CN114099006B - Instrument and endoscope distance prompting method - Google Patents
Instrument and endoscope distance prompting method Download PDFInfo
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- CN114099006B CN114099006B CN202111408335.3A CN202111408335A CN114099006B CN 114099006 B CN114099006 B CN 114099006B CN 202111408335 A CN202111408335 A CN 202111408335A CN 114099006 B CN114099006 B CN 114099006B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
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Abstract
The invention discloses a method for prompting the distance between an instrument and an endoscope, which comprises the following steps: 1) Creating an icon; 2) Acquiring a three-dimensional model of a master hand; 3) Reading data of each axis of the main hand, and controlling the rotation of the three-dimensional model by using the data; 4) Acquiring a real-time distance S1 between a rotation center point of an instrument wrist and a lens center point of an endoscope; 5) Judging whether the real-time distance S1 is within the effective distance range, if so, entering the step 6), otherwise, proceeding to the step 7); 6) Updating the icon according to the real-time distance S1, and then entering the step 4); 7) And judging whether the real-time distance S1 is greater than the maximum effective distance, if so, entering the step 4 after updating the icon to be the minimum icon, and if not, entering the step 4 after updating the icon to be the maximum icon. The invention can reflect the distance relation between the instrument and the endoscope in real time through the size of the icon, thereby improving the accuracy and safety of the operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a method for prompting the distance between an instrument and an endoscope.
Background
Minimally invasive surgery is a new surgical approach compared to traditional surgery. The treatment is completed by some new technical means with minimal trauma cost, and the treatment effect can reach or even exceed that of the traditional operation. Minimally invasive surgery refers to surgery with relatively small trauma. Minimally invasive surgery is usually performed by using medical instruments and devices such as thoracoscopes, laparoscopes, arthroscopes and the like, and has the advantages of small trauma, small incision, quick recovery and less bleeding in the surgery. The patient is slightly wounded, little blood is lost, the postoperative infection is little, and the postoperative recovery is fast after the operation. Meanwhile, a minimally invasive surgical robot system generally uses a master-slave control mode: when an operator operates the master hand, the hand movement can drive the master hand to move along with the master hand, the sensor at the joint of the master hand can measure movement information, the movement of the master hand is mapped to the slave hand through a master-slave control algorithm, and each joint of the slave hand is driven to move so as to drive the surgical instrument to realize corresponding movement. The distal end of the surgical robot is used to carry surgical instruments, the position and pose of which determine the accuracy of the surgical procedure. The mode greatly reduces the manual labor of doctors in the operation process, and simultaneously achieves the purpose of accurate operation. The incision of the minimally invasive surgery is a plurality of small holes, which are approximately 0.5 cm to 1 cm. Through these natural orifices or incisions, an operator (e.g., physician) may insert minimally invasive medical instruments (including surgical, diagnostic, therapeutic or biopsy instruments, as well as endoscopes) to reach a target tissue site. And the distal ends of these insertion instruments are mounted on instrument control arms. When an operator operates the console, each joint of the instrument control arm passively moves to drive the surgical instrument to realize corresponding movement.
In minimally invasive surgery, the operator performs the procedure through the field of view of the inserted endoscope during the procedure. However, there is a limitation in the surgical field of view of the endoscope, such as the distance relationship between the instrument and the endoscope, and the judgment of the distance relationship between the instruments by the operator is affected by the field of view. Therefore, how to inform or prompt the operator of the distance relationship between the instrument and the endoscope, and improving the accuracy and safety of the operation are technical problems that the skilled person needs to solve.
Therefore, the person skilled in the art is dedicated to develop a method for prompting the distance between the instrument and the endoscope, which can prompt the distance relation between the instrument and the endoscope and improve the accuracy and safety of the operation.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a method for prompting a distance between an instrument and an endoscope, which can prompt a distance relationship between the instrument and the endoscope, and improve the accuracy and safety of the operation.
In order to achieve the above object, the present invention provides a method for prompting a distance between an instrument and an endoscope, comprising the steps of:
1) Creating an icon;
2) Acquiring a three-dimensional model of a master hand;
3) Reading data of each axis of the main hand, and controlling the rotation of the three-dimensional model by using the data;
4) Acquiring real-time distance S between rotation center point of instrument wrist and lens center point of endoscope 1 ；
5) Judging the real-time distance S 1 If the distance is within the effective distance range, the step 6) is entered, and if the distance is within the effective distance range, the step 7) is entered;
6) According to the real-time distance S 1 Step 4) is carried out after the icon is updated;
7) Judging the real-time distance S 1 If the effective distance is greater than the maximum effective distance, if so, the step 4) is carried out after the updated icon is the minimum icon, and if not, the step 4) is carried out after the updated icon is the maximum icon.
Preferably, the icon is displayed in the stereoscopic viewfinder.
Preferably, the effective distance is 1-8cm.
Preferably, the ratio of the minimum area to the maximum area of the icon is 1:4.
preferably, the icon size and the real-time distance S 1 The length of (2) is inversely related.
Preferably, the icon is displayed in combination with an instrument icon.
Preferably, the icon includes instrument number information.
Preferably, the icon includes left or right master hand control information.
Preferably, the icon is provided with a circle, and the circle comprises instrument number information and left main hand or right main hand control information.
The beneficial effects of the invention are as follows: the invention can reflect the distance relation between the instrument and the endoscope in real time through the size of the icon, thereby improving the accuracy and safety of the operation.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention.
FIG. 2 is a schematic diagram of an indicator icon according to an embodiment of the present invention.
FIG. 3 is a schematic view of an indicator icon with reduced distance relative to the instrument and endoscope of FIG. 2.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The whole method is characterized in that OpenGL is used for one-to-one three-dimensional modeling, and the method comprises the following steps of 4) real-time distance S between the rotation center point of the instrument wrist and the lens center point of an endoscope 1 ", also in this mouldDescription in model scenario.
As shown in fig. 1, a method for prompting the distance between an instrument and an endoscope comprises the following steps:
1) An icon is created and displayed in the stereoscopic viewfinder.
2) In the step, openGL can be used for carrying out one-to-one three-dimensional modeling, and the three-dimensional model is synchronously controlled according to the motion parameters of an actual motor.
3) The data of each axis of the main hand is read, the data is used for controlling the rotation of the three-dimensional model, the rotation data of each axis of the main hand can be obtained according to the motion parameters of the actual motor, the rotation data comprises the rotation direction and the rotation angle, and the three-dimensional model is synchronously controlled, so that the three-dimensional model synchronously rotates.
4) Acquiring real-time distance S between rotation center point of instrument wrist and lens center point of endoscope 1 . In this step, the real-time distance S can be read directly through the three-dimensional model 1 。
5) Judging the real-time distance S 1 If the distance is within the effective distance range, the method proceeds to step 6), and if the distance is within the effective distance range, the method proceeds to step 7). The effective distance is a manually set distance, in this embodiment, the effective distance is 1-8cm. Namely when 1 is less than or equal to S 1 When less than or equal to 8, the real-time distance S 1 Within the effective distance range.
6) According to the real-time distance S 1 Step 4) is carried out after the icon is updated. In the present application, each real-time distance S 1 Icons with a certain size can be correspondingly arranged, and in particular, in operation, the icons can be proportionally arranged, and the size of the icons is equal to the real-time distance S 1 Is inversely related to the length of (i.e. real-time distance S) 1 The larger the icon the smaller the scale. Within the effective distance, when the real-time distance S 1 At a maximum of 8cm, the icon is displayed to a minimum state when the real-time distance S 1 At the minimum of 1cm, the icon is displayed to the maximum state.
7) Judging the real-time distance S 1 If the effective distance is greater than the maximum effective distance, if so, the step 4) is carried out after the updated icon is the minimum icon, and if not, the step 4) is carried out after the updated icon is the maximum icon. In this step, the real-time distance is determinedFrom S 1 If the effective distance is larger than the maximum effective distance, if the effective distance is larger than 8cm, the icon is displayed to be in the minimum state and is not changed any more. Conversely, real-time distance S 1 Less than the minimum effective distance, i.e., less than 1cm, the icon is displayed to a maximum state and no longer changes.
In this embodiment, the ratio of the minimum area to the maximum area of the icon is 1:4, i.e. in this scale range, the icons are according to the real-time distance S 1 Is enlarged or reduced. In this embodiment, as shown in fig. 2 and 3, the icon is displayed in combination with the instrument icon, and the icon includes instrument number information and left or right master hand control information. The invention sends the corresponding control result to the master-slave control server through the instruction protocol, and records the data record of each allocation, when needing to judge which master hand the instrument is controlled, the result of each allocation is displayed, in the embodiment, the left master-hand control is displayed by L, the right master-hand control is displayed by R, and the instrument number is displayed by Arabic number), and the application displays the information together in an icon mode. Specifically, the icon main body is set as a circle, and instrument number information and left main hand or right main hand control information are displayed in the circle.
When the invention works, the real-time distance S between the instrument and the endoscope 1 Real-time distance S when effective distance is 1-8cm 1 Further and further, the icons become smaller gradually until the icons reach the minimum state at 8cm, and the distance is not changed even if the distance is increased again. In contrast, real-time distance S 1 More and more, the icon is gradually enlarged until the real-time distance S 1 At 1cm, the icon shows the maximum state, and the icon is not increased even if the distance is reduced again. As shown in fig. 2 and 3, from fig. 2 to 3, there is shown a process in which the distance between the instrument and the endoscope is reduced, and the visible icons (including circles, instrument numbers, left main hand or right main hand control information) are gradually increased.
The invention can acquire the distance between the instrument and the endoscope in real time, display the change relation from the size of the icon, and indicate the icon which is not changed any more to the operator when the icon is extremely far or extremely near, thereby improving the accuracy and the safety of the operation.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (8)
1. The method for prompting the distance between the instrument and the endoscope is characterized by comprising the following steps:
1) Creating an icon;
2) Acquiring a three-dimensional model of a master hand;
3) Reading data of each axis of the main hand, and controlling the rotation of the three-dimensional model by using the data;
4) Acquiring real-time distance S between rotation center point of instrument wrist and lens center point of endoscope 1 ；
5) Judging the real-time distance S 1 If the distance is within the effective distance range, the step 6) is entered, and if the distance is within the effective distance range, the step 7) is entered;
6) According to the real-time distance S 1 Step 4) is performed after the icon is updated, and the icon size and the real-time distance S are equal to each other 1 The length of the two parts is in inverse proportion;
7) Judging the real-time distance S 1 If the effective distance is greater than the maximum effective distance, if so, the step 4) is carried out after the updated icon is the minimum icon, and if not, the step 4) is carried out after the updated icon is the maximum icon.
2. The instrument-to-endoscope distance prompting method according to claim 1, wherein: the icon is displayed in the stereoscopic viewfinder.
3. The instrument-to-endoscope distance prompting method according to claim 1, wherein: the effective distance is 1-8cm.
4. The instrument-to-endoscope distance prompting method according to claim 1, wherein: the ratio of the minimum area to the maximum area of the icon is 1:4.
5. the instrument-to-endoscope distance prompting method according to claim 1, wherein: the icon is displayed in combination with the instrument icon.
6. The instrument-to-endoscope distance prompting method according to claim 1, wherein: the icon includes instrument number information.
7. The instrument-to-endoscope distance prompting method according to claim 1, wherein: the icon includes left or right master hand control information.
8. The instrument-to-endoscope distance prompting method according to claim 1, wherein: the icon is provided with a circle, and instrument number information and left main hand or right main hand control information are included in the circle.
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| CN202111408335.3A CN114099006B (en) | 2021-11-24 | 2021-11-24 | Instrument and endoscope distance prompting method |
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| CN202111408335.3A CN114099006B (en) | 2021-11-24 | 2021-11-24 | Instrument and endoscope distance prompting method |
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| CN114099006A CN114099006A (en) | 2022-03-01 |
| CN114099006B true CN114099006B (en) | 2023-05-26 |
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| CN102170835A (en) * | 2008-09-30 | 2011-08-31 | 直观外科手术操作公司 | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip |
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| CN107049492A (en) * | 2017-05-26 | 2017-08-18 | 微创（上海）医疗机器人有限公司 | The display methods of surgical robot system and surgical instrument position |
| CN108778085A (en) * | 2016-03-09 | 2018-11-09 | 索尼公司 | Image processing equipment, endoscope surgery system and image processing method |
| JP2018180521A (en) * | 2017-04-13 | 2018-11-15 | オリンパス株式会社 | Endoscope device and measurement method |
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| US9718190B2 (en) * | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
| US20210030497A1 (en) * | 2019-07-31 | 2021-02-04 | Auris Health, Inc. | Apparatus, systems, and methods to facilitate instrument visualization |
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- 2021-11-24 CN CN202111408335.3A patent/CN114099006B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102076276A (en) * | 2008-06-27 | 2011-05-25 | 直观外科手术操作公司 | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
| CN102170835A (en) * | 2008-09-30 | 2011-08-31 | 直观外科手术操作公司 | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip |
| CN105451802A (en) * | 2013-08-15 | 2016-03-30 | 直观外科手术操作公司 | Graphical user interface for catheter positioning and insertion |
| CN108778085A (en) * | 2016-03-09 | 2018-11-09 | 索尼公司 | Image processing equipment, endoscope surgery system and image processing method |
| JP2018180521A (en) * | 2017-04-13 | 2018-11-15 | オリンパス株式会社 | Endoscope device and measurement method |
| CN107049492A (en) * | 2017-05-26 | 2017-08-18 | 微创（上海）医疗机器人有限公司 | The display methods of surgical robot system and surgical instrument position |
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