CN109549706A - A kind of surgical operation auxiliary system and its application method - Google Patents
A kind of surgical operation auxiliary system and its application method Download PDFInfo
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- CN109549706A CN109549706A CN201910052976.6A CN201910052976A CN109549706A CN 109549706 A CN109549706 A CN 109549706A CN 201910052976 A CN201910052976 A CN 201910052976A CN 109549706 A CN109549706 A CN 109549706A
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- 210000003625 skull Anatomy 0.000 description 1
- 230000000707 stereoselective effect Effects 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
- A61B34/30—Surgical robots
-
- 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
-
- 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
-
- 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
- A61B34/25—User interfaces for surgical systems
-
- 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
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- 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
- A61B2034/2055—Optical 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
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
本发明提供了一种外科手术辅助系统及其使用方法，所述外科手术辅助系统包含：主机、机械臂、输入设备、显示设备、导向装置等；用于在神经外科手术中进行辅助定位，缩短了手术时间、降低了手术风险、提高了机械臂的手动顺从性并减少了对使用者的空间位置妨碍。
The present invention provides a surgical assistance system and a method of using the same. The surgical assistance system includes: a host, a mechanical arm, an input device, a display device, a guide device, etc.; it is used for assisting positioning in neurosurgery, shortening The operation time is reduced, the surgical risk is reduced, the manual compliance of the robot arm is improved, and the spatial position obstruction to the user is reduced.
Description
Technical field
The present invention relates to technical field of medical equipment, especially a kind of surgical operation auxiliary system and its application method.
Background technique
Horseley-Clarke technique can help doctor use more scientific and reasonable positioning operation approach, deep brain stimulation,
Have in the operations such as the stereotaxis electrode for encephalograms implantation of epileptic focus positioning and is widely applied.Stereospecific method includes solid
Orientation frames and stereotactic surgery robot.Both methods passes through previously-scanned Cranial Computed Tomography, is obtained by three-dimensional reconstruction
The space coordinate of each position in head, doctor design approach in this coordinate system, are then also realized according to coordinate in art accurate
Puncture path guiding.
As the progress of mechanical arm technology and maturation, the stereotactic surgical of robot assisted are more and more general
And more companies are all proposed the neurosurgical Navigation System guides of robot assisted, existing product such as ROSA, REMEbot etc.
It has been all made of structure of the 6 shaft mechanical arms as guided-moving, provides bearing directing for doctor.Existing neurosurgical Navigation System guides are logical
The mechanical arm being often used can usually encounter two problems during dragging, guide first is that pulling machinery manually mainly by manpower,
The trackability in each joint is poor, very heavy not easy to operate, overexerts sometimes or control force is bad, before will lead to mechanical arm
End guiding probe collides with or even the dangerous situation on injured patient head occurs；Another problem is in the course of surgery, to keep
The demand that mechanical arm posture is adjusted in the case that mechanical arm end is fixed is unable to satisfy, and 6 shaft mechanical arm ends only have limited space
Position solution, i.e., under the premise of 6 shaft mechanical arm ends are fixed, 6 shaft mechanical arm other arm joints only have limited several in space
Discontinuous posture can keep end position posture constant, change the position of other arm joints if necessary, then inevitably result in end
Portion moves, and is unable to satisfy and keeps mechanical arm end position posture constant, while mechanical arm volume is larger, nothing after position is fixed
Method is mobile, frequently results in surgeon and needs to operate with awkward posture, increases the difficulty of operation, increase doctor's
Physical demands reduces the efficiency of operation, increases the operation risk of sufferer.
Summary of the invention
In view of this, in order to solve the problems in the existing technology at least one, inventors herein proposes a kind of surgery
Surgical assistant system, system that employs the Multi-shaft mechanical arms containing multiple sensors, have good dragging retinue's property, by more
Shaft mechanical arm is realized in the case where keeping end space position motionless, other joints and arm section cooperateed with when being touched into
Line position sets pose adjustment, facilitates the operation of doctor.
On one side, the present invention provides a kind of surgical operation auxiliary system, it includes:
Host includes that computer, controller and interface control the movement of mechanical arm for receiving data, and output calculates knot
Fruit；
Mechanical arm comprising multiple arm sections and joint and has at least seven freedom degree, can be realized in mechanical arm end
(end arm joint) spatial position carries out position and attitude adjustment to joint and other arm sections in the case where not changing；
Input equipment, for receiving the order of user；
Equipment is shown, for showing the calculated result and software interface of host.
Input unit can be any suitable device, to allow user that order and data are imported into host, such as
Floor push, touch tablet, felt pen, touch screen, control stick, trace ball, wireless mouse, mouse, keyboard, voice input port or
A combination thereof.Display device can be any suitable device, to show software interface and virtual three-dimensional imaging, example to user
Such as laptop, tablet computer, smart phone, liquid crystal display, touch display screen or combinations thereof.
Surgical operation auxiliary system of the invention also may include flange, and flange is arranged in mechanical arm end, leads for coupling
To device, positioning probe, surgical instrument, scanning means etc..Flange is not required, guiding device, follow-up mechanism etc. can be straight
In the case where connecing mechanical arm end in succession, it is convenient to omit flange.
Surgical operation auxiliary system of the invention also includes guiding device, is used to establish moving conduit for surgical instrument,
Para-operational device positioning and orientation, guiding device contain through-hole, carry out movement on certain direction for surgical instrument and provide
Auxiliary, guiding device can carry out disinfection when necessary, be required with meeting operation.
Surgical operation auxiliary system of the invention also includes surgical instrument, and surgical instrument can be seal wire, drill bit, electrode
Deng positioning and orientation of the surgical instrument in the through-hole realization three-dimensional space of guiding device.
Surgical operation auxiliary system of the invention also includes positioning probe, and positioning probe is used to carry out position mark to index point
Note, such as is already installed on the bone nail of skull or the index point of body, opposite due to positioning probe relative mechanical arm end
Spatial relationship is fixed, and the coordinate system so as to be determined based on mechanical arm itself is confirmed and corrected to position point, then complete
At registration.
Surgical operation auxiliary system of the invention also may include scan module, with to object space (position to be performed the operation) into
Row Image Acquisition is for generating three-dimensional structure, in such cases, the alternative positioning probe of scan module.Scan module can be based on
The fixation position for being known relative to mechanical arm end is moved to designated position by mechanical arm, and includes different composed structures:
In the first scheme, scan module includes image acquiring device, the relative position of image acquiring device and mechanical arm
Relationship is known, it can by directly obtaining seat of the image acquiring device in the base coordinate system of mechanical arm without measurement
Mark；Image acquiring device can be video camera, such as monocular cam, binocular camera shooting head etc., and mechanical arm band motion video obtains dress
It sets and obtains image in different location, can be obtained the three-dimensional information of object space by calculating；
In second scheme, scan module includes light emission component and image acquiring device, and light emission component can emit
Light, such as infrared ray arrive object space, and image acquiring device acquires image, when the number for collecting sufficient amount of characteristic point
According to rear, calculate control centre and the coordinate of object space is demarcated according to the information of acquisition；
In the third scheme, scan module includes projecting subassembly and image acquiring device, and the projection module can emit
Specific coded image is obtained to object space and by image acquiring device progress Image Acquisition by corresponding decoding algorithm
To the accurate three-dimensional structure of object space, then it is registrated.The projecting subassembly and described image acquisition device of scan module have
There is predetermined relative tertiary location relationship.In one embodiment, the projecting subassembly packet of surgical robot system of the present invention
Containing light source, lens group, digital micromirror elements (Digital Micromirror Device) and control module, image acquiring device
For video camera.
Surgical robot system of the invention also may include tracing module, can track and obtain mechanical arm end, flange,
The position of guiding device, positioning probe, scan module etc. carries out direct or indirect accurate positioning to the position of oriented module,
Spatial position when scan module obtains image is tracked, the coordinate system for the image that can be obtained to scan module is converted,
To construct three-dimensional structure；So that the space orientation to mechanical arm end, flange, guiding device, positioning probe, scan module etc.
Be no longer dependent on mechanical arm itself, need to refer in the case of this label and mechanical arm end, flange, guiding device, positioning probe,
The connection relationship that scan module etc. has relative position fixed, the composition of tracing module are as previously described.Tracing module can be by more
Kind mode is realized:
The first situation, tracing module are the photographic device with trace ability, such as binocular camera, and tracking is with reference to mark
The position of note, reference marker may include the traceable marker of several light, and the traceable marker of light has special space
Arrangement architecture can uniquely determine the space coordinate of reference marker, the traceable marker of light for example can self luminous marker,
Or angle point etc., reference marker and mechanical arm end, flange, guiding device, positioning probe, scan module etc. have fixed position
Relationship is set, can be fixedly connected or is removably connected, then determines mechanical arm end, flange, guiding by reference to marking
The position of device, positioning probe, scan module etc., in such cases, tracing module can not only track reference marker, can be with
Obtain a certain range of 3-D image near mechanical arm end；
Second situation, tracing module are optical tracking device, and optical tracking device generally includes the mark that can be tracked by light
Remember that object, camera unit and light emitting unit, light are preferably infrared ray, reference marker includes several markers, and marker has
There is special steric structure that can uniquely determine the space coordinate of reference marker, marker can be diversified forms, example
Sphere that such as can be reflective, reference marker and mechanical arm end, flange, guiding device, positioning probe, scan module etc. have solid
Fixed positional relationship can be fixedly connected or removably connect, and then determine mechanical arm end, method by reference to marking
The position of orchid, guiding device, positioning probe, scan module etc.；
The third situation, tracing module are electromagnetic tracking device, and electromagnetic tracking device is by magnetic orientation marker in magnetic field
In influence that electromagnetic field is generated determine the position of magnetic orientation marker, magnetic orientation marker constitutes reference marker, with reference to mark
Note and mechanical arm end, flange, guiding device, positioning probe, scan module etc. have fixed positional relationship, can the company of fixation
It connects or removably connects, then determine mechanical arm end, flange, guiding device, positioning probe, scanning by reference to marking
The position of module etc..
In one embodiment, the mechanical arm of surgical operation auxiliary system of the present invention has 7 freedom degrees, each joint
All have sensor and motor；Preferably, sensor is torque sensor.
The mechanical arm of surgical operation auxiliary system of the invention can sense when suffered power, this feature can be by not
With mode realize, as long as be able to achieve this function.It in an example, can be equal by each joint in mechanical arm
Sensor is set to realize；In another example, each joint of mechanical arm is provided with torque sensor and motor, can
External force size and Orientation suffered by each arm joint is sensed, and host can control the movement in each joint.In another program,
The outermost layer of mechanical arm is pressure sensing layer, can sense suffered external pressure, and by force feedback to host, such as power
Sense film, is distributed with several power sensing units on power sense film, each power sensing unit can separate records power it is big
Small and have unique coordinate site, power sensing unit senses to power are simultaneously transferred to host, and host is according to the stress of mechanical arm
Situation, and issue and order to motor, mechanical arm carries out retinue's movement, until external force is zero.In another scheme, mechanical arm
Only contain motor in joint, by the curent change of motor, the stress condition in joint can be calculated, to carry out adaptability
It adjusts.
In surgical operation auxiliary system of the invention, input equipment can be fixedly connected with display equipment with host, can also
With by wired or wireless realization communication connection, distribution distribution realizes communication for example, by using WiFi or bluetooth, that is, shows dress
It sets with input equipment as independent assembly presence, shows equipment and input equipment can be same component, such as touch screen, movement
Tablet computer, smart phone etc..
In a preferred embodiment, the host of surgical operation auxiliary system of the present invention can be realized in this way mechanical arm
Control, mechanical arm end remains unchanged on desired position, and host recalculates adaptation when sensor senses external force
The new posture of mechanical arm after external force, and order mechanical arm carries out fast adaptability adjustment.
In yet another preferred embodiment, surgical operation auxiliary system of the invention may include existing surgical navigational
Device or use in conjunction, i.e., carry out data communication by the interface of host, and operation navigation device is surgery of the invention
Surgical assistant system provides the coordinate information of anatomical landmarks and monitors the influence etc. of operative site.
Surgical operation auxiliary system of the invention has following multi-motion control model:
One, active movement mode: host issues movement instruction to mechanical arm according to the operation plan of planning under this mode, promotees
Dynamic motor in the case of being hindered by external force, carries out emergency braking, and give a warning and mention according to the movement of instruction adjustment mechanical arm
Show；Active movement mode is mainly used for the automatic returning initial position of mechanical arm, is automatically moved into surgery planning position etc.；
Two, driven motions mode: under this mode, operator can pull mechanical arm and position, and the host receives machine
After the stress of tool arm sensing, synkinesia instruction is issued according to the size of stress, motor is actuated and promotes mechanical arm according to dragging
It is expected that being moved；Driven motions mode is mainly used for registration process；
Three, end restricted mode: under this mode, mechanical arm end can only transport on the axis of planning or in planar obit simulation
It is dynamic, or cone type games are done centered on fixed point, host recalculates machine after adapting to external force when mechanical arm is by external force
The new posture of tool arm, and order mechanical progress fast adaptability adjustment；
Four, end fixed mode: mechanical arm end remains unchanged on desired position, and joint and other arm joints can carry out
Position and attitude adjustment.
On the other hand, the present invention also provides the application methods of foregoing surgical surgical assistant system, comprising:
A image data) is received using surgical operation auxiliary system and carries out visualization display, can be performed the operation in image
Programme planning；
B) the surgical operation auxiliary system is fixed to the suitable position of operating room, be registrated；
C the motor pattern for) adjusting surgical operation auxiliary system, executes according to preparatory surgery planning.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the composition schematic diagram of surgical operation auxiliary system of the invention；
Fig. 2 is the schematic diagram of one embodiment of the present of invention；
Fig. 3 is the structural schematic diagram for passing through flanged joint scan module according to the mechanical arm of one embodiment of the present of invention；
Fig. 4 is the schematic diagram of surgical operation auxiliary system of the invention in the equipped positioning probe in mechanical arm end；
Fig. 5 is the schematic diagram of a specific example of positioning probe of the invention；
Fig. 6 is that the surgical operation auxiliary system of one embodiment of the invention is equipped with the signal of guiding device in mechanical arm end
Figure；
Fig. 7 is the schematic diagram of a specific example of guiding device of the invention；
Fig. 8 is another composition schematic diagram of surgical operation auxiliary system of the present invention；
Fig. 9 is the schematic diagram of one embodiment of the surgical operation auxiliary system in Fig. 8, and wherein mechanical arm end is assembled with
Guiding device；
Figure 10 shows the schematic diagram of two examples of the reference marker of surgical operation auxiliary system of the present invention；
Figure 11 is the signal of a part of power sense film in one embodiment of surgical operation auxiliary system of the invention
Figure.
Icon:
100- host, 101- movable base plate, 102- mainframe box, 103- computer and controller, 1011- wheel, 1012-
Lifting device, 104- handrail；200- mechanical arm；300- shows equipment (can have input function)；400- input equipment；500-
Flange；600- guiding device, the first accessory of 601-, the second accessory of 602-, 6021- through-hole；700- scan module, 800- positioning are visited
Needle, 900- follow-up mechanism, 901- camera, 902- camera；201- pedestal, the first joint 202-, the first arm joint of 203-, 204-
Second joint, the second arm joint of 205-, 206- third joint, 207- third arm joint, the 4th joint 208-, the 4th arm joint of 209-,
The 5th joint 210-, the 5th arm joint of 211-, the 6th joint 212-, the 6th arm joint of 213-, the 7th joint 214-, the 7th arm joint of 215-
(mechanical arm end)；710- projecting subassembly, 720- image acquiring device.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
The present invention provides surgical operation auxiliary systems, referring to Fig.1, generally comprise: host 100, is shown mechanical arm 200
Show equipment 300, input equipment 400, flange 500, guiding device 600 and scan module 700 and/or positioning probe 800；Machine
Tool arm 200 has at least seven freedom degree, when mechanical arm possesses 7 and 7 or more freedom degrees, the fixed situation in end
Under, any one arm joint moves to any position, remaining arm joint has continuous spatial position solution, that is, is guaranteeing 7 shaft mechanicals
In the case that arm end is motionless, free dragging can be carried out to remaining arm joint.
Host 100 includes movable base plate 101, mainframe box 102, computer and controller 103；Computer and controller
103 are led to display equipment 300, input equipment 400, other hospital equipments (such as MRI machine or CT equipment) or database
News connection.Display equipment 300 is used to show the 3-D image and software interface that computer and controller 103 generate, such as shows
Equipment 300 is liquid crystal display, and in one embodiment, display equipment 300 is touch screen, and touch screen to show equipment
300 have the function of display and input simultaneously, can be omitted input equipment 400 at this time.Input equipment 400 is that common input fills
Set: for example floor push, touch tablet, felt pen, touch screen, control stick, trace ball, wireless mouse, mouse, keyboard, voice are defeated
Inbound port or combinations thereof allows user that order and data are imported into host.Flange 500 is installed to 200 end of mechanical arm, leads
Mechanical arm 200, under some cases, flange are connected by flange 500 to device 600, scan module 700, positioning probe 800 etc.
500 can be omitted, i.e., guiding device 600, scan module 700, positioning probe 800 are directly connected to mechanical arm end.Guiding dress
It sets 600 and contains through-hole, other medical instruments, such as seal wire, drill bit, electrode etc. can be positioned and be oriented by the through-hole.
Guiding device 600, which can according to need, is using preceding carry out sterilization treatment.
Referring to Fig. 2, the schematic diagram of surgical operation auxiliary system according to an embodiment of the invention shows mobile bottom
Plate 101, mainframe box 102, mechanical arm 200, display equipment 300 (having input function), do not show that input equipment is foot-operated；Wherein
Movable base plate 101 has four wheels 1011 and chocking construction, and user pushes master by the handrail 104 on mainframe box 102
Machine 100 is mobile, after reaching operating room suitable position, opens chocking construction, then increases host by lifting device 1012, make
It obtains wheel 1011 and leaves ground, only support simultaneously fixed host computer 100 by lifting device 1012, prevent host 100 in the course of surgery
Change in location occurs；Computer and controller 103 are located inside mainframe box 102.Show that equipment 300 (having input function) can
It is communicated with computer and controller 103；In one embodiment, show equipment 300 (there is input function) by wireless
It connects computer and controller 103, radio connection includes WiFi and bluetooth etc.；Display equipment 300 can be touch screen, move
The existing equipment such as dynamic tablet computer, smart phone.
Referring to Fig. 3, scan module is connected by flange 500 to the mechanical arm 200 of an embodiment according to the present invention
700 state is described in detail, and mechanical arm 200 includes pedestal 201, the first joint 202, the first arm joint 203, second joint
204, the second arm joint 205, third joint 206, third arm joint 207, the 4th joint 208, the 4th arm joint 209, the 5th joint 210,
5th arm joint 211, the 6th joint 212, the 6th arm joint 213, the 7th joint 214, the 7th arm joint 215 (mechanical arm end)；Pedestal
201 are integrated within mainframe box 102, and each joint includes motor and force snesor, the preferred torque sensing of force snesor
Device.Scan module 700 includes projecting subassembly 710 and image acquiring device 720, and the projection module can emit specific coding
Image obtains object space by corresponding decoding algorithm to object space and by image acquiring device progress Image Acquisition
Accurate three-dimensional structure, is then registrated；Projecting subassembly 710 includes light source, lens group, digital micromirror elements and control mould
Block, image acquiring device 720 are camera；The position of projecting subassembly 710 and image acquiring device 720 can be interchanged, as long as its
Relative position is fixed.Under some cases, the mechanical arm 200 of this embodiment only contains motor, and can pass through motor
In size of current sense suffered power to be adjusted correspondingly.
Referring to Fig. 4, surgical operation auxiliary system according to an embodiment of the invention is shown using positioning probe
Schematic diagram is visited comprising movable base plate 101, mainframe box 102, mechanical arm 200, display equipment 300 (having input function), positioning
Needle 800；Wherein movable base plate 101 has four wheels 1011 and chocking construction, and user passes through the handrail on mainframe box 102
104, it pushes host 100 mobile, after reaching operating room suitable position, opens chocking construction, it then will by lifting device 1012
Host increases, so that wheel 1011 leaves ground, only supports simultaneously fixed host computer 100 by lifting device 1012, prevents host 100 from existing
Change in location occurs in surgical procedure；Computer and controller 103 are located inside mainframe box 102.Display equipment 300 (has
Input function) it can be communicated with computer and controller 103；In one embodiment, show that equipment 300 (has input work
Can) it by being wirelessly connected computer and controller 103, radio connection include WiFi and bluetooth etc.；Show (the tool of equipment 300
Have input function) it can be the existing equipment such as touch screen, mobile tablet computer, smart phone.Positioning probe 800 is directly connected to
One specific structure of mechanical arm end, positioning probe is shown in FIG. 5.
Referring to figure 6 and figure 7, to the guiding device 600 in a specific embodiment of surgical operation auxiliary system of the present invention
It is described, the use state of guiding device 600 is shown in Fig. 6, be mounted on the end of mechanical arm 200.Fig. 7 shows this
The enlarged drawing and fractionation structure chart of guiding device 600, guiding device 600 is by assemblnig first accessory 601 and the second accessory 602
Composition, the second accessory 602 contain through-hole 6021, and through-hole 6021 can have different diameters, to match different surgical instruments.
Guiding device 600 can have various structures and shape, if its can para-operational device be oriented and position.
Surgical operation auxiliary system of the invention can also include tracing module, referring to Fig. 8, the system include host 100,
Mechanical arm 200, display equipment 300, input equipment 400, flange 500, guiding device 600, scan module 700 and/or positioning are visited
Needle 800 and follow-up mechanism 900.Follow-up mechanism 900 can be tracked by reference to label and obtain mechanical arm end 215, flange
500, the position of guiding device 600, positioning probe 800, scan module 700 etc., thus to mechanical arm end 215, flange 500,
The position of guiding device 600, positioning probe 800, scan module 700 etc. carries out direct or indirect accurate positioning, tracks and sweeps
The coordinate system for retouching the image that can be obtained to scan module behind spatial position when module 700 obtains image is converted, thus
Construct three-dimensional structure.Tracing module can there are many compositions, and a variety of compositions can use individually or simultaneously:
The first situation, tracing module are the photographic device with trace ability, such as binocular camera, and tracking is with reference to mark
The position of note, reference marker can be made of the traceable marker of light, and the traceable marker of light is that self luminous can for example indicate
Object or angle point etc., reference marker and mechanical arm end, flange, guiding device, positioning probe, scan module etc. have fixed
Positional relationship can be fixedly connected or removably connect, then by reference to marking determining mechanical arm end, flange, leading
To the position of device, positioning probe, scan module etc.；
Second situation, tracing module are optical tracking device, and optical tracking device generally includes the mark that can be tracked by light
Remember that object, camera unit and light emitting unit, light emitting unit preferred emission infrared ray, marker constitute reference marker, marker
It can be diversified forms, such as sphere that can be reflective, reference marker and mechanical arm end, flange, guiding device, positioning are visited
Needle, scan module etc. have fixed positional relationship, can be fixedly connected or removably connect, then by reference to label
Determine the position of mechanical arm end, flange, guiding device, positioning probe, scan module etc.；
The third situation, tracing module are electromagnetic tracking device, and electromagnetic tracking device is by magnetic orientation marker in magnetic field
In influence that electromagnetic field is generated determine the position of magnetic orientation marker, magnetic orientation marker constitutes reference marker, with reference to mark
Note and mechanical arm end, flange, guiding device, positioning probe, scan module etc. have fixed positional relationship, can the company of fixation
It connects or removably connects, then determine mechanical arm end, flange, guiding device, positioning probe, scanning by reference to marking
The position of module etc..
Tracing module is tracked by reference to label, and reference marker contains several marker groups that can be tracked position
At the schematic diagram of two examples of reference marker is shown in FIG. 10, and reference marker 910 cooperates optical tracking device to use
Reference marker, containing there are four the ball-type marker 9101 that can reflect infrared ray, reference marker 910 can be with mechanical arm end
215, flange 500, guiding device 600, positioning probe 800, scan module 700 etc. connect, 9101 reflected light of ball-type marker hair
It penetrates the infrared ray of unit sending and is acquired by camera unit, may thereby determine that the position of reference marker 910, it is then available
Mechanical arm end 215, flange 500, guiding device 600, positioning probe 800, scan module 700 spatial position.Reference marker
920, containing there are four angle point 9201, are suitble to be used cooperatively with binocular camera, referring to Fig. 9, show containing follow-up mechanism 900
The schematic diagram of one embodiment of surgical operation auxiliary system of the present invention, is shown the state of installation and guide device 600,
Guiding device connection 920 (not shown) of reference marker passes through the camera 901 and 902 of follow-up mechanism 900 in use
Reference marker 920 is tracked, can be obtained the spatial position of reference marker 920 and guiding device 600, guiding device 600
Also positioning probe 800 or scan module 700 be can be replaced, its sky can be determined by way of connecting reference marker 920
Between position.
In one embodiment, in surgical operation auxiliary system of the present invention, the outermost layer of mechanical arm is power sense film.
The schematic diagram of a part of power sense film is made of referring to Figure 11, power sense film several sensing units, and each unit exists
It there is the position that uniquely determines on mechanical arm and can individually sense suffered power, can will be subject to when by external force
Force feedback to host, host assigns movement instruction to mechanical arm according to by force information, so that mechanical arm dragging with the use of person
It drags, so that the process of dragging is more smooth laborsaving.
In a preferred embodiment, the host 100 of surgical operation auxiliary system of the present invention is by wherein being loaded
Software the movement of mechanical arm 200 is controlled, mechanical arm 200 is realized under the control of host 100 a variety of
Different motor patterns, comprising:
One, active movement mode: host 100 is according to the operation plan of planning or the input of user to machine under this mode
Tool arm 200 issues movement instruction, actuates the movement that motor adjusts mechanical arm 200 according to instruction, when being hindered by external force,
Meeting emergency braking, and issue prompt；Active movement mode is mainly used for the automatic returning initial position of mechanical arm, is automatically moved into
Partial surgical planned position etc.；
Two, driven motions mode: under this mode, operator can pull mechanical arm 200 and position, and the host receives
After the stress of mechanical arm sensing, synkinesia instruction is issued according to the size of stress, motor is actuated and promotes mechanical arm 200 according to dragging
The posture dragged carries out；When external force disappears, host responds rapidly to the displacement for stopping mechanical arm, when external force changes direction, host
New instruction is issued, so that mechanical arm response external force is moved to new direction；
Three, end restricted mode: under this mode, mechanical arm end (the 7th arm joint 215) only can be on the axis of planning
Or movement in planar obit simulation, or cone type games are done centered on fixed point, host is counted again when mechanical arm senses external force
The new posture of mechanical arm after adapting to external force is calculated, and order mechanical arm carries out fast adaptability adjustment.
Four, end fixed mode: mechanical arm end remains unchanged on desired position, and joint and other arm joints can carry out
Actively or passively position and attitude adjustment, host when mechanical arm is by external force, recalculate adapt to external force after mechanical arm it is new
Posture, and mechanical progress fast adaptability adjustment is ordered, to realize in surgical procedure, user is in the obstruction by mechanical arm
When, can easily change the position and attitude of mechanical arm, thus convenient for users to operation.
In one embodiment, surgical operation auxiliary system of the invention includes positioning probe, referring to Fig. 4 and Fig. 5, Fig. 4
The schematic diagram that positioning probe 800 is mounted on 200 end of mechanical arm is shown, Fig. 5 shows the enlarged structure of positioning probe 800.
The surgical operation auxiliary system of the embodiment in a specific operation example use process is as follows:
A) host 100 of surgical operation auxiliary system passes through interface medical image data, such as magnetic resonance image number
According to, functional MRI data, CT image data, phase-contrast Magnetic Resonance Angiography (PC-MRA) data etc., preferably
Surgical data carries out uniform format, and later, pre-loaded software " the outer robot planning software of mind " building is to hand in host 100
The three-dimensional stereo model in art region, wherein shows blood vessel in three-dimensional stereo model, user plans according to matched planning guide
Operation plan out determines surgical instrument travel path；
B handrail 104) is pushed, host 100 is fixed to suitable position, user passes through (such as the mouse of input equipment 400
Or keyboard) instruction is issued, so that mechanical arm 200 enters driven motions mode, the method that user installs in mechanical arm end 215
Orchid 500 on connect positioning probe 800, by pulling mechanical arm 200 manually so that positioning probe 800 touch anatomical features point or
Person's image and dissect visible feature structure point, the coordinate of patient inputted into host 100, by operation by patient coordinate system with
The coordinate system of mechanical arm 200 carries out unification, realizes registration；
C after the completion of) being registrated, the motor pattern of surgical operation auxiliary system is adjusted, carries out subsequent operation, is placing deep electricity
It being operated as follows during pole (SEEG), the positioning probe 800 connecting with flange 500 is replaced with guiding device 600 by user,
Host 100 is issued to mechanical arm 200 and is instructed according to the surgical planning planned in step A, and mechanical arm 200 moves to designated position,
Drill bit is determined direction and position by guiding device 600 by user, according to the parameter that robot planning software outside mind provides, peace
The surgical attachments such as limiter are filled, then in target site (such as head) aperture, use other surgical instruments, such as seal wire later
Or electrode replaces drill bit, advances along the through-hole of orienting device, reaches designated position.It performs the operation if it is multi-step, it can be according to pre-
First surgery planning, is dragged to required position for mechanical arm using follower mode, enters back into end fixed mode, complete this step
Suddenly, repeatedly, until completing all planning steps.
In another embodiment, referring to Fig. 3, surgical operation auxiliary system of the invention also includes scan module 700,
It includes projecting subassemblies 710 and image acquiring device 720；Preferably, projecting subassembly includes ray machine, lens group, digital micro-mirror member
Part (Digital Micromirror Device), control module, can project specific coded image, image acquiring device
720 be binocular camera.The surgical operation auxiliary system of this embodiment in a specific operation example use process is as follows:
A) host 100 of surgical operation auxiliary system passes through interface medical image data, such as magnetic resonance image number
According to, functional MRI data, CT image data, phase-contrast Magnetic Resonance Angiography (PC-MRA) data etc., preferably
Surgical data carries out uniform format, and later, pre-loaded software " the outer robot planning software of mind " building is to hand in host 100
The three-dimensional stereo model in art region, wherein shows blood vessel in three-dimensional stereo model, user plans according to matched planning guide
Operation plan out determines surgical instrument travel path；
B) referring to figs. 2 and 3, handrail 104 is pushed, host 100 is fixed to suitable position, user passes through display equipment
300 (having input function) issue instruction, so that mechanical arm 200 enters driven motions mode, user is in mechanical arm end 215
Scan module 700 is connected on the flange 500 of installation, projecting subassembly 710 projects specific coded image to target area, image
Acquisition device (camera) 720 acquires image and calculates the three-dimensional structure of target area according to the decoding to coded image, excellent
Selection of land, the software of host 100 can control mechanical arm 200 and carry out position and attitude adjustment automatically according to the needs of acquisition image, more
After secondary acquisition data, until obtaining satisfied three-dimensional structure, then the three-dimensional structure of operative region and the three-dimensional in step A are stood
Body Model is registrated；
C after the completion of) being registrated, the motor pattern of surgical operation auxiliary system is adjusted, is continued operation, placing deep electricity
It is operated as follows during pole, the scanning accessory 700 connecting with flange 500 is replaced with guiding device 600, host by user
100, according to the surgical planning planned in step A, issue to mechanical arm 200 and instruct, and mechanical arm 200 moves to designated position, uses
Drill bit is determined direction and position by guiding device 600 by person, according to the parameter that robot planning software outside mind provides, installation limit
The position surgical attachments such as device use other surgical instruments then in target site (such as head) aperture later, for example, seal wire or
Electrode replaces drill bit, advances along the through-hole of orienting device, reaches designated position.It performs the operation if it is multi-step, it can be according to preparatory
Surgery planning, mechanical arm is dragged to required position using follower mode, end fixed mode is entered back into, completes this step,
Repeatedly, until completing all planning steps.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. a kind of surgical operation auxiliary system, characterized by comprising:
Host includes that computer, controller and interface control the movement of mechanical arm for receiving data, exports calculated result；
Mechanical arm comprising multiple arm sections and joint and has at least seven freedom degree, can be realized in mechanical arm end space position
It sets and position and attitude adjustment is carried out to joint and other arm sections in the case where not changing；
Input equipment, for receiving the order of user；
Equipment is shown, for showing the calculated result and software interface of host.
2. surgical operation auxiliary system according to claim 1, which is characterized in that also include guiding device, the guiding
Device is positioned and is oriented for para-operational device.
3. surgical operation auxiliary system according to claim 2, which is characterized in that also include positioning probe.
4. surgical operation auxiliary system according to claim 2, which is characterized in that also include scan module, the scanning
Module includes image acquiring device；And/or the scan module includes light emission component and image acquiring device；And/or it is described
Scan module includes projecting subassembly and image acquiring device.
5. system according to claim 4, which is characterized in that the projecting subassembly includes light source, lens group, digital micro-mirror
Element and control module.
6. surgical operation auxiliary system according to claim 5, which is characterized in that the mechanical arm has 7 freedom degrees.
7. surgical operation auxiliary system according to any one of claim 1 to 6, which is characterized in that the surgical operation
Auxiliary system also includes tracing module.
8. surgical operation auxiliary system according to claim 7, which is characterized in that the tracing module is that image obtains dress
It sets；And/or the tracing module is optical tracking device；And/or the tracing module is electromagnetic tracking device.
9. surgical operation auxiliary system according to claim 1, which is characterized in that the mechanical arm can sense suffered
Power.
10. surgical operation auxiliary system according to claim 9, which is characterized in that each joint of the mechanical arm is equal
With sensor and motor；And/or the outermost layer of the mechanical arm is pressure experience layer, can sense suffered power；And/or
The mechanical arm calculates suffered power according to the curent change of motor.
11. surgical operation auxiliary system according to any one of claim 1 to 10, which is characterized in that have a variety of fortune
Dynamic control model, comprising:
One, active movement mode: host issues movement instruction to mechanical arm according to the operation plan of planning under this mode, actuates electricity
Machine in the case of being hindered by external force, carries out emergency braking, and issue prompt according to the movement of instruction adjustment mechanical arm；
Two, driven motions mode: under this mode, operator can pull mechanical arm and position, and the host receives mechanical arm
After the stress of sensing, synkinesia instruction is issued according to the size of stress, actuates the expection that motor promotes mechanical arm according to dragging
It is moved；
Three, end restricted mode: under this mode, mechanical arm end can only move on the axis of planning or in planar obit simulation,
Or cone type games are done centered on fixed point, host recalculates mechanical after adapting to external force when mechanical arm is by external force
The new posture of arm, and order mechanical progress fast adaptability adjustment；
Four, end fixed mode: mechanical arm end remains unchanged on desired position, and joint and other arm joints can carry out position
Pose adjustment.
12. the application method of surgical operation auxiliary system according to any one of claim 1 to 10, including following step
It is rapid:
A image data) is received using surgical operation auxiliary system and carries out visualization display, and operation plan can be carried out in image
Planning；
B) the surgical operation auxiliary system is fixed to the suitable position of operating room, be registrated；
C the motor pattern for) adjusting surgical operation auxiliary system, executes according to preparatory surgery planning.
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Address after: 102609, 1st floor, Building 6, No. 69 Qingfeng West Road, Daxing Biomedical Industry Base, Zhongguancun Science and Technology Park, Daxing District, Beijing Patentee after: Huake Precision (Beijing) Medical Equipment Co.,Ltd. Country or region after: China Address before: Room 401, 4th floor, building 12-1, yard 26, Yongwang West Road, Daxing biomedical industrial base, Zhongguancun Science and Technology Park, Daxing District, Beijing 102600 Patentee before: SINOVATION (BEIJING) MEDICAL TECHNOLOGY Co.,Ltd. Country or region before: China |
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