Planing control device and method, medical planing equipment, computer equipment and medium

Abstract

The invention relates to a planing control device and method, medical planing equipment, computer equipment and a storage medium. The device is configured to receive image data transmitted by an image acquisition device; wherein the image data comprises an image corresponding to the object tissue and an image corresponding to the planing instrument; calculating the distance between the object tissue and the image acquisition device according to the image data as a first distance; calculating the distance between the image acquisition device and the planing instrument according to the image data to serve as a second distance; calculating the distance between the object tissue and the planing instrument according to the first distance and the second distance as a third distance; and in response to the fact that the third distance is smaller than the preset threshold value, a first control instruction is sent to the motor driving device, so that the motor driving device stops driving the planing instrument. By adopting the device, the operation safety can be improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a planing control device, method, medical planing equipment, computer equipment, and storage medium. Background Technology

[0002] With the development of medical device technology, medical shaving equipment has emerged. Medical shaving equipment is suitable for shaving treatment in many fields, including but not limited to urological benign prostatic hyperplasia, bladder tumors, gynecological submucosal fibroids, endometrial polyps, and orthopedic joint injuries.

[0003] In clinical applications, such as urological surgeries, doctors use the handle of a medical shaving device to insert the blade through the urethra into the patient's bladder. A foot pedal controls the rotation of the blade, pulverizing the tissue removed from the bladder using laser or other energy technologies. The pulverized tissue is then suctioned out using a negative pressure suction device. However, there are risks of accidental injury during shaving with traditional medical shaving equipment: the assessment of the tissue being shaved and / or the bladder wall relies solely on the doctor's visual recognition through an image displayed on an endoscope. If an error in judgment occurs during the procedure or if the judgment is not made in time, the bladder wall or other tissues may be accidentally shaved. Furthermore, the pulverization process generally requires a full bladder to avoid contact between the blade and the bladder wall. However, because of the real-time negative pressure during pulverization, if the bladder is momentarily insufficiently full, it may be too late to stop the shaving. These factors can all reduce the safety of the surgery. Summary of the Invention

[0004] Therefore, it is necessary to provide a planing control device, method, medical planing equipment, computer equipment, and medium that can improve surgical safety in response to the above-mentioned technical problems.

[0005] In a first aspect, a planing control device is provided for use in medical planing equipment, the planing control device being configured as follows:

[0006] Receive image data transmitted by the image acquisition device; wherein, the image data includes images corresponding to the object tissue and images corresponding to the planing instrument;

[0007] The distance between the object tissue and the image acquisition device is calculated based on the image data, and is taken as the first distance; the distance between the image acquisition device and the planing instrument is calculated based on the image data, and is taken as the second distance.

[0008] The distance between the object tissue and the planing machine is calculated based on the first and second distances, and is used as the third distance; and

[0009] In response to the third distance being less than a preset threshold, a first control command is sent to the motor drive device to stop the motor drive device from driving the planing machine.

[0010] In some embodiments, the image acquisition device includes a first camera and a second camera; wherein the planing control device is further configured to:

[0011] The first horizontal pixel coordinates and the second horizontal pixel coordinates are calculated based on the image data; wherein, the first horizontal pixel coordinates are the coordinates of the object in the first camera imaging system, and the second horizontal pixel coordinates are the coordinates of the object in the second camera imaging system.

[0012] The parallax between the first camera and the second camera is calculated based on the first horizontal pixel coordinates and the second horizontal pixel coordinates.

[0013] The first distance is calculated based on parallax, the lens distance between the first and second cameras, and the lens focal length.

[0014] In some embodiments, the image acquisition device includes a first camera and a second camera; wherein the planing control device is further configured to:

[0015] The third and fourth horizontal pixel coordinates are calculated based on the image data. The third horizontal pixel coordinates are the pixel coordinates of the far end of the planing tool in the first camera system, and the fourth horizontal pixel coordinates are the pixel coordinates of the far end of the planing tool in the second camera system.

[0016] Calculate the parallax between the first and second cameras based on the third and fourth horizontal pixel coordinates;

[0017] The second distance is calculated based on parallax, the lens distance between the first and second cameras, and the focal length of the lens of the image acquisition device.

[0018] In some embodiments, the planing control device is further configured to:

[0019] The third distance is calculated based on the difference between the first and second distances.

[0020] In some embodiments, the planing control device is also electrically connected to the negative pressure suction control device;

[0021] The planing control device is also configured as follows:

[0022] In response to the third distance being less than a preset threshold, a second control command is sent to the negative pressure suction control device to stop the negative pressure suction control device from operating.

[0023] In some embodiments, the planing control device is further configured to:

[0024] Identify object organization from image data;

[0025] The determination of whether an object tissue is a tissue to be protected is based on the biological characteristics of the object tissue and a pre-trained tissue recognition model.

[0026] In response to the fact that the object organization is an organization to be protected, execution begins to calculate the distance between the object organization and the image acquisition device based on the image data.

[0027] In some embodiments, the planing control device is further configured to:

[0028] Adjust the preset threshold size according to the organization category of the organization to be protected.

[0029] In some embodiments, the planing control device is further configured to:

[0030] Obtain historical object organization sample data;

[0031] Identify biometric annotation information in historical object tissue sample data;

[0032] By utilizing historical object organization sample data and biometric annotation information, a tissue identification model is trained based on machine learning algorithms.

[0033] In a second aspect, a planing control method is provided, applied to the planing control device of any embodiment of the first aspect, the method comprising:

[0034] Receive image data transmitted by the image acquisition device; wherein, the image data includes images corresponding to the object tissue and images corresponding to the planing instrument;

[0035] The distance between the object tissue and the image acquisition device is calculated based on the image data, and is taken as the first distance; the distance between the image acquisition device and the planing instrument is calculated based on the image data, and is taken as the second distance.

[0036] The distance between the object tissue and the planing machine is calculated based on the first and second distances, and is used as the third distance; and

[0037] In response to the third distance being less than a preset threshold, a first control command is sent to the motor drive device to stop the motor drive device from operating.

[0038] Thirdly, a medical planing device is provided, including a motor drive device, a negative pressure suction control device, an image acquisition device, and a planing control device according to any embodiment of the first aspect.

[0039] Fourthly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the steps of the method of the third aspect when executing the computer program.

[0040] Fifthly, a computer-readable storage medium is provided having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the method of the third aspect.

[0041] The aforementioned planing control device, method, medical planing equipment, computer equipment, and storage medium calculate the distance between the object tissue and the image acquisition device (i.e., the first distance) and the distance between the image acquisition device and the planing instrument (i.e., the second distance) in the image data. Based on the first and second distances, the distance between the object tissue and the planing instrument can be calculated more accurately and quickly. When the third distance is less than a preset threshold, a control command is issued, so that the motor drive device can stop driving the planing instrument in a timely and accurate manner. Therefore, the risk of tissue damage caused by the planing instrument due to untimely operation can be reduced, and the safety of the operation can be improved. Attached Figure Description

[0042] Figure 1 These are schematic diagrams of the medical planing equipment in some embodiments;

[0043] Figure 2 This is a cross-sectional schematic diagram of an endoscope with a dual-camera image acquisition device in some embodiments;

[0044] Figure 3 This is a flowchart illustrating the planing control method in some embodiments;

[0045] Figure 4 This is a diagram showing the internal structure of a computer device in some embodiments. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] The planing control device 101 provided in this application can be applied to, for example... Figure 1 The application environment shown. Among them, Figure 1 Schematic diagrams of the medical planing equipment in some embodiments are shown.

[0048] in, Figure 1The medical planing device 10 shown may include at least a planing control device 101, a motor drive device 102, a negative pressure suction control device 103, and an image acquisition device 104.

[0049] Specifically, the planing control device 101 can be electrically connected to the motor drive device 102, the negative pressure suction control device 103, and the image acquisition device 104. The planing control device 101 can be built into the host and implemented based on a microcontroller or microprocessor. The negative pressure suction control device 103 can be connected to a pressure pump for controlling the start and stop of the pressure pump. The motor drive device 102 can be connected to a drive motor for controlling the rotation and stop of the drive motor. The drive motor is connected to a planing instrument, such as a planing machine. In practical applications, the rotation of the drive motor drives the rotation of the planing machine's cutting head to achieve planing.

[0050] In practical applications, refer to Figure 2 The medical shaving device 10 can be used in conjunction with a matching endoscope 1. The image acquisition device 104 can be configured on the endoscope 1 or the endoscope's built-in cameras 2 and 3 can be used as the image acquisition device 104 in this application.

[0051] The planing control device 101 provided in this application will now be described in detail. The planing control device 101 can be built into the host computer and can be implemented based on a microcontroller or microprocessor. It is configured to perform the following steps:

[0052] The image data transmitted by the image acquisition device 104 is received; wherein the image data includes the image corresponding to the object tissue and the image corresponding to the planing instrument of the planing control device 101.

[0053] The target tissue can vary depending on the surgical field in which the planing control device 101 is applied. For example, in urological surgeries, the target tissue may include, but is not limited to, bladder tissue or bladder wall. The image data is image data such as pictures or videos containing the target tissue and planing instruments, acquired by the image acquisition device 104.

[0054] The distance between the object tissue and the image acquisition device 104 is calculated based on the image data, and is taken as the first distance; the distance between the image acquisition device 104 and the planing machine is calculated based on the image data, and is taken as the second distance.

[0055] The first distance refers to the distance from any point in the object tissue or the surface formed by points in the object tissue to the optical center plane of the lens of the image acquisition device 104; the second distance refers to the distance from the distal end of the shaving instrument or the surface formed by multiple points at the distal end to the optical center plane of the lens of the image acquisition device 104; the distal end of the shaving instrument refers to the end of the shaving instrument that is far from the user and penetrates into the surgical object, and in practical application scenarios, it can refer to the cutting head of the shaving instrument.

[0056] The distance between the object tissue and the planing machine is calculated based on the first and second distances, and is used as the third distance.

[0057] In response to the third distance being less than a preset threshold, a first control command is sent to the motor drive device 102 to stop the motor drive device 102 from driving the planing instrument. The preset threshold can be customized; different preset thresholds can be set for different surgical areas and different target tissues.

[0058] The aforementioned planing control device 101 calculates the distance between the object tissue and the image acquisition device 104 in the image data (i.e., the first distance) and the distance between the image acquisition device 104 and the planing instrument (i.e., the second distance). Based on the first and second distances, it can more accurately and quickly calculate the distance between the object tissue and the planing instrument. When the third distance is less than a preset threshold, it issues a control command, thereby enabling the motor drive device 102 to stop driving the planing instrument in a timely and accurate manner. Therefore, it can reduce the risk of tissue damage caused by the planing instrument due to untimely operation and improve surgical safety.

[0059] The functions of the planing control device 101 described above can be implemented entirely or partially through software, hardware, or a combination thereof. The planing control device 101 can be embedded in or independent of the processor in a computer device in hardware form, or it can be stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to the planing control device 101.

[0060] In some embodiments, reference may be made to Figure 2 As shown, Figure 2 A cross-sectional schematic diagram of an endoscope 1 with a dual-camera image acquisition device 104 is shown in some embodiments. In practical applications, this image acquisition device 104 can be an image acquisition device 104 mounted on the endoscope. From Figure 2 As can be seen from the image, 1 is an endoscope, 2 and 3 represent the first and second cameras used for 3D image photography, respectively, and 4 is the channel for surgical shaving instruments.

[0061] Specifically, the image acquisition device 104 may include a first camera 2 and a second camera 3; wherein, the planing control device 101 is further configured to: calculate a first horizontal pixel coordinate and a second horizontal pixel coordinate based on the image data; wherein, the first horizontal pixel coordinate is the coordinate of the object in the imaging system of the first camera 2, and the second horizontal pixel coordinate is the coordinate of the object in the imaging system of the second camera 3; calculate the parallax between the first camera 2 and the second camera 3 based on the first horizontal pixel coordinate and the second horizontal pixel coordinate; and calculate a first distance based on the parallax, the lens distance between the first camera 2 and the second camera 3, and the lens focal length.

[0062] In this embodiment, the first distance can be calculated by referring to the following formula.

[0063] The first horizontal pixel coordinate x1 and the second horizontal pixel coordinate x2 are calculated according to the following formulas, where the first horizontal pixel coordinate x1 represents the horizontal pixel coordinate of a point in the object organization on the imaging plane of the first camera 2, and the second horizontal pixel coordinate x2 represents the horizontal pixel coordinate of a point in the object organization on the imaging plane of the second camera 3:

[0064]

[0065] Where f represents the lens focal length, that is, the distance from the optical center of the camera lens to the imaging plane, which determines the magnification of the image; X represents the horizontal offset of a point in the object organization in the world coordinate system relative to the optical center of the first camera 2; Z represents the vertical distance from a point in the object organization in the world coordinate system to the camera plane, that is, the first distance; and b represents the distance between the optical centers of the first camera 2 and the second camera 3.

[0066] More specifically, the disparity d can be calculated using the following formula:

[0067]

[0068] Where x1 represents the first horizontal pixel coordinate of a point of the object organization on the imaging plane of the first camera 2, and x2 represents the second horizontal pixel coordinate of a point of the object organization on the imaging plane of the second camera 3.

[0069] More specifically, the first distance can be calculated using the following formula;

[0070]

[0071] Where f represents the lens focal length, that is, the distance from the optical center of the camera lens to the imaging plane, which determines the magnification of the image; b represents the distance between the optical centers of the first camera 2 and the second camera 3; d represents the parallax; x1 represents the first horizontal pixel coordinate; x2 represents the second horizontal pixel coordinate; Z is the first distance, which is the final calculated output value, representing the vertical distance from a point on the object organization to the lens plane of the first camera 2 and the second camera 3.

[0072] Furthermore, after calculating the vertical distance between a point on the tissue object and the lens planes of the first camera 2 and the second camera 3 using the method described above, the distances between a series of continuous spatial planes composed of points and the lens planes can also be obtained. In this embodiment, by employing a binocular imaging image acquisition device 104, the distance between the tissue object and the image acquisition device 104 can be calculated more accurately, thereby improving the accuracy of control.

[0073] In some embodiments, the planing control device 101 may also be configured to: calculate a third horizontal pixel coordinate and a fourth horizontal pixel coordinate based on image data, wherein the third horizontal pixel coordinate is the pixel coordinate of the distal end of the planing instrument in the first camera 2 system, and the fourth horizontal pixel coordinate is the pixel coordinate of the distal end of the planing instrument in the second camera 3 system; calculate the parallax between the first camera 2 and the second camera 3 based on the third horizontal pixel coordinate and the fourth horizontal pixel coordinate; and calculate a second distance based on the parallax, the lens distance between the first camera 2 and the second camera 3, and the lens focal length of the image acquisition device 104.

[0074] In this embodiment, the third horizontal pixel coordinate x3 and the fourth horizontal pixel coordinate x4 can be calculated according to the following formula:

[0075]

[0076] Where f represents the lens focal length, that is, the distance from the optical center of the camera lens to the imaging plane, which determines the magnification of the image; X represents the horizontal offset of a point at the far end (e.g., the cutting head) of the planing instrument in the world coordinate system relative to the optical center of the first camera 2; Z represents the vertical distance from a point at the far end (e.g., the cutting head) of the planing instrument in the world coordinate system to the lens plane of the camera, that is, the second distance; and b represents the distance between the optical centers of the lenses of the first camera 2 and the second camera 3.

[0077] More specifically, the disparity d can be calculated using the following formula:

[0078]

[0079] Where x3 represents the first horizontal pixel coordinate of a point at the distal end (e.g., the blade) of the planing instrument on the imaging plane of the first camera 2, and x4 represents the second horizontal pixel coordinate of a point at the distal end (e.g., the blade) of the planing instrument on the imaging plane of the second camera 3.

[0080] More specifically, the second distance can be calculated using the following formula;

[0081]

[0082] Where f represents the lens focal length, i.e., the distance from the optical center of the camera lens to the imaging plane, which determines the magnification of the image; b represents the distance between the optical centers of the first camera 2 and the second camera 3; d represents the parallax; x3 represents the third horizontal pixel coordinate; x 24 Z represents the fourth horizontal pixel coordinate; Z is the second distance, which is the final calculated output value, representing the vertical distance from a point on the far end of the planing instrument (e.g., the cutter head) to the lens plane of the first camera 2 and the second camera 3.

[0083] Furthermore, after calculating the vertical distance between a point on the far end (e.g., the cutting head) of the planing instrument and the lens plane of the first camera 2 and the second camera 3 according to the above method, the distances between a series of continuous spatial surfaces composed of points and the lens plane can be obtained.

[0084] In this embodiment, by employing a binocular imaging image acquisition device 104, the distance between the far end of the planing instrument, i.e., the cutting head of the planing instrument and the image acquisition device 104, can be calculated more accurately, thereby improving the accuracy of control.

[0085] In some embodiments, the planing control device 101 is further configured to calculate a third distance based on the difference between the first distance and the second distance. In this embodiment, by calculating the first distance and the second distance in the world coordinate system respectively, the distance between the object structure and the planing tool head in the world coordinate system, i.e., the third distance, can be determined quickly and accurately, thereby enabling more accurate control commands to be given.

[0086] In some embodiments, the planing control device 101 is also electrically connected to the negative pressure suction control device 103; the planing control device 101 is also configured to send a second control command to the negative pressure suction control device 103 in response to a third distance being less than a preset threshold, so that the negative pressure suction control device 103 stops operating.

[0087] In this embodiment, the planing control device 101 can also issue a second control command simultaneously with or after issuing the first control command, according to the user's needs, to control the negative pressure suction control device 103 to stop negative pressure operation. This embodiment, by further generating a second control command to stop the negative pressure suction control device 103 from operating, avoids excessive negative pressure suction and further improves surgical safety.

[0088] In clinical use, if the planing control device 101 detects through its algorithm that the distance between the target tissue (e.g., bladder wall) and the cutting head of the surgical planing instrument is below a certain set safety value, the planing control device 101 triggers a safety alarm. At this time, the planing control device 101 can first control the motor drive device 102 via a first control command to stop the rotation of the planing instrument's cutting tool. Subsequently, it can also control the negative pressure suction control device 103 to stop negative pressure operation via a second control command. In other practical applications, users can also configure the planing control device 101 to issue both control commands simultaneously, or generate only a command to control the motor drive device 102 without generating a command to control the negative pressure suction control device 103, according to their needs and preferences.

[0089] Furthermore, in response to a third distance being less than a preset threshold, the planing control device 101 can also generate an alarm signal to alert the operator.

[0090] For example, the planing control device may also include an alarm device that generates an alarm signal when a third distance is detected to be less than a preset threshold, that is, when the distance between the object tissue and the distal end of the planing instrument (e.g., the cutting head of the planing instrument) is less than a preset distance. The alarm signal can be used to alert the operator. Furthermore, the alarm device can also indicate the reason for the alarm, for example, indicating to the operator that the current equipment alarm or planing stops because the third distance is too small, thereby avoiding the operator's misjudgment of the reason for the alarm or planing stop and resulting in incorrect operation.

[0091] Conversely, if the third distance is not less than the preset threshold, it indicates that the distance between the cutter head and the tissue is normal, and the operator can perform tissue cutting operations normally. The planing control device 101 will not generate alarms or other interference commands, thereby ensuring the surgical effect.

[0092] In some embodiments, the planing control device 101 is further configured to: identify object tissue from image data; determine whether the object tissue is a tissue to be protected based on the biometrics of the object tissue and a pre-trained tissue recognition model; and, in response to the object tissue being a tissue to be protected, proceed to calculate the distance between the object tissue and the image acquisition device 104 based on the image data.

[0093] In this embodiment, the planing control device 101 can also identify the type of the object tissue based on the image data through the tissue recognition model, thereby determining whether it is a tissue to be protected. For example, it can identify whether it is bladder tissue or bladder wall. By cooperating with the tissue recognition function, the protection mechanism can be activated more accurately to effectively protect the protected tissue, thereby avoiding the occurrence of situations where the surgery cannot be performed normally due to accidental stop or misjudgment.

[0094] In some embodiments, the planing control device 101 is further configured to adjust the size of a preset threshold according to the tissue type of the tissue to be protected. This embodiment can support the adjustment of preset thresholds corresponding to different tissue types, enabling flexible adaptation to different tissue types. Since different tissue types have different surgical requirements and risk tolerance, targeted adjustments can improve the adaptability to different tissue types while ensuring surgical effectiveness.

[0095] In some embodiments, the planing control device 101 is further configured to: acquire historical object tissue sample data; identify biometric annotation information in the historical object tissue sample data; and train a tissue identification model based on a machine learning algorithm using the historical object tissue sample data and the biometric annotation information.

[0096] In this embodiment, a large number of images or videos of clearly identifiable target tissues existing in medical device companies or hospitals can be acquired as historical target tissue sample data. This historical target tissue sample data is then labeled manually or automatically, pairing the target tissues in the images or videos with their corresponding information. The data is then processed by the planing control device 101 for identification and machine learning. The planing control device 101 can use big data to determine the typical characteristics and common features of the target tissues, thereby obtaining a trained tissue recognition model. During actual endoscopic surgery, the biological characteristics of different target tissues, such as the bladder wall, prostatic hyperplasia, and nodules, differ significantly. Identification using a tissue recognition model trained on artificial intelligence carries a lower risk of misidentification and is more efficient.

[0097] In some embodiments, reference may be made to Figure 3 As shown, Figure 3 A flowchart illustrating a planing control method in some embodiments is shown. This planing control method can be applied to a planing control device 101, and the method may include:

[0098] Step S302: Receive image data transmitted by the image acquisition device 104; wherein, the image data includes images corresponding to the object tissue and images corresponding to the planing instrument;

[0099] Step S304: Calculate the distance between the object tissue and the image acquisition device 104 based on the image data, as the first distance; calculate the distance between the image acquisition device 104 and the planing machine based on the image data, as the second distance;

[0100] Step S306: Calculate the distance between the object tissue and the planing machine based on the first distance and the second distance, and use this distance as the third distance; and

[0101] Step S308: In response to the third distance being less than a preset threshold, a first control command is sent to the motor drive device 102 to stop the motor drive device 102 from operating.

[0102] It should be understood that, although Figure 3 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 3 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0103] For specific limitations on the planing control method, please refer to the limitations on the planing control device 101 above, which will not be repeated here.

[0104] In some embodiments, this application also provides a medical planing device 10, which can be referred to Figure 1 As shown, the medical planing device 10 may include a motor drive device 102, a negative pressure suction control device 103, an image acquisition device 104, and any one or more of the planing control devices 101 described in the above embodiments.

[0105] In some embodiments, a computer device is provided, which may be a terminal, for example, the host of a medical surgical device, and its internal structure diagram may be as follows. Figure 4As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a planing control method. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0106] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0107] In some embodiments, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it receives image data transmitted by an image acquisition device 104 and image data. The image data is image data corresponding to an object tissue, and the image data is image data corresponding to a planing instrument of a planing control device 101. The distance between the object tissue and the image acquisition device 104 is calculated based on the image data as a first distance. The distance between the image acquisition device 104 and the planing instrument is calculated based on the image data as a second distance. The distance between the object tissue and the planing instrument is calculated based on the first distance and the second distance as a third distance. In response to the third distance being less than a preset threshold, a first control command is sent to a motor drive device 102 to stop the motor drive device 102 from operating.

[0108] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it implements receiving image data transmitted by the image acquisition device 104 and image data; wherein the image data is image data corresponding to an object tissue, and the image data is image data corresponding to the planing instrument of the planing control device 101; calculating the distance between the object tissue and the image acquisition device 104 based on the image data as a first distance; calculating the distance between the image acquisition device 104 and the planing instrument based on the image data as a second distance; calculating the distance between the object tissue and the planing instrument based on the first distance and the second distance as a third distance; and, in response to the third distance being less than a preset threshold, sending a first control command to the motor drive device 102 to stop the operation of the motor drive device 102.

[0109] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchlink, DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0110] 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.

[0111] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the characters in this article generally indicate that the preceding and following related objects have an "or" relationship.

[0112] 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 invention patent. 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.

[0113] It should be noted that in the embodiments of this application, data related to user information or user data (e.g., image data, historical object organization sample data, etc.) need to be obtained and processed only after user authorization and consent. When the embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

Claims

1. A planing control device for use in medical planing equipment, wherein the planing control device is configured to: Receive image data transmitted by the image acquisition device; wherein, The image data includes images corresponding to the object tissue and images corresponding to the planing instrument; The distance between the object tissue and the image acquisition device is calculated based on the image data and used as the first distance; The distance between the image acquisition device and the planing machine is calculated based on the image data and used as the second distance; The distance between the object tissue and the planing instrument is calculated based on the first distance and the second distance, and is used as the third distance; as well as In response to the third distance being less than a preset threshold, a first control command is sent to the motor drive device to cause the motor drive device to stop driving the planing machine.

2. The apparatus according to claim 1, characterized in that, The image acquisition device includes a first camera and a second camera; wherein, the planing control device is further configured to: The first horizontal pixel coordinates and the second horizontal pixel coordinates are calculated based on the image data; wherein, the first horizontal pixel coordinates are the coordinates of the object organization in the first camera imaging system, and the second horizontal pixel coordinates are the coordinates of the object organization in the second camera imaging system; Calculate the parallax between the first camera and the second camera based on the first horizontal pixel coordinates and the second horizontal pixel coordinates; The first distance is calculated based on the parallax, the lens distance between the first camera and the second camera, and the lens focal length.

3. The apparatus according to claim 1, characterized in that, The image acquisition device includes a first camera and a second camera; wherein, the planing control device is further configured to: The third horizontal pixel coordinates and the fourth horizontal pixel coordinates are calculated based on the image data. The third horizontal pixel coordinates are the pixel coordinates of the distal end of the planing instrument in the first camera system, and the fourth horizontal pixel coordinates are the pixel coordinates of the distal end of the planing instrument in the second camera system. Calculate the parallax between the first camera and the second camera based on the third and fourth horizontal pixel coordinates; The second distance is calculated based on the parallax, the lens distance between the first camera and the second camera, and the focal length of the lens of the image acquisition device.

4. The apparatus according to claim 1, characterized in that, The planing control device is also configured to: The third distance is calculated based on the difference between the first distance and the second distance.

5. The apparatus according to claim 1, characterized in that, The planing control device is also electrically connected to the negative pressure suction control device; The planing control device is also configured to: In response to the third distance being less than a preset threshold, a second control command is sent to the negative pressure suction control device to cause the negative pressure suction control device to stop operating.

6. The apparatus according to claim 1, characterized in that, The planing control device is also configured to: Identify the object tissue from the image data; The determination of whether the target tissue is a tissue to be protected is based on the biological characteristics of the target tissue and a pre-trained tissue recognition model; In response that the object organization is the organization to be protected, the execution of calculating the distance between the object organization and the image acquisition device based on the image data is initiated.

7. The apparatus according to claim 6, characterized in that, The planing control device is also configured to: The preset threshold value is adjusted according to the organization category of the organization to be protected.

8. The apparatus according to claim 7, characterized in that, The planing control device is also configured to: Obtain historical object organization sample data; Identify biometric annotation information in the historical object tissue sample data; Using the historical object tissue sample data and the biometric annotation information, the tissue identification model is trained based on a machine learning algorithm.

9. A planing control method, characterized in that, The method, applied to the planing control device according to any one of claims 1 to 8, comprises: Receive image data transmitted by an image acquisition device; wherein, the image data includes images corresponding to the object tissue and images corresponding to the planing instrument; The distance between the object tissue and the image acquisition device is calculated based on the image data, and is taken as the first distance; the distance between the image acquisition device and the planing instrument is calculated based on the image data, and is taken as the second distance; The distance between the object tissue and the planing machine is calculated based on the first distance and the second distance, and is taken as the third distance; and In response to the third distance being less than a preset threshold, a first control command is sent to the motor drive device to stop the motor drive device from operating.

10. A medical planing device, characterized in that, It includes a motor drive device, a negative pressure suction control device, an image acquisition device, and a planing control device according to any one of claims 1 to 8.

11. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 9.

Images