CN109919983B

CN109919983B - Kinect doctor visual angle tracking-oriented Kalman filter

Info

Publication number: CN109919983B
Application number: CN201910200252.1A
Authority: CN
Inventors: 吴海滨; 成琴; 汪颖; 李冬明; 于博洋; 于晓洋
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin qingcen Technology Co.,Ltd.
Priority date: 2019-03-16
Filing date: 2019-03-16
Publication date: 2021-05-14
Anticipated expiration: 2039-03-16
Also published as: CN109919983A

Abstract

The invention relates to a Kinect doctor visual angle tracking-oriented Kalman filter, which belongs to the technical fields of medicine, three-dimensional imaging, digital image processing and the like; the Kalman filter defines a Kalman filter state vector and an observation vector in a frame of Kinect data and parallels a Kalman system equation; the technology is applied to the method for observing the inner cavity through body surface projection virtual transparency in the minimally invasive surgery provided by the applicant, and as a core part of a visual angle tracking method of a doctor in the method, a solid theoretical foundation is laid for obtaining a more real virtual abdominal cavity transparency effect and meeting the requirement of doctors in common minimally invasive surgery on auxiliary observation of the inner cavity on the premise of not influencing doctors and the operation environment.

Description

Kinect doctor visual angle tracking-oriented Kalman filter

Technical Field

The invention discloses a Kinect doctor visual angle tracking-oriented Kalman filter, and belongs to the technical fields of medicine, three-dimensional imaging, digital image processing and the like.

Background

Compared with the traditional open cavity surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick healing and the like, caters to the aesthetic concept of modern people, is increasingly widely popular, and is applied to partial abdominal cavity and cranial cavity surgeries. The main current observation mode of minimally invasive surgery is endoscope. The endoscope shoots the images of the inflated and expanded inner cavity by means of a plurality of pinhole cameras and xenon lamp light sources and displays the images on a display for a doctor to observe. At present, the most advanced endoscope can obtain a high-quality lumen image, and then a surgical equipment positioning technology is derived from the lumen image, and the accuracy can reach 1 mm. However, the endoscope does not meet the viewing needs of the physician, as shown in fig. 1: firstly, the images of the inner cavity are displayed on the display, and the doctor needs to constantly move the sight between the operation position and the display, so that the continuity of the operation of the doctor is influenced, and the doctor is easy to fatigue. Secondly, a single endoscope observes a local part, if a doctor needs to observe in a large range, a plurality of endoscopes intervene in a human body at the same time, so that the burden of a patient is increased, and the complexity and the heavy degree of cables, transmitting/receiving devices, intervening sleeves and the like of the endoscopes are increased; and meanwhile, an assistant is sometimes needed to assist in holding and moving a plurality of inner cavity lenses to cooperate with the observation of the doctor, so that inconvenience is brought to the operation of the doctor.

In view of the above disadvantages, some researchers have proposed a patient body surface projection method based on augmented reality technology, that is, an image captured by an endoscope is projected on the body surface of a patient by using a projector to assist a doctor to judge if necessary, so as to form a virtual skin transparency effect, as shown in fig. 2 and 3. These solutions do not allow for simple projection, but further explore the location of the physician's head using an orientation tracking device, and adjust the location at which the projector projects images on the patient's body surface.

The above solution is still in the trial phase, and there are still some points that can be perfected: firstly, the currently adopted azimuth tracking technology needs to wear a transmitting device or a marker on the head of a doctor, so that the burden of the doctor is increased; the image of the inner cavity is a two-dimensional image and does not reflect the multi-view three-dimensional appearance of the inner cavity; the body surface of the patient is not a plane, and the projection image on the surface of the patient generates distortion, so that the projection image needs to be corrected according to the three-dimensional appearance of the body surface of the patient, and an undistorted inner cavity image can be observed on the body surface of the patient conveniently.

Disclosure of Invention

Aiming at the perfection, the applicant designs a method for observing the inner cavity through the body surface projection virtual transparent mode in the minimally invasive surgery, which comprises three aspects of a doctor visual angle tracking method, an inner cavity three-dimensional modeling method and a patient body surface projection image sequence generation method. The body surface projection virtual transparent observation inner cavity method is applied to a body surface projection virtual transparent observation inner cavity system of a minimally invasive surgery, aims at the body surface of a patient with a non-quadric surface, and generates a body surface projection inner cavity image by combining a doctor visual angle and an inner cavity three-dimensional model so as to obtain a more real virtual abdominal cavity transparent effect; finally, the requirement of doctors on auxiliary observation of the inner cavity in common minimally invasive surgery is met on the premise of not influencing doctors and the surgery environment. The application specifically discloses a Kinect doctor visual angle tracking-oriented Kalman filter, and the technical scheme is used as a core technology for a method for virtually and transparently observing an inner cavity through body surface projection in a minimally invasive surgery.

The purpose of the invention is realized as follows:

a Kalman filter for Kinect doctor visual angle tracking defines a Kalman filter state vector X in a frame of Kinect data at time t_tAnd an observation vector Z_tComprises the following steps:

X_t＝(x(t),y(t),z(t),v_x(t),v_y(t),v_z(t))

Z_t＝(x(t),y(t),z(t))

wherein x (t), y (t) and z (t) are three-dimensional coordinates of the center of the nose tip, and v_x(t)，v_y(t) and v_z(t) nose tip center velocity;

accordingly, the column kalman system equation is:

X_t+1＝AX_t+BU_t+GW_t

Z_t+1＝HX_t+V_t

where A is a state matrix, B is a control matrix, which is approximately 0 when there is no control amount of face motion, G is a drive matrix, H is an observation matrix, and U is_tIs a control vector, W_tIs X_tKinect measurement error and noise, V_tAre observation errors and noise.

The Kinect doctor visual angle tracking-oriented Kalman filter is characterized by being used for Kinect doctor visual angle tracking.

The Kinect doctor visual angle tracking is used for a body surface projection virtual transparent observation inner cavity in a minimally invasive surgery.

Has the advantages that:

microsoft recently issued a SDK for head-based head/face tracker (SDK) capable of tracking not less than 80 important feature points of the face, including eyes, nose, mouth, ears, forehead; the invention just utilizes the SDK to select the three-dimensional feature points of the nose tip, and further tracks the change of six degrees of freedom of the position and the direction of the face through a built-in face model dynamic identification algorithm, and the calculation and tracking frequency can reach 30Hz which is enough for the real-time requirement of the field; the technology is applied to the method for observing the inner cavity through body surface projection virtual transparency in the minimally invasive surgery provided by the applicant, and as a core part of a visual angle tracking method of a doctor in the method, a solid theoretical foundation is laid for obtaining a more real virtual abdominal cavity transparency effect and meeting the requirement of doctors in common minimally invasive surgery on auxiliary observation of the inner cavity on the premise of not influencing doctors and the operation environment.

Drawings

FIG. 1 is a schematic view of an endoscope failing to meet the needs of a physician for viewing.

Fig. 2 is a schematic diagram of a virtual skin transparency projection effect.

Fig. 3 is a real view of the virtual skin transparent projection effect.

FIG. 4 is a schematic view of a body surface projection system.

FIG. 5 is a technical route diagram of a method for observing an inner cavity through surface projection virtual transparency in a minimally invasive surgery.

FIG. 6 is a schematic diagram of the Kinect doctor perspective tracking method.

Fig. 7 is a schematic diagram of a PTAM luminal three-dimensional modeling method.

Fig. 8 is an image of a lumen including both specular reflection areas and blood vessels.

FIG. 9 is a schematic diagram of a method for generating a sequence of projection images of a surface of a patient.

FIG. 10 is a schematic diagram of a computed and projected lumen image.

FIG. 11 is a schematic diagram of the overall structure of an adjusting device for minimally invasive surgery surface projection.

Fig. 12 is a schematic view of a detail of fig. 11.

Fig. 13 is a schematic view of the footplate of fig. 12.

Fig. 14 is a schematic view of the structure of the fixing pad of fig. 12.

FIG. 15 is a schematic structural diagram of a shaft adjusting piece facing the surface projection adjusting device of the minimally invasive surgery.

Fig. 16 is a schematic view of the construction of the shaft driver of fig. 15.

Fig. 17 is a schematic view of the structure of the second fixing member in fig. 15.

FIG. 18 is a schematic view of a sampling section obtained in twenty-four of the embodiment.

FIG. 19 is a schematic view of the pendulum platform angle in twenty-four embodiments.

FIG. 20 is a simplified diagram of the structure in twenty-four embodiments.

Fig. 21 is a simplified diagram of the adjusted structure of fig. 20.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

Detailed description of the preferred embodiment

The embodiment is an embodiment of a method for observing an inner cavity in a minimally invasive surgery through body surface projection virtual transparency.

In the method for observing the inner cavity through the virtual transparent body surface projection in the minimally invasive surgery, a corresponding body surface projection system is shown in fig. 4, a technical route diagram of the method is shown in fig. 5, and the method comprises the following steps:

step a, tracking the visual angle of a Kinect doctor, and determining the current head position and the current visual angle of the doctor;

b, carrying out three-dimensional modeling on a PTAM (percutaneous transluminal coronary angioplasty) inner cavity, wherein the PTAM is Parallel Tracking and Mapping and is used for generating an inner cavity three-dimensional model which can rotate along with the visual angle of the doctor in the step a;

and c, generating a projection image sequence of the body surface of the patient, and projecting the three-dimensional model of the inner cavity generated in the step b to the body surface of the patient based on the view angle of the doctor in the step a.

Detailed description of the invention

The embodiment is an embodiment of a Kinect doctor visual angle tracking method.

The Kinect doctor visual angle tracking method of the embodiment can exist independently, and the first specific embodiment can be further limited; the Kinect doctor visual angle tracking method, as shown in FIG. 6, includes the following steps:

step a1, selecting the depth data of the pupil and the nose tip as key points, and establishing a mathematical model of the visual angle of a doctor;

step a2, predicting the view angle of a doctor by using a Kalman filter and correcting tracking data;

step a3, analyzing the orientation relation between the Kinect and the doctor head, the patient body surface, the patient inner cavity and the projector, unifying the coordinate system and designing the parameters of the patient body surface projection system.

Detailed description of the preferred embodiment

The present embodiment is a kalman filter embodiment.

The kalman filter of the present embodiment may exist alone, or may further define the specific embodiment two; the Kalman filter is specifically as follows:

defining a Kalman filter state vector X in a frame of Kinect data at the moment t_tAnd an observation vector Z_tComprises the following steps:

X_t＝(x(t),y(t),z(t),v_x(t),v_y(t),v_z(t))

Z_t＝(x(t),y(t),z(t))

accordingly, the column kalman system equation is:

X_t+1＝AX_t+BU_t+GW_t

Z_t+1＝HX_t+V_t

Detailed description of the invention

The embodiment is a method embodiment for three-dimensional modeling of a PTAM lumen.

The method for three-dimensional modeling of the inner cavity of the PTAM of the present embodiment may exist alone, and may further limit the first specific embodiment; the method for three-dimensional modeling of the inner cavity of the PTAM, as shown in FIG. 7, comprises the following steps:

step b1, constructing lumen characteristic quantity: the method comprises the following steps:

b11, distinguishing the specular reflection area from the lumen image preprocessing of the blood vessel;

step b12, detecting single-pixel blood vessels;

step b13, determining branch points and branch segments.

Step b2, three-dimensional modeling of an inner cavity: the method comprises the steps of storing lumen three-dimensional data and texture images by adopting a Stanford PLY file format, namely simultaneously providing three-dimensional node data and texture information by utilizing a multi-frame image of a PTAM (packet Access memory), and then generating a rotary lumen three-dimensional model capable of being observed at multiple angles by utilizing OpenGL in combination with a doctor visual angle.

Detailed description of the preferred embodiment

The embodiment is an embodiment of an inner cavity image preprocessing method for distinguishing a specular reflection area from a blood vessel.

The lumen image preprocessing method for distinguishing the specular reflection area from the blood vessel in the embodiment can exist independently, and can further limit the specific embodiment four; the lumen image preprocessing method for distinguishing the specular reflection area from the blood vessel comprises the following steps of:

b111, selecting a green component in the RGB image from the images including the specular reflection area and the lumen of the blood vessel as shown in FIG. 8;

step b112, calculating a scale space L of the green component image as follows:

L(x,y,σ)＝G(x,y,σ)*I(x,y)

wherein G (x, y, σ) represents a gaussian function with a standard deviation of σ, and I (x, y) is a green component image;

b113, calculating L pixel by using a Hessian matrix H, and taking the calculation result as the basis of subsequent characteristic detection; the Hessian matrix is:

step b114, calculating to obtain two orthogonal eigenvalues of the Hessian matrix H as lambda₁And λ₂The feature vector is V₁And V₂(ii) a The eigenvalues are light for negative values and dark for positive values, for a PTAM lumen imageBlood vessels are dark and the background is bright, with 0<λ₁<λ₂；

Step b115, with reference to the currently commonly used lambda₁、λ₁λ₂And 1-exp (-2 (. lamda.))₁/λ₂)²) The criterion is used for distinguishing background noise, microvessels, branch points or tiny features, blood drops or specular reflection areas according to the following relation by considering the sensitivity of image features to noise;

relation one, lambda₁Close to 0, λ₂Close to 0, background noise;

relation two, λ₁Close to 0, λ₂Close to 1, a microvascular;

relation three, λ₁Close to 0.5, lambda₂Close to 1, branch points and minor features;

relation four, λ₁Close to 1, lambda₂Close to 1, a drop of blood and a specular reflection area.

Detailed description of the preferred embodiment

The embodiment is a method for detecting a single-pixel blood vessel.

The method for detecting a single-pixel blood vessel of the embodiment can exist independently, and can further limit the fourth specific embodiment; the method for detecting the single-pixel blood vessel comprises the following steps:

step b121, calculating Frangi blood vessel characteristic F characteristic parameters as follows:

wherein, beta and c are set threshold values;

step b122, replacing Frangi blood vessel characteristic quantity F by a blood vessel characteristic central line, wherein the blood vessel characteristic central line is a pixel gray level V₂Pixel locations where the direction first order difference sign changes;

step b123, in order to overcome the defect that a great amount of misjudgments are caused by microvascular or background noise, a central line R is calculated in a weighted mode, and the method comprises the following steps:

wherein (u)₂，v₂)^T＝V₂And ε is the pixel width.

Detailed description of the preferred embodiment

The present embodiment is a method embodiment of determining branch points and branch segments.

The method for determining the branch point and the branch segment in this embodiment may exist separately, or may further define a specific embodiment four; the method for determining the branch point and the branch segment comprises the following steps:

b131, according to the characteristic that the branch point is three or four blood vessel combination points, taking each single-pixel blood vessel characteristic point Ri as a circle center to make a circle with the radius d, wherein d is set according to the resolution of the camera and the distance between the camera and a target;

step b132, judging a circle point set C_iWhether the following two conditions are satisfied simultaneously:

condition one, C_iMiddle gray scale is close to R_iPoint of (| I (C)_i)-I(R_i)|<t_i) Is a point of intersection, the number of which is 3 or 4, where t_iAccording to R_iSetting the gray level of (1);

condition two, point gray scale | I (C) between intersections_i)-I(R_i)|>t_i；

If:

is, R_iEntering step b133 for quasi-branch point;

no, R_iIs not a quasi-branch point;

step b133, several adjacent R_iForming a quasi-branch point neighborhood, and taking the center of a sub-pixel as a branch point;

b134, after the branch point neighborhood is determined, detecting branch segments along adjacent pixels by taking the branch point neighborhood as a starting point, if another branch point neighborhood is met, the branch segments are complete, and if not, the branch segments are half branch segments.

Detailed description of the preferred embodiment

The embodiment is an embodiment of a method for generating a sequence of projection images of a surface of a patient.

The method for generating the patient body surface projection image sequence of the embodiment can exist independently, and can further limit the first specific embodiment; the method for generating the projection image sequence on the surface of the patient, as shown in fig. 9, comprises the following steps:

step c1, calculating the expected lumen image seen by the doctor by using a typical camera imaging model according to the doctor visual angle and the lumen three-dimensional model;

and c2, calculating a body surface projection image sequence according to the inner cavity image, the three-dimensional appearance of the body surface of the patient, the view angle of the doctor and the orientation of the projector.

Detailed description of the preferred embodiment

The method for generating the patient body surface projection image sequence of the embodiment may exist alone, and may further limit the eighth specific embodiment; according to the method for generating the projection image sequence of the body surface of the patient, as shown in fig. 10, the outer surface of the abdominal cavity of the patient is similar to a quadric surface, and based on the classical visual angle transformation principle, the transformation relation T between a projector coordinate system and a doctor head coordinate system relative to the outer surface Q of the abdominal cavity_pcCan be represented by a function psi, psi is a 4 × 4 symmetric array; q is obtained by fitting according to Kinect point cloud data X, namely X^TQX is 0; for a point x on Q, its projector coordinate x_pAnd the doctor's eye coordinate x_cThe relationship of (a) to (b) is as follows:

wherein B, e is T_pcThe rotational translation matrix of (a) is obtained by calibration; q₃₃And q is according to

Obtaining;

the image coordinate system is a special case of the world coordinate system, and therefore the function Ψ is regarded as a relationship between the projection image and the observation image, whereby the projection image is calculated.

Detailed description of the preferred embodiment

The method for generating the patient body surface projection image sequence of the embodiment may exist alone, and may further limit the eighth specific embodiment; in the method for generating the projection image sequence on the body surface of the patient, as shown in fig. 10, in order to increase the observation range of a doctor, a plurality of projectors are used for projection; taking a body surface point p as an example, a typical camera/projector model and a space coordinate system transformation matrix are utilized to map the point p to a projector coordinate x_p1、x_p2With the eye coordinate x of the doctor_cThereby calculating a projector projection image 1 and a projector projection image 2; because point correspondence is utilized instead of curve fitting, the superposition coverage area of the doctor view field and the projector view field on the body surface of the patient can accurately calculate the projection image, and is irrelevant to the complexity of the body surface of the patient.

The embodiment is the core of the invention, is applied to a body surface projection virtual transparent observation inner cavity system of a minimally invasive surgery, aims at the body surface of a patient with a non-quadric surface, and generates a body surface projection inner cavity image by combining a doctor visual angle and an inner cavity three-dimensional model so as to obtain a more real virtual abdominal cavity transparent effect, and finally meets the requirement of doctors in the common minimally invasive surgery on inner cavity auxiliary observation on the premise of not influencing doctors and the surgical environment. This technique is intended to maximize the ability of the physician to focus the viewing angle on the patient, however, if the physician needs a wide-range view or a local view, it does not provide a good solution to the problem in the above embodiments. Therefore, the eleventh embodiment to the twenty-seventh embodiment are arranged, namely, an adjusting device for minimally invasive surgery body surface projection is used in a body surface projection system, an adjusting device for minimally invasive surgery body surface projection is provided for a doctor, the visual angle and the two hands of the doctor can be liberated, and the lower limbs are used for adjusting images.

Detailed description of the invention

The adjusting device for minimally invasive surgery body surface projection disclosed by the embodiment is shown in fig. 11, and includes: the thigh cushion plate 1, the crus cushion plate 2, the foot cushion plate 3, the base 4, the first angle sensor 5 and the second angle sensor 6, the upper end of the base 4 is provided with a supporting structure which is a rod piece and is used for supporting, the supporting structure is connected with the thigh cushion plate 1 and is used for providing support for the thigh of a doctor, the thigh cushion plate 1 is horizontally arranged, the crus cushion plate 2 is vertically arranged, one end of the thigh cushion plate 1 is hinged with the upper end of the crus cushion plate 2, the hinged rotatable surface is a first rotating surface comprising the thigh cushion plate 1 and the length direction of the crus cushion plate 2, after the thigh of the doctor is placed on the thigh cushion plate, the crus can drive the crus cushion plate 3 to swing towards the front or the back of the doctor, the lower end of the crus cushion plate 2 is rotatably connected with the foot cushion plate 3, the rotating surface which is rotatably connected is a second rotating surface which is perpendicular, the foot base plate 3 is perpendicular to the lower leg base plate 2, the first angle sensor 5 is arranged at the hinged position of the thigh base plate 1 and the lower leg base plate 2 and used for detecting the rotating angle of the lower leg base plate 2 relative to the thigh base plate 1 in a first rotating surface, and the second angle sensor 6 is arranged at the rotating connection position of the lower leg base plate 2 and the foot base plate 3 and used for detecting the rotating angle of the foot base plate 3 relative to the lower leg base plate 2 in a second rotating surface;

when a doctor performs minimally invasive surgery, an image inside the body of a patient is projected on the body surface of the patient through body surface projection, the doctor performs surgery through double-hand operation, when the projected image needs to be operated, a shank pad 3 is driven to rotate in a first rotating surface through a shank, first rotating angle information is obtained through a first angle sensor 5, a foot pad 3 is driven to rotate in a second rotating surface through foot rotation, second rotating angle information is obtained through a second angle sensor 6, the angle values of the first angle information and the second angle information are used as coordinate values and are placed in a coordinate system, the angle information can be used as position information, the position information can be used as an instruction representing the intention of the doctor to adjust the projected image, the adjustment comprises dragging, amplifying, reducing and brightness adjustment, and the doctor does not need assistant to hold and adjust the image in hand during the surgery, only the shank and the foot are moved in the adjusting process, the shank is fixed on the thigh base plate 1, the hand operation of a doctor cannot be influenced, the operation consistency is not influenced, the influence of the image adjusting process on the operation is avoided,

the device comprises a thigh cushion plate 1, a foot cushion plate 3, a shaft adjusting piece 7 and a leg adjusting piece, wherein the shaft adjusting piece 7 adjusts the positions of the articulated shafts of the thigh cushion plate 1 and the foot cushion plate 2 on a first rotating surface according to the change of the surface angle of the bottom surface of the foot of a human body and the foot cushion plate 3 when the foot cushion plate 2 swings along the articulated shaft at the upper end, so that the axis of the articulated shaft is superposed with the virtual axis of the rotation;

because the length and the thickness of the legs of different doctors are different, after the legs are fixed with the device, the virtual axis for the rotation of the thighs and the crus and the hinge axis of the thigh cushion plate 1 and the crus cushion plate 2 are not coaxial, when the virtual axis and the hinge axis are not coincident, the crus can generate an upward or downward movement trend along the length direction of the crus relative to the foot cushion plate 3 in the rotation process of the crus along with the crus cushion plate 2, the tiptoes of the feet are fixed on the foot cushion plate 3, a gap is formed between the bottom surfaces of the feet and the foot cushion plate 3, the angle of the bottom surfaces of the feet relative to the upper surface of the foot cushion plate 3 can be changed in the front-back swinging process of the crus, the deviation condition of the virtual axis and;

the upper surface of the thigh cushion plate 1 is provided with a fixing pad 8, the fixing pad 8 can adapt to the shape of a thigh and fix one end of a human body, which is connected with the thigh and the shank, and the fixing direction is a linear direction vertical to the first rotating surface;

the existing elastic cushion adapts to the shape of a human body through elastic deformation, but the large area supporting force of the elastic deformation is also large, and the existing elastic cushion does not have a fixing effect due to the characteristic of the elastic deformation, the shape is fixed after the elastic deformation is adapted to the human body by adopting the fixing cushion 8, and meanwhile, certain elasticity is achieved after the elastic cushion is fixed, so that the comfortable and comfortable elastic cushion has a fixing effect on the thigh part, and the situation that the movement of the leg part for adjustment is transmitted to the hand of the human body to influence the operation of a doctor in a minimally invasive surgery is avoided.

Detailed description of the preferred embodiment

This embodiment is based on the eleventh embodiment, and specifically, with reference to fig. 12, the thigh pad 1 includes: the device comprises a hip supporting section 1-1, a thigh supporting section 1-2 and a first push rod 1-3, wherein a supporting surface of the hip supporting section 1-1 is horizontally arranged, a supporting surface of the thigh supporting section 1-2 is obliquely arranged, the lower end of the hip supporting section 1-1 is hinged and connected with a supporting structure, a rotating surface of the hinged and connected structure is parallel to the first rotating surface, one end of the first push rod 1-3 is hinged and connected with the supporting structure, and the other end of the first push rod 1-3 is hinged and connected with the lower surface of the thigh supporting section 1-2;

the buttocks supporting section 1-1 supports the buttocks of a doctor, one end, far away from the buttocks supporting section 1-1, of the thigh supporting section 1-2 is inclined downwards, and when the buttocks supporting section is used, the thigh supporting section 1-2 is pushed by the first push rod 1-3, so that the buttocks supporting section 1-1 and the thigh supporting section 1-2 rotate along a hinged shaft at the lower end of the buttocks supporting section 1-1, and the sitting posture is adjusted.

Thirteenth embodiment

In this embodiment, on the basis of the eleventh embodiment, specifically, referring to fig. 12, the lower leg plate 2 includes: the foot part cushion plate comprises an upper connecting section 2-1, a lower connecting section 2-2 and a second push rod 2-3, wherein the lower end of the upper connecting section 2-1 is connected with the lower connecting section 2-2 through a sliding structure arranged along the length direction of the upper connecting section 2-1, the lower end of the lower connecting section 2-2 is provided with a horizontal section vertical to the length direction of the upper connecting section 2-1, the upper surface of the horizontal section is rotatably connected with the foot part cushion plate 3, one end of the second push rod 2-3 is connected with the upper connecting section 2-1, and the other end of the second push rod 2-3 is connected with the lower connecting section 2-2;

the upper connecting section 2-1 and the lower connecting section 2-2 enable the shank cushion plate 2 to be capable of adjusting the length through a sliding structure, so that the shank cushion plate is suitable for the shank lengths of different doctors, and the bottom surface of the foot is guaranteed to be in contact with the foot cushion plate 3.

Detailed description of the invention

In this embodiment, in addition to the eleventh embodiment, specifically, as shown in fig. 13, the footplate 3 includes: the device comprises a rotary table 3-1, a toe clamp plate 3-2, a heel clamp plate 3-3 and a third push rod 3-4, wherein the rotary table 3-1 is rotatably connected with a shank base plate 2, the two ends of the rotary table 3-1 are oppositely and respectively provided with the toe clamp plate 3-2 and the heel clamp plate 3-3, the toe clamp plate 3-2 is connected with the rotary table 3-1 through a sliding structure, the heel clamp plate 3-3 is fixedly connected with the rotary table 3-1, one end of the third push rod 3-4 is connected with the toe clamp plate 3-2, and the other end of the third push rod 3-4 is connected with the rotary table 3-1; after the feet of the doctor step on the foot base plate 3, the third push rod 3-4 is contracted, the foot tip splint 3-2 and the heel splint 3-3 clamp and fix the feet along the length direction, so that the foot base plate 3 can rotate along with the feet when the feet rotate;

specifically, a first arc surface 3-5 is arranged on the clamping surface of the tiptoe clamping plate 3-2, a second arc surface 3-6 is arranged on the clamping surface of the heel clamping plate 3-3, the circle centers of the first arc surface 3-5 and the second arc surface 3-6 are overlapped, and the circle center is positioned on an axis of the human foot rotating on the first rotating surface relative to the shank; the first cambered surface 3-5 and the second cambered surface 3-6 can be provided with protruding strips along the longitudinal direction, so that the friction force of the foot part and the cambered surface on the second rotating surface is increased, and the friction force of the foot part and the cambered surface on the first rotating surface is reduced;

specifically, the footplate 3 further includes: the first key 3-7 and the second key 3-8, the first key 3-7 is arranged at one end of the upper surface of the rotary table 3-1 close to the tiptoe splint 3-2, and the second key 3-8 is arranged at the lower surface of the fixed block, the upper end of the tiptoe splint 3-2 extends towards the direction of the rotary table 3-1; the feet can drive the foot pad plate 3 to output rotation quantity, and the toes can also slide upwards or downwards to touch the first keys 3-7 or the second keys 3-8, so that different operation intentions of doctors are output through the first keys 3-7 and the second keys 3-8, and the projected images are adjusted.

Detailed description of the preferred embodiment fifteen

In this embodiment, on the basis of the eleventh embodiment, specifically, as shown in fig. 12, the base 4 includes: the movable plate comprises a movable plate 4-1, a fixed plate 4-2, a base spring 4-3 and ball wheels 4-4, wherein the upper end of the fixed plate 4-2 is connected with the supporting structure, the lower end of the fixed plate 4-2 is provided with a movable chute for accommodating the movable plate 4-1 along the vertical direction, the annular surface outside the movable chute on the lower surface of the fixed plate 4-2 is a fixed plane for supporting, the base spring 4-3 is arranged between the movable plate 4-1 and the fixed plate 4-2, the lower surface of the movable plate 4-1 is provided with a plurality of ball wheels 4-4, and sliding contact surfaces formed by the ball wheels 4-4 form sliding surfaces for movement; when a doctor needs to move a position, the pressure of the body on the device is reduced by supporting the bottom surface through the leg which is not lifted, the upper part of the device is lifted under the support of the base spring 4-3, the lower edge of the fixing plate 4-2 is separated from the ground, the supporting leg of the doctor is supported by the ground, the ball wheel 4-4 at the bottom of the moving plate 4-1 rotates, the device slides to a place needing to be moved, after the movement, the support of the leg of the doctor on the body is reduced, the pressure of the body on the device is increased, the fixing plate 4-2 moves to the ground, the lower surface of the fixing plate 4-2 is contacted with the ground, and the device is fixed.

Detailed description of the preferred embodiment

The fixing pad for the minimally invasive surgery body surface projection adjusting device disclosed by the embodiment is applied to an adjusting device for minimally invasive surgery body surface projection, is used for adapting to the shape of a thigh and fixing one end, connected with the thigh and the shank, of a human body, and the fixing direction is a linear direction perpendicular to the first rotating surface;

specifically, as shown in fig. 14, the method includes: the device comprises a deformation pipe 8-1, a balance pipe 8-2, a stopping piece 8-3 and a balance bag 8-4, wherein the deformation pipes 8-1 are arranged along an arc to form a circular arc contact surface, water is filled in the deformation pipe 8-1, each deformation pipe 8-1 is connected with the balance bag 8-4 through one balance pipe 8-2, the balance pipes 8-2 penetrate through the stopping piece 8-3, and the stopping piece 8-3 is provided with a movable pressing surface for pressing the balance pipes 8-2;

after the thigh part is placed on the fixing pad, the leg part extrudes the deformation pipe 8-1, water in the deformation pipe 8-1 is extruded into the balance bag 8-4 through the balance pipe 8-2, after the deformation of the deformation pipes 8-1, the formed arc-shaped contact surface adapts to the shape of the leg part of a human body, the arc-shaped contact surface simultaneously compresses the balance pipes through the cut-off part 8-3, the communication between the deformation pipe 8-1 and the balance bag 8-4 is cut off, the shape of the arc-shaped contact surface is fixed, and the deformation pipe 8-1 has elasticity and adapts to the shape of the leg part, so that the leg part can be fixed while the deformation pipe is comfortable, and the leg part adapting device has better appearance adapting capability compared with common elastic materials.

Detailed description of the preferred embodiment seventeen

The shaft adjusting piece facing the minimally invasive surgery body surface projection adjusting device disclosed by the embodiment is applied to an adjusting device for minimally invasive surgery body surface projection, and is used for adjusting the positions of the articulated shafts of the thigh backing plate 1 and the shank backing plate 2 on a first rotating surface according to the change of the surface angles of the bottom surface of the foot of a human body and the foot backing plate 3 when the shank backing plate 2 swings along the articulated shaft at the upper end, so that the axis of the articulated shaft is superposed with the virtual axis of the rotation of the thigh and the shank of the human body;

specifically, as shown in fig. 15, the method includes: the leg fixing device comprises a shaft driving part 7-1, a first waist-shaped strip 7-2, a first fixing part 7-3, a second waist-shaped strip 7-4, a swing table 7-5 and a second fixing part 7-6, wherein the shaft driving part 7-1 is arranged on a thigh cushion plate 1 and is used for adjusting the positions of hinged shafts of the thigh cushion plate 1 and a shank cushion plate 2 on a first rotating surface, the first waist-shaped strip 7-2 is fixed on a toe splint 3-2, the second waist-shaped strip 7-4 is fixed on a heel splint 3-3, sliding sleeves are respectively sleeved on the outer sides of the first waist-shaped strip 7-2 and the second waist-shaped strip 7-4, a spring structure for resetting the sliding sleeves is arranged on the sliding sleeves, the first fixing part 7-3 is arranged on the side surface of the first waist-shaped strip 7-2, the first fixing part 7-3 is provided with a movable fixing head, the fixing head can press the sliding sleeve on the first waist-shaped strip to fix the position of the sliding sleeve, the swing table 7-5 is hinged to the upper surface of the foot base plate 3, the hinged shaft is located below an axis of the human foot rotating in the first rotating surface relative to the lower leg, the upper surface of the swing table 7-5 is in contact with the bottom surface of the human foot, the swing table 7-5 can swing towards the tiptoe splint 3-2 or the heel splint 3-3, a swing table sensor 7-5-1 is arranged on the swing table 7-5 and used for detecting the swing amplitude of the swing table 7-5 towards the tiptoe splint 3-2 or the heel splint 3-3, the second fixing piece 7-6 is arranged on the foot base plate 3, the second fixing piece 7-6 is provided with a fixing plane located below the swing table 7-5, and the fixing plane is located below two swing ends of the swing table 7-5 and has the same height from the upper surface of the foot base plate 3 A fixing surface capable of moving in a direction perpendicular to the surface of the footplate 3; the swing table is righted through the second fixing piece 7-6, the bottom surface of the foot falling on the swing table 7-5 is parallel to the upper surface of the foot cushion plate 3 and is used as an initial position, the sliding sleeves on the surface of the first waist-shaped strip 7-2 are fixed through the first fixing piece 7-3, the positions of the tiptoes and the tiptoe splint 3-2 are fixed, when the crus drive the crus cushion plate 2 to swing back and forth, the positions of the tiptoes are fixed, because a virtual shaft connecting the thighs and the crus of a human body and a hinge shaft of the thigh cushion plate 1 and the crus cushion plate 2 are different, when the crus swing back and forth, the legs of the human body have a movement trend relative to the foot cushion plate 3 along the length direction of the crus, after the swing table 7-5 is released by the second fixing piece 7-6, when the crus swing back and forth, the heel parts slide on the surface, the swing platform 7-5 is driven to swing, if the virtual shaft is coaxial with the hinged shaft, the swing platform 7-5 cannot swing, so that whether the virtual shaft is coaxial with the hinged shaft or not can be judged, and the position of the hinged shaft is adjusted to be coaxial with the virtual shaft according to the judgment;

specifically, as shown in connection with fig. 16, the shaft driver 7-1 includes: a shaft fixing fork 7-1-1, a first shaft driving push rod 7-1-2 and a second shaft driving push rod 7-1-3, the two fork ends at the upper end of the shaft fixing fork 7-1-1 are hinged with the upper end of a hinge lug, the lower ends of the two hinge lugs are fixed on the shank backing plate 2, the lower end of the shaft fixing fork 7-1-1 is fixedly connected with one end of a first shaft driving push rod 7-1-2, the other end of the first shaft driving push rod 7-1-2 is fixedly connected with one end of a second shaft driving push rod 7-1-3, the other end of the second shaft driving push rod 7-1-3 is fixed on the thigh cushion plate 1, the first shaft driving push rod 7-1-2 and the second shaft driving push rod 7-1-3 are vertically arranged; when the position of the hinge shaft is adjusted, the position of the shaft fixing fork 7-1-1 is adjusted by adjusting the extension lengths of the first shaft driving push rod 7-1-2 and the second shaft driving push rod 7-1-3 to drive the hinge shaft to move;

specifically, as shown in fig. 17, the second fixing member 7-6 includes: the fixing device comprises a fixing cylinder 7-6-1, a fixing cylinder chute 7-6-2 and a fixing cylinder push rod 7-6-3, wherein the axis of the fixing cylinder 7-6-1 is perpendicular to the upper surface of a foot base plate 3 and is arranged below a swing table 7-5, the fixing cylinder chute 7-6-2 is arranged on the foot base plate 3 and guides the fixing cylinder 7-6-1 to slide in the direction perpendicular to the foot base plate 3, the side surface of the fixing cylinder 7-6-1 is connected with one end of the fixing cylinder push rod 7-6-3, and the other end of the fixing cylinder push rod 7-6-3 is fixed on the foot base plate 3; when the swing table 7-5 is fixed, the fixed cylinder push rod 7-6-3 pulls the fixed cylinder 7-6-1 to slide upwards along the fixed cylinder sliding groove 7-6-2 to the lower surface of the swing table 7-5, a gap is reserved between the fixed cylinder push rod and the lower surface of the swing table 7-5, the swing table 7-5 is pressed downwards by feet, the swing table 7-5 slides downwards through a slideway perpendicular to the surface of the foot base plate 3, an elastic part at the lower end of the swing table 7-5 is compressed, meanwhile, the lower surface of the swing table 7-5 moves to be in contact with the upper surface of the fixed cylinder 7-6-1, the positioning of the bottom of the foot and the foot base plate 3 in parallel is completed, the lower end of the swing table 7-5 is supported by the elastic part, and the bottom of the foot can be kept in contact with the upper surface of the swing table;

specifically, the platform placing sensor 7-5-1 is a third angle sensor, one end of the third angle sensor is connected with the platform placing sensor 7-5, and the other end of the third angle sensor is fixed on the foot cushion plate 3; detecting the rotation amplitude of the articulated shaft of the swing platform relative to the surface of the foot cushion plate 3 through a third angle sensor to be used as the swing amplitude of the swing platform 7-5;

specifically, the swing table sensor 7-5-1 comprises two distance sensors which are respectively arranged below two swing ends of the swing table 7-5, and the distance value of the two swing ends of the swing table 7-5 relative to a plane parallel to a fixed end of the upper surface of the foot base plate 3 is directly detected by the two distance sensors and is used as the swing amplitude of the swing table 7-5.

Detailed description of the preferred embodiment

The shaft driving piece is used for the shaft adjusting piece of the minimally invasive surgery body surface projection adjusting device and is used for adjusting the positions of the hinged shafts of the thigh backing plate 1 and the shank backing plate 2 on the first rotating surface so that the axis of the hinged shafts is superposed with the virtual axis of the thigh and the shank of a human body in a rotating manner;

the shaft driver 7-1 includes: the upper end of the shaft fixing fork 7-1-1 is hinged with the upper end of a hinge lug at both fork ends, the lower ends of the two hinge lugs are fixed on the shank backing plate 2, the lower end of the shaft fixing fork 7-1-1 is fixedly connected with one end of the first shaft driving push rod 7-1-2, the other end of the first shaft driving push rod 7-1-2 is fixedly connected with one end of the second shaft driving push rod 7-1-3, the other end of the second shaft driving push rod 7-1-3 is fixed on the thigh backing plate 1, and the first shaft driving push rod 7-1-2 and the second shaft driving push rod 7-1-3 are vertically arranged, when the position of the hinge shaft is adjusted, the position of the shaft fixing fork 7-1-1 is adjusted by adjusting the extension lengths of the first shaft driving push rod 7-1-2 and the second shaft driving push rod 7-1-3, so that the hinge shaft is driven to move.

Detailed description of the invention nineteen

The second fixing piece facing the minimally invasive surgery body surface projection shaft adjusting piece is used for facing the shaft adjusting piece of the minimally invasive surgery body surface projection adjusting device and positioning an initial position of a swing table 7-5;

characterized in that the second fixing member 7-6 comprises: the fixing device comprises a fixing cylinder 7-6-1, a fixing cylinder chute 7-6-2 and a fixing cylinder push rod 7-6-3, wherein the axis of the fixing cylinder 7-6-1 is perpendicular to the upper surface of a foot base plate 3 and is arranged below a swing table 7-5, the fixing cylinder chute 7-6-2 is arranged on the foot base plate 3 and guides the fixing cylinder 7-6-1 to slide in the direction perpendicular to the foot base plate 3, the side surface of the fixing cylinder 7-6-1 is connected with one end of the fixing cylinder push rod 7-6-3, and the other end of the fixing cylinder push rod 7-6-3 is fixed on the foot base plate 3; when the swing table 7-5 is fixed, the fixed cylinder push rod 7-6-3 pulls the fixed cylinder 7-6-1 to slide upwards along the fixed cylinder sliding groove 7-6-2 to the lower surface of the swing table 7-5, a gap is reserved between the fixed cylinder push rod and the lower surface of the swing table 7-5, the swing table 7-5 is pressed downwards by feet, the swing table 7-5 slides downwards through a slideway perpendicular to the surface of the foot base plate 3, an elastic part at the lower end of the swing table 7-5 is compressed, meanwhile, the lower surface of the swing table 7-5 moves to be in contact with the upper surface of the fixed cylinder 7-6-1, the positioning of the bottom of the foot and the foot base plate 3 in parallel is completed, the lower end of the swing table 7-5 is supported by the elastic part, and the bottom of the foot can be kept in contact with the upper surface of the swing table;

detailed description of the invention twenty

The method for adjusting the surface projection of the minimally invasive surgery disclosed by the embodiment is applied to an adjusting device for the surface projection of the minimally invasive surgery disclosed by the eleventh embodiment, the twelfth embodiment, the thirteenth embodiment, the fourteenth embodiment or the fifteenth embodiment, and is used for adjusting the surface projection of the minimally invasive surgery by a doctor under the condition of not interrupting the surgery, so that the doctor can observe the surface projection conveniently;

specifically, the method comprises the following steps:

step a, fixing thighs: the doctor sits on the hip supporting section 1-1 in a standing posture with one leg lifted, and the thigh of the lifted leg is placed on the thigh supporting section 1-2 along the length direction of the thigh supporting section 1-2, so that the position of the thigh of the doctor is fixed with the position of the thigh cushion plate 1; thereby isolating the motion of the crus and the feet from the upper part of the body and avoiding influencing the operation of a doctor in the adjusting process;

step b, positioning the length of the shank: the crus of the leg lifted by the doctor naturally droop, the second push rod 2-3 contracts, the lower connecting section 2-2 of the crus backing plate 2 moves towards the upper connecting section 2-1, so that the length of the crus backing plate 2 is shortened, the foot backing plate 3 is driven to move upwards until the bottom surface of the foot is in contact with the foot backing plate 3, and the crus backing plate 3 is positioned according to the length of the crus of the doctor;

step c, foot positioning: the third push rod 3-4 pulls the toe splint 3-2 to move towards the toe, and the toe splint 3-2 and the heel splint 3-3 clamp the foot in the length direction; fixing the feet to the foot mat 3;

step d, acquiring a vertical coordinate quantity: when a doctor needs to input a ordinate quantity, the crus drive the crus cushion plate 2 to swing in a first rotating surface by swinging the crus forwards or backwards by taking a hinge shaft of the crus cushion plate 2 and the thigh cushion plate 1 as an axis, the swing amplitude of the crus cushion plate 2 is obtained by the first angle sensor 5, and the swing amplitude of the crus cushion plate 2 is taken as an ordinate quantity to be obtained;

step e, acquiring the horizontal coordinate quantity: when a doctor needs to input a horizontal coordinate quantity, the foot drives the foot base plate 3 to swing in a second rotating surface by turning the foot leftwards or rightwards by taking a rotating shaft rotationally connected with the foot base plate 3 and the shank base plate 2 as an axis, the swinging amplitude of the foot base plate 3 is obtained by the second angle sensor 6, and the swinging amplitude of the foot base plate 3 is obtained as the horizontal coordinate quantity;

step f, obtaining an operation intention: when a doctor needs to operate a designated area projected on a body surface, the tiptoes slide along the first cambered surface 3-5 by moving the tiptoes upwards or downwards, so that the tiptoes touch the first key 3-7 or the second key 3-8, and the operation intention of the doctor is obtained through the first key 3-7 or the second key 3-8;

the horizontal coordinate and the vertical coordinate of the intention of the doctor are obtained to correspond to the position of the body surface projection, and after the horizontal coordinate and the vertical coordinate are input by the doctor, the area of the projection needing to be enlarged can be selected, so that the doctor can conveniently observe the projection, and the operation consistency is influenced without assistant for assisting in holding the projection;

specifically, the method further comprises a hinge shaft position adjusting step, wherein after the feet are positioned, the positions of hinge shafts of the thigh cushion plate 1 and the shank cushion plate 2 in the first rotating surface are adjusted, so that the hinge shafts are overlapped with virtual shafts of the thigh and the shank of a doctor.

Specifically, when the thigh fixing is performed in the step a, the fixing pad 8 is used for adapting to the shape of the thigh and fixing one end of the thigh, which is connected with the lower leg of the doctor, in a linear direction perpendicular to the first rotating surface.

Specific example twenty one

The method for outputting the ordinate of the minimally invasive surgery body surface projection adjusting method is applied to the adjusting method for minimally invasive surgery body surface projection, and is used for outputting the ordinate representing the intention of a doctor;

specifically, an included angle between the length direction of one shank cushion plate 2 and the vertical direction is set as a vertical coordinate zero point, an output value of the first angle sensor 5 is set to be zero when the shank cushion plate 2 is located at the set vertical coordinate zero point, when a vertical coordinate quantity needs to be input by a doctor, the shank drives the shank cushion plate 2 to swing in a first rotating surface by swinging the shank forwards or backwards by taking a hinged shaft of the shank cushion plate 2 and a hinged shaft of the thigh cushion plate 1 as an axis, the swing amplitude of the shank cushion plate 2 is obtained through the first angle sensor 5, and a numerical value corresponding to the swing amplitude of the shank cushion plate 2 is output as a vertical coordinate quantity.

Specific example twenty two

The method for outputting the abscissa value facing to the minimally invasive surgery body surface projection adjusting method disclosed by the embodiment is applied to an adjusting method for minimally invasive surgery body surface projection, and is used for outputting the abscissa value representing the intention of a doctor;

the included angle between the connecting line of the toe splint 3-2 and the heel splint 3-3 of one foot base plate 3 and the first rotating surface is set as the abscissa zero point, the output value of the second angle sensor 6 is set to be zero when the foot base plate 3 is at the set abscissa zero point, when a doctor needs to input an abscissa scalar quantity, the foot is twisted leftwards or rightwards, the foot drives the foot base plate 3 to swing in the second rotating surface by taking the rotating shaft which is rotationally connected with the foot base plate 3 and the shank base plate 2 as the shaft, the swing amplitude of the foot base plate 3 is obtained through the second angle sensor 6, and the numerical value corresponding to the swing amplitude of the foot base plate 3 is output as the abscissa quantity.

Specific example twenty three

The method is applied to an adjusting method for minimally invasive surgery body surface projection, and is used for outputting the operation intention of a doctor on the body surface projection;

when the toes of a doctor tilt upwards or trample downwards, the toes are distributed with a first key 3-7 and a second key 3-8 at positions where the toes can touch along a sliding path of a first cambered surface 3-5, the first key 3-7 and the second key 3-8 are set to correspond to an intention of the doctor for operating a designated area of body surface projection, the doctor moves the toes upwards or downwards, the toes slide along the first cambered surface 3-5, the toes touch the first key 3-7 or the second key 3-8, and the operation intention of the doctor is output through the first key 3-7 or the second key 3-8.

Specific example twenty four

The shaft adjusting method facing the minimally invasive surgery body surface projection adjusting method disclosed in the embodiment is applied to the adjusting method for minimally invasive surgery body surface projection disclosed in the specific embodiment twenty, and is used for adjusting the positions of the articulated shafts of the thigh base plate 1 and the shank base plate 2 on the first rotating surface according to the change of the surface angles of the bottom surface of the foot of the human body and the foot base plate 3 when the shank base plate 2 swings along the articulated shaft at the upper end, so that the axis of the articulated shaft is superposed with the virtual axis of the rotation of the thigh and the shank of the human body;

specifically, the method comprises the following steps:

step a, positioning the sole surface: when the feet are positioned, the second fixing piece 7-6 lifts a fixing plane arranged below the swing table 7-5, the fixing plane is contacted with the lower surface of the swing table 7-5, so that the upper surface of the swing table 7-5 is parallel to the upper surface of the foot base plate 3, and the bottom surfaces of the feet are positioned to be parallel to the upper surface of the foot base plate 3;

step b, toe fixing: when the feet are positioned, the tiptoe splint 3-2 and the heel splint 3-3 clamp the feet in the length direction, the fixing head of the first fixing piece 7-3 moves towards the first waist-shaped strip 7-2, the fixing head presses the sliding sleeve on the first waist-shaped strip 7-2 to fix the position of the sliding sleeve, and the sliding sleeve fixes the position of the tiptoe of the doctor on the sliding surface of the first waist-shaped strip 7-2 through friction force;

step c, obtaining the angle change of the sole surface; referring to fig. 18, the doctor's calf drives the calf pad 2 to swing back and forth in the first rotation plane along the hinge axis of the calf pad 2 and the thigh pad 1, reading the reading of the first angle sensor 5, defining a period between the adjacent maximum value and the minimum value in the reading of the first angle sensor 5, selecting a period, reading the maximum value a and the minimum value b in the period, comparing the values of a and b, if a > -b, selecting the segments from-b to b in the period as the sampling segment, if a < "b, selecting the segments from a to-a in the period as the sampling segment, reading the reading of the platform sensor 7-5-1, and corresponding the reading of the platform sensor 7-5-1 to the reading of the first angle sensor 5 on the time axis, intercepting the reading of the platform sensor 7-5-1 in the sampling segment, thereby obtaining the change value of the angle of the inner sole surface of the sampling section relative to the sole plate 3;

step d, deviation direction judgment: reading readings c and d of a swing table sensor 7-5-1 corresponding to two end points of the intercepting section, reading signs of the c and the d, defining that the horizontal direction in the first rotating surface is a horizontal shaft, the vertical direction is a vertical shaft, when the upper surface of the swing table 7-5 is parallel to the upper surface of the foot base plate 3, the reading of the swing table sensor 7-5-1 is zero, when the swing table 7-5 rotates clockwise in the first rotating surface, the swing table sensor 7-5-1 outputs a negative value, when the swing table 7-5 rotates anticlockwise in the first rotating surface, the swing table sensor 7-5-1 outputs a negative value, a virtual shaft of the rotation of thighs and calves of the human body is positioned at the intersection point of the horizontal shaft and the vertical shaft, if the c is positive, the d is negative, the virtual shaft is positioned at the right side of the hinge shaft, and if the c is negative, the d is positive, the virtual shaft is positioned at the, if c is a positive number and d is a positive number, the virtual shaft is considered to be positioned below the articulated shaft, and if c is a negative number and d is a negative number, the virtual shaft is considered to be positioned above the articulated shaft; as shown in fig. 18 and 19, when the virtual axis of the leg of the human body is located on the left side of the hinge shaft, the first angle sensor 5 outputs a positive value when the leg is swung forward, because the virtual axis is not coaxial with the hinge shaft, the lower leg of the human body has a downward movement trend along the length direction of the lower leg, because the toe is fixed, the bottom surface of the foot drives the swing table to deflect clockwise relative to the upper surface of the foot base plate 3, at this time, the swing table sensor outputs a negative value, when the leg of the human body swings backward, the first angle sensor outputs a negative value, the lower leg of the human body has an upward movement trend along the length direction of the lower leg, because the toe is fixed, the bottom surface of the foot drives the swing table to deflect counterclockwise relative to the upper surface of;

step e, adjusting a hinge shaft: setting an length m, if the signs of c and d are different, moving the hinged shaft by a length m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing to move by a length m until c and d are changed in sign, if c and d are changed in sign, moving by 0.5m in length until the signs of c and d are the same, moving the hinged shaft by a length m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, and stopping moving;

if the signs of c and d are the same, moving the hinged shaft by a length of m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, stopping moving, moving the hinged shaft by a length of m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing moving by a length of m until c and d are changed in sign, if c and d are changed in sign, moving by a length of 0.5m until the signs of c and d are the same, and stopping moving;

as shown in fig. 20 and 21, ignoring the foot length, the lower leg is simplified as a line segment e, the lower leg pad is simplified as a line segment f, the trajectory of the lower leg line segment e is located outside the pad line f when being on the left side of the vertical line, c is a negative number, the trajectory of the lower leg line segment e is located outside the pad line f when being on the right side of the vertical line, d is a positive number, it is determined that the virtual shaft is located on the left side of the hinge shaft, and the hinge shaft is moved leftward by a value m, and then it is determined that the virtual shaft is located on the right side of the hinge shaft, and at this time, the distance between the virtual shaft and the hinge shaft in the horizontal direction is smaller than a value m, and then the value m is reduced to a value 0.5m, and the movement is continued, and if the values of c and d are not changed, if c and d are changed in sign, continuously reducing the movement amount until c and d have the same sign, adjusting the height direction of the virtual shaft and the articulated shaft at the moment, determining that the track of the leg line segment e is outside the backing plate line f, so that c and d are positive numbers, judging that the virtual shaft is positioned above the articulated shaft, upwards moving the articulated shaft by a value m, increasing the length of the leg backing plate by a value m, if c and d are still the same sign, continuously moving in the vertical direction, if c and d have different signs, turning to horizontal direction adjustment, setting a threshold value n, and when the value m is reduced to be less than n, considering that the error between the virtual shaft and the articulated shaft is in an allowable range, and stopping adjustment;

specifically, in the step d, a third angle sensor is arranged on the swing table 7-5 for detection, the output value of the third angle sensor is set to be zero when the upper surface of the swing table 7-5 is parallel to the upper surface of the foot mat 3, the swing table sensor 7-5-1 outputs a negative value when the swing table 7-5 rotates clockwise in the first rotating surface, and the swing table sensor 7-5-1 outputs a negative value when the swing table 7-5 rotates counterclockwise in the first rotating surface.

Specific example twenty-five

The method for obtaining the angle of the sole surface facing the surface projection axis adjustment of the minimally invasive surgery disclosed in the embodiment is applied to the axis adjustment method facing the surface projection adjustment method of the minimally invasive surgery disclosed in the twenty-fourth specific embodiment;

specifically, a doctor lower leg drives a lower leg cushion plate 2 to swing back and forth in a first rotating surface along a hinged shaft of the lower leg cushion plate 2 and a thigh cushion plate 1, reading a reading of a first angle sensor 5, defining a period between the maximum value and the minimum value adjacent in the reading of the first angle sensor 5, selecting a period, reading the maximum value a and the minimum value b in the period, comparing the sizes of a and b, if a is greater than-b, selecting a section from-b to b in the period as a sampling section, reading a reading of a platform swinging sensor 7-5-1, if a is less than-b, selecting a section from a to-a in the period as a sampling section, reading a reading of the platform swinging sensor 7-5-1, corresponding the reading of the platform swinging sensor 7-5-1 to the reading of the first angle sensor 5 according to a time axis, intercepting the reading of the platform swinging sensor 7-5-1 in the sampling section, thereby obtaining the angle change value of the sole surface in the sampling section relative to the foot mat 3.

Specific example twenty-six

The method for judging the offset direction facing the adjustment of the surface projection axis of the minimally invasive surgery disclosed in the embodiment is applied to the axis adjustment method facing the adjustment method of the surface projection of the minimally invasive surgery disclosed in the twenty-fourth specific embodiment;

specifically, reading readings c and d of a swing table sensor 7-5-1 corresponding to two end points of the intercepting section, reading signs of the c and d, defining that the horizontal direction in a first rotating surface is a horizontal shaft, the vertical direction is a vertical shaft, when the upper surface of the swing table 7-5 is parallel to the upper surface of the foot base plate 3, the reading of the swing table sensor 7-5-1 is zero, when the swing table 7-5 rotates clockwise in the first rotating surface, the swing table sensor 7-5-1 outputs a negative value, when the swing table 7-5 rotates anticlockwise in the first rotating surface, the swing table sensor 7-5-1 outputs a negative value, a virtual shaft of the rotation of thighs and calves of the human body is located at the intersection point of the horizontal shaft and the vertical shaft, if the c is a positive number, the d is a negative number, the virtual shaft is located on the right side of the hinge shaft, if the c is a negative number, the d is a positive number, the virtual, if c is a positive number and d is a positive number, the virtual shaft is considered to be positioned below the articulated shaft, and if c is a negative number and d is a negative number, the virtual shaft is considered to be positioned above the articulated shaft;

specific example twenty-seven

The method for adjusting the articulated shaft facing the surface projection shaft of the minimally invasive surgery disclosed in the embodiment is applied to the shaft adjusting method facing the surface projection adjusting method of the minimally invasive surgery disclosed in the twenty-fourth specific embodiment;

specifically, step e, hinge shaft adjustment: setting an length m, if the signs of c and d are different, moving the hinged shaft by a length m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing to move by a length m until c and d are changed in sign, if c and d are changed in sign, moving by 0.5m in length until the signs of c and d are the same, moving the hinged shaft by a length m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, and stopping moving;

if c and d have the same sign, moving the hinged shaft by a length of m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, stopping moving, moving the hinged shaft by a length of m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing moving by a length of m until c and d are changed in sign, if c and d are changed in sign, moving by a length of 0.5m until the signs of c and d are the same, and stopping moving.

Claims

1. A Kalman filter for Kinect doctor visual angle tracking is characterized in that in a frame of Kinect data at time t, a Kalman filter state vector Xt and an observation vector Zt are defined as follows:

Xt=(x(t),y(t),z(t),vx(t),vy(t),vz(t))

Zt=(x(t),y(t),z(t))

wherein x (t), y (t) and z (t) are three-dimensional nasal tip center coordinates, and vx (t), vy (t) and vz (t) are nasal tip center velocities; accordingly, the column kalman system equation is:

Xt+1=AXt+BUt+GWt

Zt+1=HXt+Vt

wherein A is a state matrix, B is a control matrix, which is approximately 0 when there is no control amount for the face motion, G is a driving matrix, H is an observation matrix, Ut is a control vector, Wt is Kinect measurement error and noise of Xt, and Vt is observation error and noise;

the Kinect doctor visual angle tracking-oriented Kalman filter is used for a Kinect doctor visual angle tracking step in a body surface projection virtual transparent observation inner cavity in a minimally invasive surgery;

the specific method for the body surface projection virtual transparent observation inner cavity in the minimally invasive surgery comprises the following steps:

step c, generating a projection image sequence of the body surface of the patient, and projecting the three-dimensional model of the inner cavity generated in the step b to the body surface of the patient based on the view angle of the doctor in the step a;

the specific method for the body surface projection virtual transparent observation inner cavity in the minimally invasive surgery is applied by matching with the adjusting device; the adjusting device comprises: thigh backing plate (1), shank backing plate (2), foot backing plate (3), base (4), first angle sensor (5) and second angle sensor (6), the upper end of base (4) is provided with bearing structure, and bearing structure is the member for supporting, and bearing structure is connected with thigh backing plate (1), and the thigh backing plate is used for providing the support for doctor's thigh, and thigh backing plate (1) level sets up, and shank backing plate (2) are set up firmly, the one end of thigh backing plate (1) with the upper end of shank backing plate (2) connects more, but the rotatable face that connects for the first rotation face that contains thigh backing plate (1) and shank backing plate (2) length direction, after the doctor put the thigh backing plate on, the shank can drive shank backing plate (3) to the swing before or after doctor's face, the lower extreme of shank backing plate (2) with foot backing plate (3) rotate and are connected, the rotation face of rotating the connection is perpendicular to the planar second rotation face in shank backing plate (2) length direction place, and foot backing plate (3) set up with shank backing plate (2) are perpendicular, first angle sensor (5) set up in the department of meeting of thigh backing plate (1) and shank backing plate (2), are used for detecting shank backing plate (2) are for thigh backing plate (1) pivoted angle in first rotation face, second angle sensor (6) set up in the rotation junction of shank backing plate (2) and foot backing plate (3), are used for detecting foot backing plate (3) are for shank backing plate (2) pivoted angle in the second rotation face.