Endoscopic image generation system and generation method

Abstract

This invention discloses a system and method for generating endoscopic images. [Solution] A dilator assembly used in combination with a surgical instrument comprises multiple image acquisition elements. A mechanical device is used to move the dilator assembly to the surgical site, and the multiple image acquisition elements each acquire multiple current images at multiple different viewing angles. One of the multiple current images consists of a first image portion and a second image portion. The first image portion is an image of a part of the surgical instrument, and the second image portion is an image of the part of the surgical site that is not obscured by the part of the surgical instrument. At least one of the multiple current images includes a third image portion. The third image portion is the same region or location of the surgical site as the first image portion. The processing device is configured to acquire a processed image by replacing the first image portion with the third image portion.

Description

Technical Field

[0001] The present invention relates to a system and method for image generation, and particularly to a system and method for generating endoscopic images.

Background Art

[0002] Currently, in clinical practice, spinal decompression surgery is generally performed to remove a bone spur compressing a nerve or a herniated intervertebral disc compressing a nerve, release the space within the nerve canal, relieve the compression on the nerve root, and reduce the patient's pain. In the prior art, when performing spinal decompression surgery, a doctor can perform the surgery using a microscope. The doctor inserts a sleeve into the patient's surgical site and proceeds with the surgery while checking the magnified real-time image of the surgical site using the microscope. However, due to the volume of the microscope, there is a problem that it occupies the space in the operating room and limits the doctor's movable range. Furthermore, the field of view of the surgical site observed with the microscope is easily blocked by surgical instruments, and there are cases where the doctor cannot grasp the overall image of the surgical site, which may affect the stability and accuracy in the progress of the surgery.

[0003] Therefore, how to improve the structural design to overcome the above-mentioned drawbacks has become one of the important issues in this technical field.

Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the drawbacks of the prior art and provide a system and method for generating endoscopic images.

[0005] To solve the above-mentioned technical problems, one of the technical means employed by the present invention is to provide an endoscopic image generation system comprising a dilator assembly, a mechanical device, and a processing device. The dilator assembly is used in combination with a surgical instrument. The dilator assembly comprises a plurality of image acquisition elements. The mechanical device is connected to the dilator assembly. The mechanical device is configured to move the dilator assembly to the surgical site, and the plurality of image acquisition elements each acquire a plurality of current images at a plurality of different viewing angles. One of the plurality of current images consists of a first image portion and a second image portion. The first image portion is an image of a part of the surgical instrument, and the second image portion is an image of the part of the surgical site that is not obscured by the part of the surgical instrument. At least one of the plurality of current images includes a third image portion. The third image portion is the same region or position of the surgical site as the first image portion. The processing device is electrically connected to the dilator assembly and is configured to recognize the position and contour of the surgical instrument in the plurality of current images, divide the plurality of current images, separate the first image portion, the second image portion, and the third image portion in the plurality of current images, and replace the first image portion with the third image portion to acquire a processed image.

[0006] To solve the technical problems described above, another technical means employed by the present invention is to provide a method for generating endoscopic images. The method for generating endoscopic images includes configuring a mechanical device to be connected to a dilator assembly and to move the dilator assembly to a surgical site, and using a plurality of image acquisition elements in the dilator assembly to acquire a plurality of current images of the surgical site at multiple different viewing angles, wherein one of the plurality of current images consists of a first image portion and a second image portion, the first image portion being an image of a part of the surgical instrument, the second image portion being an image of the part of the surgical site not obscured by the surgical instrument, at least one of the plurality of current images includes a third image portion, the third image portion being the same region or position of the surgical site as the first image portion, and arranging a processing device electrically connected to the dilator assembly to recognize the position and contour of the surgical instrument in the plurality of current images, divide the plurality of current images, separate the first image portion, the second image portion and the third image portion in the plurality of current images, and replace the first image portion with the third image portion to acquire a processed image.

[0007] One of the beneficial effects of the present invention is that the endoscopic image generation system and method according to the present invention can replace images of obstructed surgical areas with images of surgical areas that are not obstructed by surgical instruments by dividing, segmenting, and joining images of the surgical site, allowing the physician to fully confirm the entire surgical site. Furthermore, since the endoscopic image generation system according to the present invention does not require a microscope, it can free up space in the operating room and facilitate the progress of surgery.

[0008] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the invention, however, the drawings provided are for reference and illustrative purposes only and are not intended to limit the invention. [Brief explanation of the drawing]

[0009] [Figure 1]This is a schematic diagram of the endoscopic image generation system according to the present invention. [Figure 2] This is a schematic diagram of the dilator assembly according to the present invention. [Figure 3] This is an exploded schematic diagram of the dilator assembly according to the present invention. [Figure 4] This is a bottom view of the inner dilator of the dilator assembly according to the present invention. [Figure 5] This is a schematic diagram of the image acquisition element according to the present invention. [Figure 6] This is a schematic plan view of the current image of the surgical site generated by the endoscopic image generation system according to the present invention. [Figure 7] This is a schematic plan view of the first image portion of the surgical site generated by the endoscopic image generation system according to the present invention. [Figure 8] This is a schematic plan view of another current image of the surgical site generated by the endoscopic image generation system according to the present invention. [Figure 9] This is a schematic plan view of a processed image of a surgical site generated by the endoscopic image generation system according to the present invention. [Figure 10] This is a flowchart of steps S1 to S5 of the method for generating endoscopic images according to the present invention. [Figure 11] This is a flowchart of steps S51 to S54 of the method for generating endoscopic images according to the present invention. [Figure 12] This is a flowchart of steps S11 to S16 of the method for generating endoscopic images according to the present invention. [Modes for carrying out the invention]

[0010] The embodiments of the "Endoscopic Image Generation System and Generation Method" disclosed herein will be described below with reference to specific examples. Those skilled in the art will be able to understand the advantages and effects of the present invention from the disclosed content. The present invention can be carried out or applied through other different specific embodiments, and the various detailed descriptions herein can be modified and changed in various ways without departing from the spirit of the invention, based on different perspectives and applications. It should also be noted in advance that the drawings of the present invention are for illustrative purposes only and are not drawn based on actual dimensions. The technical content relating to the present invention will be described in more detail using the following embodiments, but the disclosed content is not intended to limit the scope of protection of the present invention. In this specification, terms such as "first," "second," and "third" may be used to describe various elements, but it should be understood that these elements or signals should not be limited by these terms. These terms are mainly used to distinguish one element from another. Furthermore, the term "or" herein should be understood to include any one or more of the items listed in relation to each other, depending on the actual situation.

[0011] [Examples] As shown in Figure 1, an embodiment of the present invention provides an endoscopic image generation system comprising a dilator assembly 1, a mechanical device 2, and a processing device 3. The mechanical device 2 may include multiple robotic arms and is capable of multi-degree-of-freedom movement. The mechanical device 2 is connected to the dilator assembly 1 and surgical instruments U, and performs surgery on a patient B lying face down on an operating table P by combining the dilator assembly 1 and surgical instruments U. The processing device 3 is electrically connected to the dilator assembly 1. For example, the processing device 3 may include a processor and memory, but the present invention is not limited thereto. The processor may be, for example, a Programmable Logic Controller Circuit, a Micro-processor Circuit, a Micro-control Circuit or an integrated circuit thereof, a central processing unit, etc., but is not limited thereto. The memory may be, for example, a random access memory (RAM), a read-only memory (ROM), flash memory, a hard disk, or other storage device capable of storing data, but is not limited thereto.

[0012] As shown in Figures 2 to 4, the dilator assembly 1 includes a separable outer dilator 11 and an inner dilator 12. The outer dilator 11 and the inner dilator 12 can be assembled and disassembled from each other. The outer dilator 11 has a first opening 111 and a second opening 112 that communicate with each other, and the inner dilator 12 is provided in the first opening 111 and is located inside the outer dilator 11. Both the outer dilator 11 and the inner dilator 12 have a hollow cylindrical shape, and the outer wall 121 of the inner dilator 12 is provided with a plurality of grooves 12V, which are arranged in an annular pattern along the outer wall 121. The outer dilator 11 also includes a connecting portion 113. The mechanical device 2 can move the outer dilator 11 by having a robot arm grip the connecting portion 113. When the inner dilator 12 is assembled to the outer dilator 11, multiple grooves 12V are arranged around the inner dilator 12, and a stopper block 11B provided on the inner wall of the outer dilator 11 is locked into one of the grooves 12V. Thus, the inner dilator 12 is restricted to a specific direction, preventing it from rotating freely after it has been mounted on the outer dilator 11. On the other hand, if the direction of the inner dilator 12 needs to be changed, the inner dilator 12 is first removed from the outer dilator 11, and then the inner dilator 12 is mounted on the outer dilator 11 in a different direction so that the stopper block 11B is locked into another groove 12V.

[0013] As shown in Figures 3 and 4, the dilator assembly 1 further includes a plurality of image acquisition elements 13. The present invention does not limit the number of image acquisition elements 13. In an embodiment of the present invention, there are two image acquisition elements 13. The two image acquisition elements 13 are each installed in two housing grooves 12U in the inner dilator 12. Since the two housing grooves 12U are located radially in the inner dilator 12, the distance between the two image acquisition elements 13 is slightly smaller than the diameter of the inner dilator 12. That is, the two image acquisition elements 13 are installed at opposite ends of the diameter of the inner dilator 12, with one image acquisition element 13 directly facing the other image acquisition element 13. Furthermore, when the inner dilator 12 and the outer dilator 11 are assembled together, the inner dilator 12 and the outer dilator 11 are configured coaxially, and their internal spaces communicate with each other. The two image acquisition elements 13 are located inside the outer dilator 11 and are positioned facing the second opening 112 of the outer dilator 11. The design, in which the two image acquisition elements 13 are positioned directly opposite each other, allows the acquired image of the surgical site T to display the maximum area range of the surgical site T. It should be noted that the surgical site T described in this invention is the spine as an example. Figures 6 to 9 below all show schematic plan views of the spine.

[0014] As shown in Figure 5, each image acquisition element 13 includes a lens 131 and a light-emitting element 132. The light-emitting element 132 may be a light-emitting diode (LED) and is positioned to surround the lens 131. The lens 131 may be an endoscope lens or a camera lens, but the present invention is not limited thereto. When in use, the light-emitting element 132 functions as a light source, illuminating the area that the lens 131 is pointing towards, allowing the user (doctor) to clearly see the specific features of the surgical site T through the lens 131.

[0015] As shown in Figure 1, the endoscopic image generation system further includes multiple navigation mark elements 4 and a tracker 5. The multiple navigation mark elements 4 are installed on the mechanical device 2 (a robotic arm that grips the surgical instrument U), the dilator assembly 1, and the patient's surgical site T, respectively. Each navigation mark element 4 comprises a dynamic reference frame (DRF) and multiple sensors provided on the dynamic reference frame. For example, the sensors may be optical sensors such as reflective spheres, and the tracker 5 may be an optical tracker, for example. The tracker 5 is electrically connected to the processing unit 3. These navigation mark elements 4 may also serve as spatial positioning marker points for constructing a spatial coordinate system. The tracker 5 can sense, detect, and record the coordinate positions of the multiple optical sensors in the navigation mark elements 4 and transmit this information to the processing unit 3 for appropriate calculation and / or storage.

[0016] It should be noted that the navigation mark element 4 is a deformable element. Specifically, the shape of the dynamic reference frame of the navigation mark element 4 can be adjusted. Therefore, the user can freely adjust the shape of the dynamic reference frame depending on the position where the navigation mark element 4 is installed, thereby achieving the objective of identifying different devices. Furthermore, while the sensor and tracker 5 in the navigation mark element 4 are described using an optical detection method as an example, the present invention is not limited to this. In other embodiments, the sensor and tracker 5 in the navigation mark element 4 can also construct a spatial coordinate system using an electromagnetic detection method.

[0017] The mechanical device 2 guides the surgical instrument U and the dilator assembly 1 based on this spatial coordinate system and moves them to the surgical site T. Next, the surgical instrument U is moved downward and inserted into the surgical site T through the inner dilator 12 and the outer dilator 11 to perform the surgery. The surgical instrument U is restricted within the opening range of the inner dilator 12 and the outer dilator 11. The processing device 3 acquires the position information of the surgical instrument U at the surgical site T through this spatial coordinate system, and acquires an image of the surgical site T corresponding to the position information through the lens 131 of the dilator assembly 1.

[0018] In addition, the endoscope image generation system according to the present invention further includes a display device 6 electrically connected to the processing device 3. For example, the display device 6 may include a screen and a buzzer (not shown). The processing device 3 constructs a three-dimensional virtual model near the surgical site T by combining pre-acquired medical images such as Computed Tomography (CT) or Magnetic Resonance Imaging (MRI). The constructed three-dimensional virtual model may be displayed on the screen of the display device 6. Further, the processing device 3 may use the image acquisition element 13 of the dilator assembly 1 to acquire an image near the planned surgical site. The endoscope image and the three-dimensional virtual model are simultaneously displayed on the screen of the display device 6. In this way, the operator (i.e., the doctor) can simultaneously acquire information about the entire surgical space, the position information of the surgical instrument relative to the surgical position, and image information such as the real-time camera screen of the surgical position, and perform the surgery in combination with the mechanical device 2 according to the instructions of the surgical navigation system.

[0019] Also, when the processing device 3 detects that the surgical instrument U has deviated from the planned surgical path, the processing device 3 presents a warning signal (for example, flashing a part of the screen red or making the buzzer emit a specific sound) to the medical staff through the display device 6, and immediately alerts the medical staff, thereby improving the reliability of positioning and the accuracy of navigation.

[0020] To further explain the specific operation method of the endoscopic image generation system according to the present invention, reference is made to FIG. 10 for description. The present invention also provides an endoscopic image generation method that can be executed using the aforementioned endoscopic image generation system. As shown in FIG. 10, the endoscopic image generation method includes at least steps S1 to S5.

[0021] Step S1: Configure the mechanical device to move the dilator assembly and the surgical instrument, insert the dilator assembly to the surgical site, and insert the surgical instrument through the dilator assembly to the surgical site.

[0022] Furthermore, as shown in FIG. 12, in step S1, the step of moving the dilator assembly to the surgical site may further include steps S11 to S16.

[0023] Step S11: Dispose a plurality of deformable navigation mark elements on the mechanical device, the outer dilator, and the surgical site respectively to construct a spatial coordinate system.

[0024] Step S12: Plan a surgical path based on the spatial coordinate system, and configure the processing device to identify the position and angle of inserting the outer dilator into the surgical site.

[0025] Step S13: Configure the mechanical device to insert the outer dilator into the surgical site according to the surgical path.

[0026] Step S14: Place the inner dilator in the calibrator and calibrate the plurality of lenses in the plurality of image acquisition elements.

[0027] Step S15: Assemble the inner dilator to the outer dilator.

[0028] Step S16: The spatial coordinate system and the dilator assembly are used to obtain positional information of the surgical instrument at the surgical site and the current image corresponding to the positional information.

[0029] The explanation will continue with reference to Figure 10. Step S2: Multiple image acquisition elements in the dilator assembly are used to acquire multiple current images of the surgical site at multiple different viewing angles. One of the multiple current images consists of a first image portion and a second image portion, the first image portion being an image of a part of the surgical instrument, the second image portion being an image of the part of the surgical site not obscured by the surgical instrument, and at least one of the multiple current images includes a third image portion, the third image portion being the same region or position of the surgical site as the first image portion.

[0030] Step S3: Configure the processing device to recognize the position and contour of the surgical instrument in multiple current images.

[0031] Step S4: The processing device is configured to divide each of the multiple current images into a first image portion, a second image portion, and a third image portion in each of the multiple current images.

[0032] Step S5: The processing device is configured to replace the first image portion with the third image portion to obtain a processed image.

[0033] The steps described above will be explained in more detail below, with reference to Figure 3. First, a spatial coordinate system is constructed using the robot arm holding the surgical instrument U, the dilator assembly 1, and the navigation mark element 4 placed near the surgical site T. The processing unit 3 plans the surgical path based on the spatial coordinate system. The surgical path determines the position and angle at which the outer dilator 11 of the dilator assembly 1 and the surgical instrument U are inserted into the surgical site T. After the position and angle of the outer dilator 11 are determined, the mechanical device 2 is operated to move the outer dilator 11 into the surgical site T. Next, the inner dilator 12 is placed on a calibrator (not shown), and the two lenses 131 of the two image acquisition elements 13 installed on the inner dilator 12 are image calibrated. The purpose of this calibration is to adjust the screen focus of the two lenses 131 to be on the same plane and to rotate the screen of at least one lens in the same direction as the screen of the other lens.

[0034] Next, the calibrated inner dilator 12 is assembled with the outer dilator 11, and the mechanical device 2 is operated to move the surgical instrument U through the dilator assembly and insert it into the surgical site. Furthermore, the position information of the surgical instrument U at the surgical site T and the current image corresponding to the position information are acquired via the spatial coordinate system and the dilator assembly 1. Specifically, as shown in Figures 6 and 8, two image acquisition elements 13 acquire two current images M and M' from the surgical site T via their respective lenses 131. Since the two image acquisition elements 13 are in different positions (facing each other), the two current images M and M' are images acquired from different viewing angles. It should be noted that Figures 6 and 8 are merely examples illustrating the operation of the endoscopic image generation system and generation method according to the present invention, and do not represent the actual situation inside the surgical site T. For example, the position of the surgical instrument U is not necessarily as shown in Figures 6 and 8.

[0035] The explanation will continue with reference to Figures 6 and 8. The processing device 3 can perform image recognition to determine the position and contour of the surgical instrument in the two current images M and M', and can divide the two current images M and M' into multiple parts. For example, through the recognition process of the processing device 3, the current image M in Figure 6 includes a first image part M1 and a second image part M2, respectively, and the current image M' in Figure 8 includes a first image part M1' and a second image part M2', respectively. The first image parts M1 and M1' are images of a part of the surgical instrument U, and the second image parts M2 and M2' are images of the part of the surgical site T that is not obscured by the surgical instrument U. Furthermore, the current image M' in Figure 8 includes a third image part M3, and the third image part M3 in Figure 8 and the first image part M1 in Figure 6 correspond to the same region or position of the surgical site T.

[0036] Next, the processing unit 3 divides the two current images M and M' into separate images. As shown in Figure 7, the first image portion M1 of the current image M in Figure 6 is deleted, and only the second image portion M2 is retained. In Figure 7, only the second image portion M2 remains, and the position that originally corresponded to the first image portion M1 in Figure 6 becomes a blank area H. Next, the third image portion M3 in Figure 8 is divided and extracted. Since the third image portion M3 and the first image portion M1 correspond to the same surgical site T region, the third image portion M3 and the blank area H in Figure 7 also correspond to the same surgical site T region.

[0037] Subsequently, the processing unit 3 pastes the third image portion M3, which was separated from Figure 8, onto the hollow region of Figure 7, fuses the third image portion M3 and the second image portion M2, and finally obtains the processed image M''. That is, as shown in Figures 6, 8, and 9, using images from different viewing angles acquired by the two image acquisition elements 13, the processing unit 3 replaces the first image portion M1 of Figure 6 with the third image portion M3 of Figure 8, and obtains the processed image M'' of Figure 9. The acquired processed image M" is a field-of-view image without blind spots, created by combining surgical images from multiple viewing angles. Therefore, with the endoscopic image generation system and method according to the present invention, the image of the surgical instrument U is erased, and the image obscured by the surgical instrument U is displayed. It should be noted that, before pasting the third image portion M3 onto the second image portion M2, the processing device 3 may perform image processing on the third image portion M3. For example, the third image portion M3 may be translated to acquire the necessary image portion and eliminate the factors of viewing angle difference as much as possible. On the other hand, when fusing the third image portion M3 and the second image portion M2, the processing device 3 adjusts the brightness of the third image portion M3 and the second image portion M2 respectively so that no conspicuous areas appear in the fused image.

[0038] As shown in Figure 11, step S5 may further include steps S51 to S54, in which the first image portion is replaced with the third image portion to obtain the processed image.

[0039] Step S51: Select one of the current images as the main screen and compare the second image portion in multiple current images.

[0040] Step S52: Overlay the multiple current images.

[0041] Step S53: If the position of the first image portion on the main screen overlaps with the position of the third image portion on another current image, the first image portion is replaced with the third image portion on the other current image.

[0042] Step S54: If the position of the second image portion on the main screen overlaps with the position of the third image portion on the other current image, the second image portion on the main screen is displayed as is.

[0043] To explain in detail, as shown in Figures 6, 7, and 8, the processing unit 3 selects one of the current images and sets it as the main screen. For example, the current image M in Figure 6 is set as the main screen. Next, the processing unit 3 divides and erases the image portion (first image portion M1) containing the surgical instruments in the main screen, forming a blank portion H. At this point, the main screen is in a state where only the second image portion M2 remains, as shown in Figure 7.

[0044] Next, the processing unit 3 overlays the main screen (Figure 7) and the other screen (Figure 8) for comparison. When overlaying the two screens, if the third image portion M3 of the current image M' (Figure 8) on the other screen overlaps with the blank portion H of the second image portion M2 (Figure 7) on the main screen, the processing unit 3 uses the third image portion M3 to fill in the position of the blank portion H (this is the same operation as replacing the first image portion M1 in Figure 6 with the third image portion M3 in Figure 8). Conversely, if the third image portion M3 of the current image M' (Figure 8) on the other screen overlaps with the second image portion M2 (Figure 7) on the main screen instead of the first image portion M1, the processing unit 3 does not replace the second image portion M2 with the third image portion M3, but displays the second image portion M2 on the main screen (Figure 6) as is.

[0045] In other words, the processing device 3 superimposes the two current images M and M' and compares the image portions to confirm that the third image portion M3 in Figure 8 definitely overlaps with the portion obscured by the surgical instrument U in Figure 6, and then replaces the image of the surgical instrument U with the third image portion M3.

[0046] It should be noted that steps S51 to S54 described above represent only one executable embodiment, and the present invention is not limited to a method of selecting a main screen and overlaying and comparing images. In other embodiments of the present invention, the processing device 3 can set different weights for the current image M in Figure 6 and the current image M' in Figure 8 by setting weights. For example, the current image M in Figure 6 (including the second image portion M2 in Figure 7) can be given a high weight, and the current image M' in Figure 8 can be given a low weight. When the screens of Figure 7 and Figure 8 overlap, if there is only one image from one screen at the same position, for example, the third image portion M3 in Figure 8 will overlap the blank portion H in Figure 7. Conversely, if there are two images from two screens at the same position, for example, the third image portion M3 in Figure 8 will overlap the second image portion M2 in Figure 7, and will be displayed according to the level of their weighting, i.e., displayed by the image with the higher weighting (the second image portion M2 in Figure 7).

[0047] [Beneficial effects from the examples] The endoscopic image generation system and method according to the present invention can replace images of obstructed surgical areas with images of surgical areas that are not obstructed by surgical instruments by dividing, segmenting, and joining images of the surgical site, allowing the physician to fully confirm the entire surgical site. Furthermore, since the endoscopic image generation system according to the present invention does not require a microscope, it can free up space in the operating room and facilitate the progress of surgery.

[0048] More specifically, the present invention uses images from different viewing angles acquired by two image acquisition elements 13, and the processing device 3 performs instrument removal, superimposition, comparison, and fusion to acquire a processed image M''. The acquired processed image M'' is a field of view image without blind spots, created by combining surgical images from multiple viewing angles, in which the surgical instrument U is removed and the image obscured by the surgical instrument U is displayed.

[0049] The information disclosed herein represents only preferred embodiments of the present invention and does not limit the scope of the claims. Accordingly, all equivalent technical modifications made using the specification and drawings of the present invention are included within the scope of the claims. [Explanation of Symbols]

[0050] 1: Dilator Assembly 11: Outer dilator 111: First opening 112: Second opening 113: Connection part 11B: Stopper Block 12: Inner dilator 121: Exterior wall 12V: Groove 12U: Housing groove 13: Image acquisition element 131: Lens 132: Light-emitting element 2: Mechanical equipment 3: Processing Unit 4: Navigation Mark Element 5: Tracker 6:Display device U: Surgical instruments T:Surgery site M, M': Current image M: Processed image M1, M1': First image portion M2, M2': 2nd image part M3: Third image portion H:Blank area B: Patient P:Operating table S1~S5: Step S51~S54: Step S11~S16: Step

Claims

1. A dilator assembly used in combination with surgical instruments and equipped with multiple image acquisition elements, A mechanical device connected to the dilator assembly, A processing unit electrically connected to the dilator assembly, Equipped with, The machine is configured to move the dilator assembly to the surgical site, and to have multiple image acquisition elements each acquire multiple current images of multiple different viewing angles, wherein one of the multiple current images consists of a first image portion and a second image portion, the first image portion being an image of a part of the surgical instrument, the second image portion being an image of the part of the surgical site not obscured by the surgical instrument, and at least one of the multiple current images includes a third image portion, the third image portion being the same region or position of the surgical site as the first image portion. The processing device is configured to recognize the position and contour of the surgical instrument in a plurality of current images, divide each of the plurality of current images, separate the plurality of current images into a first image portion, a second image portion, and a third image portion, and replace the first image portion with the third image portion to obtain a processed image. An endoscopic image generation system characterized by the following features.

2. In the process of obtaining the processed image by replacing the first image portion with the third image portion, the processing device is configured to compare the second image portions in a plurality of current images, select one current image as the main screen, superimpose the plurality of current images, and if the first image portion in the main screen overlaps with the third image portion in another current image, replace the first image portion with the third image portion in the other current image, and if the second image portion in the main screen overlaps with the third image portion in another current image, display the second image portion in the main screen as is. The endoscopic image generation system according to claim 1.

3. The dilator assembly further includes a separable outer dilator and an inner dilator, the outer dilator having a first and second opening communicating with each other, the inner dilator being provided in the first opening, and a plurality of the image acquisition elements being provided in the inner dilator and arranged around the inner dilator, with the plurality of the image acquisition elements facing the second opening of the outer dilator. The endoscopic image generation system according to claim 1.

4. The inner dilator has a cylindrical shape and has multiple housing grooves, and each of the multiple image acquisition elements is installed in one of the multiple housing grooves. The endoscopic image generation system according to claim 3.

5. If the number of image acquisition elements is two, the two image acquisition elements are located radially in the inner dilator. The endoscopic image generation system according to claim 4.

6. Each image acquisition element includes a lens and a light-emitting element, the light-emitting element surrounding the lens. An endoscopic image generation system according to any one of claims 1 to 5.

7. To construct a spatial coordinate system, the machine device further comprises a plurality of deformable navigation mark elements to be placed at the dilator assembly and the surgical site, respectively, the machine device guides the surgical instrument to move it to the surgical site based on the spatial coordinate system, and the processing device acquires positional information of the surgical instrument at the surgical site and a post-processed image corresponding to the positional information via the spatial coordinate system and the dilator assembly. An endoscopic image generation system according to any one of claims 1 to 5.

8. The mechanical device is configured to connect to a dilator assembly used in combination with surgical instruments, and to move the dilator assembly to the surgical site. Using multiple image acquisition elements in the dilator assembly, multiple current images of the surgical site at multiple different viewing angles are acquired, one of the multiple current images consists of a first image portion and a second image portion, the first image portion is an image of a part of the surgical instrument, the second image portion is an image of the part of the surgical site not obscured by the surgical instrument, at least one of the multiple current images includes a third image portion, the third image portion is the same region or position of the surgical site as the first image portion, The processing device is electrically connected to the dilator assembly to recognize the position and contour of the surgical instrument in multiple current images, divide each of the multiple current images to separate the first image portion, the second image portion, and the third image portion of the multiple current images, and to replace the first image portion with the third image portion to obtain a processed image. including, A method for generating endoscopic images characterized by the above.

9. The processing device is configured such that, in the step of acquiring the processed image by replacing the first image portion with the third image portion, one current image is selected as the main screen, the second image portions in multiple current images are compared, and the multiple current images are superimposed, and if the position of the first image portion on the main screen coincides with the position of the third image portion in another current image, the first image portion is replaced with the third image portion in the other current image, and if the position of the second image portion on the main screen coincides with the position of the third image portion in another current image, the second image portion on the main screen is displayed as is. The method for generating endoscopic images according to claim 8.

10. The dilator assembly further includes a separable outer dilator and an inner dilator, the outer dilator having a first opening and a second opening communicating with each other, the inner dilator being provided in the first opening and located inside the outer dilator, and a plurality of the image acquisition elements being provided in the inner dilator, arranged around the inner dilator and facing the second opening of the outer dilator. The method for generating endoscopic images according to claim 8.

11. The inner dilator has a cylindrical shape and has multiple housing grooves, and each of the multiple image acquisition elements is installed in one of the multiple housing grooves. The method for generating endoscopic images according to claim 10.

12. Each image acquisition element includes a lens and a light-emitting element, the light-emitting element surrounding the lens. A method for generating an endoscopic image according to any one of claims 8 to 11.

13. In the step of inserting the dilator assembly into the surgical site, This further includes calibrating the multiple lenses in the multiple image acquisition elements and assembling the inner dilator with the outer dilator. The method for generating endoscopic images according to claim 12.

14. Before assembling the inner dilator to the outer dilator, A spatial coordinate system is constructed by arranging multiple deformable navigation mark elements in the aforementioned mechanical device, the outer dilator, and the surgical site, respectively. The processing device is configured to plan the surgical route based on the spatial coordinate system and to determine the position and angle for inserting the outer dilator into the surgical site. The mechanical device is configured to insert the outer dilator into the surgical site according to the surgical route, Further including, The method for generating an endoscopic image according to claim 13.

15. The processing device is configured to, after configuring the mechanical device to insert the outer dilator into the surgical site according to the surgical route, to acquire positional information of the surgical instrument at the surgical site and the processed image corresponding to the positional information via the spatial coordinate system and the dilator assembly. The method for generating endoscopic images according to claim 14.

Images