CN104758062A - Device and method for performing operation according to somatosensory action signals - Google Patents

Abstract

The invention discloses a device for performing an operation according to somatosensory action signals. The device comprises a signal collecting device used for collecting and identifying the somatosensory action signals and an executing device used for performing the operation according to the somatosensory action signals. The invention further discloses a method for performing the operation according to the somatosensory action signals.

Description

A device and method for performing surgery based on somatosensory motion signals

technical field

The invention belongs to the field of computer-assisted surgery, and in particular relates to a device and method for performing surgery based on somatosensory motion signals.

Background technique

Many of the current treatment processes require surgery, and medical devices are used to perform operations such as excision and suture on the patient's body. The operating room requires strict aseptic conditions, especially for patients in the intensive care unit, a strict aseptic environment is extremely important.

Existing operations are performed on patients by doctors and nurses. Although necessary disinfection and sterilization treatments have been carried out before the operation, it is impossible for some commonly used surgical equipment (such as surgical navigation systems, surgical robots, etc.) Disinfection or complete disinfection cannot be carried out, and the sterile condition is not high. During the operation, the doctor needs to operate the surgical equipment as well as the patient, which may bring the virus on the surgical equipment to the patient to form cross-infection.

Contents of the invention

In view of this, the embodiment of the present invention expects to provide a device and method for performing surgery based on somatosensory motion signals, which can at least solve the technical problems such as the inability to achieve complete disinfection during the existing surgery.

The technical scheme of the embodiment of the present invention is realized like this:

An embodiment of the present invention provides a device for performing surgery based on somatosensory motion signals, the device comprising:

Signal collection equipment, used to collect and identify somatosensory motion signals;

An execution device is used for performing surgical operations according to the somatosensory motion signals.

In the above solution, the signal acquisition equipment includes:

The somatosensory action setting unit is configured to set the somatosensory action signal.

In the above scheme, the execution equipment includes:

A coordinate correction unit, configured to convert the coordinate system data corresponding to the somatosensory action signal to the coordinate system of the execution device to obtain the coordinate system data corresponding to the surgical operation;

The execution unit is configured to perform a surgical operation according to the coordinate system data corresponding to the surgical operation.

In the above scheme, the device also includes:

An isolation device for isolating said surgical procedure.

In the above scheme, the device also includes:

The image device is used for collecting and displaying image information of the operation operation.

An embodiment of the present invention also provides a method for performing surgery based on somatosensory motion signals, the method comprising:

Collect and identify somatosensory motion signals;

Surgical operations are performed according to the somatosensory motion signals.

In the above scheme, before the step of collecting and identifying the somatosensory action signal, it also includes:

The somatosensory motion signal is set.

In the above scheme, performing the surgical operation according to the somatosensory motion signal includes:

Converting the coordinate system data corresponding to the somatosensory action signal to the coordinate system of the execution device to obtain the coordinate system data corresponding to the surgical operation;

The surgical operation is performed according to the coordinate system data corresponding to the surgical operation.

In the above scheme, the method also includes:

The surgical procedure was isolated.

In the above scheme, the method also includes:

Image information of the surgical procedure is acquired and displayed.

The device and method for performing surgery based on the somatosensory motion signal provided by the embodiments of the present invention firstly collect and identify the somatosensory motion signal, and then perform the surgical operation according to the somatosensory motion signal, which replaces the direct contact of the doctor or nurse with the patient, greatly improving the The level of sterility during the operation; avoiding cross-infection between surgical equipment and patients.

Description of drawings

Fig. 1 is the structural diagram of the device for performing surgery according to the somatosensory action signal of embodiment 1;

Fig. 2 is the flowchart of the method for performing surgery according to the somatosensory motion signal of embodiment 2;

Fig. 3 is the schematic diagram when the orthopedic surgery of embodiment 3 begins;

Fig. 4 is the schematic diagram when the orthopedic operation of embodiment 3 is completed.

In order to clearly realize the structure of the embodiments of the present invention, specific dimensions, structures and devices are marked in the drawings, but this is only for illustrative purposes, and is not intended to limit the present invention to the specific dimensions, structures, devices and environments. According to specific needs, those skilled in the art can adjust or modify these devices and environments, and the adjustments or modifications are still included in the scope of the appended claims.

Detailed ways

In the following description, various aspects of the present invention will be described. However, those skilled in the art can implement the present invention by using only some or all of the structures or processes of the present invention. For clarity of explanation, specific numbers, arrangements and sequences are set forth, but it will be apparent that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail in order not to obscure the invention.

Example 1

In order to solve technical problems such as the inability to achieve complete disinfection in the existing surgical process, this embodiment provides a device for performing surgery based on somatosensory motion signals, as shown in Figure 1, the device of this embodiment includes:

A signal collection device 101, configured to collect and identify somatosensory motion signals;

In order to meet the requirements of complete disinfection and sterility, the device described in this implementation uses the somatosensory action signal to replace the existing operation purpose of the doctor or nurse during the operation, avoiding the direct contact between the doctor and the surgical equipment, and greatly improving the The level of sterility during surgery. The somatosensory action signal in this embodiment refers to classifying various surgical operations during surgery, and setting a corresponding somatosensory action signal for the surgical operation. In this way, the signal acquisition device 101 can perform corresponding surgical operations according to the somatosensory motion signals. It should be noted that the somatosensory motion signal in this embodiment can be set according to a specific operation, and the same somatosensory motion signal does not necessarily correspond to the same surgical operation in all surgeries. There may be one or more signal acquisition devices 101, depending on actual conditions. Correspondingly, the somatosensory motion signal may be in a separate form or in a combined form. The signal collection device 101 can collect one somatosensory action information, and can also collect multiple somatosensory signals at the same time.

The executing device 102 is configured to perform a surgical operation according to the somatosensory motion signal.

After receiving the somatosensory motion signal, the surgical operation is performed according to the somatosensory motion signal, which avoids the doctor from touching other surgical equipment, greatly improves the aseptic level during the operation, and prevents cross-infection. The execution device 102 can be realized by a robot arm, and the specific parameters of the robot arm (such as the number of the robot arm, the degree of freedom of each axis of the robot arm, etc.) can be set according to actual needs.

The signal acquisition device 101 of this embodiment collects and recognizes the somatosensory motion signal, and then the execution device 102 performs surgical operations according to the somatosensory motion signal, avoiding direct contact between the doctor and other surgical equipment, and greatly improving the aseptic level during the operation; Cross-infection between surgical equipment and patients is avoided.

Specifically, the signal acquisition device 101 in this embodiment further includes: a somatosensory action setting unit, configured to set the somatosensory action signal. In practice, it is necessary to set the corresponding somatosensory action signal for the surgical operation before performing the surgery. The difference between the somatosensory action signals should be obvious, so as to avoid misrecognition of the signal collection device 101 and misoperation of the execution device 102 .

The signal collection device 101 recognizes the somatosensory motion signal based on its own coordinate system, and the execution device 102 usually has its own coordinate system, which is different from the coordinate system of the collection device 101 . Therefore, in order to accurately execute the somatosensory motion signal recognized by the signal collection device 101, the execution device 102 needs to convert the coordinate system data corresponding to the somatosensory motion signal obtained by the signal collection device 101, so as to perform accurate surgical operations. To this end, the execution device 102 includes: a coordinate correction unit, configured to convert the coordinate system data corresponding to the somatosensory motion signal into the coordinate system of the execution device to obtain coordinate system data corresponding to the surgical operation; The surgical operation is performed according to the coordinate system data corresponding to the surgical operation.

The direct contact between the doctor and other surgical equipment is avoided by the signal acquisition device 101 and the execution device 102 . In order to further improve the sterility level during the operation, the device of this embodiment further includes: an isolation device, used for isolating the operation. The isolating device can be a sealed aseptic film containing the aseptic membrane of the implementing device 102, or other devices capable of achieving aseptic effect.

The signal acquisition device 101 and the execution device 102 of this embodiment perform data transmission through wired signals or wireless signals, that is, there is a certain distance between the signal acquisition device 101 and the execution device 102 of this embodiment, in order to operate on the execution device 102 To achieve precise control, it is necessary to monitor the site of the execution device 102, so the device in this embodiment further includes: an image device, configured to collect and display image information of the surgical operation. Specifically, the image device includes: an image acquisition unit, located on the execution device 102 side, for acquiring the image information; an image display unit, located at the signal acquisition device 101 side, for displaying the image information. In order to further improve the collection effect of the image information, the image collection unit may further include a three-dimensional camera to realize three-dimensional collection of the image information. Correspondingly, the image display unit includes a three-dimensional display. Imaging devices can be placed inside or outside the fence.

Example 2

This embodiment and Embodiment 1 belong to the same inventive concept, and this embodiment provides a method for performing surgery based on somatosensory motion signals, as shown in Figure 2, the method includes:

Step S201: collecting and identifying somatosensory motion signals;

In order to achieve the requirements of complete disinfection and sterility, this implementation uses somatosensory action signals to replace the existing operation purpose of doctors or nurses during the operation, avoiding direct contact between doctors and surgical equipment, and greatly improving the safety during the operation. Sterility level. The somatosensory action signal in this embodiment refers to classifying various surgical operations in the operation, and setting corresponding somatosensory action signals for the surgical operations. The somatosensory action signals can be in a separate form or in a combined form. In this way, the corresponding surgical operation can be performed according to the somatosensory motion signal. It should be noted that the somatosensory motion signal in this embodiment can be configured according to a specific operation, and the same somatosensory motion signal does not necessarily correspond to the same surgical operation in all surgeries.

Step S202: Perform surgical operation according to the somatosensory motion signal.

After receiving the somatosensory motion signal, the surgical operation is performed according to the somatosensory motion signal, which avoids the doctor from touching other surgical equipment, greatly improves the aseptic level during the operation, and prevents cross-infection. The execution device 102 corresponding to this step can be implemented by a robotic arm, and specific parameters of the robotic arm (such as the number of robotic arms, the degree of freedom of each robotic arm axis, etc.) can be set according to actual needs.

Before step S201, it is necessary to set the somatosensory motion signal corresponding to the surgical operation according to the actual situation. Therefore, before the step of collecting and identifying the somatosensory motion signal, it further includes: setting the somatosensory motion signal. It should be noted that the difference between the somatosensory motion signals should be obvious to avoid misidentification of the somatosensory motion signals.

In practice, the collection and recognition of somatosensory motion signals are all based on a specific coordinate system, and the surgical operation based on the somatosensory motion signals is also based on a specific coordinate system, but the above two coordinate systems are usually different Therefore, it is necessary to perform corresponding coordinate system transformation on the somatosensory motion signal for surgical operation. To this end, step S202 includes:

Step S2021: Transform the coordinate system data corresponding to the somatosensory motion signal to the coordinate system of the execution device to obtain the coordinate system data corresponding to the surgical operation;

Step S2022: Perform the surgical operation according to the coordinate system data corresponding to the surgical operation.

Through the above step S201 and step S202, it can be realized that the doctor does not directly contact other surgical equipment. In order to further improve the aseptic level during the operation, the method described in this embodiment may also include:

The surgical procedure was isolated. Isolation can be through a sterile membrane containing the implementing device 102 that is sealed and sterile, or other devices that can achieve aseptic effect.

In order to precisely control the surgical operation, the method in this embodiment may further include: collecting and displaying image information of the surgical operation. In order to further improve the collection effect of the image information, in this step, the image information may be collected through a three-dimensional lens and displayed on a three-dimensional display.

Example 3

The present invention will be described in detail below through an actual scene.

Taking orthopedic surgery as an example, the signal acquisition device 101 is realized by a somatosensory motion signal recognition device. The execution device 102 is realized by a robotic arm, preferably a six-degree-of-freedom robotic arm. The isolation equipment needs to use a sterile film, and the sterile film covers the mechanical arm, so that the mechanical arm has no contact with the outside world. The image acquisition unit is composed of three cameras, and the images collected by the three cameras are combined into a three-dimensional view; the image display unit uses a three-dimensional display to display the three-dimensional view. The signal acquisition device 101 and the execution device 102 are connected by wire or wireless; the image acquisition unit and the image display unit are connected by wire or wireless.

Before the experiment starts, the somatosensory action signal corresponding to the surgical operation must be set through the somatosensory action setting unit. In this embodiment, the somatosensory action signal is defined through gestures. Afterwards, in the setting area of the signal acquisition device 101, the robot arm can be controlled correspondingly through gestures, such as operations such as starting, stopping, rotation or translation of the robot arm, and two hands can also be combined to realize corresponding operations, depending on the specific situation. It depends on actual needs. The following are specific instructions for one-handed operation and two-handed operation:

(1) One-hand operation

The one-hand positioning method is suitable for the initial stage of surgery. The motion control of the end of the robot approaching the surgical site requires a smooth process and low precision requirements. Therefore, master-slave motion control is adopted, and the pose and speed are controlled by the operator. Establish the right-hand coordinate system by identifying the thumb and palm.

Make sure that the direction of each coordinate axis of the sensor and the robot coordinate system is the same. Calculate the translation components x, y, z and rotation components Rx, Ry, Rz of the right hand relative to the X\Y\Z axis of the sensor coordinate system in real time. The end of the robot is guided to follow the operator through coordinate system conversion calculations. In this way, the motion reference coordinate system is the robot's own coordinate system, and the operator observes the robot's position and attitude through the multi-angle camera to control the robot's movement.

For example, in orthopedic positioning surgery, the doctor uses one-handed positioning to guide the end of the robot close to the patient's surgical site, avoiding obstacles during the process, and places the tool installed at the end of the robot between the X-ray emitting end and the patient to perform the operation of pulling the needle position. The retraction pin can be used for cannulated nail surgery or fracture reduction surgery.

Taking the gesture of the left hand as the switch value, when the gesture state of the left hand is making a fist, the signal acquisition device 101 starts to control the mechanical arm. When the gesture of the left hand is to open the hand, the signal acquisition device 101 ends the control of the mechanical arm. Use the right hand gesture to control the rotation or translation of the robotic arm. Next, it is only necessary to establish a relationship between the coordinate change of the hands and the end movement of the robotic arm (coordinate system data conversion).

The three cameras collect the movement of the robotic arm in real time, and form the collected images into a three-dimensional view; then display it to the operator through the three-dimensional display, and can perform operations such as zooming in and out of the three-dimensional view, so that the operator can adjust the mechanical arm according to the actual situation. Make adjustments.

(2) Two-hand operation

The two-hand positioning method is suitable for orthopedic surgery, which requires high precision and the speed can be adjusted in several gears. In Figure 3, the coordinates of the left hand of both hands are (x1, y1, z1), the coordinates of the right hand are (x2, y2, z2), and the input robot control amount is (x, y, z, Rx, Ry, Rz). Among them, x is the X-axis translation component of the robot; y is the Y-axis translation component of the robot; z is the Z-axis translation component of the robot; Rx is the rotation component on the X-axis of the robot; Ry is the rotation component on the Y-axis of the robot ; Rz is the rotation component on the Z axis of the robot.

The gesture of the left hand is used as the switching value. When the gesture state of the left hand is clenched fist, the operation is started, and the direction of the maximum change of the coordinates of the left hand (such as Δx) is calculated. Use the right hand gesture to control the rotation or translation of the robotic arm. When opening the hand, it is rotation, and when making a fist, it is translation. Each movement has a fixed step length, so as to ensure that the end of the robot moves at a constant speed. Here, the step length includes the distance step length and the angle step length; when the movement only changes the distance, the distance step length is a set distance value, and the movement is counted with this distance step length; when the movement only changes the angle, the angle The step length is a set angle, and the movement is counted by the angle step; when the movement has both distance and angle, the movement is counted by the distance step and the angle step at the same time.

When the left hand gesture is open hand, the operation ends. Next, it is only necessary to establish a relationship between the coordinate change of the hands and the end movement of the robotic arm (coordinate system data conversion). During the operation, according to the robot's own joint parameters, the 3D image of the tool fixed at the end of the robot is displayed as the basis for the operator to observe.

In special cases, doctors can control the robot by adjusting the angle of each motor of the robotic arm. In this mode, use the left hand to select the motor number to be adjusted, and use the right hand to move left and right to control the forward and reverse rotation of the motor.

In orthopedic reduction surgery, after the traction pin is fixed on the bone, the X-ray scan is registered with the CT data of the patient to generate a three-dimensional image of the bone fixed at the end of the robot and displayed to the operator through the monitor, and the three-dimensional view can be enlarged Zooming out and other operations enable the operator to adjust the robotic arm according to the actual situation. According to the real-time virtual three-dimensional image feedback, the doctor uses both hands to adjust the position and angle of the robot to drive the bone reset. The final fracture reduction operation is shown in Figure 4.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or May be integrated into another system, or some features may be ignored, or not implemented. In addition, the coupling, or direct coupling, or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical or other forms of.

The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units; Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention can be integrated into one processing module, or each unit can be used as a single unit, or two or more units can be integrated into one unit; the above-mentioned integration The unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

Those of ordinary skill in the art can understand that all or part of the steps for realizing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the Including the steps of the foregoing method embodiments; and the foregoing storage medium includes: a removable storage device, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc. A medium on which program code can be stored.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. 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.

Claims (10)

1. A device for performing surgery according to somatosensory action signals, characterized in that the device comprises: Signal collection equipment, used to collect and identify somatosensory motion signals; An execution device is used for performing surgical operations according to the somatosensory motion signals. 2. The device according to claim 1, wherein the signal acquisition device comprises: The somatosensory action setting unit is configured to set the somatosensory action signal. 3. The apparatus according to claim 1, wherein the execution device comprises: A coordinate correction unit, configured to convert the coordinate system data corresponding to the somatosensory action signal to the coordinate system of the execution device to obtain the coordinate system data corresponding to the surgical operation; The execution unit is configured to perform a surgical operation according to the coordinate system data corresponding to the surgical operation. 4. The device according to claim 1, further comprising: An isolation device for isolating said surgical procedure. 5. The device according to claim 1, further comprising: The image device is used for collecting and displaying image information of the operation operation. 6. A method for performing surgery according to somatosensory action signals, characterized in that the method comprises: Collect and identify somatosensory motion signals; Surgical operations are performed according to the somatosensory motion signals. 7. The method according to claim 6, further comprising: before the step of collecting and identifying somatosensory motion signals: The somatosensory motion signal is set. 8. The method according to claim 6, characterized in that, performing the surgical operation according to the somatosensory motion signal comprises: Converting the coordinate system data corresponding to the somatosensory action signal to the coordinate system of the execution device to obtain the coordinate system data corresponding to the surgical operation; The surgical operation is performed according to the coordinate system data corresponding to the surgical operation. 9. The method according to claim 6, further comprising: The surgical procedure was isolated. 10. The method of claim 6, further comprising: Image information of the surgical procedure is acquired and displayed.