CN101849849B - Device for intellectualized monitoring of surgical grinding tool - Google Patents
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Abstract
本发明实施例提供了一种对手术磨削工具进行智能化监控的装置，所提供的装置包括：视觉传感器，用于监测手术磨削工具及病灶的位置，并将相关信息反馈到所述软件重构系统；所述软件重构系统，用于对所述视觉传感器反馈的病灶CT数据进行三维重构；所述转速控制模块，用于根据所接收到的参数计算所述手术磨削工具的转速，并将该转速输入到所述动力控制器；所述动力控制器，用于根据所述转速控制模块所输入的转速，利用电压调节的方式来控制所述手术磨削工具的转速。通过上述装置的各部件和结构，就可以实现手术磨削工具的智能化控制，提高手术磨削工具的精确度和安全性，实现精确的磨除。
An embodiment of the present invention provides a device for intelligently monitoring surgical grinding tools. The provided device includes: a visual sensor for monitoring the positions of surgical grinding tools and lesions, and feeding back relevant information to the software The reconstruction system; the software reconstruction system is used to perform three-dimensional reconstruction on the lesion CT data fed back by the visual sensor; the rotation speed control module is used to calculate the speed of the surgical grinding tool according to the received parameters. The rotational speed is input to the power controller; the power controller is used to control the rotational speed of the surgical grinding tool by means of voltage regulation according to the rotational speed input by the rotational speed control module. Through the various components and structures of the above-mentioned device, the intelligent control of the surgical grinding tool can be realized, the accuracy and safety of the surgical grinding tool can be improved, and precise grinding can be realized.
Description
技术领域 technical field
本发明涉及手术工具领域，尤其涉及一种对手术磨削工具进行智能化监控的装置。The invention relates to the field of surgical tools, in particular to a device for intelligently monitoring surgical grinding tools.
背景技术 Background technique
目前，随着国内医疗设备的更新换代，手术设备也越来越向着智能化、人性化、高精确性和高安全性方向发展，而传统的手术磨削工具功能单一、完全手工操作，精度和安全性都需要靠医生的经验决定。At present, with the upgrading of domestic medical equipment, surgical equipment is becoming more and more intelligent, humanized, high-precision and high-safety, while traditional surgical grinding tools have single functions and are completely manual. Safety needs to be determined by the doctor's experience.
例如，对于骨质、病灶的磨除，仍然在没有任何监控的模式下由医生手工把持凭经验来操作，这对于需要高精度的手术如人工耳蜗移植等，就对医生提出了更高的要求。由此可见，现有技术的手术磨削工具存在功能单一、需要手工操作，且精度和安全性都需要依赖操作人员的经验等缺点。For example, for the removal of bone and lesions, it is still operated manually by doctors without any monitoring mode, which puts higher demands on doctors for high-precision operations such as cochlear implants. . It can be seen that the surgical grinding tools in the prior art have disadvantages such as single function, manual operation, and relying on the experience of the operator for accuracy and safety.
发明内容 Contents of the invention
本发明实施例提供了一种对手术磨削工具进行智能化监控的装置，能够实现手术磨削工具的智能化控制，提高手术磨削工具的精确度和安全性，实现精确的磨除。The embodiment of the present invention provides a device for intelligent monitoring of surgical grinding tools, which can realize intelligent control of surgical grinding tools, improve the accuracy and safety of surgical grinding tools, and realize precise grinding.
本发明实施例提供了一种对手术磨削工具进行智能化监控的装置，所述装置包括：An embodiment of the present invention provides a device for intelligently monitoring surgical grinding tools, the device comprising:
视觉传感器，用于监测手术磨削工具及病灶的位置，并将相关信息反馈到所述软件重构系统；A vision sensor is used to monitor the position of the surgical grinding tool and the lesion, and feed back relevant information to the software reconstruction system;
所述软件重构系统，用于对所述视觉传感器反馈的病灶CT数据进行三维重构，以及进行相应的手术规划，并将所述手术磨削工具与预先规划出的手术区域边界的距离及其本身的移动速度作为参数输入到所述转速控制模块；The software reconstruction system is used to perform three-dimensional reconstruction on the lesion CT data fed back by the visual sensor, and perform corresponding operation planning, and calculate the distance between the operation grinding tool and the pre-planned operation area boundary and Its own moving speed is input to the speed control module as a parameter;
所述转速控制模块，用于根据所接收到的参数计算所述手术磨削工具的转速，并将该转速输入到所述动力控制器；The rotational speed control module is configured to calculate the rotational speed of the surgical grinding tool according to the received parameters, and input the rotational speed to the power controller;
所述动力控制器，用于根据所述转速控制模块所输入的转速，利用电压调节的方式来控制所述手术磨削工具的转速。The power controller is configured to control the rotational speed of the surgical grinding tool by means of voltage regulation according to the rotational speed input by the rotational speed control module.
所述视觉传感器进一步采用双目摄像头对所述手术磨削工具及病人身上预先粘贴的不同标记点进行识别，监测获取它们的空间位置，并计算出它们之间的矢量关系以及所述手术磨削工具的移动速度。The vision sensor further uses a binocular camera to identify the surgical grinding tool and the pre-pasted markers on the patient, monitor and acquire their spatial positions, and calculate the vector relationship between them and the surgical grinding tool. The speed at which the tool moves.
所述转速控制模块进一步采用模糊控制的策略实现，该模糊控制策略的输入为所述手术磨削工具与预先规划出的手术区域边界的距离及其本身的移动速度，输出为所述手术磨削工具的转速百分比，该转速百分比作为所述动力控制器的输入参数。The rotational speed control module is further implemented by a fuzzy control strategy. The input of the fuzzy control strategy is the distance between the surgical grinding tool and the pre-planned surgical area boundary and its own moving speed, and the output is the surgical grinding tool. The rotational speed percentage of the tool is used as an input parameter of the power controller.
所述软件重构系统进一步对病灶区的CT进行三维重建，便于操作人员实现手术前磨削操作的模拟规划。The software reconstruction system further performs three-dimensional reconstruction on the CT of the lesion area, which is convenient for the operator to realize the simulation planning of the grinding operation before the operation.
由上述所提供的技术方案可以看出，本发明实施例所提供的装置包括：视觉传感器，用于监测手术磨削工具及病灶的位置，并将相关信息反馈到所述软件重构系统；所述软件重构系统，用于对所述视觉传感器反馈的病灶CT数据进行三维重构，以及进行相应的手术规划，并将所述手术磨削工具与预先规划出的手术区域边界的距离及其本身的移动速度作为参数输入到所述转速控制模块；所述转速控制模块，用于根据所接收到的参数计算所述手术磨削工具的转速，并将该转速输入到所述动力控制器；所述动力控制器，用于根据所述转速控制模块所输入的转速，利用电压调节的方式来控制所述手术磨削工具的转速。通过上述装置的各部件和结构，就可以实现手术磨削工具的智能化控制，提高手术磨削工具的精确度和安全性，实现精确的磨除。It can be seen from the technical solution provided above that the device provided by the embodiment of the present invention includes: a visual sensor for monitoring the position of the surgical grinding tool and the lesion, and feeding back relevant information to the software reconstruction system; The software reconstruction system is used to perform three-dimensional reconstruction on the lesion CT data fed back by the visual sensor, and perform corresponding operation planning, and calculate the distance between the operation grinding tool and the pre-planned operation area boundary and its The moving speed itself is input as a parameter into the rotation speed control module; the rotation speed control module is used to calculate the rotation speed of the surgical grinding tool according to the received parameters, and input the rotation speed to the power controller; The power controller is configured to control the rotational speed of the surgical grinding tool by means of voltage regulation according to the rotational speed input by the rotational speed control module. Through the various components and structures of the above-mentioned device, the intelligent control of the surgical grinding tool can be realized, the accuracy and safety of the surgical grinding tool can be improved, and precise grinding can be realized.
附图说明 Description of drawings
图1为本发明实施例所提供对手术磨削工具进行智能化监控的装置结构示意图。Fig. 1 is a schematic structural diagram of a device for intelligent monitoring of surgical grinding tools provided by an embodiment of the present invention.
具体实施方式 Detailed ways
本发明实施例提供了一种对手术磨削工具进行智能化监控的装置，能够实现手术磨削工具的智能化控制，提高手术磨削工具的精确度和安全性，实现精确的磨除。The embodiment of the present invention provides a device for intelligent monitoring of surgical grinding tools, which can realize intelligent control of surgical grinding tools, improve the accuracy and safety of surgical grinding tools, and realize precise grinding.
为更好的描述本发明实施例，现结合附图对本发明的具体实施例进行说明，如图1所示为本发明实施例所提供装置的结构示意图，图1中包括视觉传感器、软件重构系统、转速控制模块和动力控制器，其中：In order to better describe the embodiment of the present invention, the specific embodiment of the present invention is now described in conjunction with the accompanying drawings, as shown in Figure 1 is a schematic structural diagram of the device provided by the embodiment of the present invention, including visual sensors, software reconstruction system, speed control module and power controller, where:
所述视觉传感器，用于监测手术磨削工具及病灶的位置，并将位置信息反馈到所述软件重构系统。具体实现过程中，可以采用双目摄像头跟踪手术磨削工具，即利用粘贴在磨削工具上的模板来获取其位置；在术前采用双目摄像头获取预先粘贴在病人身上的标记点的位置，进而获取病人的空间位置信息。The vision sensor is used to monitor the position of the surgical grinding tool and the lesion, and feed back the position information to the software reconstruction system. In the specific implementation process, the binocular camera can be used to track the surgical grinding tool, that is, the template pasted on the grinding tool is used to obtain its position; the binocular camera is used to obtain the position of the marking point pasted on the patient before the operation, Then the spatial position information of the patient is obtained.
所述软件重构系统，可以利用术前扫描获取的医学图像对病灶区进行三维重构，即实现二维图像到三维实体的转换，使得软件模拟的三维实体结构与真实的病灶结构一致。而且，医生可以在该软件系统上进行病灶的勾灶，描绘出待磨削的区域，再通过重构，在三维空间中显示该区域。在术中，将所述手术磨削工具与规划出的手术磨削区域边界的距离及其本身的移动速度作为参数输入到所述转速控制模块中。The software reconstruction system can use the medical images acquired by preoperative scanning to perform three-dimensional reconstruction of the lesion area, that is, to realize the conversion from the two-dimensional image to the three-dimensional entity, so that the three-dimensional entity structure simulated by the software is consistent with the real lesion structure. Moreover, the doctor can draw the focus of the lesion on the software system, delineate the area to be ground, and then display the area in three-dimensional space through reconstruction. During the operation, the distance between the surgical grinding tool and the planned boundary of the surgical grinding area and its own moving speed are input into the rotation speed control module as parameters.
在具体实现过程中，所述软件重构系统对病灶区的CT进行三维重建，便于操作人员(医生)实现手术前磨削操作的模拟规划，例如医生所规划的空间区域在实际手术过程中会被映射到实际病人的相对位置上，而手术磨削工具的位置会与该规划空间区域的边界进行比较，进而计算出实际的手术磨削工具是否处于安全区域，同时在手术过程中还可以利用所述视觉传感器进行导航。In the specific implementation process, the software reconstruction system performs three-dimensional reconstruction on the CT of the lesion area, which is convenient for the operator (doctor) to realize the simulation planning of the grinding operation before the operation. It is mapped to the relative position of the actual patient, and the position of the surgical grinding tool will be compared with the boundary of the planning space area to calculate whether the actual surgical grinding tool is in a safe area. At the same time, it can also be used during the operation The vision sensor performs navigation.
所述转速控制模块，用于根据所接收到的参数计算出所述手术磨削工具的转速，并将该转速输入到所述动力控制器中。在具体实现过程中，该转速控制模块可以采用模糊控制的策略来实现，该模糊控制策略的输入为所述手术磨削工具与预先规划出的手术区域边界的距离，以及本身的移动速度；输出为所述手术磨削工具的转速百分比，该转速百分比作为所述动力控制器的输入参数。The rotational speed control module is used to calculate the rotational speed of the surgical grinding tool according to the received parameters, and input the rotational speed into the power controller. In the specific implementation process, the rotational speed control module can be implemented using a fuzzy control strategy, the input of the fuzzy control strategy is the distance between the surgical grinding tool and the pre-planned surgical area boundary, and its own moving speed; output is the rotation speed percentage of the surgical grinding tool, and the rotation speed percentage is used as an input parameter of the power controller.
所述动力控制器是连结所述手术磨削工具及其驱动器的设备，用于根据所述转速控制模块所输入的转速，利用电压调节的方式来控制所述手术磨削工具的转速。这里的电压调节是通过将控制器发出的PWM波滤波后转成直流电压，进而调节MOS功率管的导通电阻，这样加在磨削工具电机两端的电压即可被调节。The power controller is a device connected to the surgical grinding tool and its driver, and is used to control the rotational speed of the surgical grinding tool by means of voltage regulation according to the rotational speed input by the rotational speed control module. The voltage adjustment here is to convert the PWM wave sent by the controller into a DC voltage after filtering, and then adjust the on-resistance of the MOS power tube, so that the voltage applied to both ends of the grinding tool motor can be adjusted.
举例来说，在手术前首先利用视觉传感器和软件重构系统，对病灶的CT图像进行三维重建，帮助医生确定病人病灶的位置并进行相应的手术规划；在手术中，由医生把持手术磨削工具进行骨质磨除，同时由视觉传感器监测其当前的位姿，并利用转速控制模块和动力控制器来控制该手术磨削工具的转速；当手术磨削工具按照预先规划的方案进入手术磨削区域后，启动该手术磨削工具，在磨削过程中的磨削速度由转速控制模块来进行调整输出，从而实现精确的磨除。For example, before the operation, the visual sensor and software reconstruction system are used to reconstruct the CT image of the lesion three-dimensionally to help the doctor determine the location of the patient's lesion and make corresponding surgical planning; during the operation, the doctor controls the surgical grinding The tool performs bone grinding, while the visual sensor monitors its current position and posture, and uses the rotational speed control module and the power controller to control the rotational speed of the surgical grinding tool; when the surgical grinding tool enters the surgical grinding tool according to the pre-planned plan After grinding the area, start the surgical grinding tool, and the grinding speed during the grinding process is adjusted and output by the speed control module, so as to achieve precise grinding.
通过以上实施例所提供装置的部件和结构，就可以实现手术磨削工具的智能化控制，提高手术磨削工具的精确度和安全性，实现精确的磨除。Through the components and structures of the device provided in the above embodiments, the intelligent control of the surgical grinding tool can be realized, the accuracy and safety of the surgical grinding tool can be improved, and precise grinding can be realized.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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| CN111248976B (en) * | 2020-02-20 | 2022-06-21 | 京东方科技集团股份有限公司 | Grinding equipment |
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