CN112043383B - Ophthalmic surgery navigation system and electronic equipment - Google Patents
Ophthalmic surgery navigation system and electronic equipment Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The application discloses ophthalmic surgery navigation and electronic equipment includes: the model building module is used for building a standard eye three-dimensional model before an operation; the information integration module is used for registering and integrating the tomography OCT image of the target operation area captured by the OCT equipment and the two-dimensional image of the target operation area acquired by the microscope in the operation and reconstructing a three-dimensional image corresponding to the target operation area in real time; the focus positioning module is used for registering and comparing the three-dimensional image reconstructed in real time in the operation with the constructed standard eye three-dimensional model, identifying suspicious focus parts and marking the suspicious focus parts to form a heat map; and the path planning module is used for correcting the preoperative planned operation path in real time according to the heat map which is fed back in real time during the operation and marks the suspicious lesion part. Through the interaction of the four modules, auxiliary information is provided for accurate positioning in the operation, timely finding of disease change, planning of an operation path and changing of an operation scheme, the precision is high, and the safety and the precision of the operation are obviously improved.
Description
Technical Field
The invention relates to the technical field of surgical navigation, in particular to an ophthalmic surgical navigation system and electronic equipment.
Background
The ophthalmic minimally invasive microsurgery is the basis of future development of ophthalmology in China, the 3D high-definition microscope technology is a new trend of future ophthalmic surgery development, and the popularization of the technology is more beneficial to the implementation of the surgery and more benefits for patients with eye diseases. However, no matter the traditional microscopic eye surgery or the emerging 3D high-definition microscopic surgery, the existing surgical microscope cannot realize the real-time observation of the longitudinal section structure of the opaque tissue in the surgery, so that the surgical mode is limited, and the complications and the surgical effect in the surgery are also influenced to a certain extent.
In most of the ophthalmic surgeries at the present stage, no matter anterior segment surgery or fundus surgery, doctors usually locate the target structure by anatomical knowledge and clinical practice experience of theoretical learning, or locate the focus region and plan the surgical path by means of preoperative imaging examination. In order to ensure the success of the operation, a larger range of incision is required to be made to expose a target structure, or the accuracy of the operation is verified by an indirect detection method, so that whether the position of an implant is accurate or not and whether the focus is completely cut cannot be visually confirmed in the operation, and a tiny focus structure below the resolution of human eyes is easy to miss; the actual success or failure of the operation needs to be followed up and observed and confirmed by image inspection such as Optical Coherence Tomography (OCT). In addition, since the eyeball itself is small in size and the operation range by the surgical instrument is limited, the slight deviation causes the operation result to be spurious, and causes serious consequences. Both doctors and patients are under great economic and mental stress.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an ophthalmic surgery navigation system and an electronic device, which can assist in positioning an anatomical structure and a focus site during surgery, have high precision, and significantly improve the safety and precision of the surgery. The specific scheme is as follows:
an ophthalmic surgical navigation system, comprising:
the model building module is used for building a standard eye three-dimensional model before operation;
the information integration module is used for registering and integrating a target operation region tomography OCT image captured by OCT equipment and a target operation region two-dimensional image acquired by a microscope in an operation, and reconstructing a three-dimensional image corresponding to the target operation region in real time;
the focus positioning module is used for registering and comparing the three-dimensional image reconstructed in real time in the operation with the constructed standard eye three-dimensional model, identifying suspicious focus positions and marking the suspicious focus positions to form a heat map as an indication;
and the path planning module is used for correcting the preoperative planned operation path in real time according to the heat map which is fed back in real time during the operation and marks the suspicious lesion part.
Preferably, in the above-mentioned ophthalmic surgery navigation system provided by the embodiment of the present invention, further comprising:
and the display control module is used for controlling the 3D display to display the operation visual field fed back in real time, the fault OCT image of the target operation region and the heat map for marking the suspicious lesion part, and is also used for controlling the 3D display to mark and display the operation path corrected in real time.
Preferably, in the above-mentioned ophthalmic surgical navigation system provided in an embodiment of the present invention, the model building module includes:
the OCT data acquisition unit is used for acquiring OCT data of healthy human eyes and diseased human eyes of different sexes, ages and refractive states;
the standard eye library establishing unit is used for establishing a standard eye three-dimensional image library according to the acquired OCT data;
and the three-dimensional model establishing unit is used for training the standard eye three-dimensional image library and establishing a standard eye three-dimensional model through a neural convolution network deep learning algorithm.
Preferably, in the above ophthalmic surgical navigation system provided in the embodiment of the present invention, the path planning module is further configured to obtain distance information between a starting position of the surgical path and a corresponding position of the target surgical field in real time during the surgery, or distance information between the surgical instrument and the suspicious lesion site and the surrounding tissue, and obtain a tissue size parameter in real time, so as to correct the position and the orientation of the surgical instrument in real time.
Preferably, in the above ophthalmic surgical navigation system provided in the embodiment of the present invention, the display control module is further configured to control the 3D display to display the distance information and the tissue size parameter acquired by the path planning module in real time.
Preferably, in the ophthalmic surgical navigation system provided in the embodiment of the present invention, the information integration module is specifically configured to respectively acquire a tomographic OCT image of the target surgical area captured by an OCT device and a two-dimensional image of the target surgical area acquired by a microscope, respectively mark a thermal image interest area on the acquired tomographic OCT image of the target surgical area and the two-dimensional image of the target surgical area, perform registration integration on the image marked with the thermal image interest area, and reconstruct a three-dimensional image corresponding to the target surgical area in real time.
Preferably, in the above-mentioned ophthalmic surgical navigation system provided by the embodiment of the present invention, the OCT apparatus is integrated in the microscope.
The embodiment of the invention also provides electronic equipment, which comprises a memory, a processor and a microscope integrated with the OCT equipment; wherein the memory is used for storing programs; the processor, coupled with the memory, to execute the program stored in the memory to: constructing a standard eye three-dimensional model before operation; in operation, the target operation area tomography OCT image captured by the OCT equipment and the target operation area two-dimensional image collected by the microscope are registered and integrated, and a three-dimensional image corresponding to the target operation area is reconstructed in real time; registering and comparing the three-dimensional image reconstructed in real time in the operation with the constructed standard eye three-dimensional model, identifying suspicious lesion positions and marking the suspicious lesion positions to form a heat map as an indication; and correcting the preoperative planned operation path in real time according to the heat map which is fed back in real time during the operation and marks the suspicious lesion part.
Preferably, in the electronic device provided in the embodiment of the present invention, the electronic device further includes: a 3D display;
the 3D display is used for displaying the operation visual field fed back in real time, the tomography OCT image of the target operation area, the heat map for marking the suspicious lesion part, and the operation path corrected in real time.
The embodiment of the invention also provides electronic equipment which comprises the ophthalmic surgery navigation system provided by the embodiment of the invention.
It can be seen from the above technical solutions that, an ophthalmic surgery navigation system provided by the present invention includes: the model building module is used for building a standard eye three-dimensional model before operation; the information integration module is used for registering and integrating a target operation region tomography OCT image captured by OCT equipment and a target operation region two-dimensional image acquired by a microscope in an operation, and reconstructing a three-dimensional image corresponding to the target operation region in real time; the focus positioning module is used for registering and comparing a three-dimensional image reconstructed in real time in the operation with a constructed standard eye three-dimensional model, identifying a suspicious focus part and marking the suspicious focus part to form a heat map as an indication; and the path planning module is used for correcting the preoperative planned operation path in real time according to the heat map which is fed back in real time during the operation and marks the suspicious lesion part.
The invention introduces the optical coherence layer imaging technology into a navigation system of an ophthalmic surgery through the interaction of a model construction module, an information integration module, a focus positioning module and a path planning module, feeds back and scans a tomographic OCT image with the precision reaching the micron level in real time, reconstructs an eye three-dimensional image in real time by combining a two-dimensional image acquired by a microscope, performs registration comparison with a constructed standard eye three-dimensional model, displays a suspicious focus position by using a heat map, performs omission detection and filling for preoperative diagnosis, assists the positioning of an anatomical structure and the focus position in the surgery, visually displays the fine change of a target tissue structure, provides auxiliary information for the precise positioning in the surgery, finds the change of an illness state in time, plans a surgery path and changes a surgery scheme, ensures the safety of the surgery to a certain extent, has high precision and can obviously improve the precision of the surgery. In addition, the invention also provides corresponding electronic equipment for the ophthalmic surgery navigation system, so that the ophthalmic surgery navigation system has higher practicability, and the electronic equipment has corresponding advantages.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related arts, the drawings used in the description of the embodiments or the related arts will be briefly introduced below, it is obvious that the drawings in the description below are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 and fig. 2 are schematic structural diagrams of an ophthalmic surgical navigation system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The present invention provides an ophthalmic surgery navigation system, as shown in fig. 1, including:
the model building module 11 is used for building a standard eye three-dimensional model before operation;
the information integration module 12 is configured to perform registration integration on a tomographic OCT image of the target operating region captured by an Optical Coherence Tomography (OCT) device and a two-dimensional image of the target operating region acquired by a microscope during an operation, and reconstruct a three-dimensional image corresponding to the target operating region in real time; it is noted that the OCT device may be integrated in the microscope, i.e. the input of the OCT device may be integrated into the microscope; the image collected by the microscope and the image captured by the OCT device can pass through the same objective lens and the emergent light path;
a focus positioning module 13, configured to perform registration comparison on a three-dimensional image reconstructed in real time in an operation and a constructed standard eye three-dimensional model, identify a suspicious focus part, mark the suspicious focus part, and form a heat map as an indication;
and the path planning module 14 is used for correcting the preoperative planned operation path in real time according to the heat map which is fed back in real time during the operation and marks the suspicious lesion part.
In the ophthalmic surgery navigation system provided by the embodiment of the invention, the optical coherence tomography imaging technology is introduced into the navigation system of the ophthalmic surgery through the interaction of the model construction module, the information integration module, the focus positioning module and the path planning module, the tomography OCT image with the scanning precision reaching the micron level is fed back in real time, the three-dimensional image of the eye is reconstructed in real time by combining the two-dimensional image acquired by the microscope, and is registered and compared with the established standard eye three-dimensional model, the suspicious lesion site is displayed by a heat map, the preoperative diagnosis is subjected to omission detection and filling, the positioning of an anatomical structure and a focus position in an operation is assisted, the slight change of a target tissue structure is visually displayed, auxiliary information is provided for accurate positioning in the operation, the change of an illness state is found in time, an operation path is planned, an operation scheme is changed, the safety of the operation is guaranteed to a certain degree, the precision is high, and the accuracy of the operation can be obviously improved. In addition, the invention also provides corresponding electronic equipment for the ophthalmic surgery navigation system, so that the ophthalmic surgery navigation system has higher practicability, and the electronic equipment has corresponding advantages.
Further, in practical implementation, as shown in fig. 2, the ophthalmic surgical navigation system provided in the embodiment of the present invention further includes: and the display control module 15 is used for controlling the 3D display to display the operation visual field fed back in real time, the fault OCT image of the target operation region and the heat map for marking the suspicious lesion part, and is also used for controlling the 3D display to mark and display the operation path corrected in real time.
It should be noted that the display control module 15 displays the real-time two-dimensional tomographic OCT image registered in the target operation region, the thermal image (i.e., the reconstructed three-dimensional image) for marking the suspicious lesion site, the corrected path plan and the operation field on one 3D display screen, so that the operating doctor can perform a head-up operation in the whole course, and does not need to probe the eye structure in the operation by additional equipment or compare the images by a plurality of displays, thereby effectively reducing the complex and cumbersome operation procedures in the operation process of the doctor, reducing the cost of the equipment, and reducing the operation space.
In a specific implementation manner, in the above ophthalmic surgical navigation system provided in an embodiment of the present invention, the model building module 11 may include: the OCT data acquisition unit is used for acquiring OCT data of healthy human eyes and diseased human eyes of different sexes, ages and refractive states; the standard eye library establishing unit is used for establishing a standard eye three-dimensional image library according to the acquired OCT data; and the three-dimensional model establishing unit is used for training the standard eye three-dimensional image library and establishing the standard eye three-dimensional model through a neural convolution network deep learning algorithm. It should be noted that, the judgment and marking of the focus position of the operation eye by using the deep learning algorithm can assist the operation doctor in checking the omission, and meanwhile, the focus position is accurately positioned, so that the method is more scientific, stable and accurate compared with the prior determination of the focus position.
In practical applications, the OCT data acquisition unit can be an existing commercial OCT device with the same main parameters (such as wavelength); before operation, more than 500 healthy eyes with different sexes, ages and refractive states and more than 300 glaucoma affected eye images can be collected through the equipment, a training set and a verification set are established together, an algorithm for diagnosing various glaucomas and marking focus positions is obtained through a Neural Convolutional Network (CNNs) deep learning method, and a standard eye three-dimensional model is established as a diagnosis model of corresponding diseases for reference. Next, using a microscope integrated with an OCT device to collect an image of a patient operation eye in operation, carrying out real-time region imaging and three-dimensional reconstruction, and carrying out common display of an operation visual field and a target region tomogram on a 3D display; and identifying and registering the constructed standard eye three-dimensional model and a patient operation eye image reconstructed by OCT scanning in an operation, performing intraoperative diagnosis classification and interpretation by using CNNs, outputting a heat map for marking a suspicious lesion part, and assisting intraoperative planning and operation path adjustment.
The above-mentioned convolutional neural network is generally composed of convolutional layers (convolutional layers), pooling layers (posing layers), and fully connected layers (fully connected layers). Convolution layers are used to compute the convolution between a particular kernel and the input data. The activation function is then applied to generate a new feature map. The convolution operation for a single channel can be expressed as:
where k denotes the convolution kernel, W, H and S denotes the dimension of k, the kernel will input izConvolved along its width and height and producing an output value o at x, yz+1. Wherein the nonlinear activation function F is expressed as: i all right anglez+1＝F(oz+1). The feature map is then sent to a pooling layer for feature selection and information filtering. Finally, each output cell is connected to all cells of the last feature map in the full link layer.
In specific implementation, in the ophthalmic surgical navigation system provided in the embodiment of the present invention, the path planning module 14 may be further configured to obtain, in real time during an operation, distance information between a starting position of a surgical path and a corresponding position of a target operation region, or distance information between a surgical instrument and a suspicious lesion site and surrounding tissues, and obtain a tissue size parameter in real time, so as to correct a position and a direction of the surgical instrument in real time. The display control module 15 may be further configured to control the 3D display to display the distance information and the tissue size parameter obtained by the path planning module 14 in real time.
Specifically, the preoperative surgical path plan is corrected in real time through the path planning module 14 according to the intraoperative focal zone image fed back in real time, and the real-time corrected surgical path, the corresponding measured position distance and the tissue size parameter are marked and displayed on the 3D display; and the qualitative and quantitative position relation between the high-definition scanning area tissues and the surrounding structure and between the high-definition scanning area tissues and the surgical instruments can be fed back in real time in the operation, information such as position relation information between the surgical instruments and focuses, the sizes of the focus tissues and the like can be obtained in real time, an operator can judge the condition in the operation, position and measure the sizes of the focuses and plan an operation path, the position and the trend of the surgical instruments can be corrected in real time, and the accuracy of the operation can be further improved.
In specific implementation, in the above ophthalmic surgery navigation system provided in the embodiment of the present invention, the information integration module 12 may be specifically configured to respectively acquire a tomographic OCT image of the target surgical area captured by the OCT device and a two-dimensional image of the target surgical area acquired by the microscope, respectively mark a thermal image interest area on the acquired tomographic OCT image of the target surgical area and the two-dimensional image of the target surgical area, perform registration integration on the image marked with the thermal image interest area, and reconstruct a three-dimensional image corresponding to the target surgical area in real time. Therefore, suspicious lesion areas can be displayed in the tomography OCT image of the target operation area, the two-dimensional image of the target operation area and the reconstructed three-dimensional image, and the suspicious lesion areas are used for assisting in defining the lesion positions in the operation and planning the operation path.
Correspondingly, the embodiment of the invention also provides electronic equipment, which comprises a memory, a processor and a microscope integrated with the OCT equipment; wherein, the memorizer, is used for storing the procedure; a processor, coupled to the memory, for executing programs stored in the memory for: constructing a standard eye three-dimensional model before operation; in the operation, a target operation region tomography OCT image captured by OCT equipment and a target operation region two-dimensional image collected by a microscope are registered and integrated, and a three-dimensional image corresponding to the target operation region is reconstructed in real time; registering and comparing the three-dimensional image reconstructed in real time in the operation with the constructed standard eye three-dimensional model, identifying suspicious lesion parts and marking the suspicious lesion parts to form a heat map as an indication; and according to the heat map fed back in real time during the operation, correcting the operation path planned before the operation in real time. Because the principle of the electronic device for solving the problems is similar to that of the ophthalmic surgery navigation system, the implementation of the electronic device can be referred to that of the ophthalmic surgery navigation system, and repeated descriptions are omitted.
Further, in a specific implementation, in the electronic device provided in an embodiment of the present invention, the electronic device further includes: and the 3D display is used for displaying the operation visual field fed back in real time, the tomography OCT image of the target operation area, the heat map for marking the suspicious lesion part and marking and displaying the operation path corrected in real time.
Correspondingly, the embodiment of the invention also provides electronic equipment comprising the ophthalmic surgery navigation system provided by the embodiment of the invention. Because the principle of the electronic device for solving the problems is similar to that of the ophthalmic surgery navigation system, the implementation of the electronic device can be referred to that of the ophthalmic surgery navigation system, and repeated descriptions are omitted.
An ophthalmic surgery navigation system provided by an embodiment of the present invention includes: the model building module is used for building a standard eye three-dimensional model before an operation; the information integration module is used for registering and integrating a target operation region tomography OCT image captured by OCT equipment and a target operation region two-dimensional image acquired by a microscope in an operation, and reconstructing a three-dimensional image corresponding to the target operation region in real time; the focus positioning module is used for registering and comparing a three-dimensional image reconstructed in real time in the operation with a constructed standard eye three-dimensional model, identifying a suspicious focus part and marking the suspicious focus part to form a heat map as an indication; and the path planning module is used for correcting the preoperative planned operation path in real time according to the heat map which is fed back in real time during the operation and marks the suspicious lesion part. Through the interaction of the four modules, an optical coherence layer imaging technology is introduced into a navigation system of an ophthalmic surgery, 3D imaging is carried out on a surgical visual field in real time, a tomography OCT image with micron-sized precision is fed back and scanned in real time, a three-dimensional eye image is reconstructed in real time by combining a two-dimensional image acquired by a microscope and is registered and compared with a constructed standard three-dimensional eye model, a suspicious focus position is displayed by a heat map, the preoperative diagnosis is made to be checked and repaired, the positioning of an anatomical structure and the focus position in the surgery is assisted, the fine change of a target tissue structure is visually displayed, auxiliary information is provided for accurate positioning in the surgery, the change of an illness state is found in time, a surgery path is planned, and a surgery scheme is changed, the safety of the surgery is guaranteed to a certain degree, the precision is high, and the precision of the surgery can be remarkably improved. In addition, the invention also provides corresponding electronic equipment for the ophthalmic surgery navigation system, so that the ophthalmic surgery navigation system has higher practicability, and the electronic equipment has corresponding advantages.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The ophthalmic surgery navigation system and the electronic device provided by the present invention are described in detail above, and the principle and the implementation of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (7)
1. An ophthalmic surgical navigation system, comprising:
the model building module is used for building a standard eye three-dimensional model before an operation;
the information integration module is used for registering and integrating the tomography OCT image of the target operation area captured by the OCT equipment and the two-dimensional image of the target operation area acquired by the microscope in the operation and reconstructing a three-dimensional image corresponding to the target operation area in real time; the OCT device is integrated in the microscope; the image collected by the microscope and the image captured by the OCT device are transmitted through the same objective lens and an emergent light path;
the focus positioning module is used for registering and comparing the three-dimensional image reconstructed in real time in the operation with the constructed standard eye three-dimensional model, identifying a suspicious focus part and marking the suspicious focus part to form a heat map as an indication;
the path planning module is used for correcting the preoperative planned operation path in real time according to a heat map which is fed back in real time during the operation and marks the suspicious lesion part;
and the display control module is used for controlling the 3D display to display the operation visual field fed back in real time, the fault OCT image of the target operation region and the heat map for marking the suspicious lesion part, and is also used for controlling the 3D display to mark and display the operation path corrected in real time.
2. The ophthalmic-surgical navigation system of claim 1, wherein the model building module comprises:
the OCT data acquisition unit is used for acquiring OCT data of healthy human eyes and diseased human eyes of different sexes, ages and refractive states;
the standard eye library establishing unit is used for establishing a standard eye three-dimensional image library according to the acquired OCT data;
and the three-dimensional model establishing unit is used for training the standard eye three-dimensional image library and establishing a standard eye three-dimensional model through a neural convolution network deep learning algorithm.
3. The ophthalmic surgical navigation system of claim 2, wherein the path planning module is further configured to obtain, in real time, distance information between a starting position of the surgical path and a corresponding position of the target surgical field during surgery, or distance information between the surgical instrument and the suspicious lesion site and surrounding tissues, and obtain tissue size parameters in real time, so as to correct the position and orientation of the surgical instrument in real time.
4. The ophthalmic-surgery navigation system of claim 3, wherein the display control module is further configured to control the 3D display to display the distance information and the tissue size parameter acquired by the path planning module in real time.
5. The ophthalmic surgical navigation system according to claim 4, wherein the information integration module is specifically configured to acquire a tomographic OCT image of the target surgical area captured by the OCT device and a two-dimensional image of the target surgical area acquired by the microscope, respectively, mark a thermal image interest area on the acquired tomographic OCT image of the target surgical area and the two-dimensional image of the target surgical area, perform registration integration on the image marked with the thermal image interest area, and reconstruct a three-dimensional image corresponding to the target surgical area in real time.
6. An electronic device comprising a memory and a processor, further comprising a microscope integrated with an OCT device, images acquired by the microscope and images captured by the OCT device being via the same objective lens and exit optical path; also includes a 3D display; wherein the memory is used for storing programs; the processor, coupled with the memory, to execute the program stored in the memory to: constructing a standard eye three-dimensional model before operation; during operation, the tomographic OCT image of the target operation area captured by the OCT equipment and the two-dimensional image of the target operation area collected by the microscope are registered and integrated, and a three-dimensional image corresponding to the target operation area is reconstructed in real time; registering and comparing the three-dimensional image reconstructed in real time in the operation with the constructed standard eye three-dimensional model, identifying a suspicious lesion part and marking the suspicious lesion part to form a heat map as an indication; according to a heat map which is fed back in real time during the operation and marks suspicious lesion positions, the operation path planned before the operation is corrected in real time; controlling the 3D display to display the operation visual field, the target operation area tomography OCT image and the heat map for marking the suspicious lesion part which are fed back in real time; and controlling the 3D display to mark and display the real-time corrected operation path.
7. An electronic device characterized by comprising the ophthalmic-surgery navigation system according to any one of claims 1 to 5.
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| CN113057734A (en) * | 2021-03-12 | 2021-07-02 | 上海微创医疗机器人（集团）股份有限公司 | Surgical system |
| CN113100941B (en) * | 2021-04-12 | 2022-03-08 | 中国科学院苏州生物医学工程技术研究所 | Image registration method and system based on SS-OCT (scanning and optical coherence tomography) surgical navigation system |
| CN113143466A (en) * | 2021-05-31 | 2021-07-23 | 上海阅行医疗科技有限公司 | Intraoperative planning adjustment method and system based on integrated surgical robot |
| CN113693721A (en) * | 2021-07-14 | 2021-11-26 | 北京理工大学 | Multi-condition constrained path planning method and device |
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