Abdominal cavity minimally invasive surgery system and needling time determination method

Abstract

The invention embodiment provides an abdominal cavity minimally invasive surgery system and a needling time determination method; the method comprises the following steps: obtaining a static state section image of a focus internal organs model, and using an ultrasonic unit to capture the focus internal organs in the abdominal cavity in real time so as to form a dynamic ultrasonic image; fusing and rectifying the dynamic ultrasonic image with the static state section image of the focus internal organs model, thus determining the needling execution time of a planned puncture path, so the deviation of a puncture tool reaching a preset target can be limited in a preset scope. The system and method allow the tool to have the minimum deviation when reaching the preset target, thus further ensuring surgery safety and effectiveness, and reducing operational difficulty.

Description

technical field [0001] Embodiments of the present invention relate to the field of abdominal interventional surgery, and in particular to a minimally invasive abdominal surgery system and a method for determining the timing of needle insertion. Background technique [0002] Interventional therapy is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body for diagnosis and local treatment of pathological conditions in the body. [0003] Robots and other automation equipment have been widely used in the industrial field, showing obvious advantages in terms of operational flexibility, stability and accuracy. In order to solve the problems of insufficient precision, excessive radiation, large incisions, and operator fatigue in surgery, people began to discuss how to introduce robotic methods into surgery, and provide surgeons wit...

AI Technical Summary

Problems solved by technology

In order to solve the problems of insufficient precision, excessive radiation, large incisions, and operator fatigue in surgery, people began to discuss how to introduce robotic methods into surgery, and provide surgeons with new treatments by taking advantage of the unique advantages of high-tech robots, sensors, etc. Method and system to solve the above problems and improve the operation effect

[0004] In the process of realizing the present invention, the inventors have found that there are at least the following problems in the prior art: For example, for minimally invasive abdominal surgery, since the focus organs are located in the abdominal cavity, due to the patient's position change or breathing, etc., the focus organs The state of the device usually changes, so it increases the difficulty of formulating the operation plan

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