information includes the movement information of the marker point along a first direction and a second direction in the field coordinate system of the camera module, wherein the first direction, the second direction and the optical axis direction of the surgical lamp are perpendicular to each other;

[0010] The driving assembly includes a first driving member and a second driving member. The second driving member is used to output rotational power about the first direction, and the first driving member is used to output rotational power about the second direction. The first driving member and the second driving member drive the indicator to rotate based on the movement information so that the marking point marks the area to be indicated.

[0011] In one embodiment, the drive assembly further includes a first pulley, a second pulley, a first belt, a third pulley, a fourth pulley, and a second belt. The first drive member is connected to the surgical lamp, the first pulley is connected to the output shaft of the first drive member, the first belt is tensioned between the first pulley and the second pulley, the second drive member is fixed to the second pulley, the third pulley is connected to the output shaft of the second drive member, the fourth pulley is fixed to the indicator, and the second belt is tensioned between the third pulley and the fourth pulley.

[0012] In one embodiment, the camera module includes a third driver connected to the surgical light and a camera connected to the power output end of the third driver. The driving component is connected to the third driver, and the third driver is used to drive the camera and the indicator module to rotate synchronously around the optical axis.

[0013] In one embodiment, the camera is located at the bottom center of the surgical light, the indicator module is located at the top edge of the surgical light, and the camera module includes a connecting component connected to the power output end of the third drive component. The connecting component passes through the surgical light along the optical axis and is rotatably connected to it. The connecting component is connected to the camera and the drive component.

[0014] In one embodiment, the connecting assembly includes a connecting rod, a mounting base, and a belt seat connected to the power output end of the third drive member. The connecting rod is fixed to the top end of the belt seat, the mounting base is fixed to the bottom end of the belt seat, and the mounting base is rotatably connected to the surgical light. The camera is fixed to the bottom end of the mounting base. The connecting rod extends upward through the surgical light and is fixedly connected to the drive assembly via a connecting plate extending radially along the surgical light.

[0015] In one embodiment, the camera is defined to have a camera area located on the light-emitting side of the surgical lamp, the camera area is perpendicular to the optical axis and is at a preset distance from the surgical lamp, the center of the light spot of the surgical lamp is located at the center of the camera area, and the first driving member and the second driving member can drive the indicator to make the intersection of the indicator light and the camera area located at the center of the camera area;

[0016] During the adjustment of the surgical light position, when the marker point is located at the center of the surgical field image, the center of the light spot is located in the surgical area.

[0017] In one embodiment, the driving component is fixed to the surgical light, the camera module includes a fourth driving member and a camera connected to the power output end of the fourth driving member, the fourth driving member is used to drive the camera to rotate relative to the indicator module, and the first driving member and the second driving member drive the indicator to rotate so that the marker point moves from the first point to the second point;

[0018] If the camera rotates relative to the indicator module during the movement of the marker point from the first point to the second point, the control module is configured to keep the coordinates of the first point and the second point unchanged in the area coordinate system.

[0019] In one embodiment, the control module can obtain a third angle and a fourth angle of the power output end of the first drive member when the marker point is located at the second point, based on a first angle of the power output end of the first drive member and a second angle of the power output end of the second drive member when the marker point is located at the first point; the power output end of the first drive member rotates from the first angle to the third angle, and the power output end of the second drive member rotates from the second angle to the fourth angle.

[0020] In one embodiment, the control module is able to obtain the coordinates of the first point in the indicator coordinate system of the indicator module based on the first angle and the second angle; and obtain the coordinates of the first point in the width coordinate system based on the coordinates of the first point in the indicator coordinate system; and obtain the coordinates of the second point in the width coordinate system based on the coordinates of the first point in the width coordinate system; and obtain the coordinates of the second point in the indicator coordinate system based on the coordinates of the second point in the width coordinate system; and obtain the third angle and the fourth angle based on the coordinates of the second point in the indicator coordinate system.

[0021] In one embodiment, the control module can obtain the coordinates of the first point in the width coordinate system based on the coordinates of the first point in the indicator coordinate system and the transformation matrix of the indicator coordinate system relative to the width coordinate system;

[0022] The control module can obtain the coordinates of the second point in the indicator coordinate system based on the coordinates of the second point in the area coordinate system and the transformation matrix of the area coordinate system relative to the indicator coordinate system.

[0023] In one embodiment, the control module can obtain the coordinates of the second point in the web coordinate system based on the coordinates of the first point in the web coordinate system and the movement vector of the marker point in the web coordinate system when it moves from the first point to the second point.

[0024] The aforementioned intraoperative guidance system includes a camera module that captures images of the surgical area to provide real-time updates on the surgical field, and an interactive module that displays the surgical field image captured by the camera module for remote monitoring. Based on the surgical field image, the user can input the location information of the area to be indicated (e.g., the organ or tissue to be described) into the interactive module. The interactive module receives this location information, and the control module controls the drive components to move the indicator, thereby changing the position of the indicator light and the marker point, ensuring the marker point falls on the area to be indicated. Furthermore, since the indicator module is integrated into the surgical light, instructors no longer need to enter the operating room to hold a laser pointer, freeing their hands. They can provide guidance on the next surgical step and resection location from outside the operating room via the marker point, offering remote guidance to the surgeon inside and improving surgical success rates. They can also remotely interact with students using the surgical field image. This enables remote interaction with the operating room without overcrowding, minimizing interference with the surgeon. In addition, integrating the indicator module into the surgical light simplifies the structure and reduces costs, while the built-in lighting function of the surgical light illuminates the surgical area, ensuring the clarity of the images captured by the camera module. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the surgical light, camera module, and indicator module of an intraoperative guidance system in one embodiment of this application.

[0026] Figure 2 This is a schematic diagram of the indicator module being in the zero position of the motor in one embodiment of this application.

[0027] Figure 3 This is a schematic diagram of the indicator module being located at the zero position of the surgical field in one embodiment of this application.

[0028] Figure 4 for Figure 2 A magnified view of the surgical light, camera module, and indicator module.

[0029] Figure 5 This is a schematic diagram of an intraoperative indication module in one embodiment of this application.

[0030] Figure 6 for Figure 1 A magnified view of a section at point I.

[0031] Figure 7 for Figure 1 A magnified view of section II in the middle.

[0032] Figure 8 for Figure 1 A magnified view of a section at point III.

[0033] Figure label:

[0034] 100. Surgical light; 110. Base; 200. Camera module; 210. Camera; 211. Camera aperture; 2111. Camera aperture center; 212. Camera beam; 221. Third drive unit; 222. Fifth pulley; 223. Third belt; 230. Connecting assembly; 231. Connecting rod; 232. Mounting base; 233. Belt seat; 234. Baffle; 240. Sterile cover; 250. Connecting plate; 300. Indicator module; 311. First drive unit; 312. First belt 313. Second pulley; 314. First belt; 315. Second drive component; 316. Third pulley; 317. Fourth pulley; 318. Second belt; 320. Indicator; 321. Indicator light; 330. Fixing seat; 400. Hospital bed; 510. First bearing; 511. Outer ring of first bearing; 512. Inner ring of first bearing; 520. Second bearing; 521. Outer ring of second bearing; 522. Inner ring of second bearing; 530. Bearing housing; X, First direction; Y, Second direction. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0041] See Figures 1 to 3An embodiment of this application provides an intraoperative guidance system including a surgical light 100, a camera module 200, a guidance module 300, an interaction module, and a control module. The camera module 200 is used to capture images of the surgical area. The guidance module 300 includes an indicator 320 and a driving component connected to the surgical light 100. The indicator 320 emits guiding light 321 to form marker points, and the power output terminal of the driving component is connected to the indicator 320. The surgical light 100, camera module 200, guidance module 300, and interaction module are all communicatively connected to the control module. The interaction module is configured to display the surgical field image captured by the camera module 200 and receive location information of the area to be indicated input by the user. The control module can control the driving component based on the location information, and the driving component can drive the indicator 320 to move so that the marker points mark the area to be indicated.

[0042] In the aforementioned intraoperative guidance system, the camera module 200 can capture images of the surgical area to obtain the latest situation of the surgical field in real time. The interactive module can display the surgical field image captured by the camera module 200 for remote viewing of the surgical situation. Based on the surgical field image, the user can input the location information of the area to be indicated (e.g., the organ or tissue to be described) to the interactive module. The interactive module receives the location information of the area to be indicated input by the user, and the control module can control the driving component based on the location information to drive the indicator 320 to move, thereby changing the position of the indicator light 321 and the marker point, so that the marker point falls on the area to be indicated, thus marking the area to be indicated. In addition, since the indicator module 300 is integrated into the surgical light 100, the instructor does not need to enter the operating room to hold a laser pointer for indication, freeing up their hands. They can provide prompts for the next surgical position, resection position, etc., through the marker point outside the operating room, providing remote guidance to the surgeon in the operating room, improving the success rate of the operation, and can also conduct remote interactive explanations to students using the surgical field image. This enables remote interaction with the operating room without causing excessive personnel to be present, thus reducing interference with the surgeon. Furthermore, integrating the indicator module 300 into the surgical light 100 simplifies the structure and reduces costs, while the built-in lighting function of the surgical light 100 illuminates the surgical area, ensuring the clarity of images captured by the camera module 200.

[0043] Specifically, the indicator 320 can be a laser indicator, which emits laser light to form marking points. The interaction module includes a display screen for showing the surgical field and an operator for user input. The operator can be a mouse, keyboard, gamepad, etc. Alternatively, the surgical field can be displayed directly on a touchscreen, and the user can input information by touching the touchscreen. Alternatively, the surgical field can be displayed and corresponding operations can be performed on a mobile device such as a mobile phone or tablet. The following description will focus on the operation of a mouse.

[0044] The interactive module can be either local or remote. Local interaction refers to users viewing the surgical field and performing corresponding input operations from a distance close to the operating room. Remote interaction refers to users viewing the surgical field and performing corresponding input operations from a distance farther from the operating room, and can even be conducted in different cities or countries.

[0045] The surgical light 100, camera module 200, indicator module 300 and interaction module are all communicatively connected to the control module. The communication connection can be via WiFi, Bluetooth, wired connection via data cable, or other radio frequency communication methods.

[0046] The control module may include multiple hardware control devices, each of which is correspondingly set in the interaction module, indicator module, surgical light and camera module. The control devices are interconnected to enable the surgical light 100, camera module 200, indicator module 300 and interaction module to be interconnected with the control module.

[0047] See Figures 2 to 5 In some embodiments, the position information includes the movement information of the marker point along a first direction and a second direction in the sectional coordinate system of the camera module 200, wherein the first direction, the second direction, and the optical axis direction of the surgical lamp 100 are perpendicular to each other. The driving assembly includes a first driving member 311 and a second driving member 315. The second driving member 315 is used to output rotational power about the first direction, and the first driving member 311 is used to output rotational power about the second direction. The first driving member 311 and the second driving member 315 drive the indicator 320 to rotate based on the movement information so that the marker point marks the area to be indicated.

[0048] Specifically, the optical axis of the surgical lamp 100 is perpendicular to the center of the light-emitting surface of the surgical lamp 100. Figure 2 and Figure 3 From a visual perspective, this refers to the up and down direction. The first direction is... Figure 5 The second direction of X shown is... Figure 5 The position information of the user input interaction module is the movement information of the marker point along the first and second directions in the field coordinate system of the camera module 200. This movement information can be a movement vector along the first and second directions, that is, it includes the movement direction and movement distance.

[0049] Both the first driving element 311 and the second driving element 315 are motors, specifically stepper motors. The power output terminal of the first driving element 311 is connected to the second driving element 315, and the power output terminal of the second driving element 315 is connected to the indicator 320. The first driving element 311 drives the second driving element 315 and the indicator 320 to rotate around a second direction, thereby moving the marker point along a first direction. The second driving element 315 drives the indicator 320 to rotate around the first direction, thereby moving the marker point along the second direction.

[0050] See Figure 4 and Figure 5 Furthermore, in some embodiments, the drive assembly further includes a first pulley 312, a second pulley 313, a first belt 314, a third pulley 316, a fourth pulley 317, and a second belt 318. A first drive member 311 is connected to the surgical lamp 100. The first pulley 312 is connected to the output shaft of the first drive member 311, the first belt 314 is tensioned between the first pulley 312 and the second pulley 313, and the second drive member 315 is fixed to the second pulley 313. The third pulley 316 is connected to the output shaft of the second drive member 315, the fourth pulley 317 is fixed to the indicator 320, and the second belt 318 is tensioned between the third pulley 316 and the fourth pulley 317.

[0051] Specifically, the first driving member 311 is fixed to the fixing base 330, which is connected to the surgical lamp 100. The first driving member 311 can drive the second driving member 315 to rotate around a second direction via the first pulley 312, the second pulley 313, and the first belt 314, thereby driving the indicator 320 to rotate around the second direction, so that the marker point moves along the first direction. The second driving member 315 can drive the indicator 320 to rotate around the first direction via the third pulley 316, the fourth pulley 317, and the second belt 318, so that the marker point moves along the second direction.

[0052] Preferably, the direction of the indicator light 321 of the indicator 320, the central axis of the second pulley 313, and the central axis of the fourth pulley 317 are converged at one point. In this way, when the first drive member 311 rotates, the mark point will not move in the second direction, and when the second drive member 315 rotates, the mark point will not move in the first direction, reducing the coupling between the two directions and simplifying the calculation of the rotation angle of the two drive members.

[0053] In the aforementioned embodiments, when a user wants to indicate a certain area of ​​the patient to prompt the surgeon, they can move the mouse to input the movement information of the marker point along the first and second directions in the coordinate system of the camera module 200. The position of the marker point displayed in the surgical field can be understood as the cursor position. By moving the mouse, the position of the marker point displayed in the surgical field can be changed, that is, the movement information along the first and second directions is input. The control module can calculate the required rotation angle of the output shafts of the first drive unit 311 and the second drive unit 315 based on the above movement information to ensure that after rotating at this angle, the marker point is marked on the desired patient area. The above process can be understood as moving the display position of the marker point in the virtual screen to realize the change of the actual position of the marker point.

[0054] In the above embodiments, the movement of the marker point is achieved by rotating two driving components. This method allows for a more compact structure of the entire driving assembly, resulting in a smaller size and weight. Of course, in other embodiments, if the above factors are not considered, the moving power can be directly output through driving components such as cylinders or electric push rods to directly drive the indicator 320 to move along the first and second directions.

[0055] See Figure 1 , Figures 6 to 8 In some embodiments, the camera module 200 includes a third drive unit 221 connected to the surgical light 100, and a camera 210 connected to the power output end of the third drive unit 221. A drive component is connected to the third drive unit 221, and the third drive unit 221 is used to drive the camera 210 and the indicator module 300 to rotate synchronously around the optical axis.

[0056] Specifically, camera 210 is used to capture images to form a surgical field. A third drive unit 221 is fixed to the surgical light 100, and the drive assembly is connected to the third drive unit 221 via a mounting bracket 330. When the third drive unit 221 drives the camera 210 to rotate, it also drives the entire indicator module 300 to rotate synchronously. Typically, when viewing the surgical field on the screen, it may be necessary to first rotate the angle of the camera 210 to adjust the orientation of the surgical field displayed on the screen for easier viewing. During this process, by having the indicator module 300 rotate synchronously with the camera 210, the coordinates of the marker points in the camera 210's coordinate system will remain unchanged. That is, the marker points will not rotate relative to each other within the surgical field, resulting in better visual comfort and reducing the likelihood of dizziness when viewing the surgical field. After adjusting the orientation of the surgical field, the mouse can be used to indicate specific points.

[0057] Of course, in other embodiments, it is also acceptable if the marker does not rotate synchronously with the surgical field image.

[0058] See Figure 1 , Figures 6 to 8 In some embodiments, the camera 210 is located at the bottom center of the surgical light 100, the indicator module 300 is located at the top edge of the surgical light 100, and the camera module 200 includes a connection component 230 connected to the power output end of the third drive component 221. The connection component 230 passes through the surgical light 100 along the optical axis and is rotatably connected to it. The connection component 230 is connected to the camera 210 and the drive component.

[0059] Specifically, the camera 210 is located at the bottom center of the surgical light 100, and the camera beam 212 is aligned with the optical axis of the surgical light 100 (see also...). Figure 2 The indicator module 300 is located at the top edge of the surgical light 100 and is rotatably connected to the surgical light 100 via the first bearing 510. Specifically, the outer ring 511 of the first bearing 510 is fixed to the mounting base 330, and the inner ring 512 of the first bearing 510 is fixed to the surgical light 100. Alternatively, the connection structure at the inner and outer rings of the first bearing 510 can be interchanged, that is, the outer ring 511 of the first bearing is fixed to the surgical light 100, and the inner ring 512 of the first bearing is fixed to the mounting base 330. Distributing the camera 210 and the indicator module 300 on the upper and lower sides of the surgical light avoids space congestion caused by placing them on the same side, resulting in a more rational layout.

[0060] See Figure 1 , Figure 4 , Figures 6 to 8 Furthermore, in some embodiments, the connecting assembly 230 includes a connecting rod 231, a mounting base 232, and a belt seat 233 connected to the power output end of the third drive member 221. The connecting rod 231 is fixed to the top of the belt seat 233, the mounting base 232 is fixed to the bottom of the belt seat 233, the mounting base 232 is rotatably connected to the surgical light 100, and the camera 210 is fixed to the bottom of the mounting base 232. The connecting rod 231 extends upward through the surgical light 100 and is fixedly connected to the drive assembly of the surgical light 100 via a connecting plate 250 extending radially along the surgical light 100.

[0061] Specifically, the connecting rod 231 is fixed to the top of the belt seat 233 by threaded fasteners, and the mounting seat 232 is fixed to the bottom of the belt seat 233 by threaded fasteners. The mounting seat 232 is rotatably connected to the surgical lamp 100 via the second bearing 520. Further, the surgical lamp 100 has a base 110, on which a bearing seat 530 is fixed. The outer ring 521 of the second bearing 520 is fixed to the bearing seat 530, and the inner ring 522 of the second bearing 520 is fixed to the mounting seat 232. A sterile cover 240 is fixed to the outside of the camera 210. The portion of the sterile cover 240 that overlaps with the lens of the camera 210 is made of transparent material to ensure that the lens can capture images normally. The connecting rod 231 extends upward through the housing of the surgical lamp 100 and is fixedly connected to the mounting seat 330 via a connecting plate 250 extending radially along the surgical lamp 100 (see also...). Figure 4 This indirectly fixes the drive component of the surgical lamp 100.

[0062] Preferably, the connecting assembly 230 further includes a baffle 234, which is sleeved and fixed to the top of the connecting rod 231 to block the gap and prevent dust and other particles from entering the surgical lamp 100.

[0063] See Figure 1 , Figures 6 to 8 In some embodiments, the third drive unit 221 is a motor, which drives the camera 210 and the indicator module 300 to rotate synchronously via a belt drive mechanism. Specifically, the output shaft of the third drive unit 221 is connected to a fifth pulley 222, and a third belt 223 is tensioned between the fifth pulley 222 and the belt seat 233. The third drive unit 221 can drive the belt seat 233 to rotate, thereby driving the connecting rod 231, mounting base 232, belt seat 233, and baffle 234 fixedly connected to it to rotate synchronously, thereby driving the indicator module 300 fixed to the connecting rod 231 and the camera 210 fixed to the mounting base 232 to rotate synchronously.

[0064] See Figures 1 to 4 Typically, the surgical light 100 forms its light spot center at a distance of one meter. The best illumination effect is achieved when the center of the light spot is precisely located in the surgical area, i.e., on the patient lying on the bed 400. Therefore, during surgery, the distance between the surgical light and the bed 400 needs to be adjusted to approximately one meter. If the position of the surgical light 100 is adjusted during surgery, causing a change in its height, the position of its light spot center will also change. This requires repeatedly adjusting the height of the surgical light 100 and observing the brightness of the light spot in the surgical area to determine if the center of the light spot is precisely located within the surgical area. This adjustment method can lead to visual fatigue for the surgeon.

[0065] See Figures 1 to 4Based on the above problems, in some embodiments, the camera 210 is defined to have a camera surface 211 located on the light-emitting side of the surgical lamp 100. The camera surface 211 is perpendicular to the optical axis and is at a preset distance from the surgical lamp 100. The center of the light spot of the surgical lamp 100 is located at the center of the camera surface 211, and the first driving member 311 and the second driving member 315 can drive the indicator 320 so that the intersection of the indicator light 321 and the camera surface 211 is located at the center of the camera surface 211. During the pose adjustment of the surgical lamp 100, when the marker point is located at the center of the surgical field, the center of the light spot is located in the surgical area.

[0066] Specifically, the light-emitting side of the surgical light 100 is directly below it. The preset distance is one meter. Since the distance between the camera sensor 211 and the surgical light 100 is one meter, the center of the light spot will be located at the center of the camera sensor 211, that is, at the center of the sensor 2111. Figure 3 In the zero-position state of the motor shown, both the first drive unit 311 and the second drive unit 315 are in their respective zero positions. Figure 2 In the zero-position state of the surgical field shown, the second drive unit 315 drives the indicator unit 320 to rotate downwards around the first direction. The intersection of the indicator light 321 and the camera frame 211 is located at the center 2111 of the frame, meaning that the marker point and the center of the light spot coincide at this time. Therefore, the position of the light spot center can be determined by judging the display position of the marker point instead of judging the position of the marker point. The camera frame 211 is the projection of the surgical field (i.e., the surgical field of view) and can be understood as a reference plane. The length direction of the camera frame 211 is the first direction, and the width direction is the second direction. When the height of the surgical light 100 is adjusted, if the reference plane coincides with the top surface of the bed 400, it means that the distance between the bed 400 and the surgical light 100 is one meter. Since the camera frame 211 is the projection of the surgical field, the marker point will be exactly located in the center of the image of the surgical field captured at this time. If the camera's field of view 211 and the top surface of the hospital bed 400 do not overlap, it means that the distance between the hospital bed 400 and the surgical light 100 is not one meter. In the surgical field, the marker point will not fall in the center of the image, but will be off-center. Thus, the position of the marker point in the surgical field can be used to determine whether the height of the surgical light 100 has been adjusted to 1 meter, eliminating the need to constantly observe the brightness of the light spot in the surgical area and reducing visual fatigue.

[0067] If the above-mentioned spot positioning is not required, the camera 210 can also be set in other positions of the surgical light 100, or in a position other than the surgical light 100.

[0068] See Figures 2 to 5 as well as Figure 8In some embodiments, the driving component is fixed to the surgical lamp 100, and the camera module 200 includes a fourth driving member and a camera 210 connected to the power output end of the fourth driving member. The fourth driving member is used to drive the camera 210 to rotate relative to the indicator module 300, and the first driving member 311 and the second driving member 315 drive the indicator 320 to rotate so that the marker point moves from the first point to the second point. If the camera 210 rotates relative to the indicator module 300 during the process of the marker point moving from the first point to the second point, the control module is configured to keep the coordinates of the first point and the second point unchanged in the field coordinate system.

[0069] Specifically, the driving component is fixed to the surgical light 100 via the mounting bracket 330, thereby fixing the indicator module 300 entirely to the surgical light 100. The camera module 200 can be set independently of the surgical light 100 and can be installed on other components in the operating room. When the fourth driving component drives the camera 210 to rotate, the indicator module 300 does not rotate synchronously with it. In the aforementioned embodiment, by having the indicator module 300 rotate synchronously with the camera 210, the coordinates of the marker point in the field coordinate system of the camera 210 remain unchanged, meaning the marker point will not rotate relative to the surgical field, resulting in better visual comfort when viewing the surgical field. In this embodiment, when indicating a specific point, for example, when it is necessary to adjust the indicated position of the marker point from the first point to the second point, it is only necessary to control the rotation angle of the output shafts of the first driving component 311 and the second driving component 315 through the control module to ensure that the coordinates of the first point and the second point remain unchanged in the field coordinate system, thus achieving a similar effect to the aforementioned embodiment, that is, the marker point will not rotate relative to the surgical field, resulting in better visual comfort when viewing the surgical field and reducing the likelihood of dizziness. In this way, there is no need to rotate the camera 210 and the indicator module 300 synchronously, and the installation position of the camera 210 is more flexible.

[0070] See Figures 2 to 5 In some embodiments, the control module can obtain a third angle of the power output end of the first drive member 311 and a fourth angle of the power output end of the second drive member 315 when the marker point is located at the second point, based on a first angle of the power output end of the first drive member 311 and a second angle of the power output end of the second drive member 315 when the marker point is located at the first point; the power output end of the first drive member 311 rotates from the first angle to the third angle, and the power output end of the second drive member 315 rotates from the second angle to the fourth angle.

[0071] Specifically, when the marker point is positioned at the first point in the surgical area, the rotation angle of the power output end of the first drive member 311 is the first angle, and the rotation angle of the power output end of the second drive member 315 is the second angle. When the marker point is adjusted to be positioned at the second point in the surgical area, the rotation angle of the power output end of the first drive member 311 is the third angle, and the rotation angle of the power output end of the second drive member 315 is the fourth angle. Therefore, by calculating the third and fourth angles while ensuring that the coordinates of the first and second points remain unchanged in the sectional coordinate system, and rotating the output shafts of the two drive members at these angles, the marker point will not rotate relative to the surgical field. It should be noted that the control module can immediately calculate the magnitudes of the third and fourth angles during the rotation of the camera 210, and the two drive members will then rotate accordingly. This delay is negligible, therefore, it can be considered that the marker point will not rotate relative to the surgical field.

[0072] See Figures 2 to 5 In some embodiments, the control module can obtain the coordinates of the first point in the indicator coordinate system of the indicator module 300 based on the first angle and the second angle; and obtain the coordinates of the first point in the width coordinate system based on the coordinates of the first point in the indicator coordinate system; and obtain the coordinates of the second point in the width coordinate system based on the coordinates of the first point in the width coordinate system; and obtain the coordinates of the second point in the indicator coordinate system based on the coordinates of the second point in the width coordinate system; and obtain the third angle and the fourth angle based on the coordinates of the second point in the indicator coordinate system.

[0073] Specifically, in some embodiments, the control module can obtain the coordinates of the first point in the web coordinate system based on the coordinates of the first point in the indicator coordinate system and the transformation matrix of the indicator coordinate system relative to the web coordinate system; the control module can obtain the coordinates of the second point in the indicator coordinate system based on the coordinates of the second point in the web coordinate system and the transformation matrix of the web coordinate system relative to the indicator coordinate system.

[0074] Specifically, in some embodiments, the control module can obtain the coordinates of the second point in the web coordinate system based on the coordinates of the first point in the web coordinate system and the movement vector of the marker point from the first point to the second point in the web coordinate system.

[0075] The specific calculation process is explained below:

[0076] The center of the field of view 2111 is designated as point 0, serving as the zero point for both the indicator coordinate system and the field of view coordinate system. In the indicator coordinate system, the coordinates of point 0 are (xz0, yz0) = (0, 0), and in the field of view coordinate system, the coordinates of point 0 are (xf0, yf0) = (0, 0). When the indicator module 300 is in the motor zero position, the rotation angle of the first drive member 311 and the second drive member 315 can be recorded as (0, 0). When the indicator module 300 reaches the surgical field zero position, the first drive member 311 remains stationary, while the second drive member 315 rotates by a certain angle. This angle can be calculated using the dimensions set in the structure and recorded as b0. The rotation angle of the two drive members at this time is recorded as (a0, b0), where a represents the angle of rotation of the first drive member 311, b represents the angle of rotation of the second drive member 315, and a0 = 0. At the surgical field zero position, the indicator coordinates of the marker point on the camera field of view 211 are (xz0, yz0) = (0, 0).

[0077] In the camera frame 211, the first point is a point other than point 0. The coordinates of the first point in the frame coordinate system are (xf1, yf1), and the coordinates of the first point in the indicator coordinate system are (xz1, yz1). These two are unknowns. When the marker point is at the first point, the rotation angle of the first drive member 311 and the second drive member 315 is (a1, b1), that is, the first angle and the second angle. These two are knowns and can be determined from the encoders of the two drive members.

[0078] When the camera 210 rotates, the angle of rotation of the camera 210 is recorded as c. When the frame coordinate system and the indicator coordinate system coincide, the rotation position of the camera 210 is recorded as zero, at which time c = 0.

[0079] The distance from the rotation center point of the indicator 320 (i.e., the intersection of the indicator light 321, the second pulley 313, and the fourth pulley 317) to the camera frame 211 is denoted as h, and can be determined by measurement. When the marker point moves from the first point to the second point, the frame coordinates of the movement vector input by the mouse are (Δxf, Δyf), which are known quantities. During the movement, it is assumed that the camera 210 rotates by an angle Δc, which is a known quantity and can be determined from the encoder of the fourth drive component. The coordinates of the second point in the frame coordinate system are (xf2, yf2), and the coordinates of the second point in the indicator coordinate system are (xz2, yz2), which are unknown quantities. When the marker point is at the second point, the rotation angles of the first drive component 311 and the second drive component 315 are (a2, b2), which are the third and fourth angles, and are the quantities to be determined.

[0080] Of the above values, the distance h from the center of the rotation point of the indicator 320 to the camera frame 211 can be obtained through structural settings. The frame coordinates (Δxf, Δyf) of the movement vector can be obtained through feedback from the interaction module. The rotation angles (a1, b1) of the first drive unit 311 and the second drive unit 315 at the first point, as well as the initial rotation angle c and rotation angle Δc of the camera 210, can be obtained through feedback from the corresponding encoder. As mentioned above, the rotation angles (0, b0) of the first drive unit 311 and the second drive unit 315 when the marker point is at point 0 can also be obtained. Based on these known values, the rotation angles (a2, b2) of the first drive unit 311 and the second drive unit 315 when the marker point is at the second point are calculated below.

[0081] The first step is to use trigonometric functions to calculate the coordinates (xz1, yz1) of the first point in the indicator coordinate system, based on the distance h from the center of the rotation point of the indicator 320 to the camera surface 211, and the first angle a1 and the second angle b1. Specifically:

[0082] xz1=h*tan(a1), yz1=h*(tan(b1)-tan(b0))

[0083] The second step involves matrix transformation. Based on the coordinates (xz1, yz1) of the first point in the indicator coordinate system and the transformation matrix between the indicator coordinate system and the sheet coordinate system, the coordinates (xf1, yf1) of the first point in the sheet coordinate system are obtained. Specifically:

[0084]

[0085] The third step involves coordinate translation. Based on the coordinates (xf1, yf1) of the first point in the planar coordinate system and the movement vector (Δxf, Δyf) of the marker point from the first point to the second point in the planar coordinate system, the coordinates (xf2, yf2) of the second point in the planar coordinate system are obtained. The details are as follows:

[0086]

[0087] The fourth step involves matrix transformation. Based on the coordinates (xf2, yf2) of the second point in the planar coordinate system and the transformation matrix between the planar coordinate system and the indicator coordinate system, the coordinates (xz2, yz2) of the second point in the indicator coordinate system are obtained. Specifically:

[0088]

[0089]

[0090] Fifth, based on the distance h from the center of the rotation point of the indicator 320 to the camera surface 211, and the coordinates (xz2, yz2) of the second point in the indicator coordinate system, the third angle a2 and the fourth angle b2 are obtained using trigonometric functions. Specifically:

[0091] Since xz2=h*tan(a2), yz2=h*(tan(b2)-tan(b0))

[0092] so,

[0093]

[0094] In the two expressions above, if we want the coordinates of the first and second points to remain unchanged in the plane coordinate system, that is, (Δxf,Δyf)=(0,0), then we can calculate:

[0095] a2=arctan(tan a1 cosΔc-(tan b1-tan b0)sinΔc)

[0096] b2=arctan((tan b1-tan b0)cosΔc+tan a1 sinΔc+tan b0)

[0097] When c = 0, Δc = 0, which is the simplified calculation process, corresponding to the case in the first type of embodiment described above where the indicator module 300 rotates synchronously with the camera 210. The calculation process is as follows:

[0098] xz1=h*tan(a1), yz1=h*(tan(b1)-tan(b0))

[0099] xf1 = xz1, yf1 = yz1

[0100] xf2=xf1+Δxf=xz1+Δxf, yf2=yf1+Δyf=yz1+Δyf

[0101] xz2=xf2=xz1+Δxf=h*tan(a1)+Δxf, yz2=yf2=yz1+Δyf=h*(tan(b1)-tan(b0))+Δyf

[0102] Because xz2=h*tan(a2), yz2=h*(tan(b2)-tan(b0))

[0103]

[0104]

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An intraoperative guidance system, characterized in that, The intraoperative guidance system includes: Surgical light (100); A camera module (200) is used to capture images of the surgical area; An indicator module (300) includes an indicator (320) and a driving assembly connected to the surgical light (100). The indicator (320) emits an indicator light (321) to form a marker point. The power output terminal of the driving assembly is connected to the indicator (320). The driving assembly includes a first driving member (311) and a second driving member (315). The interactive module and control module are all communicatively connected to the control module, including the surgical light (100), the camera module (200), the indicator module (300), and the interactive module. The interactive module is configured to display the surgical field image captured by the camera module (200) and receive location information of the area to be indicated input by the user. The control module can control the driving component based on the location information, and the driving component can drive the indicator (320) to move so that the marker point marks the area to be indicated. The camera module (200) includes a camera (210), a third drive unit (221) connected to the surgical lamp (100), and a connecting component (230) connected to the power output end of the third drive unit (221). The connecting component (230) passes through the surgical lamp (100) along the optical axis and is rotatably connected to it. The connecting component (230) is connected to the camera (210) and the drive unit. The third drive unit (221) is used to drive the camera (210) and the indicator module (300) to rotate synchronously around the optical axis. The camera (210) is located at the bottom center of the surgical lamp (100), and the indicator module (300) is located at the top edge of the surgical lamp (100). The camera (210) is defined to have a camera area (211) located on the light-emitting side of the surgical lamp (100). The camera area (211) is perpendicular to the optical axis and is at a preset distance from the surgical lamp (100). The center of the light spot of the surgical lamp (100) is located at the center of the camera area (211). The first driving member (311) and the second driving member (315) can drive the indicator (320) so that the intersection of the indicator light (321) and the camera area (211) is located at the center of the camera area (211). During the pose adjustment of the surgical lamp (100), when the marker point is located at the center of the surgical field, the center of the light spot is located in the surgical area.

2. The intraoperative guidance system according to claim 1, characterized in that, The location information includes the movement information of the marker point along the first direction and the second direction in the field coordinate system of the camera module (200), wherein the first direction, the second direction and the optical axis direction of the surgical lamp (100) are perpendicular to each other; The second drive member (315) is used to output rotational power about the first direction, and the first drive member (311) is used to output rotational power about the second direction. The first drive member (311) and the second drive member (315) drive the indicator (320) to rotate based on the movement information so that the marking point marks the area to be indicated.

3. The intraoperative guidance system according to claim 2, characterized in that, The drive assembly further includes a first pulley (312), a second pulley (313), a first belt (314), a third pulley (316), a fourth pulley (317), and a second belt (318). The first drive member (311) is connected to the surgical lamp (100). The first pulley (312) is connected to the output shaft of the first drive member (311). The first belt (314) is tensioned between the first pulley (312) and the second pulley (313). The second drive member (315) is fixed to the second pulley (313). The third pulley (316) is connected to the output shaft of the second drive member (315). The fourth pulley (317) is fixed to the indicator (320). The second belt (318) is tensioned between the third pulley (316) and the fourth pulley (317).

4. The intraoperative guidance system according to claim 3, characterized in that, The direction of the indicator light (321) of the indicator (320), the central axis of the second pulley (313), and the central axis of the fourth pulley (317) converge at a single point.

5. The intraoperative guidance system according to claim 2 or 3, characterized in that, The connecting assembly (230) includes a connecting rod (231), a mounting base (232), and a belt seat (233) connected to the power output end of the third drive member (221). The connecting rod (231) is fixed to the top of the belt seat (233), the mounting base (232) is fixed to the bottom of the belt seat (233), and the mounting base (232) is rotatably connected to the surgical light (100). The camera (210) is fixed to the bottom of the mounting base (232). The connecting rod (231) extends upward through the surgical light (100) and is fixedly connected to the drive assembly by a connecting plate (250) extending radially along the surgical light (100).

6. The intraoperative guidance system according to claim 5, characterized in that, The connecting assembly (230) includes a baffle (234), which is sleeved and fixed to the top end of the connecting rod (231).

7. The intraoperative guidance system according to claim 1, characterized in that, The camera (210) is fixed with a sterile cover (240) on the outside, and the part of the sterile cover (240) that overlaps with the lens of the camera (210) is made of transparent material.

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