CN109044530A - A kind of multi-modal sensory perceptual system and data fusion method of operation on prostate robot - Google Patents
A kind of multi-modal sensory perceptual system and data fusion method of operation on prostate robot Download PDFInfo
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- 210000002307 prostate Anatomy 0.000 title claims abstract description 38
- 238000007500 overflow downdraw method Methods 0.000 title claims abstract description 10
- 230000001953 sensory effect Effects 0.000 title claims description 10
- 230000004927 fusion Effects 0.000 claims abstract description 32
- 210000001519 tissue Anatomy 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 238000002604 ultrasonography Methods 0.000 claims description 32
- 238000001914 filtration Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 8
- 230000035515 penetration Effects 0.000 claims description 6
- 210000004907 gland Anatomy 0.000 claims description 4
- 230000009897 systematic effect Effects 0.000 claims description 3
- 230000008447 perception Effects 0.000 abstract description 2
- 238000001356 surgical procedure Methods 0.000 abstract 5
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001574 biopsy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- 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
- A61B2034/2051—Electromagnetic tracking systems
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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
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Oral & Maxillofacial Surgery (AREA)
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- Ultra Sonic Daignosis Equipment (AREA)
Abstract
本发明专利涉及一种前列腺手术机器人的多模态感知系统及数据融合方法，它包括电磁定位系统，用以测量穿刺针的实时位置信息；超声图像导航系统，用以测量穿刺针与组织的实时位置关系；六维力传感器系统，用以测量穿刺针受力情况，进行预警监测；数据融合系统，用以融合相关数据，进针穿刺针的实时定位。采用该结构的前列腺介入手术机器人的多模态感知系统及其数据融合方法，可以将前列腺介入手术机器人穿刺前列腺组织时针尖的实时位置采用贝叶斯数据融合算法和卡尔曼滤波算法输出精确的位置坐标，为前列腺介入手术机器人提供更加精确的位置反馈系统，同时还可以根据穿刺针末端的力传感器进行预警监测，防止前列腺介入手术机器人进行手术时出现危险。
The patent of the present invention relates to a multi-modal sensing system and data fusion method of a prostate surgery robot, which includes an electromagnetic positioning system for measuring the real-time position information of the puncture needle; an ultrasonic image navigation system for measuring the real-time position information of the puncture needle and the tissue Positional relationship; the six-dimensional force sensor system is used to measure the force of the puncture needle for early warning monitoring; the data fusion system is used to fuse relevant data and real-time positioning of the puncture needle. The multimodal perception system and data fusion method of the prostate interventional surgery robot with this structure can output the precise position of the needle tip when the prostate interventional surgery robot punctures the prostate tissue using the Bayesian data fusion algorithm and the Kalman filter algorithm. Coordinates provide a more accurate position feedback system for prostate interventional surgery robots. At the same time, it can also perform early warning and monitoring based on the force sensor at the end of the puncture needle to prevent danger during prostate interventional surgery robots.
Description
Technical field
The present invention relates to a kind of multi-modal sensory perceptual system of operation on prostate robot and data fusion methods, belong to medical treatment
Instrument area of computer aided field of locating technology.
Background technique
Traditional prostate intervention operation carries out puncture intervention by doctor, but due to the influence of the factors such as doctors experience, wears
Needle-holding hand art needs multiple inserting needle and constantly change inserting needle orientation, leads to that puncturing operation precision is low, the time is long, and doctor is easy tired
Labor, patient are more painful.The accuracy that prostate intervenes robot arrival target spot is higher, operating time is shorter, the labour of doctor
Intensity is lower, therefore is with a wide range of applications.
The mode that existing operation on prostate robot mostly uses single ultrasound image to navigate carries out tissue positioning and wears
Needle-holding hand art, it is this using single ultrasound image navigation by the way of carry out ultrasound image needle point identification when, often will appear super
Sound can not receive reflection signal and reflect the situation of signal inaccuracy, this has resulted in the knowledge that ultrasound image navigates to puncture needle
Certain error is not generated and random identification does not occur as to the accuracy and safety of the operation of operation on prostate robot puncturing
Property causes large effect.
Summary of the invention
In view of the disadvantages mentioned above of the prior art, experiment purpose of the invention is to provide a kind of operation on prostate robot
Multi-modal sensory perceptual system and data fusion method, it is intended to solve that existing single navigation system accuracy is not high, safety is low
The problem of.
To achieve the above object, the present invention provides a kind of multi-modal sensory perceptual system of operation on prostate robot and data
Fusion method, which is characterized in that the system includes: electromagnetic positioning system, to measure the real-time position information of puncture needle；
Ultrasound image navigation system, to measure the real time position relationship of puncture needle and tissue；Six-dimension force sensor system, to measure
Puncture needle stress condition carries out early warning and monitoring；Data fusion system, in conjunction with the electromagnetic positioning system, ultrasound image
Navigation system and six-dimension force sensor system carry out puncture needle using bayesian data fusion algorithm and Kalman filtering algorithm
Positioning in real time.
Preferably, the method includes following after prostate intervention operation robot punctures and enters tissue
Step:
(1) electromagnetic positioning system described in obtains the position coordinates of prostate intervention operation robot tip penetration needle；
(2) the ultrasound image navigation system described in obtains the position coordinates of prostate intervention operation robot tip penetration needle；
(3) the six-dimension force sensor systematic survey puncture needle described in carries out the six-dimensional force being subject to when puncturing operation；
(4) data fusion system described in is when carrying out data fusion for the first time, in conjunction with the electromagnetic positioning system, ultrasound image
Navigation system, six-dimension force sensor system, using bayesian data fusion algorithm, prostate high-precision puncture force model, to next
Convergence analysis is carried out from the data of electromagnetic positioning system, ultrasound image navigation system and six-dimension force sensor system, output punctures
Pin position coordinate, tissue ultrasound image and puncture pre-warning signal.
(5) data fusion system described in is when carrying out second and data fusion thereafter, in conjunction with the electromagnetic location
The output of system, ultrasound image navigation system, six-dimension force sensor system and last moment data fusion system, using Bayes
Data anastomosing algorithm, Kalman filtering algorithm and prostate high-precision puncture force model, it is fixed to the electromagnetism inputted from this moment
The puncture needle real time position of position system, the data of ultrasound image navigation system and six-dimension force sensor system and last moment output
Coordinate carries out fusion treatment, output puncture needle position coordinates, tissue ultrasound image and puncture pre-warning signal.
Preferably, puncture force early warning threshold values is arranged, works as six-dimension force sensor according to precedent gland high-precision puncture force model
Input power be more than current time early warning threshold values when, send alarm signal simultaneously stop puncturing operation at once.
The invention has the benefit that
(1) present invention detects the puncture process of puncture needle in such a way that multiple modalities sensor measures simultaneously, reduces
The larger disadvantage of uncertainty when single-sensor measurement, by blending algorithm identifies the higher tip position of accuracy
Coordinate.
(2) mechanical model is punctured using precedent gland high-precision in the present invention, to suffered by puncture needle end in puncture process
Power is detected, and punctured error during puncturing operation is prevented, and is caused the damage of tissue, is led to operative failure.
(3) Kalman filtering algorithm is used in the present invention, and the last moment of data fusion system output is punctured into pin position
Coordinate is merged with the position coordinates that merge at this moment, abandons the big coordinate of error, and utilize the sheet of Kalman filtering algorithm
Body characteristic predicts the path of puncture needle according to prostate biopsy mechanism, the control of puncture needle when realizing system to puncturing operation.
Detailed description of the invention:
Come to carry out detailed description to the present invention below in conjunction with attached drawing.It should be appreciated, however, that attached drawing has been provided only preferably
Understand the present invention, they should not be interpreted as limitation of the present invention.
Fig. 1 is the Technology Roadmap of the multi-modal sensory perceptual system of operation on prostate robot of the invention
Specific embodiment:
To achieve the above object, the present invention provides a kind of multi-modal sensory perceptual system of operation on prostate robot and data fusions
Method, which is characterized in that the system includes: electromagnetic positioning system, to measure the real-time position information of puncture needle；Ultrasound
Image-guidance system, to measure the real time position relationship of puncture needle and tissue；Six-dimension force sensor system is punctured to measure
Needle stress condition carries out early warning and monitoring；Data fusion system, in conjunction with the electromagnetic positioning system, ultrasound image navigation
System and six-dimension force sensor system carry out puncture needle using bayesian data fusion algorithm and Kalman filtering algorithm real-time
Positioning.
Further, after prostate intervention operation robot, which punctures, enters tissue, the method includes following
Step:
(1) electromagnetic positioning system described in obtains the position coordinates of prostate intervention operation robot tip penetration needle；
(2) the ultrasound image navigation system described in obtains the position coordinates of prostate intervention operation robot tip penetration needle；
(3) the six-dimension force sensor systematic survey puncture needle described in carries out the six-dimensional force being subject to when puncturing operation；
(4) data fusion system described in is when carrying out data fusion for the first time, in conjunction with the electromagnetic positioning system, ultrasound image
Navigation system, six-dimension force sensor system, using bayesian data fusion algorithm, prostate high-precision puncture force model, to next
Convergence analysis is carried out from the data of electromagnetic positioning system, ultrasound image navigation system and six-dimension force sensor system, output punctures
Pin position coordinate, tissue ultrasound image and puncture pre-warning signal.
(5) data fusion system described in is when carrying out second and data fusion thereafter, in conjunction with the electromagnetic location
The output of system, ultrasound image navigation system, six-dimension force sensor system and last moment data fusion system, using Bayes
Data anastomosing algorithm, Kalman filtering algorithm and prostate high-precision puncture force model, it is fixed to the electromagnetism inputted from this moment
The puncture needle real time position of position system, the data of ultrasound image navigation system and six-dimension force sensor system and last moment output
Coordinate carries out fusion treatment, output puncture needle position coordinates, tissue ultrasound image and puncture pre-warning signal.
Further, according to precedent gland high-precision puncture force model, puncture force early warning threshold values is set, six-dimension force sensor is worked as
Input power be more than current time early warning threshold values when, send alarm signal simultaneously stop puncturing operation at once.
In conclusion the present invention enters working condition when prostate operating robot carries out puncturing operation, electromagnetism is utilized
Puncture needle state when positioning system, ultrasound image navigation system and six-dimension force sensor system are by puncturing operation, tissue
Structure and needle-tissue stress condition carry out perception measurement, while utilizing the real-time coordinates of data fusion system output puncture needle
Feed back to operation on prostate robot.When carrying out puncturing operation, ultrasound image is exported to man-machine interface.The puncture of output is pre-
Alert signal, which is worked as, to be reached the progress alarm of early warning threshold values and stops procedure at once.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (3)
1. the multi-modal sensory perceptual system and data fusion method of a kind of operation on prostate robot, which is characterized in that described is
System includes:
Electromagnetic positioning system, to measure the real-time position information of puncture needle；
Ultrasound image navigation system, to measure the real time position relationship of puncture needle and tissue；
Six-dimension force sensor system carries out early warning and monitoring to measure puncture needle stress condition；
Data fusion system, in conjunction with the electromagnetic positioning system, ultrasound image navigation system and six-dimension force sensor system
System positions puncture needle using bayesian data fusion algorithm and Kalman filtering algorithm in real time.
2. the multi-modal sensory perceptual system and data fusion method of a kind of operation on prostate robot according to claim 1,
It is characterized in that, when prostate intervention operation robot puncture enter tissue after, the method the following steps are included:
The electromagnetic positioning system obtains the position coordinates of prostate intervention operation robot tip penetration needle；
The ultrasound image navigation system obtains the position coordinates of prostate intervention operation robot tip penetration needle；
The six-dimension force sensor systematic survey puncture needle carries out the six-dimensional force being subject to when puncturing operation；
The data fusion system is led when carrying out data fusion for the first time in conjunction with the electromagnetic positioning system, ultrasound image
Boat system, six-dimension force sensor system, using bayesian data fusion algorithm, prostate high-precision puncture force model, to coming from
The data of electromagnetic positioning system, ultrasound image navigation system and six-dimension force sensor system carry out convergence analysis, export puncture needle
Position coordinates, tissue ultrasound image and puncture pre-warning signal；
The data fusion system in conjunction with the electromagnetic positioning system, surpasses when carrying out second and data fusion thereafter
The output of acoustic image navigation system, six-dimension force sensor system and last moment data fusion system, is melted using bayesian data
Hop algorithm, Kalman filtering algorithm and prostate high-precision puncture force model, to the electromagnetic positioning system inputted from this moment,
The puncture needle real-time location coordinates of the data and last moment output of ultrasound image navigation system and six-dimension force sensor system, into
Row fusion treatment, output puncture needle position coordinates, tissue ultrasound image and puncture pre-warning signal.
3. the multi-modal sensory perceptual system and data fusion method of a kind of operation on prostate robot according to claim 1,
It is characterized in that, puncture force early warning threshold values is arranged, when the input of six-dimension force sensor according to precedent gland high-precision puncture force model
Power be more than current time early warning threshold values when, send alarm signal simultaneously stop puncturing operation at once.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998684A (en) * | 2019-05-07 | 2019-07-12 | 艾瑞迈迪科技石家庄有限公司 | Based on the guidance method for early warning and device apart from dynamic quantization |
| CN110215239A (en) * | 2019-05-05 | 2019-09-10 | 清华大学 | The intervention surgical instrument load recognition device and method of blending image and force signal |
| CN110448359A (en) * | 2019-08-02 | 2019-11-15 | 中国人民解放军总医院 | Improve operation navigation device and its application of transjugular intrahepatic portosystemic shunt success rate |
| CN112890957A (en) * | 2021-01-14 | 2021-06-04 | 北京美迪云机器人科技有限公司 | Magnetic induction remote positioning system and method |
| CN113576667A (en) * | 2021-07-20 | 2021-11-02 | 北京理工大学 | Force feedback method for percutaneous puncture surgery, electronic device and robot |
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| CN112890957A (en) * | 2021-01-14 | 2021-06-04 | 北京美迪云机器人科技有限公司 | Magnetic induction remote positioning system and method |
| CN113576667A (en) * | 2021-07-20 | 2021-11-02 | 北京理工大学 | Force feedback method for percutaneous puncture surgery, electronic device and robot |
| CN113576667B (en) * | 2021-07-20 | 2023-12-22 | 北京理工大学 | Force feedback method for percutaneous puncture operation, electronic device and robot |
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