CN105434042B - Operation planning system - Google Patents

Abstract

The present invention discloses a surgical planning system, which comprises a computer, an image acquisition module, and a reminder module. The computer is connected to the image acquisition module and the reminder module respectively, and generates surgical planning information according to an image to be operated collected by the image acquisition module through a surgical planning program; the image acquisition module collects a surgical image during the operation, and collects a surgical completion image when the operation is completed; the reminder module generates a reminder signal to a surgical performer according to the difference between the surgical image and the surgical planning information; the surgical planning program is updated according to the difference between the surgical completion image and the surgical planning information.

Description

surgery planning system

technical field

The invention relates to an operation planning system, in particular to an operation planning system with functions of auxiliary reminding and system updating.

Background technique

With the development of science and technology, medical knowledge and technology are becoming more and more advanced, and tend to develop in the direction of professional division of labor, which makes it very difficult for a medical team relying on only a few people or even one person to complete today's more complex and precise operations. of.

In view of this, many technologies related to surgical/medical auxiliary systems or methods have been proposed in recent years, and it is expected to combine specialized medical knowledge and related hardware equipment through software and hardware integration to form an auxiliary system for generating preoperative planning. Evaluation, prediction or planning before medical behavior or operation, so as to achieve the completion of related operation/medical behavior with less manpower or assisted surgical performer/physician. However, due to the lack of relevant update/feedback mechanisms, these known auxiliary systems or methods cannot be updated in a timely or effective manner based on the more appropriate practical experience or operation of different preoperative plans generated during previous executions, making their subsequent The resulting surgical plan may be inappropriate, causing the operator to receive inappropriate preoperative planning information, which may result in poor therapeutic effects or even serious consequences.

Contents of the invention

In order to improve the deficiencies of the prior art, the present invention proposes a surgical planning system and method, and through the reminder module and related update mechanism, it has the effect of assisting reminder and system update.

According to an embodiment of the present invention, a surgical planning system includes a computer, an image acquisition module, and a reminder module; the computer has an accessible non-transitory memory and a surgical planning program, and the surgical planning The program is stored in the accessible non-transitory memory; the image acquisition module is directly or indirectly connected to the computer, and includes at least one of a camera and a video camera to capture a specific area of a target to be operated image; the reminder module is directly or indirectly connected to the computer; wherein, the computer receives the image to be operated, and converts the image to be operated into a surgical planning information through the operation planning program; wherein, when the specific When an operation is performed in the area, the image acquisition module continuously and in real time acquires an operation image of the specific area of the target, transmits the operation image to the computer, and compares whether the operation image conforms to the Surgical planning information; wherein, in at least one of a first condition, a second condition, and a third condition, the image acquisition module will acquire an operation completion image of an operation region of the target, and store the operation The completion image is sent back to the computer, and the operation planning program is updated according to the difference between the operation completion image and the operation planning information; wherein, the first condition is defined as: when the operation image conforms to the operation planning information, the reminder module generates A first reminder signal to an operation performer; if the operation performer continues to perform the operation, the operation image exceeds the operation planning information, and the operation is completed; wherein, the second condition is defined as: when the operation image does not meet the And when the operation planning information is not exceeded, and when the operation performer intends to end the operation, the reminder module generates a second reminder signal to the operation performer; if the operation performer determines to end the operation, the operation image is not When the operation planning information is met and the operation is completed; wherein, the third condition is defined as: when the operation image does not meet and exceed the operation planning information, the reminder module generates a third reminder signal to the operation performer; and When the operator of the operation determines to complete the operation.

Preferably, the operation planning system further includes an evaluation module, the evaluation module is directly or indirectly connected to the computer, and includes a data output unit to be evaluated, and presents data to be evaluated through the data output unit to be evaluated for at least An evaluator performs evaluation; wherein, the data to be evaluated includes the operation completion image and the operation planning information; if the at least one evaluator approves the evaluation data, the operation planning procedure is updated. Wherein, through the evaluation module, the update of the operation planning program of the present invention can be evaluated and checked by at least one professional evaluator, so that the update of the operation planning program of the present invention is ensured to be appropriate.

Preferably, when the operation is performed on the specific region of the target, the operation planning information is updated according to the operation image through the operation planning program. Wherein, through the real-time update of the operation planning information, the operation performer can be provided with real-time and more suitable operation planning information.

Preferably, the operation planning system further includes a dose detection module, which is directly or indirectly connected to the computer, and the dose detection module is used to detect a surgical dose applied to the specific area; wherein, the operation planning The information includes the information of the planned dose, and when the surgical dose does not meet the planned dose, the reminder module generates a warning signal to the operator of the operation; When the executed dose does not conform to the planned dose and an operation is performed, the dose detection module sends the information of the executed dose back to the computer, and then updates the operation planning program according to the difference between the executed dose and the planned dose. Wherein, through the dose detection module, the operation planning system of the present invention can further monitor the execution dose during the operation process, and has the function of updating the system so that the system can generate a more suitable planned dose.

The following is a detailed description with specific embodiments and accompanying drawings, so that it is easier to understand the purpose, technical content, characteristics and effects of the present invention.

Description of drawings

FIG. 1 is a schematic diagram showing the architecture of a surgical planning system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram showing the flow of a method for updating an operation planning program according to an embodiment of the present invention.

Explanation of reference signs: 1-operation planning system; 10-computer; 20-image acquisition module; 30-reminder module; 40-operation execution equipment; 50-display equipment; 60-evaluation module; 200-Surgery Performer; 300-Assessor; 400-Surgical Planning Procedure Update Method; 410-Step; 420-Step; 430-Step; 440-Step; 450-Step; 460-Step.

detailed description

Please refer to FIG. 1 , which shows the architecture of an operation planning system 1 according to an embodiment of the present invention. The operation planning system 1 includes a computer 10 , an image acquisition module 20 , and a reminder module 30 . The computer 10 includes an accessible non-transitory memory and a surgical planning program stored in the accessible non-transitory memory. The image acquisition module 20 is directly or indirectly connected to the computer 10, and includes at least one of a camera and a video camera to collect an image of a specific area of a target 100 to be operated; wherein, the target 100 is a subject receiving surgery/treatment By. For example, when the operation planning system 1 of the present invention is used for ophthalmic surgery, the target 100 is an operator, the specific area is the eye of the operator, and the image to be operated is the image of the eye of the operator or, when the operation planning system 1 of the present invention is used for skin treatment, especially for the characteristics of facial skin, such as acne, acne, scars, wounds, or other characteristics and symptoms of the face, the target 100 is a person receiving treatment, the specific area is part or all of the face skin of the person receiving treatment, and the image to be operated is an image of the face skin of the person receiving treatment. Preferably, the camera or the video camera can optionally have infrared or X-ray functions, so that the image acquisition module 20 can collect infrared images or X-ray images. Preferably, in an example, the image acquisition module 20 has an Eye Topography Apparatus, so that the operation planning system 1 of the present invention can be dedicated to ophthalmic surgery; wherein, the relevant background technology about the Eye Topography Apparatus has been disclosed in Taiwan In the case of Patent Publication No. 201008544 (Topolyzer as described in it), no further details are given here; or, in other examples, the image acquisition module 20 may optionally include an aberration meter (WavefrontAberration Measuring Apparatus), an ultrasonic scanner ( Ultrasound Scan Device), Tomoscan apparatus, or Endoscopy. Wherein, it should be noted that the operation planning system 1 of the present invention is not limited to the above-mentioned operations or treatments.

Wherein, the computer 10 receives the image to be operated, and converts the image to be operated into a surgical planning information through the surgical planning program; preferably, the surgical planning information includes information corresponding to a planned surgical location and size of the specific area , and optionally a planned dose, an estimated operation time, an operation step, or an operation instruction note; more preferably, the operation planning information includes the image to be operated. When the specific region of the target 100 is undergoing surgery, the image acquisition module 20 continuously and in real time collects a surgical image of the specific region of the target 100, and transmits the surgical image to the computer 10, and compares the surgical image through the surgical planning program. Whether the surgical image conforms to the surgical planning information; in more detail, the surgical image is updated corresponding to the latest surgical image of the target 100 . Preferably, when the operation is performed on the specific area of the target 100, the operation planning information is updated according to the operation image through the operation planning program; the real-time update of the operation planning information can reduce the Influenced by the surface characteristics of a specific area and other surface environmental factors, more suitable surgical planning information is provided to the surgical performer 200 in real time. Optionally, the surgery planning system 1 further includes a surgery performing device 40, which is directly or indirectly connected to the computer 10, and automatically performs surgery on the target 100 according to the surgery planning information. Optionally, the operation planning system 1 further includes a display device 50, the display device 50 is directly or indirectly connected to the computer 10 for displaying at least one of the operation planning information and the operation image for the operation performer 200 The relevant operation details are monitored and grasped through the display device 50 .

The reminder module 30 is directly or indirectly connected to the computer 10 and includes at least one of a sounding component, a light emitting component, and a vibrating component. Wherein, the sound-generating component is used to send out a sound wave signal; the light-emitting component is used to send out a light-wave signal; the vibrating component is a vibration motor used to generate a vibration-wave signal. When the operation image conforms to the operation planning information, the reminder module 30 generates a first reminder signal to an operation performer 200; at this time, the operation performer 200 can decide to complete the operation or continue the operation; in a first condition, If the operation executor 200 continues to perform the operation so that the operation image exceeds the operation planning information and completes the operation, the image acquisition module 20 will collect an operation completion image of an operated area of the target 100 and send the operation completion image to back to the computer 10, so that the operation planning program is updated according to the difference between the operation completion image and the operation planning information. In a second condition, when the operation image does not conform to and does not exceed the operation planning information, and when the operation performer 200 intends to end the operation, the reminder module 30 generates a second reminder signal to the operation performer 200; if the operation When the executor 200 decides to end the operation, the operation image does not conform to the operation planning information, and when the operation is completed, the image acquisition module 20 will collect an operation completion image of an operated area of the target 100, and transmit the operation completion image to back to the computer 10, so that the operation planning program is updated according to the difference between the operation completion image and the operation planning information. In an optional third condition, when the operation image does not meet and exceed the operation planning information, the reminder module 30 generates a third reminder signal to the operation performer 200; no matter whether the operation performer 200 continues the operation, the operation The image no longer conforms to the operation planning information, and when the operation performer 200 determines to complete the operation, the image acquisition module 20 will collect an operation completion image of an operated area of the target 100, and send the operation completion image back to the computer 10, The operation planning program is updated according to the difference between the operation completion image and the operation planning information. Wherein, the first reminder signal, the second reminder signal, and the third reminder signal include at least one of a sound wave, a light wave, and a vibration wave. Preferably, the first reminder signal, the second reminder signal, and the third reminder signal are all different; for example, when the first reminder signal, the second reminder signal, and the third reminder signal are all When it is a light wave signal, the first reminder signal is a green light, the second reminder signal is a blue light, and the third reminder signal is a red light. Preferably, in the case of at least one of the first condition, the second condition, and the third condition, the operation performer 200 can input a operation execution note to record his consideration of performing the operation, and When the surgery planning program is updated, it will include the information of the surgery execution note, so that the surgery planning system 1 of the present invention can provide the surgery execution note to the future operator 200 for reference when performing related operations in the future.

To explain in more detail, in an example, when the surgical image does not meet and does not exceed the surgical planning information in the aforementioned second condition means: based on the same comparison reference point and condition, if the surgical planning information defines a Surgical planning range (which can be composed of position coordinate information), the position coordinates of at least one point in the surgical image cannot correspond to the position of at least one point in the surgical planning range, and the position coordinates of any point in the surgical image do not exceed the surgical planning The boundary range defined by the boundary position coordinates of the range; similarly, when the surgical image does not meet and exceed the surgical planning information in the third condition mentioned above, it means: the position coordinates of at least one point in the surgical image exceed the surgical planning range The boundary range defined by the boundary position coordinates of . Wherein, it should be noted that the difference between the surgical image and the surgical planning information should include a preset tolerance range of error; for example, in a more precise operation, a preset tolerance range of error is 0.001 mm, and must When the difference between the surgical image and the surgical planning information exceeds the preset error tolerance range, the surgery planning program will be updated according to the difference; however, the preset error tolerance range is not limited to the definition on the scale.

Preferably, the operation planning system 1 may optionally further include an evaluation module 60, the evaluation module 60 is directly or indirectly connected to the computer 10, and includes a data output unit to be evaluated, and presents a data to be evaluated through the data output unit to be evaluated. The data is used for evaluation by at least one evaluator 300 ; wherein, the data to be evaluated includes the operation completion image and the operation planning information. When at least one of the aforementioned first condition, second condition, and third condition occurs, and before updating the operation planning program, the evaluation module 60 reads the data to be evaluated, and transmits the data to be evaluated to the data to be evaluated The output unit is presented to at least one evaluator 300 ; if the evaluation module 60 accepts the operation of the evaluator 300 approving the evaluation data, the operation planning program is updated. Wherein, when there are multiple evaluators 300, the evaluation module 60 can set an approval update ratio, so that when the average approval ratio after evaluation by multiple evaluators 300 is not less than the approval update ratio, the operation planning program is updated; The average approval ratio is defined as the ratio of the number of evaluators who approved the evaluation data to the total number of evaluators. The approval renewal ratio is a value between 0 and 1; preferably, the approval renewal ratio is not less than 0.5. Preferably, the data to be evaluated further optionally includes the operation execution note, and the evaluator 300 can confirm, modify, or delete the operation execution note to become an evaluation note, or add an additional evaluation note, and The operation planning information may optionally include at least one evaluation note, which is used to record the consideration of the evaluator, so that the operation planning system 1 of the present invention can provide the evaluation note to the future operation performer when performing related operations in the future 200 ref.

Preferably, the surgery planning system 1 may optionally further include a dose detection module 70, the dose detection module 70 is directly or indirectly connected to the computer 10, and is used to detect a surgical dose applied to the specific area; wherein, the The operation planning information includes the information of the planned dose, and when the operation dose does not meet the planned dose, the reminder module 30 generates a warning signal; when the reminder module 30 generates a warning signal, and the operator 200 decides or adjusts the operation dose For an executed dose, the executed dose does not conform to the planned dose, and when the operation is performed, the dose detection module 70 sends the information of the executed dose back to the computer 10, and then updates the executed dose according to the difference between the executed dose and the planned dose. Surgical planning procedure. Preferably, the evaluation data optionally includes the executed dose and the planned dose. Among them, it should be noted that the so-called "dose" in the surgical dose, the planned dose, and the executed dose includes "drug dose" or "energy dose"; "drug dose" includes the concentration, total amount, or applied Time; "energy dose" includes energy intensity, frequency, or application time; wherein, the types of "energy dose" include laser energy, light energy, and wave/vibration energy, and are not limited to the types described above.

As shown in FIG. 2 (and please refer to FIG. 1 ), according to the surgical planning system 1 of the present invention described above, the steps of a surgical planning program updating method 400 according to an embodiment of the present invention are as follows:

In step 410 : collecting an image to be operated on of a specific area of a target 100 through an image acquisition module 20;

In step 420 : the image to be operated is transmitted to a computer 10; wherein, the computer 10 has an accessible non-transitory memory, and the accessible non-transitory memory has an operation planning program, and through the operation The planning program converts the image to be operated into a surgical planning information;

In step 430 : a surgical image of the specific area of the target 100 is collected in real time by the image acquisition module 20, and the surgical image is transmitted to the computer 10, and the surgical image is compared with the surgical plan through the surgical planning program information;

In step 440 : when the surgical image conforms to the surgical planning information, the reminder module 30 generates a first reminder signal to a surgical performer 200; if the surgical performer 200 continues to perform the operation, the surgical image does not conform to the surgical plan information, and when the operation is completed, the image collection module 20 collects a completed operation image, and sends the operation completed image back to the computer 10, and then updates the operation planning program according to the difference between the operation completed image and the operation planning information;

In step 450 : when the operation image does not conform to and does not exceed the operation planning information, and when the operation performer 200 intends to end the operation, the reminder module 30 generates a second reminder signal to the operation performer 200; if the operation performer 200 When it is determined to end the operation, the operation image does not conform to the operation planning information, and when the operation is completed, the image acquisition module 20 collects an operation completion image, and sends the operation completion image back to the computer 10, and then according to the operation completion image and The difference in the operation planning information, updating the operation planning program;

In an optional step 460 : when the operation image does not conform to and exceed the operation planning information, the reminder module 30 generates a third reminder signal to the operation performer 200; no matter whether the operation performer 200 continues the operation, the operation image If the operation planning information is no longer met, and when the operation operator 200 determines to complete the operation, the image acquisition module 20 will collect an operation completion image of an operated area of the target 100, and send the operation completion image back to the computer 10, so that The operation planning program is updated according to the difference between the operation completion image and the operation planning information.

It should be noted that, in addition to the above-mentioned technical features, the surgical planning program updating method 400 of the present invention can also select all or part of the features in the surgical planning system 1 of the present invention; preferably, the surgical planning program updating method 400 can select contains the following technical features:

1. When the operation is performed on the specific region of the target 100, the operation planning information is updated according to the operation image through the operation planning program.

2. Before updating the operation planning program, the evaluation data output unit of an evaluation module 60 must present a piece of data to be evaluated for at least one evaluator 300 to evaluate and approve the evaluation data, and then the operation planning program will be updated; The data to be evaluated includes the operation completion image and the preoperative operation planning information.

3. Detecting a surgical dose applied to the specific area by a dose detection module 70; wherein, the surgical planning information includes the information of the planned dose, and when the surgical dose does not meet the planned dose, the reminder module 30 generates A warning signal; when the reminder module 30 generates a warning signal, and the operation performer 200 decides or adjusts the operation dose to be an execution dose, so that the execution dose does not conform to the planned dose, and performs the operation, the dose detection module 70 will The information of the executed dose is sent back to the computer 10, so that the operation planning program is updated according to the difference between the executed dose and the planned dose.

It should be noted that the "direct or indirect connection" mentioned in the present invention means that the two components (for example: between the image acquisition module 20 and the computer 10) are directly electrically connected or indirectly achieved through network transmission technology. connect.

According to the contents described above in the operation planning system and the operation planning program update method 400 of the present invention, the operation planning system and the operation planning program update method of the present invention can be achieved through the interaction between the computer 10, the image acquisition module 20, and the reminder module 30, Generate surgical planning information and reminding effects to have the functions of assisting the operation and reminding the surgical operator 200 respectively; The third condition can be selected to update the characteristics of the operation planning program, and the operation planning program can be updated according to the practical operation experience and judgment of the operator 200, so that the updated operation planning program can generate more suitable operation planning information Effect. Wherein, optionally, the surgical planning information in the surgical planning system and its surgical planning program updating method of the present invention can be updated according to the surgical image during the operation, and has the effect of updating the surgical information in real time according to the real-time surgical image, And provide the operation performer 200 with real-time and more appropriate operation planning information. Wherein, optionally, the surgical planning system of the present invention and its surgical planning program updating method may include a dose detection module 70, and through the function of the dose detection module 70, the reminder module 30 may, when the surgical dose does not meet the planned dose, Generate a warning signal to the operation performer, and have the effect of assisting the operation and reminding the operation performer 200; and when the execution dose does not meet the planned dose and the operation is performed, the operation planning program will be based on the execution dose and the planning The difference in dose is updated, which has the effect of enabling the updated surgical planning procedure to produce more appropriate surgical planning information. Wherein, optionally, the surgical planning system and its surgical planning program update method of the present invention may include an evaluation module 60, through the function of the evaluation module 60, the update of the surgical planning program must be evaluated by at least one professional evaluator 300 , which in turn has the effect of ensuring proper updating of the surgical planning program of the present invention.

The above-described embodiments are only for illustrating the technical idea and characteristics of the present invention, and its purpose is to enable those skilled in this art to understand the content of the present invention and implement it accordingly, and should not limit the patent scope of the present invention with it. That is, all equivalent changes or modifications made according to the spirit disclosed in the present invention should still fall within the protection scope of the present invention.

Claims (9)

1. A surgical planning system, characterized in that it comprises: a computer having an accessible non-transitory memory and a surgical planning program stored in the accessible non-transitory memory; An image acquisition module is directly or indirectly connected to the computer, and includes at least one of a camera and a video camera, to collect an image of a specific area of a target to be operated; and A reminder module, directly or indirectly connected with the computer; Wherein, the computer receives the image to be operated, and converts the image to be operated into operation planning information through the operation planning program; Wherein, when an operation is performed on the specific area of the target, the image acquisition module continuously and in real time acquires an operation image of the specific area of the target, and transmits the operation image to the computer, and through the operation planning The program compares whether the operation image conforms to the operation planning information; Wherein, in at least one of a first condition, a second condition, and a third condition, the image acquisition module will acquire an operation completion image of an operation region of the target, and send the operation completion image back The computer, the operation planning program is updated according to the difference between the operation completion image and the operation planning information; Wherein, the first condition is defined as: when the surgical image conforms to the surgical planning information, the reminder module generates a first reminder signal to a surgical performer; if the surgical performer continues to operate, the surgical image exceeds the Surgery planning information, and when surgery is completed; Wherein, the second condition is defined as: when the operation image does not conform to and does not exceed the operation planning information, and when the operation performer intends to end the operation, the reminder module generates a second reminder signal to the operation performer; If the operator of the operation decides to end the operation, makes the operation image inconsistent with the operation planning information, and completes the operation; Wherein, the third condition is defined as: when the operation image does not conform to and exceeds the operation planning information, the reminder module generates a third reminder signal to the operation performer; and when the operation performer determines to complete the operation. 2. The operation planning system according to claim 1, further comprising an evaluation module, the evaluation module is directly or indirectly connected to the computer, and includes a data output unit to be evaluated, and is presented through the data output unit to be evaluated The data to be evaluated is used for at least one assessor to evaluate; wherein, the data to be evaluated includes the operation completion image and the operation planning information; if the at least one assessor approves the evaluation data, the operation planning program is updated. 3. The surgery planning system of claim 1, wherein when surgery is performed on the specific region of the target, the surgery planning information is updated according to the surgery image through the surgery planning program. 4. The surgery planning system of claim 2, wherein when the operation is performed on the specific region of the target, the surgery planning information is updated according to the surgery image through the surgery planning program. 5. The operation planning system according to any one of claims 1 to 4, wherein the operation planning information includes information on a planned operation range corresponding to the specific area, a simulated treatment position or size, and optional A planned dose, an estimated time of surgery, a procedure to perform a surgery, or a note of surgery instructions. 6. The operation planning system according to claim 5, further comprising a dose detection module, which is directly or indirectly connected to the computer, and the dose detection module is used to detect an operation applied to the specific area Dose; wherein, the operation planning information includes the information of the planned dose, and when the operation dose does not meet the planned dose, the reminder module generates a warning signal to the operation performer; if the operation performer decides or adjusts the operation The dose is an executed dose, so that when the executed dose does not conform to the planned dose and the operation is performed, the dose detection module sends the information of the executed dose back to the computer, and then updates the Surgical planning procedure. 7. The surgical planning system according to any one of claims 1 to 4, further comprising a surgical execution device, which is directly or indirectly connected to the computer and operates according to the surgical planning information. 8. The operation planning system according to any one of claims 1 to 4, wherein the image acquisition module further comprises a map instrument, an aberrometer, an ultrasonic scanner, a tomographic scanner, and a At least one of the endoscopes. 9. The operation planning system according to any one of claims 1 to 4, further comprising a display device, the display device is directly or indirectly connected to the computer for displaying at least the operation planning information and the At least one of the surgical images.