Laser-assisted accurate angle measurement and display system in image interventional operation

Abstract

The invention discloses a laser-assisted accurate angle measurement and display system in an image interventional operation, and relates to the technical field of medical instruments. A visual positioning reference is constructed by a laser beam with a specific mark through the laser transmission positioning module, a surgical target is adjusted in real time and accurately locked according to an intraoperative image, the multi-angle sensing calculation module accurately calculates a space angle between a surgical instrument and the laser reference, and a dynamic error compensation mechanism is provided. The position change of a target area in an operation can be dealt with, reliable data support is provided, the accuracy of angle measurement and display in the whole operation process is ensured, angle information and real-time images are fused through the image fusion display module and visually displayed on display equipment through the AR technology, and a surgeon can conveniently obtain the instrument angle state and deviation information; meanwhile, different operation habits are adapted, operation habits of different doctors are fitted, the operation efficiency of the surgery is improved, and the accuracy, high efficiency and safety of the image interventional surgery are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a laser-assisted precision angle measurement and display system for interventional imaging surgery. Background Technology

[0002] In interventional surgery, precise positioning and angle control of surgical instruments are crucial factors for ensuring surgical success. Chinese patent application CN118453115B discloses a real-time image-guided surgical system. This system establishes a 3D model of a virtual anatomical structure based on historical DICOM image data to generate a virtual anatomical structure model. It then designs a surgical model based on real-time surgical image data and the virtual anatomical structure model to obtain the surgical model. Based on the surgical model, it plans and intelligently adjusts the surgical assistance guidance path, generating intelligent surgical assistance guidance path data. It performs abnormal depth analysis based on real-time surgical instrument depth information, generating abnormal depth analysis data. Finally, it transmits the abnormal depth analysis data and the intelligent surgical assistance guidance path data to a terminal device for visualized guidance feedback.

[0003] While the aforementioned patents have achieved surgical guidance and abnormal depth analysis based on image data, the following problems still exist:

[0004] 1. 3D models built based on historical DICOM images are difficult to adapt to dynamic situations such as changes in patient position and tissue deformation during surgery in real time, resulting in the accumulation of deviations between the positioning reference of surgical instruments and the actual target area, affecting the accuracy of angle control;

[0005] 2. The angle measurement process relies on the registration accuracy between the virtual anatomical structure model and the real-time image. In complex anatomical environments, it is easily affected by image noise, making it difficult to form a stable angle calculation benchmark. Furthermore, it lacks a dynamic monitoring and deviation warning mechanism for the real-time angle status of surgical instruments, and cannot fully reflect the deviation trend between the instrument posture and the target angle. Summary of the Invention

[0006] The purpose of this invention is to provide a laser-assisted precision angle measurement and display system for interventional surgery. By projecting a coded, visualized laser beam, a stable three-dimensional positioning benchmark is constructed. The angle measurement value is then fused with real-time images using high-precision AR. Furthermore, through dynamic stress monitoring and anomaly warning mechanisms, the system comprehensively presents the angle status of surgical instruments and potential risks, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A laser-assisted precision angle measurement and display system for interventional surgery includes:

[0009] The laser transmission positioning module is configured to project a laser beam with a corresponding mark onto the surgical target area during the operation based on real-time acquired two-dimensional image data, forming a visual positioning reference. At the same time, the projection position of the laser beam is adjusted in combination with real-time image feedback during the operation.

[0010] The multi-angle perception and calculation module is configured to acquire visual positioning references in real time, identify the coded information in the laser beam, determine the baseline and reference point of the laser beam, identify the key feature points and contour information of the surgical instruments, determine the spatial angular relationship between the baseline and reference point of the laser beam and the surgical instruments, and calculate the angle measurement value.

[0011] The image fusion display module is configured to fuse angle measurement values ​​with real-time acquired two-dimensional image data, and perform AR display and control based on the display device worn by the surgeon.

[0012] Furthermore, the laser transmission positioning module includes:

[0013] The target area determination unit is configured to determine the coordinate position and geometric shape of the surgical target area in space based on real-time acquired two-dimensional image data, and generate the initial projection angle and position parameters of the laser beam;

[0014] The laser emitting unit is configured to start the laser emitter according to the initial projection angle and position parameters of the laser beam, and project a laser beam with corresponding marks onto the target area after being calibrated by the optical collimating lens group;

[0015] The image feedback acquisition unit is configured to monitor the positional offset information of the surgical target area based on the two-dimensional image data, calculate the offset angle and offset position parameters based on the positional offset information, and trigger a position adjustment command.

[0016] Furthermore, the target area determination unit specifically includes:

[0017] The real-time acquired two-dimensional image data is preprocessed, and the surgical target features are extracted based on the preprocessed image data to establish a feature point set;

[0018] Obtain preset fixed reference points in the two-dimensional image data, extract the pixel coordinates of each fixed reference point in the current two-dimensional image frame, and establish a mapping model from two-dimensional image coordinates to three-dimensional spatial coordinates.

[0019] Based on the mapping model, the mapping relationship between each surgical target feature in the feature point set and the three-dimensional spatial coordinates is determined, the spatial position of the target region is determined, and the geometric center and main direction vector of the target region are calculated based on the geometric features of the target region.

[0020] Based on the geometric center of the target area and the spatial coordinates of the main direction vector and the fixed reference points, the spatial geometric relationship between the target area and each fixed reference point is established to obtain the patient's current surgical position status information.

[0021] Based on the geometric center and principal direction vector of the target area, the initial projection angle and position parameters of the laser beam are calculated and generated in combination with the preset surgical requirements. At the same time, the initial projection angle and position parameters are corrected according to the patient's current surgical position information.

[0022] Furthermore, the laser emitting unit also includes: encoding the emitted laser beam during the laser beam projection process, wherein the laser beam spot pattern has visual encoding information with unique identification features, and the encoding information is projected onto the surface of the target area along with the laser beam to form an encoded laser marking pattern.

[0023] Furthermore, the multi-angle perception computing module includes:

[0024] The laser dot recognition unit is configured to acquire laser marking patterns projected onto the target area in real time, identify and decode the encoded information in the laser marking patterns, and determine the three-dimensional spatial coordinates of the laser beam baseline and the reference point.

[0025] The surgical instrument recognition unit is configured to acquire image data of surgical instruments in two-dimensional image data in real time, identify key feature points and contour information of surgical instruments in image data, and establish a real-time posture model of surgical instruments in three-dimensional spatial coordinate system by combining a preset surgical instrument geometric model, and determine the three-dimensional spatial coordinates of key feature points and contour information.

[0026] The angle calculation unit is configured to calculate the spatial angle parameters between the laser beam baseline and the key features of the surgical instrument, including pitch angle, yaw angle and roll angle, based on the three-dimensional spatial coordinates of the baseline and reference point and the three-dimensional spatial coordinates of the key feature points and contour information, and form the angle measurement value.

[0027] Furthermore, the surgical instrument identification unit also includes:

[0028] Based on the surgical instrument database, key structural points of surgical instruments are identified, and the 3D model of surgical instruments is divided into functional sub-models based on these key structural points.

[0029] Each sub-model is matched with the corresponding operating part of the surgical instrument to establish a mapping relationship between the sub-model and the key structural points.

[0030] Obtain the initial stress values ​​of key structural points, and determine the predicted stress values ​​of each key structural point based on the changes in instrument movement trajectory and surgical force.

[0031] The initial stress value is compared with the predicted stress value of each key structural point. Based on the comparison result, it is compared with the preset error range to determine whether the surgical instrument is abnormal.

[0032] When the initial stress value of a critical structural point is within the preset error range, the critical structural point is determined to be in normal working condition.

[0033] Otherwise, it is judged as an abnormal state, and color or texture annotation is performed in the corresponding sub-model to generate an abnormal region.

[0034] Furthermore, determining whether surgical instruments are malfunctioning also includes:

[0035] Extract the spatial coordinate information of the abnormal key structural points in the three-dimensional spatial coordinate system, and combine it with the spatial range of the sub-model in the three-dimensional model of the surgical instrument to determine the boundary information of the abnormal area;

[0036] Generate a region index based on the boundary information of the abnormal region, and establish the association between the region index and the abnormal region and key structural points.

[0037] Furthermore, comparing the initial stress values ​​with the predicted stress values ​​for each critical structural point also includes:

[0038] The time series of the comparison results between the initial stress value and the predicted stress value of each key structural point is obtained, the change in the deviation value between adjacent time points is calculated, and the time axis is divided into preset unit time intervals.

[0039] The stress change at key structural points is obtained for each unit of time, stress change curves are generated, and dynamic stress change simulation is performed on key structural points in abnormal areas based on the stress change curves.

[0040] The generated stress change curve, the identified abnormal areas, and the dynamic simulation results of stress change are then output to the image fusion display module for visualization.

[0041] Furthermore, the image fusion display module includes:

[0042] The display device interaction unit is configured to capture and analyze the surgeon's hand gestures in the operating space in real time, match the surgeon's hand gesture control commands based on the analysis results, and provide real-time feedback on the command execution status to the surgeon.

[0043] The habit adaptation unit is configured to extract the surgeon's basic information from the surgeon's personal information database, and combine it with the surgeon's operation records of the display interface in different surgical scenarios in the historical surgical database to build the surgeon's operation habit model.

[0044] The numerical-image registration unit is configured to establish a correspondence between feature points between angle measurement values ​​and two-dimensional image data, and to calculate the spatial transformation parameters for transforming angle measurement values ​​from the original coordinate system to the real-time image data coordinate system based on the feature point matching results.

[0045] The numerical image registration unit is also configured to establish a registration error evaluation model, evaluate the registration accuracy based on the deviation between the calculated registered angle information and the actual surgical site in the two-dimensional image data, and adjust and optimize the spatial transformation parameters in real time.

[0046] Furthermore, the display device interaction unit also includes: comparing the parsed gesture control commands with the surgeon's operation habit model; if there is a conflict between the gesture control commands and historical operation habits, prompting the surgeon through the human-computer interaction interface and providing a recommended solution; and updating the surgeon's operation habit model based on the surgeon's confirmation result.

[0047] Compared with the prior art, the beneficial effects of the present invention are:

[0048] The laser transmission positioning module constructs a visual positioning reference using a laser beam with specific markings and adjusts in real time based on intraoperative images to accurately lock onto the surgical target. The multi-angle perception and calculation module accurately calculates the spatial angle between the surgical instruments and the laser reference, which can cope with changes in the position of the target area during surgery and provide reliable data support to ensure the accuracy of angle measurement and display throughout the entire surgical process. The image fusion display module integrates angle information with real-time images and, through dynamic stress monitoring and anomaly warning mechanisms, presents the angle status of surgical instruments and potential risks in all aspects. It is intuitively presented on the display device through AR technology, allowing surgeons to easily obtain instrument angle status and deviation information. At the same time, it adapts to different operating habits and fits the operating habits of different doctors, improving the efficiency of surgical operations and significantly enhancing the accuracy, efficiency, and safety of image-guided interventional surgery. Attached Figure Description

[0049] Figure 1 This is a block diagram of the laser-assisted precision angle measurement and display system for interventional surgery according to the present invention. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] To address the technical challenges in current image-guided interventional surgeries, such as inaccurate positioning, susceptibility to interference in angle measurements, lack of dynamic monitoring, and inaccessible visual feedback, please refer to [link to relevant documentation]. Figure 1 This embodiment provides the following technical solution:

[0052] A laser-assisted precision angle measurement and display system for interventional surgery includes:

[0053] The laser transmission positioning module is configured to project a laser beam with a corresponding mark onto the surgical target area during the operation based on real-time acquired two-dimensional image data, forming a visual positioning reference. At the same time, the projection position of the laser beam is adjusted in combination with real-time image feedback during the operation.

[0054] The multi-angle perception and calculation module is configured to acquire visual positioning references in real time, identify the coded information in the laser beam, determine the baseline and reference point of the laser beam, identify the key feature points and contour information of the surgical instruments, determine the spatial angle relationship between the baseline and reference point of the laser beam and the surgical instruments, and calculate the accurate angle measurement value.

[0055] The image fusion display module is configured to fuse angle measurement values ​​with real-time acquired two-dimensional image data, and perform AR display and control based on the display device worn by the surgeon. This allows the surgeon to understand the angle status of the surgical instruments and the deviation from the target angle in real time and clearly, thereby performing surgical operations more accurately.

[0056] In this embodiment, by precisely projecting a laser, the surgeon can quickly locate the target position, determine the starting and key positions of the surgical instrument operation, and obtain the spatial angle relationship between the positioning reference formed by the laser projection and the surgical instrument in real time. This yields accurate angle measurement values, providing the surgeon with accurate angle data support and assisting the surgical instrument in entering the target area at the correct angle. Combined with the surgeon's display device for AR display, the surgeon can understand the angle status of the surgical instrument and its deviation from the target angle in real time and clearly, thereby performing the surgical operation more accurately to meet the needs of different surgical scenarios and surgeons' operating habits.

[0057] In this embodiment, the laser transmission positioning module includes:

[0058] The target area determination unit is configured to determine the coordinate position and geometric shape of the surgical target area in space based on real-time acquired two-dimensional image data, and generate the initial projection angle and position parameters of the laser beam;

[0059] The laser emitting unit is configured to use a dual-axis adjustable laser emitter array. The laser emitter is activated according to the initial projection angle and position parameters of the laser beam. After being calibrated by the optical collimating lens group, the laser beam with corresponding marks is projected onto the target area.

[0060] The laser emitting unit further includes: encoding the emitted laser beam during the laser beam projection process, such as stripe encoding or dot matrix encoding, wherein the laser beam spot pattern has visual encoding information with unique identification features, and the encoding information is projected onto the surface of the target area along with the laser beam to form an encoded laser marking pattern, so that the laser pattern projected on the tissue is unique, which is convenient for subsequent angle calculation module to identify and process.

[0061] The image feedback acquisition unit is configured to monitor the positional offset information of the surgical target area based on the two-dimensional image data, calculate the offset angle and offset position parameters based on the positional offset information, and trigger a position adjustment command.

[0062] In this embodiment, the target region determination unit specifically includes:

[0063] The real-time acquired two-dimensional image data is preprocessed, and the surgical target features are extracted based on the preprocessed image data to establish a feature point set, including the coordinate information of the extracted feature points in the two-dimensional image coordinate system and their attributes, such as feature type, intensity, size, etc.

[0064] Preset fixed reference points are obtained from the two-dimensional image data. The fixed reference points are specific marks pasted on the patient's body surface or obvious bony landmarks in the anatomy. The pixel coordinates of each fixed reference point in the current two-dimensional image frame are extracted, and a mapping model from two-dimensional image coordinates to three-dimensional spatial coordinates is established.

[0065] Based on the mapping model, the mapping relationship between each surgical target feature in the feature point set and the three-dimensional spatial coordinates is determined, the spatial position of the target region is determined, and the geometric center and main direction vector of the target region are calculated based on the geometric features of the target region.

[0066] Based on the geometric center of the target region and the spatial coordinates of the main direction vector and fixed reference points such as the patient's body surface and bones, the spatial geometric relationship between the target region and each fixed reference point is established to obtain the patient's current surgical position status information.

[0067] Based on the geometric center and principal direction vector of the target area, the initial projection angle and position parameters of the laser beam are calculated and generated in combination with the preset surgical requirements. At the same time, the initial projection angle and position parameters are corrected according to the patient's current surgical position information to ensure the accuracy of the laser projection reference.

[0068] In this embodiment, the target area determination unit can not only accurately locate the target area and guide laser projection in the initial stage, but also dynamically adapt to possible changes in body position during the operation, continuously ensuring the accuracy of the laser projection reference. Combined with real-time image feedback during the operation, the projection position of the laser beam is adjusted to maintain the precise alignment of the laser projection reference with respect to the target area, further improving the accuracy and robustness of the laser projection reference, especially in cases where there may be slight changes in body position during the operation, thereby improving the laser projection accuracy.

[0069] In this embodiment, the multi-angle perception computing module includes:

[0070] The laser dot recognition unit is configured to acquire the laser marking pattern projected on the target area in real time through an optical sensor array, and use an image processing algorithm based on feature matching to identify and decode the encoded information in the laser marking pattern to determine the three-dimensional spatial coordinates of the laser beam baseline and the reference point.

[0071] The surgical instrument recognition unit is configured to acquire image data of surgical instruments in two-dimensional image data in real time, and identify key feature points and contour information of surgical instruments in image data through edge detection and contour extraction algorithms, including instrument tips and specific marker points. Combined with the preset surgical instrument geometric model, a real-time posture model of the surgical instrument in a three-dimensional spatial coordinate system is established, and the three-dimensional spatial coordinates of key feature points and contour information are determined.

[0072] The angle calculation unit is configured to calculate the spatial angle parameters between the laser beam baseline and the key features of the surgical instrument, including pitch angle, yaw angle and roll angle, based on the three-dimensional spatial coordinates of the baseline and reference point and the three-dimensional spatial coordinates of the key feature points and contour information, and form the angle measurement value.

[0073] In this embodiment, the surgical instrument identification unit further includes:

[0074] Based on the surgical instrument database, key structural points of surgical instruments are identified, such as catheter tips, puncture needle tips, and clamp joints. Based on these key structural points, the 3D model of the surgical instrument is divided into functional sub-models.

[0075] Each sub-model is matched with the corresponding operating part of the surgical instrument to establish a mapping relationship between the sub-model and the key structural points.

[0076] Obtain the initial stress values ​​of key structural points, and determine the predicted stress values ​​of each key structural point based on the changes in instrument movement trajectory and surgical force.

[0077] The initial stress value is compared with the predicted stress value of each key structural point. Based on the comparison result, it is compared with the preset error range to determine whether the surgical instrument is abnormal.

[0078] When the initial stress value of a critical structural point is within the preset error range, the critical structural point is determined to be in normal working condition.

[0079] Otherwise, it is judged as an abnormal state, and color or texture annotation is performed in the corresponding sub-model to generate an abnormal region;

[0080] Extract the spatial coordinate information of the abnormal key structural points in the three-dimensional spatial coordinate system, and combine it with the spatial range of the sub-model in the three-dimensional model of the surgical instrument to determine the boundary information of the abnormal area;

[0081] Generate a region index based on the boundary information of the abnormal region, and establish the association between the region index and the abnormal region and key structural points.

[0082] In this embodiment, comparing the initial stress value with the predicted stress value at each critical structural point further includes:

[0083] The time series of the comparison results between the initial stress value and the predicted stress value of each key structural point is obtained, the change in the deviation value between adjacent time points is calculated, and the time axis is divided into preset unit time intervals.

[0084] The stress change at key structural points is obtained for each unit of time, stress change curves are generated, and dynamic stress change simulations of future deviation trends are performed on key structural points in abnormal areas based on stress change curves to provide early warning of potential risks.

[0085] The generated stress change curve, the identified abnormal areas, and the dynamic simulation results of stress change are then output to the image fusion display module for visualization.

[0086] In this embodiment, by stably and accurately extracting the key geometric information of the surgical instruments from real-time images and converting it into three-dimensional attitude data in a unified coordinate system, the benchmark for spatial angle calculation is ensured to be consistent. By calculating the pitch angle, yaw angle, and roll angle of the surgical instruments relative to the laser reference, the angle data can be output in real time. In addition to providing real-time angle measurement, it can also monitor, predict, and warn of dynamic changes during the operation, thereby enhancing the initiative and intelligence of the system and making it more closely integrated with the surgeon's operation, thus improving the safety and accuracy of the operation.

[0087] In this embodiment, the image fusion display module includes:

[0088] The display device interaction unit is configured to capture and analyze the surgeon's hand gestures in the operating space in real time, match the surgeon's hand gesture control commands based on the analysis results, and provide real-time feedback on the command execution status to the surgeon, thereby enabling operations such as adjusting the transparency of the AR display interface and switching the display mode.

[0089] The display device interaction unit also includes: comparing the parsed gesture control instructions with the surgeon's operation habit model; if there is a conflict between the gesture control instructions and historical operation habits, prompting the surgeon through the human-computer interaction interface and providing a recommended solution; and updating the surgeon's operation habit model based on the surgeon's confirmation result.

[0090] The habit adaptation unit is configured to extract basic information such as the surgeon's name, years of experience, and types of surgeries he is good at from the surgeon's personal information database. Combined with the surgeon's operation records of the display interface in different surgical scenarios in the historical surgical database, such as the commonly used angle display layout and color preferences, the unit constructs the surgeon's operation habit model to achieve deep adaptation between the display interface and the surgeon's operation habits.

[0091] The numerical-image registration unit is configured to establish a correspondence between feature points between angle measurement values ​​and two-dimensional image data. Based on the matching results of feature points, it calculates the spatial transformation parameters for transforming angle measurement values ​​from the original coordinate system to the real-time image data coordinate system, including rotation matrix, translation vector, and scaling factor, to achieve preliminary alignment of the two types of data in spatial position and direction.

[0092] The numerical image registration unit is also configured to establish a registration error evaluation model, evaluate the registration accuracy based on the deviation between the registered angle information and the actual surgical site in the two-dimensional image data, and adjust and optimize the spatial transformation parameters in real time to ensure that the angle information is accurately superimposed on the surgical site, thereby improving the accuracy and stability of image fusion.

[0093] In this embodiment, the image fusion display module captures and analyzes gesture commands in real time and provides feedback on the execution status. It combines the physician's operation habit model to provide a personalized display solution. When there is a conflict, it prompts for a recommended solution and updates the model, thereby improving the convenience and adaptability of the interaction. Based on the physician's personal information and historical operation records, a habit model is built to achieve deep adaptation of the display interface. Through intelligent interaction, personalized adaptation and precise registration, the efficiency of physician operation is improved, which helps to facilitate precision surgery and enhances the safety and reliability of surgery.

[0094] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A laser-assisted precision angle measurement and display system for interventional imaging surgery, characterized in that, include: The laser transmission positioning module is configured to project a laser beam with a corresponding mark onto the surgical target area during the operation based on real-time acquired two-dimensional image data, forming a visual positioning reference. At the same time, the projection position of the laser beam is adjusted in combination with real-time image feedback during the operation. The multi-angle perception and calculation module is configured to acquire visual positioning references in real time, identify the coded information in the laser beam, determine the baseline and reference point of the laser beam, identify the key feature points and contour information of the surgical instruments, determine the spatial angular relationship between the baseline and reference point of the laser beam and the surgical instruments, and calculate the angle measurement value. The image fusion display module is configured to fuse angle measurement values ​​with real-time acquired two-dimensional image data, and perform AR display and control based on the display device worn by the surgeon.

2. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 1, characterized in that, The laser transmission positioning module includes: The target area determination unit is configured to determine the coordinate position and geometric shape of the surgical target area in space based on real-time acquired two-dimensional image data, and generate the initial projection angle and position parameters of the laser beam; The laser emitting unit is configured to start the laser emitter according to the initial projection angle and position parameters of the laser beam, and project a laser beam with corresponding marks onto the target area after being calibrated by the optical collimating lens group; The image feedback acquisition unit is configured to monitor the positional offset information of the surgical target area based on the two-dimensional image data, calculate the offset angle and offset position parameters based on the positional offset information, and trigger a position adjustment command.

3. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 2, characterized in that, The target area determination unit specifically includes: The real-time acquired two-dimensional image data is preprocessed, and the surgical target features are extracted based on the preprocessed image data to establish a feature point set; Obtain preset fixed reference points in the two-dimensional image data, extract the pixel coordinates of each fixed reference point in the current two-dimensional image frame, and establish a mapping model from two-dimensional image coordinates to three-dimensional spatial coordinates. Based on the mapping model, the mapping relationship between each surgical target feature in the feature point set and the three-dimensional spatial coordinates is determined, the spatial position of the target region is determined, and the geometric center and main direction vector of the target region are calculated based on the geometric features of the target region. Based on the geometric center of the target area and the spatial coordinates of the main direction vector and the fixed reference points, the spatial geometric relationship between the target area and each fixed reference point is established to obtain the patient's current surgical position status information. Based on the geometric center and principal direction vector of the target area, the initial projection angle and position parameters of the laser beam are calculated and generated in combination with the preset surgical requirements. At the same time, the initial projection angle and position parameters are corrected according to the patient's current surgical position information.

4. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 3, characterized in that, The laser emitting unit further includes: encoding the emitted laser beam during the laser beam projection process, wherein the laser beam spot pattern has visual encoding information with unique identification features, and the encoding information is projected onto the surface of the target area along with the laser beam to form a laser marking pattern with encoding.

5. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 4, characterized in that, The multi-angle perception computing module includes: The laser dot recognition unit is configured to acquire laser marking patterns projected onto the target area in real time, identify and decode the encoded information in the laser marking patterns, and determine the three-dimensional spatial coordinates of the laser beam baseline and the reference point. The surgical instrument recognition unit is configured to acquire image data of surgical instruments in two-dimensional image data in real time, identify key feature points and contour information of surgical instruments in image data, and establish a real-time posture model of surgical instruments in three-dimensional spatial coordinate system by combining a preset surgical instrument geometric model, and determine the three-dimensional spatial coordinates of key feature points and contour information. The angle calculation unit is configured to calculate the spatial angle parameters between the laser beam baseline and the key features of the surgical instrument, including pitch angle, yaw angle and roll angle, based on the three-dimensional spatial coordinates of the baseline and reference point and the three-dimensional spatial coordinates of the key feature points and contour information, and form the angle measurement value.

6. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 5, characterized in that, The surgical instrument identification unit also includes: Based on the surgical instrument database, key structural points of surgical instruments are identified, and the 3D model of surgical instruments is divided into functional sub-models based on these key structural points. Each sub-model is matched with the corresponding operating part of the surgical instrument to establish a mapping relationship between the sub-model and the key structural points. Obtain the initial stress values ​​of key structural points, and determine the predicted stress values ​​of each key structural point based on the changes in instrument movement trajectory and surgical force. The initial stress value is compared with the predicted stress value of each key structural point. Based on the comparison result, it is compared with the preset error range to determine whether the surgical instrument is abnormal. When the initial stress value of a critical structural point is within the preset error range, the critical structural point is determined to be in normal working condition. Otherwise, it is judged as an abnormal state, and color or texture annotation is performed in the corresponding sub-model to generate an abnormal region.

7. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 6, characterized in that, Determining whether surgical instruments are malfunctioning also includes: Extract the spatial coordinate information of the abnormal key structural points in the three-dimensional spatial coordinate system, and combine it with the spatial range of the sub-model in the three-dimensional model of the surgical instrument to determine the boundary information of the abnormal area; Generate a region index based on the boundary information of the abnormal region, and establish the association between the region index and the abnormal region and key structural points.

8. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 7, characterized in that, The comparison between the initial stress value and the predicted stress value at each critical structural point also includes: The time series of the comparison results between the initial stress value and the predicted stress value of each key structural point is obtained, the change in the deviation value between adjacent time points is calculated, and the time axis is divided into preset unit time intervals. The stress change at key structural points is obtained for each unit of time, stress change curves are generated, and dynamic stress change simulation is performed on key structural points in abnormal areas based on the stress change curves. The generated stress change curve, the identified abnormal areas, and the dynamic simulation results of stress change are then output to the image fusion display module for visualization.

9. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 8, characterized in that, The image fusion display module includes: The display device interaction unit is configured to capture and analyze the surgeon's hand gestures in the operating space in real time, match the surgeon's hand gesture control commands based on the analysis results, and provide real-time feedback on the command execution status to the surgeon. The habit adaptation unit is configured to extract the surgeon's basic information from the surgeon's personal information database, and combine it with the surgeon's operation records of the display interface in different surgical scenarios in the historical surgical database to build the surgeon's operation habit model. The numerical-image registration unit is configured to establish a correspondence between feature points between angle measurement values ​​and two-dimensional image data, and to calculate the spatial transformation parameters for transforming angle measurement values ​​from the original coordinate system to the real-time image data coordinate system based on the feature point matching results. The numerical image registration unit is also configured to establish a registration error evaluation model, evaluate the registration accuracy based on the deviation between the calculated registered angle information and the actual surgical site in the two-dimensional image data, and adjust and optimize the spatial transformation parameters in real time.

10. The laser-assisted precision angle measurement and display system for interventional surgery as described in claim 9, characterized in that, The display device interaction unit also includes: comparing the parsed gesture control commands with the surgeon's operation habit model; if there is a conflict between the gesture control commands and historical operation habits, prompting the surgeon through the human-computer interaction interface and providing a recommended solution; and updating the surgeon's operation habit model based on the surgeon's confirmation result.

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