Knotting quality evaluation system

Abstract

The invention relates to a knotting quality evaluation system. The system comprises a data acquisition module, a data analysis module and a quality evaluation module. The data acquisition module is used for acquiring motion parameters and an image frame sequence of the needle holder in the knotting operation process; the data analysis module is used for analyzing the motion parameters and the image frame sequence and determining the knotting evaluation information of the needle holder in the knotting operation process and the tightness information of a thread knot at the end of knotting; the quality evaluation module is used for determining the operation stability of the needle holder, the orientation accuracy of the needle holder and the position accuracy of the tip end of the needle holder based on the knotting evaluation information of the needle holder; and determining a knotting quality evaluation result of the knotting operation process based on the operation stability, the orientation accuracy, the position accuracy and the tightness information of the knot. By adopting the system, the problems that an existing knotting quality evaluation method is single in evaluation dimension, only reflects a static result and cannot perform refined analysis on a dynamic operation process can be solved.

Description

A knot quality assessment system Technical Field

[0001] This application relates to the field of surgical simulation training and intelligent assessment technology, and in particular to a knot-tying quality assessment system. Background Technology

[0002] In surgical skills training, suturing and knot tying are core basic skills that must be mastered during surgical suturing. The quality of the knot tying directly affects postoperative tissue healing and surgical safety. Therefore, the assessment of knot tying quality is very important in surgical suturing training. Traditional methods of knot tying quality assessment rely on the instructor's subjective observation and experience, which suffers from problems such as inconsistent standards, delayed feedback, and difficulty in quantification, thus limiting the efficiency and effectiveness of training.

[0003] To address the aforementioned issues, existing technologies have proposed a sensor-based method for assessing knot quality. This method integrates pressure sensors into a tissue model to detect blood vessel wall tension and knotting force, and then evaluates the knot quality based on the detection results. However, this assessment method has a single evaluation dimension, only reflecting static results and failing to provide a refined analysis of the dynamic operational process.

[0004] There is currently no effective solution to the problem that existing knot-tying quality assessment methods have a single assessment dimension, only reflect static results, and cannot conduct detailed analysis of dynamic operation processes. Summary of the Invention

[0005] Therefore, it is necessary to provide a knot quality assessment system to address the aforementioned technical problems.

[0006] This application provides a knotting quality assessment system. The system includes: a data acquisition module, a data analysis module, and a quality assessment module;

[0007] The data acquisition module, connected to the data analysis module, is used to acquire the motion parameters of the needle holder and the image frame sequence corresponding to the knotting operation during the knotting process, and send the acquired motion parameters and the image frame sequence to the data analysis module; the motion parameters include at least one of the acceleration information, angular velocity information, direction information of the needle holder head, and coordinate information of the needle holder tip; the needle holder tip is located at the foremost end of the needle holder head;

[0008] The data analysis module, connected to the quality assessment module, is used to analyze the motion parameters and image frame sequences received from the data acquisition module, determine the knot evaluation information of the needle holder during the knotting operation and the tightness information of the knot at the end of the knotting operation, and send the knot evaluation information of the needle holder during the knotting operation and the tightness information of the knot at the end of the knotting operation to the quality assessment module; the knot evaluation information of the needle holder includes at least one of the following: angular velocity fluctuation information of the needle holder head, orientation deviation information of the needle holder, and position information of the needle holder tip;

[0009] The quality assessment module is used to determine the assessment result of the needle holder during the knotting operation and the assessment result of the knot when the knot is completed, based on the knotting evaluation information of the needle holder during the knotting operation and the tightness information of the knot when the knot is completed, received from the data analysis module. Based on the assessment result of the needle holder during the knotting operation and the assessment result of the knot when the knot is completed, the module determines the knotting quality assessment result of this knotting operation. The assessment result of the needle holder includes at least one of the following: the operational stability of the needle holder, the orientation accuracy of the needle holder, and the positional accuracy of the needle holder tip.

[0010] In one embodiment, the data analysis module includes at least one of an angular velocity analysis unit, an orientation analysis unit, and a position analysis unit;

[0011] The angular velocity analysis unit is connected to both the data acquisition module and the quality assessment module. It is used to determine the fused angular velocity of the needle holder head based on the acceleration and angular velocity information of the needle holder head received from the data acquisition module's motion parameters; based on the fused angular velocity of the needle holder head, it determines the angular velocity fluctuation information of the needle holder head during the knotting operation, and sends this angular velocity fluctuation information to the quality assessment module. The fused angular velocity represents the fusion result of the angular velocities of the needle holder head collected by different sensors.

[0012] The orientation analysis unit is connected to the data acquisition module and the quality assessment module, respectively. It is used to determine the orientation angle of the needle holder head based on the orientation information and acceleration information of the needle holder head in the motion parameters received from the data acquisition module; based on the orientation angle of the needle holder head, it determines the orientation deviation information of the needle holder head during the knotting operation, and sends the orientation deviation information to the quality assessment module.

[0013] The position analysis unit is connected to the data acquisition module and the quality assessment module, respectively. It is used to determine the position information of the needle holder tip based on the acceleration information, angular velocity information and coordinate information of the needle holder tip received from the data acquisition module, and send the position information of the needle holder tip to the quality assessment module.

[0014] In one embodiment, the angular velocity analysis unit includes a fused angular velocity calculation subunit and an angular velocity fluctuation calculation subunit;

[0015] The fusion angular velocity calculation subunit is connected to the data acquisition module and the angular velocity fluctuation calculation subunit, respectively. It is used to determine the angular velocity determined by the attitude angle of the needle holder head based on the acceleration information of the needle holder head in the motion parameters received from the data acquisition module; based on the weights of the angular velocity determined by the attitude angle of the needle holder head and the weights of the angular velocity information of the needle holder head, it performs a weighted summation of the angular velocity determined by the attitude angle of the needle holder head and the angular velocity information of the needle holder head; based on the weighted summation result, it determines the fusion angular velocity of the needle holder head; and sends the fusion angular velocity of the needle holder head to the angular velocity fluctuation calculation subunit.

[0016] The angular velocity fluctuation calculation subunit is connected to the quality assessment module. It is used to determine the average value of the fusion angular velocity of the needle holder head based on the fusion angular velocity received from the fusion angular velocity calculation subunit, determine the angular velocity fluctuation information of the needle holder head during the knotting operation based on the fusion angular velocity of the needle holder head and the average value of the fusion angular velocity of the needle holder head, and send the angular velocity fluctuation information of the needle holder head to the quality assessment module.

[0017] In one embodiment, the orientation analysis unit includes an orientation angle analysis subunit and an orientation information analysis subunit;

[0018] The orientation angle analysis subunit is connected to the data acquisition module and the orientation information analysis subunit, respectively. It is used to determine the attitude angle and lateral angle of the needle holder head based on the acceleration information of the needle holder head in the motion parameters received from the data acquisition module; and to determine the orientation angle of the needle holder head based on the attitude angle, the lateral angle and the orientation information of the needle holder head in the motion parameters from the data acquisition module, and to send the orientation angle of the needle holder head to the orientation information analysis subunit.

[0019] The orientation information analysis subunit is connected to the quality assessment module. It is used to determine the difference between the orientation angle of the needle holder head received from the orientation angle analysis subunit and the preset knotting direction angle as the orientation deviation information of the needle holder head during the knotting operation, and send the orientation deviation information of the needle holder head during the knotting operation to the quality assessment module.

[0020] In one embodiment, the location analysis unit includes a compensation determination subunit and a location information determination subunit;

[0021] The compensation determination subunit is connected to the data acquisition module and the position information determination subunit, respectively, and is used to determine the motion compensation information of the needle holder head at a preset delay time based on the acceleration information and angular velocity information received from the needle holder head of the data acquisition module.

[0022] The position information determination subunit is connected to the data acquisition module and the quality assessment module, respectively. It is used to perform position compensation on the coordinate information of the needle holder tip received from the data acquisition module based on the motion compensation information received from the compensation determination subunit, to obtain the position information of the needle holder tip, and send the position information of the needle holder tip to the quality assessment module.

[0023] In one embodiment, the data analysis module further includes a contour feature determination unit, a density feature determination unit, a direction concentration factor determination unit, and a density determination unit;

[0024] The contour feature determination unit is connected to the data acquisition module, the density feature determination unit, and the orientation concentration factor determination unit, respectively. It is used to perform edge detection on each image frame in the image frame sequence received from the data acquisition module, determine the contour features of the knots in each image frame, and send the contour features of the knots in each image frame to the density feature determination unit and the orientation concentration factor determination unit, respectively.

[0025] The tightness feature determination unit, connected to the tightness determination unit, is used to determine the minimum circumcircle of the knot and the actual contour of the knot in each of the image frames based on the contour features of the knot received from the contour feature determination unit; based on the minimum circumcircle of the knot and the actual contour of the knot in each of the image frames, determine the tightness feature of the knot at the end of the knotting, and send the tightness feature of the knot at the end of the knotting to the tightness determination unit.

[0026] The orientation concentration factor determination unit, connected to the density determination unit, is used to determine the contour features of the knot in the image frame corresponding to the end of the knot based on the contour features of the knots in each image frame received from the contour feature determination unit; determine target feature points in the contour features with amplitudes greater than or equal to a preset threshold based on the contour features of the knots in the image frame corresponding to the end of the knot; determine the gradient direction information of each target feature point based on the edge detection values ​​of each target feature point; determine the orientation concentration factor of the knot at the end of the knot based on the gradient direction information of each target feature point; and send the orientation concentration factor of the knot at the end of the knot to the density determination unit.

[0027] The tightness determination unit, connected to the quality assessment module, is used to determine the tightness information of the knot at the end of the knot based on the direction concentration factor of the knot at the end of the knot received from the direction concentration factor determination unit and the tightness feature of the knot at the end of the knot received from the tightness feature determination unit, and to send the tightness information of the knot at the end of the knot to the quality assessment module.

[0028] In one embodiment, the quality assessment module includes at least one of a stability assessment unit, an orientation accuracy assessment unit, and a position accuracy assessment unit; the quality assessment module further includes a quality assessment unit.

[0029] The stability assessment unit is connected to the data analysis module and the quality assessment unit respectively. It is used to determine the operational stability of the needle holder during the knotting operation based on the angular velocity fluctuation information received from the needle holder head of the data analysis module and the preset standard deviation of angular velocity fluctuation, and to send the operational stability of the needle holder during the knotting operation to the quality assessment unit.

[0030] The orientation accuracy assessment unit is connected to the data analysis module and the quality assessment unit respectively. It is used to determine the orientation accuracy of the needle holder based on the orientation deviation information of the needle holder received from the data analysis module and the preset orientation deviation threshold, and send the orientation accuracy of the needle holder to the quality assessment unit.

[0031] The position accuracy assessment unit is connected to the data analysis module and the quality assessment unit respectively. It is used to determine the position accuracy of the needle holder tip based on the position information of the needle holder tip received from the data analysis module, and send the position accuracy of the needle holder tip to the quality assessment unit.

[0032] The quality assessment unit is used to determine the knot quality assessment result of the current knotting operation based on at least one of the following: the stability of the needle holder operation during the knotting operation, the orientation accuracy of the needle holder, and the position accuracy of the needle holder tip, as well as the knot tightness information received from the data analysis module at the end of the knotting process.

[0033] In one embodiment, the position accuracy assessment unit includes: a distance judgment subunit, a radius of curvature judgment subunit, and a position accuracy determination subunit;

[0034] The distance judgment subunit is connected to the data analysis module and the radius of curvature judgment subunit, respectively. It is used to determine whether the distance between the position of the needle holder tip and the preset knotting position is less than a preset distance threshold based on the position information of the needle holder tip received from the data analysis module, and to send the distance judgment result to the position accuracy determination subunit; the preset distance threshold is the distance that triggers the knotting position accuracy judgment.

[0035] The radius of curvature determination subunit is connected to both the data analysis module and the position accuracy determination subunit. It is used to determine the radius of curvature of the movement trajectory of the needle holder tip based on the position information received from the data analysis module; determine whether the radius of curvature of the movement trajectory of the needle holder tip is less than a preset radius of curvature threshold; and send the radius of curvature determination result to the position accuracy determination subunit. The preset radius of curvature threshold is the radius of curvature value that triggers the knot position accuracy determination.

[0036] The position accuracy determination subunit is connected to the quality assessment module and is used to determine the position accuracy of the needle holder tip based on the distance judgment result received from the distance judgment subunit and the radius of curvature judgment result received from the radius of curvature judgment subunit, and send the position accuracy of the needle holder tip to the quality assessment module.

[0037] In one embodiment, the data acquisition module includes at least one of an inertial measurement unit and an optical positioning unit; the data acquisition module further includes a polarization imaging unit.

[0038] The inertial measurement unit is connected to the data analysis module and is used to collect the inertial motion parameters of the needle holder head during the knotting operation, and send the collected inertial motion parameters to the data analysis unit; the inertial motion parameters include at least one of acceleration information, angular velocity information and direction information;

[0039] The optical positioning unit is connected to the data analysis module and is used to collect the coordinate information of the needle holder tip during the knotting operation and send the collected coordinate information of the needle holder tip to the data analysis unit.

[0040] The polarization imaging unit is connected to the data analysis module and is used to acquire image frame sequences during the knotting operation and send the acquired image frame sequences to the data analysis unit.

[0041] In one embodiment, the inertial measurement unit includes at least one of an accelerometer, a gyroscope, and a magnetometer;

[0042] The accelerometer is connected to the data analysis module and is used to collect the acceleration information of the needle holder head during the knotting operation and send the collected acceleration information of the needle holder head to the data analysis module.

[0043] The gyroscope is connected to the data analysis module and is used to collect the angular velocity information of the needle holder head during the knotting operation, and send the collected angular velocity information of the needle holder head to the data analysis module.

[0044] The magnetometer is connected to the data analysis module and is used to collect the orientation information of the needle holder head during the knotting operation, and send the collected orientation information of the needle holder head to the data analysis module.

[0045] The aforementioned knot-tying quality assessment system collects the motion parameters of the needle holder and the corresponding image frame sequence during the knot-tying process through a data acquisition module. Then, it uses a data analysis module to analyze the motion parameters and image frame sequence to determine at least one of the following: angular velocity fluctuation information of the needle holder head, orientation deviation information of the needle holder, and position information of the needle holder tip. It also determines the tightness of the knot at the end of the knot. By analyzing the angular velocity fluctuation information of the needle holder head during the knot-tying process, the system uses a quality assessment module to determine the operational stability of the needle holder during the knot-tying process. Furthermore, by analyzing the orientation deviation information of the needle holder during the knot-tying process, the system uses a quality assessment module to determine the stability of the needle holder operation. The quantity assessment module determines the orientation accuracy of the needle holder. By analyzing the positional information of the needle holder tip during the knotting operation, the quality assessment module determines the positional accuracy of the needle holder tip. Similarly, by analyzing the tightness of the knot at the end of the knotting process, the quality assessment module determines the condition of the knot at completion. By evaluating at least one of the following during the knotting operation—the stability of the needle holder operation, the orientation accuracy of the needle holder, and the positional accuracy of the needle holder tip—it achieves a multi-dimensional and refined assessment of the knotting process. Combined with the condition of the knot at the end of the knotting, it provides a comprehensive evaluation of both the knotting process and the knotting result, ensuring the accuracy and comprehensiveness of the evaluation results. This solves the problem of existing knotting quality assessment methods that have a single evaluation dimension, only reflect static results, and cannot perform refined analysis of the dynamic operation process.

[0046] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0047] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0048] Figure 1 is a structural block diagram of the knot quality assessment system provided in Embodiment 1 of this application;

[0049] Figure 2 is a structural block diagram of the knot quality assessment system provided in Embodiment 2 of this application;

[0050] Figure 3 is a structural block diagram of the knot quality assessment system provided in Embodiment 3 of this application;

[0051] Figure 4 is a structural block diagram of the knot quality assessment system provided in Embodiment 4 of this application;

[0052] Figure 5 is a structural block diagram of the knot quality assessment system provided in Embodiment 5 of this application;

[0053] Figure 6 is a structural block diagram of the knot quality assessment system provided in Embodiment 6 of this application;

[0054] Figure 7 is a structural block diagram of the knot quality assessment system provided in Embodiment 7 of this application;

[0055] Figure 8 is a structural block diagram of the knot quality assessment system provided in Embodiment 8 of this application;

[0056] Figure 9 is a structural block diagram of the knot quality assessment system provided in Embodiment 9 of this application;

[0057] Figure 10 is a structural block diagram of the knot quality assessment system provided in Embodiment 10 of this application. Detailed Implementation

[0058] To better understand the purpose, technical solution, and advantages of this application, the application is described and explained below in conjunction with the accompanying drawings and embodiments.

[0059] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these” used in this application do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to these processes, methods, products, or devices. Words such as “connected,” “linked,” and “coupled” used in this application are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. Normally, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," "third," etc., used in this application are merely to distinguish similar objects and do not represent a specific order of objects.

[0060] Referring to Figure 1, which is a structural block diagram of the knot-tying quality assessment system provided in Embodiment 1 of this application, the system includes: a data acquisition module 110, a data analysis module 120, and a quality assessment module 130. The data acquisition module 110, connected to the data analysis module 120, is used to acquire the motion parameters of the needle holder and the corresponding image frame sequence during the knot-tying operation, and to send the acquired motion parameters and image frame sequence to the data analysis module 120. The motion parameters include at least one of the acceleration information, angular velocity information, direction information, and coordinate information of the needle holder tip. The needle holder tip is located at the very front of the needle holder head. The data analysis module 120, connected to the quality assessment module 130, is used to analyze the received motion parameters and image frame sequence from the data acquisition module 110 to determine the knot-tying evaluation information and quality assessment results of the needle holder during the knot-tying operation. The system receives information on the tightness of the knot at the end of the knotting process and sends the knotting evaluation information of the needle holder during the knotting operation and the tightness information of the knot at the end of the knotting operation to the quality assessment module 130. The knotting evaluation information of the needle holder includes at least one of the following: angular velocity fluctuation information of the needle holder head, orientation deviation information of the needle holder, and position information of the needle holder tip. The quality assessment module 130 is used to determine the evaluation results of the needle holder during the knotting operation and the evaluation results of the knot at the end of the knotting operation based on the knotting evaluation of the needle holder during the knotting operation and the tightness information of the knot at the end of the knotting operation received from the data analysis module 120. Based on the evaluation results of the needle holder during the knotting operation and the evaluation results of the knot at the end of the knotting operation, the system determines the knotting quality assessment result of this knotting operation. The needle holder evaluation result includes at least one of the following: needle holder operation stability, needle holder orientation accuracy, and needle holder tip position accuracy.

[0061] The aforementioned data acquisition module 110 can be a module capable of acquiring the motion parameters of the needle holder and the corresponding image frame sequence during the knotting operation (simulated knotting operation in the training process). Specifically, the aforementioned data acquisition module 110 can include one or more acquisition units, which can include inertial measurement units, optical or electromagnetic positioning and tracking units, imaging units (such as high-definition cameras), etc. The aforementioned image frame sequence corresponding to the knotting operation can be a sequence of image frames acquired sequentially during the knotting operation. The aforementioned needle holder can be a special instrument used to hold the suture needle. The aforementioned needle holder head can be the "jaw" at the very front of the needle holder, specifically the functional area that actually clamps the suture needle and extends into the surgical field of view (simulated surgical field of view in the training process) to complete the winding, crossing, and tightening actions. The aforementioned needle holder head is usually composed of a pair of symmetrical metal jaws, with fine teeth or longitudinal grooves on the inner side to increase friction with the suture needle and prevent slippage, while the outer side is made as thin as possible to allow for flexible rotation in narrow cavities.

[0062] The acceleration information mentioned above refers to the instantaneous acceleration of the needle holder head along the x, y, and z axes, collected by the accelerometer, in m / s². The angular velocity information mentioned above refers to the triaxial angular velocity (i.e., rotational speed around the three axes) of the needle holder head along the three orthogonal axes (usually X, Y, and Z), collected by the gyroscope, in rad / s. The orientation information mentioned above refers to the attitude quaternion or Euler angles of the needle holder head's coordinate system relative to the world coordinate system, collected by the magnetometer. The needle holder tip mentioned above refers to the "point" at the very front of the needle holder head's jaws, that is, the physical top closest to the needle and first entering the surgical field of view (the simulated surgical field of view during training) when the two metal jaws of the needle holder meet. The coordinate information of the needle holder tip mentioned above refers to the three-dimensional coordinates of the needle holder tip tracked by the optical positioning unit.

[0063] Specifically, the aforementioned angular velocity fluctuation information can be used as a quantitative evaluation index to measure the operational stability during the knotting operation, i.e., an evaluation index for whether the hand shakes during the knotting operation. The aforementioned needle holder orientation deviation information can be used as a quantitative evaluation index to measure the orientation accuracy of the needle holder during the knotting operation, i.e., an evaluation index for whether the needle holder's direction is correct during the knotting operation. Because incorrect orientation can lead to loose winding and easily form unstable slip knots, this embodiment uses the orientation accuracy of the needle holder as one of the standards for evaluating the knotting quality during the knotting operation. The aforementioned needle holder tip position information can be used as a quantitative evaluation index to measure the position accuracy of the needle holder during the knotting operation, i.e., an evaluation index for whether the needle holder tip position is accurate during the knotting operation. The aforementioned needle holder tip position information is the position information after delay compensation of the coordinate information of the needle holder tip collected by the optical positioning unit. The aforementioned knot tightness information can be used as a quantitative evaluation index to measure the structural tightness of the knot result (knot) at the end of the knotting operation. Specifically, it can be an evaluation index that infers the internal mechanical tightness of the knot by analyzing the macroscopic geometric shape and microscopic edge texture characteristics of the knot at the end of the knotting operation.

[0064] In one embodiment, the quality assessment module 130 is used to determine the needle holder evaluation result during the knotting operation based on the knotting evaluation information of the needle holder received from the data analysis module 120 during the knotting operation; the needle holder evaluation result includes at least one of the needle holder operation stability, needle holder orientation accuracy, and needle holder tip position accuracy; the quality assessment module 130 is also used to determine the knot evaluation result when the knot is completed based on the knot tightness information received from the data analysis module 120 when the knot is completed; the quality assessment module 130 is also used to determine the knotting quality assessment result of this knotting operation based on the needle holder evaluation result during the knotting operation and the knot evaluation result when the knot is completed.

[0065] This embodiment uses a data acquisition module 110 to collect motion parameters of the needle holder and image frame sequences corresponding to the knotting operation. Then, a data analysis module 120 analyzes the motion parameters and image frame sequences to determine at least one of the following knotting evaluation information during the knotting operation: angular velocity fluctuation information of the needle holder head, orientation deviation information of the needle holder, and position information of the needle holder tip. It also determines the tightness information of the knot at the end of the knotting process. By analyzing the angular velocity fluctuation information of the needle holder head during the knotting operation, a quality assessment module 130 determines the operational stability of the needle holder during the knotting operation. Similarly, by analyzing the orientation deviation information of the needle holder during the knotting operation, a quality assessment module 130 determines the stability of the needle holder operation. Block 130 determines the orientation accuracy of the needle holder. By analyzing the positional information of the needle holder tip during the knotting operation, the quality assessment module 130 determines the positional accuracy of the needle holder tip. Similarly, by analyzing the tightness of the knot at the end of the knotting process, the quality assessment module 130 determines the condition of the knot at completion. By evaluating at least one of the following during the knotting operation—the stability of the needle holder operation, the orientation accuracy of the needle holder, and the positional accuracy of the needle holder tip—it achieves a multi-dimensional and refined evaluation of the knotting process. Combined with the condition of the knot at the end of the knotting, it provides a comprehensive evaluation of both the knotting process and the knotting result, ensuring the accuracy and comprehensiveness of the evaluation results. This solves the problem of existing knotting quality assessment methods that have a single evaluation dimension, only reflect static results, and cannot perform refined analysis of the dynamic operation process.

[0066] In Embodiment 2, another structural block diagram of the knot-tying quality assessment system is also provided, as shown in Figure 2. Based on Embodiment 1, the data acquisition module 110 includes at least one of an inertial measurement unit 112 and an optical positioning unit 114. The data acquisition module further includes a polarization imaging unit 116. The inertial measurement unit 112 is connected to the data analysis module 120 and is used to acquire the inertial motion parameters of the needle holder head during the knot-tying operation and send the acquired inertial motion parameters to the data analysis unit. The inertial motion parameters include acceleration information, angular velocity information, and direction information. The optical positioning unit 114 is connected to the data analysis module 120 and is used to acquire the coordinate information of the needle holder tip during the knot-tying operation and send the acquired coordinate information of the needle holder tip to the data analysis unit. The polarization imaging unit 116 is connected to the data analysis module 120 and is used to acquire the image frame sequence during the knot-tying operation and send the acquired image frame sequence to the data analysis unit.

[0067] The aforementioned inertial measurement unit 112 may include an accelerometer, gyroscope, and magnetometer, etc. The aforementioned optical positioning unit 114 may be an infrared optical tracking system, specifically a combination of an infrared camera and a reflective ball. By mounting the reflective ball to the tip of the needle holder, the infrared camera captures the ball's position, obtaining the coordinate information of the needle holder tip during the knotting operation. The aforementioned polarization imaging unit 116 may be a high-speed camera with a polarization filter, used to sequentially capture polarization maps at different angles during each sampling time of the knotting operation, synthesizing the polarization maps corresponding to different angles at each sampling time into a single polarization information map, which serves as the image frame corresponding to the current sampling time, thus obtaining the image frame sequence during the knotting operation. The aforementioned polarization imaging unit 116 can acquire image frames according to a preset image sampling frame rate. The aforementioned preset image sampling frame rate can be specifically set according to specific needs, and this embodiment does not impose a specific limitation. For example, the aforementioned preset image sampling frame rate can be 200fps.

[0068] In another embodiment, in Embodiment 3, a structural block diagram of another knot-tying quality assessment system is also provided, as shown in Figure 3. Based on Embodiment 2, the inertial measurement unit 112 includes at least one of an accelerometer 1122, a gyroscope 1124, and a magnetometer 1126. The accelerometer 1122 is connected to the data analysis module 120 and is used to collect the acceleration information of the needle holder head during the knot-tying operation and send the collected acceleration information of the needle holder head to the data analysis module 120. The gyroscope 1124 is connected to the data analysis module 120 and is used to collect the angular velocity information of the needle holder head during the knot-tying operation and send the collected angular velocity information of the needle holder head to the data analysis module 120. The magnetometer 1126 is connected to the data analysis module 120 and is used to collect the orientation information of the needle holder head during the knot-tying operation and send the collected orientation information of the needle holder head to the data analysis module 120.

[0069] The aforementioned accelerometer 1122 can be a three-axis accelerometer installed on the head of the needle holder, used to collect instantaneous acceleration information of the needle holder head on the x, y, and z axes in real time at a preset first sampling frequency. The preset first sampling frequency can be specifically set according to specific needs, and this embodiment does not impose a specific limitation. For example, the preset first sampling frequency can be 100Hz. The aforementioned accelerometer 1122 can detect applied impact and identify sudden changes in force. The aforementioned gyroscope 1124 can be a three-axis gyroscope installed on the head of the needle holder, used to collect three-axis angular velocity information of the needle holder head on three orthogonal axes in real time at a preset second sampling frequency. The aforementioned preset second sampling frequency can be specifically set according to specific needs, and this embodiment does not impose a specific limitation. For example, the preset second sampling frequency can be 110Hz. The aforementioned gyroscope 1124 can monitor wrist rotation stability and determine whether there is shaking or deviation. The aforementioned magnetometer 1126 can be a triaxial magnetometer mounted on the head of the needle holder, used to acquire in real time the attitude quaternions or Euler angles of the needle holder head's coordinate system relative to the world coordinate system at a preset third sampling frequency. The preset third sampling frequency can be specifically set according to specific needs, and this embodiment does not impose a specific limitation. For example, the preset third sampling frequency can be 130Hz. The magnetometer 1126 is used to track the spatial orientation of the needle holder head to ensure the correct knotting direction.

[0070] In Embodiment 4, another knot-tying quality assessment system is also provided, as shown in Figure 4. This system is an improvement on Embodiment 1. The data analysis module 120 includes an angular velocity analysis unit 121, an orientation analysis unit 122, and a position analysis unit 123. The angular velocity analysis unit 121 is connected to the data acquisition module 110 and the quality assessment module 130, respectively. It is used to determine the fused angular velocity of the needle holder head based on the acceleration and angular velocity information of the needle holder head received from the motion parameters of the data acquisition module 110. Based on the fused angular velocity of the needle holder head, it determines the angular velocity fluctuation information of the needle holder head during the knot-tying operation and sends the angular velocity fluctuation information of the needle holder head during the knot-tying operation to the quality assessment module 130. The fused angular velocity represents the data collected by different sensors. The system integrates the angular velocity of the needle holder head; the orientation analysis unit 122, connected to the data acquisition module 110 and the quality assessment module 130 respectively, is used to determine the orientation angle of the needle holder head based on the orientation and acceleration information of the needle holder head in the motion parameters received from the data acquisition module 110; based on the orientation angle of the needle holder head, it determines the orientation deviation information of the needle holder head during the knotting operation and sends the orientation deviation information to the quality assessment module 130; the position analysis unit 123, connected to the data acquisition module 110 and the quality assessment module 130 respectively, is used to determine the position information of the needle holder tip based on the acceleration information, angular velocity information, and coordinate information of the needle holder tip received from the data acquisition module 110, and sends the position information of the needle holder tip to the quality assessment module 130.

[0071] In this embodiment, the aforementioned angular velocity fluctuation information can be the standard deviation of the amplitudes of multiple fused angular velocities collected during the knotting operation or within a preset time interval. The fused angular velocity can be obtained by fusing the angular velocity directly detected by the gyroscope 1124 with the angular velocity calculated using data collected by the accelerometer 1122, resulting in a more accurate and stable angular velocity of the needle holder head. Specifically, determining the fused angular velocity of the needle holder head based on the acceleration and angular velocity information of the needle holder head in the motion parameters received from the data acquisition module 110 can be achieved by determining the angular velocity based on the attitude angle of the needle holder head determined by the acceleration information of the needle holder head in the motion parameters received from the data acquisition module 110, and then determining the fused angular velocity of the needle holder head based on the angular velocity determined by the attitude angle of the needle holder head and the angular velocity information of the needle holder head (the angular velocity directly detected by the gyroscope 1124). The aforementioned determination of the fusion angular velocity of the needle holder head based on the angular velocity determined by the attitude angle of the needle holder head, and the angular velocity information of the needle holder head, can be achieved by weighting and summing the angular velocity determined by the attitude angle of the needle holder head and the angular velocity information of the needle holder head, and determining the fusion angular velocity of the needle holder head based on the weighted summation result; alternatively, the angular velocity determined by the attitude angle of the needle holder head and the angular velocity information of the needle holder head can be substituted into a pre-constructed objective function with the angular velocity determined by the attitude angle of the needle holder head and the angular velocity information of the needle holder head as parameters to obtain the fusion angular velocity of the needle holder head. The aforementioned objective function can be a linear function or a nonlinear function, which is not specifically limited in this embodiment. The aforementioned angular velocity determined by the attitude angle can be the angular velocity information of the needle holder head calculated based on the attitude angle determined by the acceleration information collected by the accelerometer 1122. It should be noted that the aforementioned angular velocity analysis unit 121 can also be used to determine the angular velocity of the needle holder head based on the acceleration information of the needle holder head collected by the accelerometer from the data acquisition module 110, or directly obtain the angular velocity information of the needle holder head collected by the gyroscope. Based on the angular velocity information of the needle holder head, the angular velocity fluctuation information of the needle holder head during the knotting operation is determined, and the angular velocity fluctuation information of the needle holder head during the knotting operation is sent to the quality assessment module 130.

[0072] The aforementioned determination of the needle holder head's orientation angle based on the direction and acceleration information of the needle holder head received from the motion parameters of the data acquisition module 110 can be achieved by determining the needle holder head's attitude angle and lateral angle based on the acceleration information of the needle holder head received from the motion parameters of the data acquisition module 110. Furthermore, the orientation angle of the needle holder head is determined based on the attitude angle, lateral angle, and the direction information of the needle holder head from the motion parameters of the data acquisition module 110. The attitude angle is the pitch angle, which is the angle at which the needle holder head tilts up and down. The lateral angle, also called the roll angle, is the angle at which the needle holder head rolls left and right. The determination of the needle holder head's orientation deviation information during the knotting operation based on the needle holder head's orientation angle can be achieved by calculating the difference between the needle holder head's orientation angle and a preset knotting direction angle. The aforementioned preset knotting direction angle can be an ideal knotting direction. This ideal knotting direction can be a direction perpendicular to the long axis of the wound (simulated wound) (if there are a long axis and a short axis, the long axis is used as the standard), or it can be a direction set based on specific application scenarios and requirements. In this embodiment, no specific limitation is made.

[0073] Furthermore, because the optical positioning unit 114 tracks the three-dimensional coordinates of the needle holder tip in real time with a preset spatial resolution and a certain delay, while the inertial measurement unit 112 collects the six-degree-of-freedom motion parameters (three-axis angular velocity and three-axis linear acceleration) of the needle holder at a preset sampling rate, the two types of sensor data can be fused using a Kalman filter algorithm to establish a continuous function model of the needle holder's motion trajectory. Through this continuous function model, motion compensation information for the needle holder head at a preset delay time is determined, and position compensation is performed on the coordinate information of the needle holder tip to obtain its position information. Based on this, the aforementioned determination of the needle holder tip's position information based on the received acceleration, angular velocity, and coordinate information from the needle holder head of the data acquisition module 110 can be achieved by determining the motion compensation information for the needle holder head at a preset delay time based on the received acceleration and angular velocity information from the needle holder head of the data acquisition module 110. Then, based on this motion compensation information, position compensation is performed on the coordinate information of the needle holder tip to obtain its position information. The preset spatial resolution can be set according to specific needs and hardware configuration. This embodiment does not impose a specific limitation. For example, the preset spatial resolution can be 0.1 mm. The preset sampling rate can also be set according to specific needs and hardware configuration. This embodiment does not impose a specific limitation. For example, the preset sampling rate can be 1 kHz.

[0074] Specifically, in Embodiment 5, another structural block diagram of a knot-tying quality assessment system is also provided, as shown in Figure 5. This system is an improvement on Embodiment 4. The angular velocity analysis unit 121 includes a fusion angular velocity calculation subunit 1212 and an angular velocity fluctuation calculation subunit 1214. The fusion angular velocity calculation subunit 1212 is connected to the data acquisition module 110 and the angular velocity fluctuation calculation subunit 1214, respectively. It is used to determine the angular velocity determined by the attitude angle of the needle holder head based on the acceleration information of the needle holder head in the motion parameters received from the data acquisition module 110. Based on the weight of the angular velocity determined by the attitude angle of the needle holder head and the weight of the angular velocity information of the needle holder head, the system analyzes the angular velocity of the needle holder head. The angular velocity determined by the attitude angle and the angular velocity information of the needle holder head are weighted and summed. Based on the weighted summation result, the fusion angular velocity of the needle holder head is determined and sent to the angular velocity fluctuation calculation subunit 1214. The angular velocity fluctuation calculation subunit 1214 is connected to the quality evaluation module 130. Based on the fusion angular velocity of the needle holder head received from the fusion angular velocity calculation subunit 1212, the average value of the fusion angular velocity of the needle holder head is determined. Based on the fusion angular velocity of the needle holder head and the average value of the fusion angular velocity of the needle holder head, the angular velocity fluctuation information of the needle holder head during the knotting operation is determined and sent to the quality evaluation module 130.

[0075] The process described above, which determines the angular velocity w1 based on the acceleration information of the needle holder head in the motion parameters received from the data acquisition module 110, is as follows:

[0076] ;

[0077] The process of weighting the angular velocity determined by the attitude angle of the needle holder head and the angular velocity information of the needle holder head, and then weighting and summing the angular velocity determined by the attitude angle of the needle holder head and the angular velocity information of the needle holder head, and determining the fused angular velocity w of the needle holder head based on the weighted summation result, is as follows:

[0078] ;

[0079] Wherein, α is the weight of the angular velocity determined by the attitude angle of the needle holder head, β is the weight of the angular velocity information of the needle holder head, and w2 is the angular velocity information of the needle holder head.

[0080] It should be noted that the values ​​of α and β can be set according to specific application scenarios and requirements. This embodiment does not impose specific limitations here, as long as the sum of α and β is 1.

[0081] The above-mentioned determination of the average fusion angular velocity of the needle holder head based on the received fusion angular velocity from the fusion angular velocity calculation subunit 1212 can be achieved by averaging the fusion angular velocities of the needle holder head calculated at multiple sampling points. The number of samples at the multiple sampling points can be specifically set according to specific needs, and is not specifically limited in this embodiment. The time interval of the sampling time corresponding to the multiple sampling points can be the entire knotting operation process or a preset time interval within the entire knotting operation process.

[0082] The above-mentioned fusion angular velocity of the needle holder head and its average value are used to determine the angular velocity fluctuation information of the needle holder head during the knotting operation. The calculation process is as follows:

[0083] ;

[0084] Where N is the number of samples, Let be the fused angular velocity of the needle holder head corresponding to the kth sampling point, and t be the time when the angular velocity fluctuation information of the needle holder head is calculated. t is t N Therefore, calculating the angular velocity fluctuation information at time t involves calculating the variance of the angular velocity at the previous N times (including time t). This represents the time corresponding to the Nth sampling point. This indicates the time corresponding to the first sampling point. This represents the average fusion angular velocity of the needle holder head.

[0085] In addition, in Embodiment Six, another structural block diagram of a knot-tying quality assessment system is provided, as shown in Figure 6. The system provided in Embodiment Four is based on Embodiment Four, wherein the orientation analysis unit 122 includes an orientation angle analysis subunit 1222 and an orientation information analysis subunit 1224; the orientation angle analysis subunit 1222 is connected to the data acquisition module 110 and the orientation information analysis subunit 1224 respectively, and is used to determine the attitude angle and lateral angle of the needle holder head based on the acceleration information of the needle holder head in the motion parameters received from the data acquisition module 110; based on the attitude of the needle holder head... The orientation angle of the needle holder head is determined by the angle, lateral angle, and direction information of the needle holder head from the motion parameters from the data acquisition module 110, and the orientation angle of the needle holder head is sent to the orientation information analysis subunit 1224. The orientation information analysis subunit 1224 is connected to the quality evaluation module 130 and is used to determine the difference between the orientation angle of the needle holder head received from the orientation angle analysis subunit 1222 and the preset knotting direction angle as the orientation deviation information of the needle holder head during the knotting operation, and send the orientation deviation information of the needle holder head during the knotting operation to the quality evaluation module 130.

[0086] The calculation process for the above attitude angle θ is as follows:

[0087] ;

[0088] Among them, a y Let a be the acceleration of the needle holder head on the y-axis. z The acceleration of the needle holder head on the z-axis is given by .

[0089] Specifically, the aforementioned horizontal angle The calculation process is as follows:

[0090] ;

[0091] Among them, a x The acceleration of the needle holder head on the x-axis is given.

[0092] The orientation offset of the needle holder head is determined based on the attitude angle and lateral angle of the needle holder head and the orientation information of the needle holder head from the motion parameters from the data acquisition module 110.

[0093] ;

[0094] in, This represents the orientation offset of the needle holder head in the x-direction. This represents the y-direction offset of the needle holder head.

[0095] Where, m xThe x-axis data of the attitude quaternion or Euler angles of the needle holder head relative to the world coordinate system, acquired by the magnetometer, is m. y The original y-axis data of the attitude quaternion or Euler angles of the needle holder head relative to the world coordinate system, acquired by the magnetometer, is given by m. z The original z-axis data of the attitude quaternion or Euler angles of the needle holder head relative to the world coordinate system, acquired by the magnetometer.

[0096] Furthermore, based on the orientation offset of the needle holder head, the orientation angle of the needle holder head is determined. The calculation process is as follows:

[0097] ;

[0098] In Embodiment Seven, another structural block diagram of a knot-tying quality assessment system is also provided, as shown in Figure 7. Embodiment Seven is based on Embodiment Four, wherein the position analysis unit 123 includes a compensation determination subunit 1232 and a position information determination subunit 1234. The compensation determination subunit 1232 is connected to the data acquisition module 110 and the position information determination subunit 1234, respectively, and is used to determine the motion compensation information of the needle holder head at a preset delay time based on the acceleration and angular velocity information received from the needle holder head from the data acquisition module 110. The position information determination subunit 1234 is connected to the data acquisition module 110 and the quality assessment module 130, respectively, and is used to perform position compensation on the coordinate information of the needle holder tip received from the data acquisition module 110 based on the motion compensation information received from the compensation determination subunit 1232, to obtain the position information of the needle holder tip, and then send the position information of the needle holder tip to the quality assessment module 130.

[0099] The aforementioned determination of motion compensation information for the needle holder head at a preset delay time based on the received acceleration and angular velocity information from the data acquisition module 110 can be achieved by determining the motion compensation information required to calculate the position information of the needle holder tip at the preset delay time based on the received acceleration and angular velocity information from the data acquisition module 110 and the preset delay time of the optical positioning unit 114. The aforementioned position compensation of the received coordinate information of the needle holder tip from the data acquisition module 110 based on the received motion compensation information from the compensation determination subunit 1232 can be achieved by using a preset continuous function model to perform position compensation on the received coordinate information of the needle holder tip from the data acquisition module 110 to obtain the position information of the needle holder tip. Specifically, the process of obtaining the position information of the needle holder tip is as follows:

[0100] ;

[0101] Where T(t) represents the position information of the needle holder tip at time t, and T0(t) represents the coordinate information of the needle holder tip collected at time t. i (t-Δt) represents the motion compensation information of the needle holder head over a time period of Δt, where Δt is a preset delay time, i.e., the delay time for the optical positioning unit 114 to track the three-dimensional coordinates of the needle holder tip. This represents the composition operation on a Lie group.

[0102] The above T i (t-Δt) represents the relative displacement of the body coordinate system with respect to its previous pose within the time interval Δt, describing the minute motion (translation plus rotation) of the instrument (needle holder) from time (t-Δt) to time t. The above T... i (t-Δt) only reflects local motion (avoiding the influence of optical marker drift).

[0103] This embodiment uses a preset continuous function model to perform position compensation on the coordinate information of the needle holder tip received from the data acquisition module 110, which effectively compensates for the inherent delay of optical tracking by the optical positioning unit 114 and shortens the system response time.

[0104] In addition, in Embodiment 8, another structural block diagram of the knot quality assessment system is provided, as shown in Figure 8. Embodiment 8 is based on Embodiment 1, wherein the data analysis module 120 further includes a contour feature determination unit 124, a tightness feature determination unit 125, a direction concentration factor determination unit 126, and a tightness determination unit 127. The contour feature determination unit 124 is connected to the data acquisition module 110, the tightness feature determination unit 125, and the direction concentration factor determination unit 126, respectively, and is used to analyze each image frame in the image frame sequence received from the data acquisition module 110. Edge detection determines the contour features of the knots in each image frame, and sends these contour features to the tightness feature determination unit 125 and the orientation concentration factor determination unit 126, respectively. The tightness feature determination unit 125, connected to the tightness determination unit 127, is used to determine the minimum circumcircle of the knot and the actual contour of the knot in each image frame during the knotting operation based on the received contour features of the knots in each image frame from the contour feature determination unit 124. Based on the minimum circumcircle of the knot and the actual contour of the knot in each image frame, the tightness feature of the knot at the end of the knotting operation is determined. The tightness feature of the knot at the end of the knotting is sent to the tightness determination unit 127; the orientation concentration factor determination unit 126 and the tightness determination unit 127 are used to determine the contour feature of the knot in the image frame corresponding to the end of the knotting based on the contour feature of the knot in each image frame received from the contour feature determination unit 124; determine the target feature points in the contour feature with an amplitude greater than or equal to a preset threshold based on the contour feature of the knot in the image frame corresponding to the end of the knotting; determine the gradient direction information of each target feature point based on the edge detection value of each target feature point; and determine the gradient direction information of each target feature point based on the edge detection value of each target feature point. The gradient direction information of each target feature point is used to determine the orientation concentration factor of the knot at the end of the knotting process, and the orientation concentration factor of the knot at the end of the knotting process is sent to the tightness determination unit 127. The tightness determination unit 127 is connected to the quality evaluation module 130 and is used to determine the tightness information of the knot at the end of the knotting process based on the orientation concentration factor of the knot at the end of the knotting process received from the orientation concentration factor determination unit 126 and the tightness feature of the knot at the end of the knotting process received from the tightness feature determination unit 125, and send the tightness information of the knot at the end of the knotting process to the quality evaluation module 130.

[0105] In this embodiment, the aforementioned edge detection of each image frame in the received image frame sequence from the data acquisition module 110 to determine the contour features of the knot in each image frame can be performed using a preset edge detection algorithm. The preset edge detection algorithm can be one or more of the following: Sobel operator, Canny operator, Laplacian operator, Prewitt operator, Roberts operator, etc. The specific edge detection algorithm is not specifically limited in this embodiment, as long as it can perform edge detection on each image frame in the received image frame sequence and determine the contour features of the knot in each image frame. After determining the contour features of the knot in the image frame corresponding to the end of the knotting, the knot region in the contour features of the knot can be segmented to generate a binarized mask.

[0106] The determination of the minimum circumcircle of the knot during the knot-tying process can be based on the contour features of the knot in each image frame. This involves determining the circumcircle of the knot corresponding to each image frame (if a circumcircle cannot be formed, it is not counted), and then identifying the circle with the smallest radius among the circumcircles of the knots in each image frame as the minimum circumcircle of the knot during the knot-tying process. The determination of the knot tightness feature at the end of the knot-tying process, based on the minimum circumcircle of the knot and the actual contour of the knot in each image frame, can also be based on the actual contour of the knot in each image frame, determining the contour of the knot at the end of the knot-tying process, and then determining the tightness feature of the knot at the end of the knot-tying process based on the contour of the knot at the end of the knot-tying process and the minimum circumcircle of the knot. This knot tightness feature can be a parameter characterizing the tightness of the knot at the end of the knot-tying process. The determination of the knot tightness feature R at the end of the knot-tying process, based on the contour of the knot at the end of the knot and the minimum circumcircle of the knot, can be further elaborated. a The calculation process is as follows:

[0107] ;

[0108] Among them, S 线结实际轮廓 S can represent the area of ​​the outline of the knot when it is finished. 线结最小外接圆 , where is the area of ​​the smallest circumcircle of the knot.

[0109] In addition, the preset threshold used to determine the target feature point can be set according to the specific scenario and needs. This embodiment does not make specific limitations here, as long as the target feature point can be determined by the preset threshold.

[0110] The above method determines the gradient direction information of each target feature point based on the edge detection values ​​of each target feature point. The calculation process is as follows:

[0111] ;

[0112] in, and These are Canny edge detection values. Let be the k-th target feature point. α is the statistical direction interval of the histogram, and δ is the Dirac function used for discretization of direction statistics.

[0113] The aforementioned orientation concentration factor is a parameter used to characterize the consistency of the gradient direction of the knot. A larger orientation concentration factor indicates a more consistent overall gradient direction of the knot, meaning the knot orientation is more concentrated; conversely, a smaller orientation concentration factor indicates a less consistent overall gradient direction of the knot, meaning the knot orientation is less concentrated. If the orientation concentration factor is less than a certain threshold, it indicates a loose knot. The calculation process for determining the orientation concentration factor k of the knot at the end of the knotting process, based on the gradient direction information of each target feature point, is as follows:

[0114] ;

[0115] Here, cos2α and sin2α periodically map the direction to the interval [0, π].

[0116] The above-mentioned tightness information of the knot at the end of the knot is determined based on the direction concentration factor of the knot at the end of the knot received from the direction concentration factor determination unit 126 and the tightness feature of the knot at the end of the knot received from the tightness feature determination unit 125. The calculation process is as follows:

[0117] ;

[0118] Furthermore, in Embodiment Nine, another structural block diagram of a knot-tying quality assessment system is also provided, as shown in Figure 9. Based on Embodiment One, the quality assessment module 130 includes at least one of: a stability assessment unit 132, an orientation accuracy assessment unit 134, and a position accuracy assessment unit 136; the aforementioned quality assessment module 130 further includes a quality assessment unit 138; the stability assessment unit 132 is connected to the data analysis module 120 and the quality assessment unit 138 respectively, and is used to determine the stability of the needle holder operation during the knot-tying operation based on the angular velocity fluctuation information received from the needle holder head of the data analysis module 120 and a preset angular velocity fluctuation standard deviation, and to send the stability of the needle holder operation during the knot-tying operation to the quality assessment unit 138; the orientation accuracy assessment unit 134 is connected to the data analysis module 120 and the quality assessment unit 138 respectively, and is used to... Based on the orientation deviation information of the needle holder received from the data analysis module 120 and a preset orientation deviation threshold, the orientation accuracy of the needle holder is determined, and the orientation accuracy of the needle holder is sent to the quality evaluation unit 138. The position accuracy evaluation unit 136, which is connected to the data analysis module 120 and the quality evaluation unit 138 respectively, is used to determine the position accuracy of the needle holder tip based on the position information of the needle holder tip received from the data analysis module 120, and send the position accuracy of the needle holder tip to the quality evaluation unit 138. The quality evaluation unit 138 is used to determine the knot quality evaluation result of this knotting operation based on at least one of the needle holder operation stability, needle holder orientation accuracy, and needle holder tip position accuracy received during the knotting operation, and the knot tightness information received from the data analysis module 120 at the end of the knotting.

[0119] In this embodiment, the determination of needle holder operation stability during the knot-tying operation based on the received angular velocity fluctuation information from the needle holder head of the data analysis module 120 and a preset angular velocity fluctuation standard deviation can be achieved by using the difference between the received angular velocity fluctuation information from the needle holder head of the data analysis module 120 and the preset angular velocity fluctuation standard deviation as the fluctuation difference value, and determining the needle holder operation stability during the knot-tying operation based on this fluctuation difference value. Specifically, determining the needle holder operation stability during the knot-tying operation based on the fluctuation difference value can mean that the larger the fluctuation difference value, the worse the needle holder operation stability, and the smaller the fluctuation difference value, the better the needle holder operation stability. If the needle holder operation stability is evaluated by a score, then the larger the fluctuation difference value, the lower the score of the needle holder operation stability. Conversely, the smaller the fluctuation difference value, the higher the score of the needle holder operation stability. The preset angular velocity fluctuation standard deviation can be specifically set according to specific application scenarios and requirements, and this embodiment does not impose a specific limitation. For example, the preset angular velocity fluctuation standard deviation can be 0.5 rad / s. Furthermore, if the total score for the stability of the needle holder operation is 25 points, 5 points will be deducted for every 0.1 rad / s difference between the angular velocity fluctuation information of the needle holder head and the preset standard deviation of angular velocity fluctuation, or points will be deducted according to other preset rules.

[0120] Furthermore, the aforementioned determination of the needle holder's orientation accuracy based on the received orientation deviation information from the data analysis module 120 and a preset orientation deviation threshold can be achieved by defining the difference between the needle holder's orientation deviation information and the preset orientation deviation threshold as the orientation difference, and then determining the needle holder's orientation accuracy based on this difference. Specifically, determining the needle holder's orientation accuracy based on the orientation difference can mean that a larger orientation difference indicates poorer orientation accuracy, and a smaller orientation difference indicates better orientation accuracy. If the orientation accuracy of the needle holder is evaluated using a score, a larger orientation difference results in a lower score for the orientation accuracy, and vice versa. The preset orientation deviation threshold can be specifically set according to specific application scenarios and requirements, and this embodiment does not impose specific limitations on it. For example, the preset orientation deviation threshold can be 10°. Furthermore, if the total score for the needle holder orientation accuracy is 25 points, 5 points will be deducted for every 2° difference between the needle holder orientation deviation information and the preset orientation deviation threshold, or points will be deducted according to other preset rules.

[0121] The aforementioned method of determining the knot quality assessment result for this knotting operation based on the received information regarding the stability of the needle holder operation, the orientation accuracy of the needle holder, the positional accuracy of the needle holder tip, and the tightness information of the knot at the end of the knotting process from the data analysis module 120 can be achieved by determining the tightness assessment result of the knot at the end of the knotting operation based on the tightness information of the knot at the end of the knotting operation. Furthermore, the method of determining the tightness assessment result of the knot at the end of the knotting operation based on the needle holder operation stability, the orientation accuracy of the needle holder, the positional accuracy of the needle holder tip, and the tightness assessment result of the knot at the end of the knotting operation can also be achieved by determining the tightness assessment result of the knot at the end of the knotting operation based on the tightness information of the knot at the end of the knotting operation and a preset tightness threshold. The above-mentioned determination of the tightness assessment result of the knot at the end of the knotting process, based on the tightness information of the knot at the end of the knotting process and a preset tightness threshold, can be achieved by defining the difference between the tightness information of the knot at the end of the knotting process and the preset tightness threshold as the tightness difference, and then determining the tightness assessment result of the knot at the end of the knotting process based on the tightness difference. Specifically, a larger tightness difference indicates a worse tightness assessment result, and a smaller tightness difference indicates a better tightness assessment result. If the tightness assessment result of the knot at the end of the knotting process is evaluated using a score, then a larger tightness difference results in a lower score for the tightness assessment result, and vice versa. The preset tightness threshold can be specifically set according to specific application scenarios and needs; this embodiment does not impose a specific limitation. For example, the preset tightness threshold can be 0.65. Furthermore, if the total score of the tightness assessment result of the knot at the end of the knotting is 25 points, when the tightness information of the knot at the end of the knotting and the preset tightness threshold are 0.05, 5 points will be deducted, or points will be deducted according to other preset rules.

[0122] The knot-tying quality assessment result for this knot-tying operation is determined based on the evaluation results of the needle holder's operational stability, orientation accuracy, and tip position accuracy during the knot-tying process, as well as the tightness of the knot at the end of the knot-tying. This can be achieved by summing the scores corresponding to the needle holder's operational stability, orientation accuracy, tip position accuracy, and knot tightness at the end of the knot-tying process. It should be noted that the maximum sum of these scores is 100 points.

[0123] In Embodiment 10, another structural block diagram of a knot-tying quality assessment system is also provided, as shown in Figure 10. Based on Embodiment 9, the position accuracy assessment unit 136 includes: a distance judgment subunit 1362, a radius of curvature judgment subunit 1364, and a position accuracy determination subunit 1366. The distance judgment subunit 1362 is connected to the data analysis module 120 and the radius of curvature judgment subunit 1364, respectively. It is used to determine whether the distance between the position of the needle holder tip and the preset knot-tying position is less than a preset distance threshold based on the position information of the needle holder tip received from the data analysis module 120, and to send the distance judgment result to the position accuracy determination subunit 1366. The preset distance threshold is the distance that triggers the knot-tying position accuracy judgment. The radius of curvature judgment subunit 1364 is connected to the data analysis module 120. The data analysis module 120 and the position accuracy determination subunit 1366 are used to determine the radius of curvature of the movement trajectory of the needle holder tip based on the position information of the needle holder tip received from the data analysis module 120; determine whether the radius of curvature of the movement trajectory of the needle holder tip is less than a preset radius of curvature threshold, and send the radius of curvature judgment result to the position accuracy determination subunit 1366; the preset radius of curvature threshold is the radius of curvature value that triggers the knot position accuracy judgment; and the position accuracy determination subunit 1366 is connected to the quality evaluation module 130, and is used to determine the position accuracy of the needle holder tip based on the distance judgment result received from the distance judgment subunit 1362 and the radius of curvature judgment result received from the radius of curvature judgment subunit 1364, and send the position accuracy of the needle holder tip to the quality evaluation module 130.

[0124] The aforementioned preset knotting position is the position where the knotting operation needs to be performed. The aforementioned preset distance threshold can be specifically set according to the specific application scenario and requirements; this embodiment does not impose a specific limitation here. For example, the aforementioned preset distance threshold can be 5mm. When the distance between the position of the needle holder tip and the preset knotting position is less than the preset distance threshold, a knotting position accuracy judgment is triggered, requiring a knotting position accuracy judgment. The aforementioned determination of the radius of curvature of the movement trajectory of the needle holder tip based on the received position information of the needle holder tip from the data analysis module 120 can be based on the movement trajectory of the needle holder tip determined by a preset number of image frames, thus determining the radius of curvature of the movement trajectory. The aforementioned preset radius of curvature threshold can be specifically set according to the specific application scenario and requirements; this embodiment does not impose a specific limitation here. For example, the aforementioned preset radius of curvature threshold can be 2mm. The aforementioned determination of the needle holder tip's positional accuracy based on the received distance judgment result from distance judgment subunit 1362 and the received radius of curvature judgment result from radius of curvature judgment subunit 1364 can be performed according to preset evaluation rules. For example, if the total score for the needle holder tip's positional accuracy is 25 points, and the distance judgment result shows that the distance between the needle holder tip's position and the preset knotting position is less than a preset distance threshold, and the radius of curvature judgment result shows that the radius of curvature of the needle holder tip's movement trajectory is less than a preset radius of curvature threshold, then the needle holder tip's positional accuracy receives a perfect score of 25 points. If the distance judgment result shows that the distance between the position of the needle holder tip and the preset knot position is not less than the preset distance threshold, or the radius of curvature judgment result shows that the radius of curvature of the movement trajectory of the needle holder tip is not less than the preset radius of curvature threshold, then the position accuracy score of the needle holder tip is 0 points.

[0125] Preferably, in order to reduce the amount of calculation, the radius of curvature judgment subunit 1364 can be connected to the distance judgment subunit 1362. The distance judgment result of the distance judgment subunit 1362 is sent to the radius of curvature judgment subunit 1364. The radius of curvature of the movement trajectory of the needle holder tip is calculated only when the distance between the position of the needle holder tip and the preset knotting position is less than the preset distance threshold. The position accuracy of the needle holder tip is determined only by whether the radius of curvature of the movement trajectory of the needle holder tip is less than the preset radius of curvature threshold.

[0126] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0127] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0128] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0129] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0130] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0131] 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 patent protection. 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 scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A knot-tying quality assessment system, characterized in that, The system includes: a data acquisition module, a data analysis module, and a quality assessment module. The data acquisition module, connected to the data analysis module, is used to acquire motion parameters of the needle holder during the knotting operation and the corresponding image frame sequence, and sends the acquired motion parameters and image frame sequence to the data analysis module. The motion parameters include at least one of the following: acceleration information, angular velocity information, direction information, and coordinate information of the needle holder tip. The needle holder tip is located at the foremost end of the needle holder head. The data analysis module, connected to the quality assessment module, is used to analyze the received motion parameters and image frame sequence from the data acquisition module, determine the knotting evaluation information of the needle holder during the knotting operation and the tightness information of the knot at the end of the knotting, and output the knotting evaluation information of the needle holder during the knotting operation. The information and the tightness information of the knot at the end of the knotting process are sent to the quality assessment module; the knotting evaluation information of the needle holder includes at least one of the following: angular velocity fluctuation information of the needle holder head, orientation deviation information of the needle holder, and position information of the needle holder tip; the quality assessment module is used to determine the needle holder evaluation result during the knotting operation and the knot evaluation result at the end of the knotting process based on the knotting evaluation information of the needle holder during the knotting operation and the tightness information of the knot at the end of the knotting process received from the data analysis module, and to determine the knotting quality assessment result of this knotting operation based on the needle holder evaluation result during the knotting operation and the knot evaluation result at the end of the knotting process; the needle holder evaluation result includes at least one of the following: needle holder operation stability, needle holder orientation accuracy, and needle holder tip position accuracy.

2. The knot quality assessment system according to claim 1, characterized in that, The data analysis module includes at least one of an angular velocity analysis unit, an orientation analysis unit, and a position analysis unit; the angular velocity analysis unit is connected to the data acquisition module and the quality assessment module respectively, and is used to determine the fused angular velocity of the needle holder head based on the acceleration information and angular velocity information of the needle holder head in the motion parameters received from the data acquisition module; Based on the fused angular velocity of the needle holder head, the angular velocity fluctuation information of the needle holder head during the knotting operation is determined, and the angular velocity fluctuation information of the needle holder head during the knotting operation is sent to the quality assessment module; the fused angular velocity represents the fusion result of the angular velocities of the needle holder head collected by different sensors; The orientation analysis unit is connected to the data acquisition module and the quality assessment module respectively, and is used to determine the orientation angle of the needle holder head based on the orientation information and acceleration information of the needle holder head in the motion parameters received from the data acquisition module. Based on the orientation angle of the needle holder head, determine the orientation deviation information of the needle holder head during the knotting operation, and send the orientation deviation information to the quality assessment module; The position analysis unit is connected to the data acquisition module and the quality assessment module, respectively. It is used to determine the position information of the needle holder tip based on the acceleration information, angular velocity information and coordinate information of the needle holder tip received from the data acquisition module, and send the position information of the needle holder tip to the quality assessment module.

3. The knot quality assessment system according to claim 2, characterized in that, The angular velocity analysis unit includes a fusion angular velocity calculation subunit and an angular velocity fluctuation calculation subunit; the fusion angular velocity calculation subunit is connected to the data acquisition module and the angular velocity fluctuation calculation subunit, respectively, and is used to determine the angular velocity determined by the attitude angle of the needle holder head based on the acceleration information of the needle holder head in the motion parameters received from the data acquisition module. Based on the weights of the angular velocity determined by the attitude angle of the needle holder head and the weights of the angular velocity information of the needle holder head, a weighted sum is performed on the angular velocity determined by the attitude angle of the needle holder head and the angular velocity information of the needle holder head. Based on the weighted summation result, the fusion angular velocity of the needle holder head is determined, and the fusion angular velocity of the needle holder head is sent to the angular velocity fluctuation calculation subunit. The angular velocity fluctuation calculation subunit is connected to the quality evaluation module and is used to determine the average value of the fusion angular velocity of the needle holder head based on the fusion angular velocity of the needle holder head received from the fusion angular velocity calculation subunit. Based on the fusion angular velocity of the needle holder head and the average value of the fusion angular velocity of the needle holder head, the angular velocity fluctuation information of the needle holder head during the knotting operation is determined, and the angular velocity fluctuation information of the needle holder head is sent to the quality evaluation module.

4. The knot quality assessment system according to claim 2, characterized in that, The orientation analysis unit includes an orientation angle analysis subunit and an orientation information analysis subunit; the orientation angle analysis subunit is connected to the data acquisition module and the orientation information analysis subunit respectively, and is used to determine the attitude angle and lateral angle of the needle holder head based on the acceleration information of the needle holder head in the motion parameters received from the data acquisition module. Based on the posture angle, the lateral angle, and the orientation information of the needle holder head from the motion parameters of the data acquisition module, the orientation angle of the needle holder head is determined and sent to the orientation information analysis subunit. The orientation information analysis subunit is connected to the quality assessment module. It is used to determine the difference between the orientation angle of the needle holder head received from the orientation angle analysis subunit and the preset knotting direction angle as the orientation deviation information of the needle holder head during the knotting operation, and send the orientation deviation information of the needle holder head during the knotting operation to the quality assessment module.

5. The knot quality assessment system according to claim 2, characterized in that, The position analysis unit includes a compensation determination subunit and a position information determination subunit. The compensation determination subunit is connected to the data acquisition module and the position information determination subunit, respectively, and is used to determine the motion compensation information of the needle holder head at a preset delay time based on the acceleration information and angular velocity information received from the needle holder head from the data acquisition module. The position information determination subunit is connected to the data acquisition module and the quality evaluation module, respectively, and is used to perform position compensation on the coordinate information of the needle holder tip received from the data acquisition module based on the motion compensation information received from the compensation determination subunit, to obtain the position information of the needle holder tip, and send the position information of the needle holder tip to the quality evaluation module.

6. The knot quality assessment system according to claim 1, characterized in that, The data analysis module further includes a contour feature determination unit, a density feature determination unit, a direction concentration factor determination unit, and a density determination unit. The contour feature determination unit is connected to the data acquisition module, the density feature determination unit, and the direction concentration factor determination unit, respectively. It performs edge detection on each image frame in the image frame sequence received from the data acquisition module, determines the contour features of the knots in each image frame, and sends the contour features of the knots in each image frame to the density feature determination unit and the direction concentration factor determination unit, respectively. The density feature determination unit is connected to the density determination unit and is used to determine the minimum circumcircle of the knot and the actual contour of the knot in each image frame based on the received contour features of the knots in each image frame from the contour feature determination unit. Based on the minimum circumcircle of the knot and the actual contour of the knot in each image frame, it determines the density feature of the knot at the end of the knotting process and sends the density feature of the knot at the end of the knotting process to the density determination unit. A concentration factor determination unit, connected to the density determination unit, is used to determine the contour features of the knot in the image frame corresponding to the end of the knot based on the contour features of the knots in each image frame received from the contour feature determination unit; determine target feature points with amplitudes greater than or equal to a preset threshold in the contour features based on the contour features of the knots in the image frame corresponding to the end of the knot; determine the gradient direction information of each target feature point based on the edge detection values ​​of each target feature point; determine the orientation concentration factor of the knot at the end of the knot based on the gradient direction information of each target feature point, and send the orientation concentration factor of the knot at the end of the knot to the density determination unit; the density determination unit, connected to the quality evaluation module, is used to determine the density information of the knot at the end of the knot based on the orientation concentration factor of the knot at the end of the knot received from the orientation concentration factor determination unit and the density features of the knot at the end of the knot received from the density feature determination unit, and send the density information of the knot at the end of the knot to the quality evaluation module.

7. The knot quality assessment system according to claim 1, characterized in that, The quality assessment module includes at least one of a stability assessment unit, an orientation accuracy assessment unit, and a position accuracy assessment unit; the quality assessment module further includes a quality assessment unit; the stability assessment unit is connected to the data analysis module and the quality assessment unit respectively, and is used to determine the operational stability of the needle holder during the knotting operation based on the angular velocity fluctuation information received from the needle holder head of the data analysis module and a preset angular velocity fluctuation standard deviation, and to send the operational stability of the needle holder during the knotting operation to the quality assessment unit; The orientation accuracy assessment unit, connected to both the data analysis module and the quality assessment unit, determines the orientation accuracy of the needle holder based on the orientation deviation information received from the data analysis module and a preset orientation deviation threshold, and sends the orientation accuracy of the needle holder to the quality assessment unit. The position accuracy assessment unit, also connected to both the data analysis module and the quality assessment unit, determines the position accuracy of the needle holder tip based on the position information received from the data analysis module and sends the position accuracy of the needle holder tip to the quality assessment unit. The quality assessment unit determines the knot quality assessment result of the current knotting operation based on at least one of the received needle holder operation stability during the knotting process, the orientation accuracy of the needle holder, and the position accuracy of the needle holder tip, as well as the knot tightness information received from the data analysis module at the end of the knotting process.

8. The knot quality assessment system according to claim 7, characterized in that, The position accuracy assessment unit includes: a distance judgment subunit, a radius of curvature judgment subunit, and a position accuracy determination subunit; the distance judgment subunit is connected to the data analysis module and the radius of curvature judgment subunit, respectively, and is used to determine, based on the position information of the needle holder tip received from the data analysis module, whether the distance between the position of the needle holder tip and a preset knotting position is less than a preset distance threshold, and send the distance judgment result to the position accuracy determination subunit; the preset distance threshold is the distance that triggers the knotting position accuracy judgment; the radius of curvature judgment subunit is connected to the data analysis module and the position accuracy determination ... received from the data analysis module, whether the distance between the position of the needle holder tip and a preset knotting position is less than a preset distance threshold, and send the distance judgment result to the position accuracy determination subunit; the preset distance threshold is the distance at which the knotting position accuracy judgment is triggered; the radius of curvature judgment subunit is connected to the data analysis module and the position accuracy determination subunit, respectively, and is used to determine, based on the position information received from the data analysis module, whether the distance between the position of the needle holder tip and a preset knotting position is less than a preset distance threshold, and send the distance judgment result to the position accuracy determination subunit; the preset distance threshold is the distance at which the knotting position accuracy judgment is triggered. The position information of the needle holder tip is used to determine the radius of curvature of the movement trajectory of the needle holder tip; it is determined whether the radius of curvature of the movement trajectory of the needle holder tip is less than a preset radius of curvature threshold, and the radius of curvature determination result is sent to the position accuracy determination subunit; the preset radius of curvature threshold is the radius of curvature value that triggers the knot position accuracy determination; and the position accuracy determination subunit is connected to the quality evaluation module, and is used to determine the position accuracy of the needle holder tip based on the distance determination result received from the distance determination subunit and the radius of curvature determination result received from the radius of curvature determination subunit, and send the position accuracy of the needle holder tip to the quality evaluation module.

9. The knot quality assessment system according to claim 1, characterized in that, The data acquisition module includes at least one of an inertial measurement unit and an optical positioning unit; the data acquisition module further includes a polarization imaging unit; the inertial measurement unit is connected to the data analysis module and is used to acquire the inertial motion parameters of the needle holder head during the knotting operation, and send the acquired inertial motion parameters to the data analysis unit; the inertial motion parameters include at least one of acceleration information, angular velocity information, and direction information; The optical positioning unit is connected to the data analysis module and is used to collect the coordinate information of the needle holder tip during the knotting operation and send the collected coordinate information of the needle holder tip to the data analysis unit. The polarization imaging unit is connected to the data analysis module and is used to acquire image frame sequences during the knotting operation and send the acquired image frame sequences to the data analysis unit.

10. The knot quality assessment system according to claim 9, characterized in that, The inertial measurement unit includes at least one of an accelerometer, a gyroscope, and a magnetometer; the accelerometer is connected to the data analysis module and is used to collect the acceleration information of the needle holder head during the knotting operation and send the collected acceleration information of the needle holder head to the data analysis module. The gyroscope is connected to the data analysis module and is used to collect the angular velocity information of the needle holder head during the knotting operation, and send the collected angular velocity information of the needle holder head to the data analysis module. The magnetometer is connected to the data analysis module and is used to collect the orientation information of the needle holder head during the knotting operation, and send the collected orientation information of the needle holder head to the data analysis module.

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