CN114424974A - Method and system for positioning laparoscope operation hole based on pneumoperitoneum simulation - Google Patents

Abstract

The invention discloses a method and a system for positioning a laparoscope operation hole based on pneumoperitoneum simulation, wherein the method comprises the following steps: building an abdominal cavity three-dimensional model in an uninflated state, and displaying the liver, the liver pipeline, the tumor and the abdominal wall in the abdominal cavity three-dimensional model; simulating the pneumoperitoneum of the human body based on the abdominal cavity three-dimensional model to obtain a human pneumoperitoneum simulation model; determining an endoscope hole, a main operation hole, an auxiliary operation hole and positions of the endoscope hole, the main operation hole and the auxiliary operation hole on the pneumoperitoneum based on a human pneumoperitoneum simulation model; and (4) relieving abdominal pressure to return the pneumoperitoneum to the uninflated state so as to obtain the positions of the corresponding endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated external abdominal wall. The positioning system is used for realizing the positioning method. The invention not only analyzes the abdominal cavity environment in advance, but also positions the position of the operation hole on the uninflated outer abdominal wall through the inverse transformation of simulation inflation, improves the fixed point level of the operation hole, and effectively helps a doctor to determine the operation hole which is easier to operate under the condition of no inflation before an operation.

Description

Positioning method and system of laparoscopic operating hole based on pneumoperitoneum simulation

technical field

The invention relates to the technical field of medical simulation models, in particular to a method and system for locating a laparoscopic operation hole based on pneumoperitoneum simulation.

Background technique

Traditional liver laparoscopic surgery is to first inject medical gas such as carbon dioxide through the endoscope hole to inflate the abdominal cavity to form a basic environment for laparoscopic surgery, and then insert the laparoscope into the endoscope hole to observe the abdominal cavity environment, and then pass Preoperative CT scan and external probing are used to find the surgical location. Combine the doctor's surgical experience to determine the location of the surgical operation hole. Finally, the doctor uses a scalpel to open the operation hole, so that the doctor can view the abdominal cavity through the abdominal image returned by the endoscope. environment, while doing surgery.

This traditional method of finding the position of the operating hole mainly relies on the doctor's experience, lacks data support and actual verification, and even mispositioning may occur for inexperienced doctors; and due to the current limited technology, inflatable drilling is generally performed in During the operation, the operation time will be wasted, so quickly finding the operation hole is a difficult problem that needs to be solved at present.

SUMMARY OF THE INVENTION

Based on this, the present invention provides a method and system for locating a laparoscopic operating hole based on pneumoperitoneum simulation. First, three-dimensional reconstruction of the inflated abdominal cavity is performed to obtain a human pneumoperitoneum simulation model. Based on the human pneumoperitoneum simulation model, the surgical operation hole is The selection principle is to select the operation hole, and carry out the simulation simulation check and motion interference check to determine the position of the endoscope hole, the main operation hole and the auxiliary operation hole on the pneumoperitoneum, and then return the pneumoperitoneum to the uninflated state, and locate the corresponding hole. The positions of the endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated outer abdominal wall can effectively help the physician to determine the operation hole that is easier to operate without preoperative inflation.

Terminology Description:

Pneumoperitoneum, namely inflatable abdominal cavity, refers to the expansion of abdominal cavity formed by the deformation of abdominal wall under the influence of artificially inflated gas pressure.

The work area refers to the area where tumor cutting operations are performed according to the surgical cutting line.

Field of view refers to the visible range of the endoscope.

The technical scheme adopted in the present invention is:

The method for locating the laparoscopic operating hole based on pneumoperitoneum simulation includes the following steps:

Step S1. Build a three-dimensional model of the abdominal cavity in an uninflated state, and display the liver, liver duct, tumor and abdominal wall in the three-dimensional model of the abdominal cavity;

Step S2. simulating human pneumoperitoneum based on the three-dimensional model of the abdominal cavity to obtain a human pneumoperitoneum simulation model;

Step S3. Based on the human pneumoperitoneum simulation model, determine the endoscope hole, the main operation hole, the auxiliary operation hole and their positions on the pneumoperitoneum;

Step S4. Remove the abdominal pressure, return the pneumoperitoneum to the uninflated state, and obtain the corresponding positions of the endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated outer abdominal wall.

In the method for locating a laparoscopic operating hole based on pneumoperitoneum simulation disclosed in the present application, in the step S1, the specific process of building a three-dimensional model of the abdominal cavity in an uninflated state is as follows:

The abdominal cavity CT data or abdominal cavity MRI data are acquired and processed to build a three-dimensional model of the abdominal cavity in an uninflated state.

In the method for locating the laparoscopic operation hole based on pneumoperitoneum simulation disclosed in the present application, in the step S2, the human body pneumoperitoneum is simulated based on the three-dimensional model of the abdominal cavity, and the specific process of obtaining the human body pneumoperitoneum simulation model is as follows:

Based on the three-dimensional model of the abdominal cavity, the human pneumoperitoneum simulation model is obtained by changing the elastic modulus or air pressure to simulate the human pneumoperitoneum under different elastic moduli or air pressure.

In the method for locating the laparoscopic operation hole based on pneumoperitoneum simulation disclosed in the present application, in the step S3, the endoscope hole and its position on the pneumoperitoneum are determined, and the specific process is as follows:

S31. Based on the human pneumoperitoneum simulation model, select multiple operation holes A according to the selection principle of endoscope holes;

S32. The simulated endoscope expands, contracts and rotates in the operation hole A, adjusts the center of the field of view of the endoscope, and observes the working field;

S33. Calculate the coincidence rate between the operation field and the center of the visual field, and select the operation hole A with the largest coincidence rate as the endoscope hole, and the position of the operation hole A is the position of the endoscope hole on the pneumoperitoneum.

In the method for locating the laparoscopic operation hole based on pneumoperitoneum simulation disclosed in the present application, in the step S3, the main operation hole and its position on the pneumoperitoneum are determined, and the specific process is as follows:

S34. Based on the human pneumoperitoneum simulation model, select multiple operation holes B according to the principle of main operation hole selection;

S35. Simulate the main scalpel to cut the tumor in the operation hole B according to the operating field;

S36. Calculate and select the operation hole B closest to the tumor and with the smallest liver incision volume as the main operation hole, and the position of the operation hole B is the position of the main operation hole on the pneumoperitoneum.

In the method for locating the laparoscopic operation hole based on pneumoperitoneum simulation disclosed in the present application, in the step S3, the auxiliary operation hole and its position on the pneumoperitoneum are determined, and the specific process is as follows:

S37. Based on the human pneumoperitoneum simulation model, determine the position of the main operation hole, and select a plurality of operation holes C according to the selection principle of the auxiliary operation hole;

S38. Simulate that the main scalpel is inserted into the main operation hole, and the auxiliary scalpel is inserted into the operation hole C;

S39. Analyze the motion range of the primary and secondary scalpels, calculate the degree of interference between the primary and secondary scalpels, select the operation hole C with the smallest degree of interference as the secondary operation hole, and the position of the operation hole C is the position of the secondary operation hole on the pneumoperitoneum Location.

Based on the same inventive concept, the present invention also discloses a positioning system for laparoscopic operation holes based on pneumoperitoneum simulation, which is used to realize the aforementioned positioning method, specifically,

The positioning system for laparoscopic operation holes based on pneumoperitoneum simulation, including:

The three-dimensional pneumoperitoneum reconstruction module is used to construct a three-dimensional model of the abdominal cavity in an uninflated state and a human pneumoperitoneum simulation model;

The operation hole measurement and verification module is used to determine the endoscope hole, the main operation hole and the auxiliary operation hole and their positions on the pneumoperitoneum on the human pneumoperitoneum simulation model;

The operation hole positioning module is used to return the pneumoperitoneum to the uninflated state, and obtain the positions of the corresponding endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated outer abdominal wall.

In the positioning system for laparoscopic operation holes based on pneumoperitoneum simulation disclosed in the present application, the three-dimensional pneumoperitoneum reconstruction module includes:

The reconstruction sub-module is used to reconstruct the three-dimensional model of the abdominal cavity in an uninflated state according to the CT data of the abdominal cavity or the MRI data of the abdominal cavity, and display the liver, liver duct, tumor and abdominal wall in the three-dimensional model of the abdominal cavity;

A sub-module is constructed to change the elastic modulus or air pressure, simulate human pneumoperitoneum under different elastic modulus or air pressure, and obtain a human pneumoperitoneum simulation model.

In the positioning system for laparoscopic operation holes based on pneumoperitoneum simulation disclosed in the present application, the operation hole measurement and verification module includes:

The endoscope hole sub-module is used to select the operation hole A according to the selection principle of the endoscope hole, and simulate the expansion and rotation of the endoscope in the operation hole A, adjust the center of the field of view of the endoscope, observe the operation field, and calculate the operation The coincidence rate between the field and the center of the visual field, select the operation hole A with the largest coincidence rate as the endoscope hole, and the position of the operation hole A is the position of the endoscope hole on the pneumoperitoneum;

The main operation hole sub-module is used to select the operation hole B according to the selection principle of the main operation hole, and simulate the main scalpel to cut the tumor in the operation hole B according to the operation field. Calculate and select the operation hole B that is closest to the tumor and has the smallest liver cutting volume as The main operation hole, the position of the operation hole B is the position of the main operation hole on the pneumoperitoneum;

The sub-operation hole sub-module is used to select the operation hole C according to the selection principle of the auxiliary operation hole, and simulate the insertion of the auxiliary scalpel into the operation hole C, and the insertion of the main scalpel into the determined main operation hole, to analyze and calculate the motion range of the main and auxiliary scalpels. For the degree of interference between the main and auxiliary scalpels, select the operation hole C with the smallest degree of interference as the auxiliary operation hole, and the position of the operation hole C is the position of the auxiliary operation hole on the pneumoperitoneum.

In the positioning system for laparoscopic operation holes based on pneumoperitoneum simulation disclosed in the present application, the positioning system further includes a data recording and processing module for recording the tumor position and the positions of each operation hole in a database.

Compared with the prior art, the beneficial effects of the present invention are:

The invention obtains a human pneumoperitoneum simulation model by performing three-dimensional reconstruction of the inflatable abdominal cavity, and then calculates and selects the operation hole according to the operation hole selection principle based on the human body pneumoperitoneum simulation model, and performs the simulation simulation check calculation and motion interference check calculation to determine the endoscopic The position of the endoscope hole, the main operation hole and the auxiliary operation hole on the pneumoperitoneum, and then return the pneumoperitoneum to the uninflated state, and locate the corresponding endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated outer abdominal wall. Location. The invention not only analyzes the abdominal cavity environment in advance, but also locates the position of the operation hole on the uninflated outer abdominal wall through the inverse transformation of simulated inflation, which improves the fixed point level of the operation hole and effectively helps the physician to determine the operation hole without inflation before operation. An operation hole for easier surgical operation is obtained.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of a positioning system for a laparoscopic operation hole based on pneumoperitoneum simulation of the present invention;

Fig. 2 is the human body pneumoperitoneum simulation model before inflation;

Fig. 3 is the human body pneumoperitoneum simulation model after inflation;

Fig. 4 is the structural schematic diagram of the visible range of the endoscope;

5 is a schematic structural diagram of an endoscope field of view;

FIG. 6 is a schematic structural diagram of the tangent line of the cutting line and the center line of the visual field.

Detailed ways

In order to make the above objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all the structures related to the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The terms "comprising" and "having" and any variations thereof in this application are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

Reference in this application to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

The embodiment of the present application provides a method for locating a laparoscopic operating hole based on pneumoperitoneum simulation, the main purpose is to determine the position of the operating hole on the pneumoperitoneum by constructing a human pneumoperitoneum simulation model, and then return the pneumoperitoneum to an uninflated state , locates the position of the operation hole on the non-inflated outer abdominal wall, effectively helping the physician to determine the operation hole that is easier to operate without inflating before the operation.

The method for locating a laparoscopic operating hole based on pneumoperitoneum simulation disclosed in the present application includes the following steps:

Step S1. Build a three-dimensional model of the abdominal cavity in an uninflated state, and display the liver, liver conduit, tumor and abdominal wall in the three-dimensional model of the abdominal cavity. Three-dimensional reconstruction of the abdominal cavity was completed before surgery, and the liver, liver ducts and tumors were localized.

Step S2. Simulate human pneumoperitoneum based on the three-dimensional model of the abdominal cavity to obtain a human pneumoperitoneum simulation model. The abdominal cavity before and after inflation is shown in Figures 2 and 3.

Step S3. Based on the human pneumoperitoneum simulation model, determine the endoscope hole, the main operation hole, the auxiliary operation hole and their positions on the pneumoperitoneum. Usually, the operation holes adhere to the principle of triangular distribution, that is, the endoscope holes, the main operation holes and the auxiliary operation holes are distributed as a plane isosceles triangle as much as possible, and other auxiliary holes are flexibly arranged around the core triangle according to the needs of the operation. Therefore, it is only necessary to consider the selection of the endoscope hole, the main operation hole and the auxiliary operation hole.

Step S4. Remove the abdominal pressure, return the pneumoperitoneum to the uninflated state, and obtain the corresponding positions of the endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated outer abdominal wall. By selecting, measuring and determining the operation hole on the human pneumoperitoneum simulation model, and then releasing the abdominal pressure, the pneumoperitoneum returns to the uninflated state, and the position of the operation hole on the uninflated outer abdominal wall is obtained, which effectively helps the physician in the situation of non-inflation before surgery. The operation hole that is easier to operate can be determined under the operation.

In one embodiment, for step S1, the specific process of building a three-dimensional abdominal cavity model in an uninflated state is as follows: acquiring abdominal cavity CT data or abdominal cavity MRI data, and processing them to build a three-dimensional abdominal cavity model in an uninflated state.

In one embodiment, for step S2, simulating human pneumoperitoneum based on the three-dimensional model of the abdominal cavity, and the specific process of obtaining the pneumoperitoneum simulation model of the human body is: based on the three-dimensional model of the abdominal cavity, by changing the elastic modulus or air pressure, simulating different elastic moduli or air pressure Under the human pneumoperitoneum, a simulation model of human pneumoperitoneum was obtained. Specifically, in the process of determining the laparoscopic operating hole, due to the existence of the peritoneal membrane, the movement of the liver will not change too much before and after the abdominal cavity is inflated. Therefore, in the process of three-dimensional pneumoperitoneum reconstruction, the elasticity of each tissue of the abdominal wall is set first. The initial value of the modulus, according to the gas pressure, analyze the force of the abdominal wall, and initially simulate the inflation process of the abdominal cavity; then adjust the elastic modulus value of each tissue of the abdominal wall to obtain a human pneumoperitoneum simulation model.

In one embodiment, for step S3, the endoscope hole and its position on the pneumoperitoneum are determined, and the specific process is:

S31. Based on the human pneumoperitoneum simulation model, select multiple operation holes A according to the selection principle of endoscope holes;

S32. The simulated endoscope expands, contracts and rotates in the operation hole A, adjusts the center of the field of view of the endoscope, and observes the working field;

S33. Calculate the coincidence rate between the operation field and the center of the visual field, and select the operation hole A with the largest coincidence rate as the endoscope hole, and the position of the operation hole A is the position of the endoscope hole on the pneumoperitoneum.

Specifically, the selection principle of the endoscope hole is as follows: the selection of the endoscope hole is performed on the surface of the outer abdominal wall in a direction in which the navel is deviated from the working field. Laparoscopic liver surgery generally uses a 30° scope, as shown in Figure 4, the visual range is a conical space. Through the rotation and expansion of the endoscope, the field of view can be adjusted to present a larger field of view, as shown in FIG. 5 . In order to perform better tumor cutting operation, it is necessary to ensure that the video projected by the endoscope can see the working field and the working field should be in the center of the field of view as much as possible, that is, any point on the cutting line of the working field during the tumor cutting process. The tangent line and the midline of the visual range of the endoscope should be kept as coincident as possible, as shown in Figure 6.

In one embodiment, for step S3, the main operation hole and its position on the pneumoperitoneum are determined, and the specific process is:

S34. Based on the human pneumoperitoneum simulation model, select multiple operation holes B according to the principle of main operation hole selection;

S35. Simulate the main scalpel to cut the tumor in the operation hole B according to the operating field;

S36. Calculate and select the operation hole B closest to the tumor and with the smallest liver incision volume as the main operation hole, and the position of the operation hole B is the position of the main operation hole on the pneumoperitoneum.

Specifically, the selection principle of the main operating hole is as follows: it should be as close as possible to the lesion site (if the lesion is in the right liver, it should be taken under the xiphoid process, and if the lesion is in the left liver, it should be taken under the costal margin of the left midclavicular line). Laparoscopic liver surgery is to cut off the liver that wraps the tumor little by little through a small hole in the belly with the main scalpel in the pneumoperitoneum by heating, so the removed liver is generally prism-shaped, and different points on the belly are cut. The volume and slope of the downed liver are different, so the main operation hole can be determined according to the size of the liver cut volume.

In one embodiment, to determine the auxiliary operation hole and its position on the pneumoperitoneum, the specific process is:

S37. Based on the human pneumoperitoneum simulation model, determine the position of the main operation hole, and select a plurality of operation holes C according to the selection principle of the auxiliary operation hole;

S38. Simulate that the main scalpel is inserted into the main operation hole, and the auxiliary scalpel is inserted into the operation hole C;

S39. Analyze the motion range of the primary and secondary scalpels, calculate the degree of interference between the primary and secondary scalpels, select the operation hole C with the smallest degree of interference as the secondary operation hole, and the position of the operation hole C is the position of the secondary operation hole on the pneumoperitoneum Location.

Specifically, after the positions of the endoscope hole and the main operation hole are determined, the auxiliary operation hole is determined. The selection principle of the auxiliary operation hole is as follows: it must keep a certain distance from the main operation hole and the endoscope hole. Generally, the right midclavicular line below the costal margin and the right anterior axillary line below the costal margin are used.

The traditional method of finding the position of the operation hole is to find the operation position through preoperative CT scan and external exploration. This method mainly relies on the experience of the doctor, lacks data support and actual verification, and even has positioning errors for inexperienced doctors. However, in the present application, a human pneumoperitoneum simulation model is established before surgery, and then based on the human pneumoperitoneum simulation model, the operation holes are calculated and selected according to the operation hole selection principle, and the simulation simulation check and motion interference check are carried out to determine the endoscope hole. , the position of the main operation hole and the auxiliary operation hole on the pneumoperitoneum, and then return the pneumoperitoneum to the uninflated state, and locate the corresponding position of the endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated outer abdominal wall. The method not only analyzes the abdominal environment in advance, but also locates the position of the operation hole on the uninflated outer abdominal wall through the inverse transformation of simulated inflation, which effectively helps the physician to determine the operation hole that is easier to operate without preoperative inflation.

The above-mentioned embodiment introduces the positioning method of the laparoscopic operation hole based on pneumoperitoneum simulation in more detail. positioning system.

Referring to Fig. 1, the positioning system for laparoscopic operation holes based on pneumoperitoneum simulation includes a three-dimensional pneumoperitoneum reconstruction module, an operation hole measurement and verification module, and an operation hole positioning module.

Among them, the three-dimensional pneumoperitoneum reconstruction module has a reconstruction sub-module and a construction sub-module. The reconstruction submodule reconstructs the three-dimensional model of the abdominal cavity in an uninflated state according to the abdominal CT data or the abdominal cavity MRI data, and displays the liver, liver ducts, tumors and abdominal wall in the three-dimensional abdominal cavity model. The sub-module is constructed based on the three-dimensional model of the abdominal cavity, and by changing the elastic modulus or air pressure, simulating human pneumoperitoneum under different elastic moduli or air pressure, and obtaining a human pneumoperitoneum simulation model, as shown in Figures 2 and 3.

The operation hole measurement and verification module includes an endoscope hole sub-module, a main operation hole sub-module and a secondary operation hole sub-module. Based on the human pneumoperitoneum simulation model, the operation hole measurement and verification module can determine the endoscope hole, the main operation hole and the auxiliary operation hole and their positions on the pneumoperitoneum.

Specifically, the endoscope hole sub-module selects the operation hole A according to the selection principle of the endoscope hole, and simulates the expansion and rotation of the endoscope in the operation hole A, adjusts the center of the field of view of the endoscope, observes the operation field, and calculates the operation According to the coincidence rate of the center of the field and the field of view, the operation hole A with the largest coincidence rate is selected as the endoscope hole, and the position of the operation hole A is the position of the endoscope hole on the pneumoperitoneum.

Specifically, the main operation hole sub-module selects the operation hole B according to the principle of main operation hole selection, and simulates the main scalpel to cut the tumor in the operation hole B according to the operation field, and calculates and selects the operation hole B that is closest to the tumor and has the smallest liver cutting volume as The main operation hole, the position of the operation hole B is the position of the main operation hole on the pneumoperitoneum.

Specifically, the sub-operation hole sub-module selects the operation hole C according to the selection principle of the auxiliary operation hole, simulates the insertion of the auxiliary scalpel into the operation hole C, and the insertion of the main scalpel into the determined main operation hole, analyzes the movement range of the main and auxiliary scalpels, and calculates For the degree of interference between the main and auxiliary scalpels, select the operation hole C with the smallest degree of interference as the auxiliary operation hole, and the position of the operation hole C is the position of the auxiliary operation hole on the pneumoperitoneum.

Among them, the operation hole positioning module removes the abdominal pressure by canceling the air pressure value of the inflated gas, so that the pneumoperitoneum returns to the uninflated state, and the corresponding endoscope hole, main operation hole and auxiliary operation hole are obtained on the uninflated outer abdominal wall. s position.

In one embodiment, the positioning system further includes a data recording and processing module for recording the tumor location and the manipulation hole location in a database. The location of each patient's tumor and the position of the operation hole are recorded in the database, which can be used for experimental teaching on one side, and the operation hole is selected by the doctor in the early stage. hole, and recommend it to the doctor, so as to reduce the repeated operation steps and save time.

The positioning system constructs a human pneumoperitoneum simulation model through a three-dimensional pneumoperitoneum reconstruction module, and uses the operation hole measurement and verification module to determine the endoscope hole, the main operation hole and the auxiliary operation hole on the pneumoperitoneum simulation model. Then, the abdominal pressure is removed through the operation hole positioning module to return the pneumoperitoneum to the uninflated state, and the corresponding positions of the endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated outer abdominal wall are obtained, and finally the data is recorded. And the processing module records the tumor position and the operation hole position in the database, which can be used for learning and training.

The positioning system solves the problems of traditionally relying on doctors to find the position of the operation hole, lacking data support and actual verification, resulting in positioning errors and waste of operation time. It also solves the problem that the operation hole set before abdominal cavity inflation is positioned after inflation Inaccuracy and poor surgical results based on this manipulation hole.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A method for positioning a laparoscope operation hole based on pneumoperitoneum simulation is characterized by comprising the following steps:

step S1, building an abdominal cavity three-dimensional model in an uninflated state, and displaying the liver, the liver pipeline, the tumor and the abdominal wall in the abdominal cavity three-dimensional model;

step S2, simulating the pneumoperitoneum of the human body based on the abdominal cavity three-dimensional model to obtain a human pneumoperitoneum simulation model;

step S3, based on the human pneumoperitoneum simulation model, determining the endoscope hole, the main operation hole and the auxiliary operation hole and the positions of the endoscope hole, the main operation hole and the auxiliary operation hole on the pneumoperitoneum;

and step S4, the abdominal pressure is removed, so that the pneumoperitoneum returns to the uninflated state, and the positions of the corresponding endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated external abdominal wall are obtained.

2. The laparoscopic operation hole positioning method based on pneumoperitoneum simulation according to claim 1, wherein in step S1, the specific process of building the three-dimensional model of the abdominal cavity in the non-inflated state is as follows:

and acquiring abdominal CT data or abdominal MRI data, processing the data and building an abdominal three-dimensional model in an uninflated state.

3. The laparoscopic operating hole positioning method based on pneumoperitoneum simulation as claimed in claim 1, wherein in said step S2, simulating the pneumoperitoneum of the human body based on the abdominal cavity three-dimensional model, and the specific process of obtaining the human body pneumoperitoneum simulation model is:

based on the abdominal cavity three-dimensional model, the human pneumoperitoneum under different elastic moduli or air pressures is simulated by changing the elastic modulus or the air pressure, so that the human pneumoperitoneum simulation model is obtained.

4. The laparoscopic port positioning method based on pneumoperitoneum simulation according to claim 1, wherein in said step S3, the endoscopic port and its position on the pneumoperitoneum are determined by:

s31, selecting a plurality of operation holes A according to the endoscope hole selection principle based on the human pneumoperitoneum simulation model;

s32, simulating the extension and the rotation of the endoscope in the operation hole A, adjusting the center of the visual field of the endoscope and observing the operation field;

and S33, calculating the coincidence rate of the center of the operation field and the center of the visual field, and selecting the operation hole A with the maximum coincidence rate as the endoscope hole, wherein the position of the operation hole A is the position of the endoscope hole on the pneumoperitoneum.

5. The laparoscopic port positioning method based on pneumoperitoneum simulation according to claim 4, wherein in said step S3, the main port and its position on the pneumoperitoneum are determined by the following specific procedures:

s34, selecting a plurality of operation holes B according to a main operation hole selection principle based on the human pneumoperitoneum simulation model;

s35, simulating the main scalpel to cut the tumor in the operation hole B according to the operation field;

and S36, calculating and selecting the operation hole B which is closest to the tumor and has the smallest liver cutting volume as a main operation hole, wherein the position of the operation hole B is the position of the main operation hole on pneumoperitoneum.

6. The laparoscopic port positioning method based on pneumoperitoneum simulation according to claim 5, wherein in said step S3, the secondary operation port and its position on the pneumoperitoneum are determined by:

s37, determining the position of the main operation hole based on the human pneumoperitoneum simulation model, and selecting a plurality of operation holes C according to the selection principle of the auxiliary operation holes;

s38, simulating the insertion of a main scalpel into the main operation hole and the insertion of an auxiliary scalpel into the operation hole C;

and S39, analyzing the movement range of the primary scalpel and the secondary scalpel, calculating the interference degree of the primary scalpel and the secondary scalpel, and selecting the operation hole C with the minimum interference degree as a secondary operation hole, wherein the position of the operation hole C is the position of the secondary operation hole on pneumoperitoneum.

7. A laparoscope operation hole positioning system based on pneumoperitoneum simulation to realize the positioning method of any claim 1-6, which is characterized by comprising the following steps:

the three-dimensional pneumoperitoneum reconstruction module is used for constructing an abdominal cavity three-dimensional model and a human pneumoperitoneum simulation model in an uninflated state;

the operating hole measuring, calculating and verifying module is used for determining the positions of the endoscope hole, the main operating hole and the auxiliary operating hole on the pneumoperitoneum on the human pneumoperitoneum simulation model;

and the operation hole positioning module is used for returning the pneumoperitoneum to an uninflated state to obtain the positions of the corresponding endoscope hole, the main operation hole and the auxiliary operation hole on the uninflated external abdominal wall.

8. The pneumoperitoneum simulation-based laparoscopic procedure port positioning system according to claim 7, wherein said three-dimensional pneumoperitoneum reconstruction module comprises:

the reconstruction submodule is used for reconstructing an abdominal cavity three-dimensional model in an uninflated state according to the abdominal cavity CT data or the abdominal cavity MRI data and displaying the liver, the liver pipeline, the tumor and the abdominal wall in the abdominal cavity three-dimensional model;

and the construction submodule is used for changing the elastic modulus or the air pressure and simulating the pneumoperitoneum of the human body under different elastic moduli or air pressures to obtain a human pneumoperitoneum simulation model.

9. The pneumoperitoneum simulation-based laparoscopic procedure port positioning system according to claim 8, wherein said procedure port estimation and verification module comprises:

the endoscope hole submodule is used for selecting an operation hole A according to an endoscope hole selection principle, simulating the extension and the rotation of an endoscope in the operation hole A, adjusting the center of a visual field of the endoscope, observing the operation field, calculating the coincidence rate of the operation field and the center of the visual field, selecting the operation hole A with the maximum coincidence rate as an endoscope hole, and setting the position of the operation hole A as the position of the endoscope hole on the pneumoperitoneum;

the main operation hole sub-module is used for selecting an operation hole B according to a main operation hole selection principle, simulating a main scalpel to cut a tumor in the operation hole B according to an operation domain, calculating and selecting the operation hole B which is closest to the tumor and has the smallest liver cutting volume as a main operation hole, and the position of the operation hole B is the position of the main operation hole on the pneumoperitoneum;

and the auxiliary operating hole sub-module is used for selecting the operating hole C according to an auxiliary operating hole selection principle, simulating the insertion of an auxiliary scalpel into the operating hole C, simulating the insertion of a main scalpel into the determined main operating hole, analyzing the motion range of the main scalpel and the auxiliary scalpel, calculating the interference degree of the main scalpel and the auxiliary scalpel, selecting the operating hole C with the minimum interference degree as an auxiliary operating hole, and setting the position of the operating hole C as the position of the auxiliary operating hole on pneumoperitoneum.

10. The pneumoperitoneum simulation-based laparoscopic procedure port positioning system according to claim 9, further comprising a data recording and processing module for recording a tumor location and each procedure port location in a database.

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