Planning method and device for abdominal cavity minimally invasive surgery puncture path

Abstract

The embodiment of the invention provides a planning method and a planning device for the abdominal cavity minimally invasive surgery puncture path. The planning method comprises the following steps that an ultrasonic unit captures an ultrasonic image generated by the focus organ in the abdominal cavity in real time; the dynamic change of the focus organ in the abdominal cavity is determined according to the ultrasonic image captured in real time; the preplanned puncture path is subjected to fine adjustment according to the dynamic change of the focus organ, so that the puncture path after fine adjustment only aims at the focus organ but avoids the sensitive organs besides the focus organ. With the adoption of the embodiment of the invention, the fine adjustment on the puncture path is realized, so that the puncture path after fine adjustment accurately aligns at the target spot on the focus organ, and therefore, the making difficulty of the operation plan is reduced.

Description

technical field [0001] Embodiments of the present invention relate to the field of abdominal interventional surgery, in particular to a method and device for planning a puncture path in minimally invasive abdominal surgery. 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 with new treatments by t...

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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