CN117204953A - Surgical robot and terminal positioning and guiding device and control method thereof - Google Patents
Surgical robot and terminal positioning and guiding device and control method thereof Download PDFInfo
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- CN117204953A CN117204953A CN202311015535.1A CN202311015535A CN117204953A CN 117204953 A CN117204953 A CN 117204953A CN 202311015535 A CN202311015535 A CN 202311015535A CN 117204953 A CN117204953 A CN 117204953A
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Abstract
The invention discloses a tail end positioning and guiding device of a surgical robot, a control method and the surgical robot; wherein the tip positioning guide comprises: a mounting base; the ultrasonic image sensing module is provided with an ultrasonic probe and is arranged at the first end of the mounting seat; the force sensing module is arranged in the ultrasonic image sensing module and fixedly connected with the ultrasonic image sensing module; the guide module is provided with a puncture needle and is fixedly connected with the ultrasonic image sensing module; the rotation adjusting module is connected with the guide module; an optical positioning workpiece and an interactive display module; the controller is respectively and electrically connected with the mechanical arm, the ultrasonic image sensing module, the force sensing module, the guide module, the optical positioning workpiece and the interactive display module; according to the embodiment of the invention, the terminal positioning and guiding device with rich functions, high flexibility and high guiding precision is utilized, so that the surgical robot can be suitable for complex and changeable surgical environments, and the operation efficiency, the operation precision, the operation quality and the safety in the interventional operation are improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a tail end positioning and guiding device of a surgical robot, a control method of the tail end positioning and guiding device and the surgical robot.
Background
Currently, surgical robots equipped with a surgical navigation system are increasingly used in clinical surgery to assist doctors in completing interventional procedures. The surgical navigation system can accurately correlate preoperative or intraoperative image data of a patient with physiological anatomy structures of the patient in operation, track the position of a surgical instrument in the operation process, update and display the position of the surgical instrument on the image data in a virtual probe mode in real time, and assist doctors to execute operation planning. The core functional component in the operation navigation system is a positioning guide device, and the quality of the operation navigation system is determined by the usability of the positioning guide device.
In the related art, the positioning guide device has a simple structure and single function, and is difficult to be suitable for complex and changeable surgical environments; and the flexibility and the guiding precision are not high, the operation difficulty is high, and the operation efficiency and the operation quality of the operation robot are reduced.
Disclosure of Invention
The embodiment of the invention provides a terminal positioning and guiding device of a surgical robot, a control method and the surgical robot, which enable the surgical robot to be suitable for complex and changeable surgical environments by using the terminal positioning and guiding device with rich functions, flexibility and higher guiding precision, and improve the operation efficiency, operation precision, operation quality and safety when interventional surgery is performed.
In a first aspect, an embodiment of the present invention provides an end positioning guide device of a surgical robot, which is disposed at an end of a mechanical arm of the surgical robot, the end positioning guide device including:
a mounting base;
the ultrasonic image sensing module is provided with an ultrasonic probe and is arranged at the first end of the mounting seat;
the force sensing module is arranged in the ultrasonic image sensing module and fixedly connected with the ultrasonic image sensing module;
the guide module is provided with a puncture needle and is arranged at the first end of the mounting seat and fixedly connected with the ultrasonic image sensing module;
the rotation adjusting module is arranged at the first end of the mounting seat and is connected with the guide module;
the optical positioning workpiece and the interactive display module are arranged on the mounting seat, and the interactive display module comprises a display interface and an operation interface;
the controller is respectively and electrically connected with the mechanical arm, the ultrasonic image sensing module, the force sensing module, the guide module, the optical positioning workpiece and the interactive display module;
the controller is used for: acquiring the bonding strength between the ultrasonic probe and the body surface of the patient through the force sensing module, and controlling the mechanical arm to stop running under the condition that the bonding strength is equal to a preset threshold value; acquiring an ultrasonic image in real time through the ultrasonic image sensing module; acquiring pose information of the puncture needle through the optical positioning workpiece; performing image fusion processing according to the ultrasonic image and the pose information to obtain an operation state diagram of the puncture needle, wherein the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus; displaying the ultrasonic image and the running state diagram through a display interface of the interactive display module; and responding to a pose adjustment instruction sent by an operation interface of the interactive display module, and adjusting the position and the pose of the guide module to determine the position and the needle inserting direction of the puncture needle.
According to some embodiments of the invention, the guide module comprises:
the electric clamping jaw is used for clamping or releasing the puncture needle;
the guide claw is arranged on one side of the ultrasonic probe and used for determining the position and the needle inserting direction of the puncture needle clamped by the electric clamping jaw.
According to some embodiments of the invention, the optically positioning the workpiece comprises:
one end of the bracket penetrates through the mounting seat and is fixedly connected with the ultrasonic image sensing module; the other end of the bracket is provided with a small ball seat;
and the optical positioning ball is fixedly connected to the small ball seat.
According to some embodiments of the invention, the optical positioning balls have at least three, wherein the first connecting line of two optical positioning balls is parallel to the symmetry axis of the ultrasonic probe in the length direction; wherein the second connecting line of the two optical positioning balls is parallel to the guiding axis of the guiding claw.
According to some embodiments of the invention, the tip positioning guide further comprises:
the mechanical arm connecting seat is characterized in that one end of the mechanical arm connecting seat is fixedly connected with the second end of the mounting seat, and the other end of the mechanical arm connecting seat is detachably connected with the tail end of the mechanical arm; wherein the second end of the mounting base is opposite to the first end.
In a second aspect, an embodiment of the present invention provides a control method for a surgical robot, which is applied to the controller of the tip positioning and guiding device in the first aspect, where the surgical robot includes a mechanical arm, and the tip positioning and guiding device further includes: the ultrasonic probe comprises a force sensing module, an ultrasonic image sensing module comprising an ultrasonic probe, a guide module provided with a puncture needle, an optical positioning workpiece and an interactive display module;
the control method comprises the following steps:
acquiring the bonding strength between the ultrasonic probe and the body surface of the patient through the force sensing module, and controlling the mechanical arm to stop running under the condition that the bonding strength is equal to a preset threshold value;
acquiring an ultrasonic image in real time through the ultrasonic image sensing module;
acquiring pose information of the puncture needle through the optical positioning workpiece;
performing image fusion processing according to the ultrasonic image and the pose information to obtain an operation state diagram of the puncture needle, wherein the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus;
displaying the ultrasonic image and the running state diagram through a display interface of the interactive display module;
And responding to a pose adjustment instruction sent by an operation interface of the interactive display module, and adjusting the position and the pose of the guide module to determine the position and the needle inserting direction of the puncture needle.
According to some embodiments of the invention, the guide module comprises a motorized jaw and a guide jaw; the responding to the pose adjusting instruction sent by the operation interface of the interactive display module adjusts the position and the pose of the guide module, and the method comprises the following steps:
determining a target position and a target posture from the posture adjustment instruction;
and adjusting the guide claw to the target position and the target posture so as to determine the position and the needle inserting direction of the puncture needle clamped by the electric clamping claw.
According to some embodiments of the invention, after the determining the position and the needle insertion direction of the puncture needle, the control method further comprises:
responding to a first control instruction sent through an operation interface of the interactive display module, and controlling the electric clamping jaw to clamp the puncture needle;
or, in response to a second control instruction sent through the operation interface of the interactive display module, controlling the electric clamping jaw to release the puncture needle.
In a third aspect, an embodiment of the present invention provides a surgical robot, including:
A mechanical arm;
the tip positioning guide device of any one of the embodiments of the first aspect, the tip positioning guide device being connected to a tip of the robotic arm; the tip positioning guide device further comprises a controller which, when executing a computer, implements the control method of the surgical robot according to any one of the embodiments of the second aspect.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions for being executed by a controller to implement a control method of a surgical robot according to the embodiments of the second aspect.
According to an embodiment of the invention, at least the following advantages are achieved: disposing a tip positioning guide at a tip of a robotic arm of a surgical robot, wherein the tip positioning guide comprises: the ultrasonic image sensing device comprises a mounting seat, an ultrasonic image sensing module provided with an ultrasonic probe, a force sensing module, a guide module provided with a puncture needle, a rotation adjusting module, an optical positioning workpiece, an interactive display module and a controller, wherein the ultrasonic image sensing module, the force sensing module, the guide module, the rotation adjusting module, the optical positioning workpiece and the interactive display module are all arranged on the mounting seat, and the controller is respectively and electrically connected with the ultrasonic image sensing module, the force sensing module, the guide module, the optical positioning workpiece and the interactive display module; the modules and the workpieces with various functions are integrated into the tail end positioning and guiding device at the tail end of the mechanical arm, so that the tail end positioning and guiding device has more abundant functions, higher flexibility and higher guiding precision. In the interventional operation process, the controller can acquire the attaching force between the ultrasonic probe and the body surface of the patient through the force sensing module, and under the condition that the attaching force is equal to a preset threshold value, the mechanical arm is controlled to stop running, so that an ultrasonic image with better quality can be formed, and the safety in the operation process can be improved; simultaneously, acquiring an ultrasonic image in real time through an ultrasonic image sensing module, acquiring pose information of a puncture needle through an optical positioning workpiece, and performing image fusion processing according to the ultrasonic image and the pose information to obtain an operation state diagram of the puncture needle, wherein the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus, and monitoring the condition of the puncture needle inserted into a body in real time; then, displaying an ultrasonic image and an operation state diagram through a display interface of the interactive display module, providing reliable operation reference information for doctors, and reducing the puncture positioning operation difficulty in a complex operation environment; and in response to the pose adjustment instruction sent by the operation interface of the interactive display module, the position and the pose of the guide module are adjusted so as to determine the position and the needle inserting direction of the puncture needle, thereby being beneficial to a doctor to adjust the puncture needle at the tail end in time and improving the operation efficiency, the operation precision and the operation quality when the interventional operation is performed. That is, the embodiment of the invention can make the function of the terminal positioning and guiding device richer, the flexibility and the guiding precision higher, and the surgical robot can be suitable for complex and changeable surgical environments by using the terminal positioning and guiding device with rich functions, the flexibility and the guiding precision higher, and the operation efficiency, the operation precision, the operation quality and the safety when the interventional operation is performed are improved.
Drawings
FIG. 1 is a schematic diagram of a system architecture of a surgical robot for performing a control method provided by one embodiment of the present invention;
FIG. 2 is a schematic view of an end position guide according to one embodiment of the present invention;
FIG. 3 is a side cross-sectional view of an end position guide provided in one embodiment of the present invention;
FIG. 4 is a flow chart of a control method of a surgical robot according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a control method of a surgical robot according to another embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The embodiment of the invention provides a tail end positioning and guiding device of a surgical robot, a control method, the surgical robot and a computer readable storage medium; the terminal positioning guide device has the advantages that the terminal positioning guide device is richer in function, higher in flexibility and guiding precision, and the surgical robot can be suitable for complex and changeable surgical environments by utilizing the terminal positioning guide device with rich functions, higher in flexibility and guiding precision, and the operation efficiency, the operation precision, the operation quality and the safety in interventional operation are improved.
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
As shown in fig. 1, fig. 1 is a schematic system architecture diagram of a surgical robot according to an embodiment of the present invention. The surgical robot 100 includes: the mechanical arm 110 and the end positioning guide 120, the end positioning guide 120 is disposed at the end of the mechanical arm 110, wherein the end positioning guide 120 comprises: the ultrasonic image sensing module 121, the force sensing module 122, the guiding module 123, the optical positioning workpiece 124, the interactive display module 125 and the controller 128, wherein the controller 128 is electrically connected with the mechanical arm 110, the ultrasonic image sensing module 121, the force sensing module 122, the guiding module 123, the optical positioning workpiece 124 and the interactive display module 125 respectively. The end positioning guide 120 integrates modules and workpieces with different functions, and has the advantages of richer functions, higher flexibility and higher guiding precision.
In a first aspect, and in particular, in conjunction with fig. 2 and 3, the tip positioning guide 120 comprises: the ultrasonic image sensing module 121, the force sensing module 122, the guiding module 123, the optical positioning workpiece 124, the interactive display module 125, the mounting seat 127 and the rotation adjusting module 126, wherein the ultrasonic image sensing module 121 comprises an ultrasonic probe 1211.
Wherein, the ultrasonic image sensing module 121 provided with the ultrasonic probe 1211 is arranged at the first end of the mounting seat 127. The ultrasonic image sensing module 121 is used for acquiring ultrasonic images in real time under the condition that the ultrasonic probe 1211 is attached to the body surface of a patient, so as to realize an image sensing function. It will be appreciated that the first end of the mounting block 127 is the front end and the second end is the rear end.
The force sensing module 122 is disposed in the ultrasonic image sensing module 121 and is fixedly connected with the ultrasonic image sensing module 121. The force sensing module 122 is used for collecting the attaching force between the ultrasonic probe 1211 and the body surface of the patient in the interventional operation process, so as to realize the force sensing function. It will be appreciated that the force sensing module 122 includes a plurality of pressure sensors therein, and the ultrasonic probe 1211 is enabled to implement the fitting force sensing function by using the plurality of pressure sensors.
The guiding module 123 with the puncture needle is arranged at the first end of the mounting seat 127 and is fixedly connected with the ultrasonic image sensing module 121. The guiding module 123 is used for determining the position and the needle inserting direction of the puncture needle, and is used for clamping or releasing the puncture needle to realize the guiding and positioning function.
An optical positioning workpiece 124 is disposed on the mount. The optical positioning workpiece 124 is used for collecting the pose information of the guiding module 123 at the tail end and the puncture needle, and realizes the function of sensing the space position of the puncture tail end.
The interactive display module 125 is disposed on the mounting block 127, and the interactive display module 125 includes a display interface and an operation interface. The display interface is used for displaying a real-time ultrasonic image and an operation state diagram of the puncture needle, wherein the operation state diagram is obtained by performing image fusion processing according to the ultrasonic image and pose information, and the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus; the operation interface is used for responding to the touch control of the user and sending a pose adjustment instruction. Therefore, the interactive display module 125 realizes the real-time monitoring function and the interactive function, is beneficial to providing reliable operation reference information for doctors, and directly controls the pose of the guide module 123 through the interactive interface, thereby reducing the puncture positioning operation difficulty under the complex operation environment.
In an embodiment, the interactive display module 125 is composed of a 5.5 inch touch display screen, a damping rotating shaft, an adjusting rod, etc., and according to the requirements of the operation process, the interactive display module 125 can be turned or the height thereof can be adjusted, so that the observation operation of doctors is facilitated.
The rotation adjusting module 126 is arranged at the first end of the mounting seat 127 and is connected with the guide module 123; for driving the guide module 123 to rotate about the longitudinal symmetry axis 203 of the ultrasound probe 1211.
Specifically, in an embodiment, the rotation adjustment module 126 is composed of a button, a pressing rod, a pressure spring and a toothed ring, the toothed ring is provided with a tooth at a certain angle at each interval, the end of the pressing rod is designed with a tooth form and the toothed ring are tightly matched under the action of the pressure spring, so that locking after rotation is realized, when rotation is required, the rotation can be realized by pressing the button to unlock, in addition, the surface of the appearance is designed with scale marks, and the rotating angle can be read through the scales.
The ultrasonic image sensing module 121, the guide module 123 and the optical positioning workpiece 124 at the front end are controlled to rotate through the rotation adjusting module, when the ultrasonic image sensing module is required to rotate, the front end assembly can be rotated only by pressing the button to unlock, the button can be automatically locked after the ultrasonic image sensing module rotates to be in place, the ultrasonic image sensing module can not rotate, the gesture of the ultrasonic probe 1211 and the guide module 123 can be easily adjusted through a rotating functional doctor, rib gaps can be conveniently found under a complex operation environment, the ultrasonic image can be observed in real time by avoiding ribs, a puncture needle can puncture the ultrasonic image to be in place, so that operation difficulty is reduced, operation safety is improved, and operation quality is ensured.
It will be appreciated that the rotation adjustment module may also be electrically powered, and thus the application is not particularly limited to the structure of the rotation adjustment module, as long as it is capable of driving the plurality of components of the front end to rotate.
The function of the controller 128 is further described in conjunction with fig. 1 and 2. The controller 128 is configured to: acquiring the bonding force between the ultrasonic probe 1211 and the body surface of the patient through the force sensing module 122, and controlling the mechanical arm 110 to stop running under the condition that the bonding force is equal to a preset threshold value; acquiring an ultrasonic image in real time through the ultrasonic image sensing module 121; acquiring pose information of the puncture needle by optically positioning the workpiece 124; performing image fusion processing according to the ultrasonic image and the pose information to obtain an operation state diagram of the puncture needle, wherein the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus; displaying the ultrasonic image and the running state diagram through a display interface of the interactive display module 125; in response to the pose adjustment command sent through the operation interface of the interactive display module 125, the position and pose of the guide module 123 are adjusted to determine the position and needle insertion direction of the puncture needle.
In a first aspect, according to the surgical robot and the end positioning guide device thereof provided in the embodiment of the present invention, the end positioning guide device 120 is disposed at the end of the mechanical arm 110 of the surgical robot 100, wherein the end positioning guide device 120 includes: the ultrasonic image sensing module 121, the force sensing module 122, the guiding module 123 with the puncture needle, the rotation adjusting module 126, the optical positioning workpiece 124, the interactive display module 125 and the controller 128 are arranged on the mounting seat 127, the ultrasonic image sensing module 121, the force sensing module 122, the guiding module 123 with the puncture needle, the rotation adjusting module 126, the optical positioning workpiece 124 and the interactive display module 125 are arranged on the mounting seat 127, and the controller 128 is respectively and electrically connected with the ultrasonic image sensing module 121, the force sensing module 122, the guiding module 123 with the puncture needle, the optical positioning workpiece 124 and the interactive display module 125; by integrating a plurality of modules and workpieces with different functions in the tail end positioning and guiding device 120, the tail end positioning and guiding device has richer functions, higher flexibility and higher guiding precision.
In the interventional operation process, the controller 128 can acquire the attaching force between the ultrasonic probe 1211 and the body surface of the patient through the force sensing module 122, and under the condition that the attaching force is equal to a preset threshold value, the mechanical arm 110 is controlled to stop running, so that an ultrasonic image with better quality can be formed, and the safety in the operation process can be improved; meanwhile, an ultrasonic image is acquired in real time through the ultrasonic image sensing module 121, pose information of the puncture needle is acquired through the optical positioning workpiece 124, and an operation state diagram of the puncture needle is obtained through image fusion processing according to the ultrasonic image and the pose information, wherein the operation state diagram is used for displaying needle insertion condition of the puncture needle and relative position relation between the puncture needle and a target focus, and monitoring the condition of the puncture needle inserted into a body in real time; then, the ultrasonic image and the running state diagram are displayed through the display interface of the interactive display module 125, so that reliable operation reference information is provided for doctors, and the puncture positioning operation difficulty in a complex operation environment is reduced; in response to the pose adjustment command sent through the operation interface of the interactive display module 125, the position and pose of the guide module 123 are adjusted to determine the position and the needle inserting direction of the puncture needle, so that a doctor can adjust the puncture needle at the tail end in time, and the operation efficiency, the operation precision and the operation quality during the interventional operation are improved. Therefore, the end positioning and guiding device 120 provided by the embodiment of the invention has more abundant functions, higher flexibility and higher guiding precision, and the surgical robot 100 of the embodiment of the invention can be suitable for complex and changeable surgical environments by using the end positioning and guiding device 120 with more abundant functions, higher flexibility and higher guiding precision, thereby improving the operation efficiency, operation precision, operation quality and safety when performing interventional operations.
According to some embodiments of the invention, in conjunction with fig. 2, the guiding module 123 comprises: a motorized jaw 1231 for holding or releasing the needle; a guide claw 1232, provided at one side of the ultrasonic probe 1211, for determining the position and the needle insertion direction of the puncture needle held by the motorized jaw 1231. The clamping jaw part is automatically opened and closed, so that the puncture equipment is clamped and released, and the requirement of repeatedly performing puncture positioning in the process of guiding and positioning the puncture needle is met.
In one embodiment, the guiding module 123 further includes: the guide claw mount pad is detachably connected with the guide claw 1232. The guide claw 1232 is convenient and quick to replace, the guide claw 1232 with different specifications is replaced in different puncture operations, and the operations such as ablation, biopsy and the like are performed, so that the application scene is enlarged. And the puncture equipment can be rapidly separated from the surgical robot 100 once an abnormality occurs in the surgical process, so that emergency treatment under abnormal conditions is facilitated.
According to some embodiments of the invention, in conjunction with fig. 2-3, optically positioning the workpiece 124 includes: the bracket 1241, one end of the bracket 1241 is penetrated with the mounting seat 127 and fixedly connected with the ultrasonic image sensing module 121; the other end of the bracket 1241 is provided with a small ball seat 1242; optical alignment ball 1243, optical alignment ball 1243 is fixedly attached to ball seat 1242.
According to some embodiments of the present invention, in conjunction with fig. 3, there are at least three optical positioning balls 1243, wherein the first line 201 of two optical positioning balls 1243 is parallel to the longitudinal symmetry axis 203 of the ultrasound probe 1211; the second line 202 of two of the optical positioning balls 1243 is parallel to the guide axis 204 of the guide claw 1232.
Specifically, the optical positioning workpiece 124 includes at least three optical positioning balls, and the position and the posture of the guiding module 123 at the end can be determined by the three optical positioning balls.
As an example, an optical tracking system is configured that is electrically connected to the controller. Referring to fig. 1, the optical positioning workpiece 124 includes four optical positioning balls 1243, wherein the first connecting lines 201 of the two balls are parallel to the longitudinal symmetry axis 203 of the ultrasonic probe 1211; the position of the symmetry axis 203 (rotation axis) can be confirmed by capturing the two balls; the connecting line of the 2 balls is parallel to the guide axis 204 of the guide claw 1232, the position and the gesture of the guide axis 204 can be determined through the parallel relation and the position relation of the four optical positioning balls 1243, and the position and the gesture of the puncture tail end can be determined by identifying the four small balls, so that the movement of the guide module 123 can be positioned and navigated; the ball seat 1242 and the ball 1243 of the optical alignment workpiece 124 are located at the top of the device, and capture the optical ball for guiding the movement of the piercing alignment guide, regardless of the side from which the optical tracking system is located.
According to some embodiments of the invention, as shown in fig. 2-3, the tip positioning guide 120 further comprises: the mechanical arm connecting seat 129, one end of the mechanical arm connecting seat 129 is fixedly connected with the second end of the mounting seat, and the other end of the mechanical arm connecting seat 129 is detachably connected with the tail end of the mechanical arm 110; wherein the second end of the mounting block 127 is opposite to the first end.
It is understood that the end of the arm 110 is provided with a flange, and the arm connector 129 is connected to the end flange of the arm 110. For example, the arm connector 129 may include two detachable parts having a dovetail configuration, one of which is fixed to the end flange of the arm 110, and the other of which is assembled to the second end of the mounting block 127, and the end positioning guide is quickly assembled to and disassembled from the arm by the two detachable parts.
In addition, it should be noted that, referring to fig. 3, the ultrasonic image sensing module 121, the guiding module 123, and the optical positioning workpiece 124 are connected by fasteners such as bolts to form a rigid whole, and the three parts form a front end assembly, so that when the guiding module 123 rotates around the symmetry axis 203 of the ultrasonic probe 1211 along the length direction, the ultrasonic probe 1211 and the optical positioning workpiece 124 rotate synchronously, the puncture operation performed by the guiding claw 1232 and the puncture needle are always in the visual field of the ultrasonic probe 1211, and the optical system can capture the position and the posture of the guiding claw 1232 in the guiding module 123 in real time by synchronous rotation of the optical positioning ball, so that the controller monitors the guiding position and the posture of the guiding module in real time and displays them on the digital human body of the patient in real time, and the doctor knows the adjustment condition in real time by the image.
In some embodiments, as shown in fig. 2 and 3, the mounting block 127 further includes left and right shells for forming a protective shell protecting the internal components of the tip positioning guide, and left and right handles. The left and right handles are utilized to conveniently drag and adjust the tail end, so that the rotating function of the front end assembly is realized, and the front end assembly can be selectively assembled.
It will be appreciated by persons skilled in the art that the system architecture shown in the figures is not limiting of the embodiments of the invention and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
It will be understood by those skilled in the art that the system architecture and the application scenario described in the embodiments of the present invention are for more clearly describing the technical solution of the embodiments of the present invention, and are not limited to the technical solution provided in the embodiments of the present invention, and those skilled in the art can know that, with the evolution of the system architecture and the appearance of the new application scenario, the technical solution provided in the embodiments of the present invention is equally applicable to similar technical problems.
Based on the above system architecture and device structure, various embodiments of the control method of the surgical robot of the present invention are presented below.
In a second aspect, as shown in fig. 4, the control method of the surgical robot may be applied to a controller of the tip positioning guide device as shown in fig. 1. Wherein, surgical robot includes the arm, and terminal location guider still includes: the ultrasonic probe comprises a force sensing module, an ultrasonic image sensing module comprising an ultrasonic probe, a guiding module provided with a puncture needle, an optical positioning workpiece and an interactive display module. The control method of the surgical robot may include, but is not limited to, steps S110 to S160.
Step S110: the bonding strength between the ultrasonic probe and the body surface of the patient is obtained through the force sensing module, and the mechanical arm is controlled to stop running under the condition that the bonding strength is equal to a preset threshold value.
In the step, the ultrasonic probe is enabled to realize the fitting force sensing function through the force sensing module in the tail end positioning guide device. In the process of driving the tail end positioning guide device by the mechanical arm to enable the ultrasonic probe to be attached to the body surface of the patient, the attaching force between the ultrasonic probe and the body surface of the patient can be detected through the force sensing module. When the perceived attaching force reaches a preset threshold, the end positioning and guiding of the surgical robot can be judged to be finished, the mechanical arm is controlled to stop moving, and the ultrasonic probe is tightly attached to the body surface of the patient at the moment, so that the imaging clarity of the ultrasonic probe is ensured, a more reliable reference image is provided for a doctor performing interventional surgery, the occurrence probability of blind penetration by the doctor according to experience is reduced, the puncturing difficulty is reduced, and meanwhile, the puncturing quality and precision are improved.
In the actual surgical procedure, there may be mechanical failure, misoperation, etc., resulting in unsafe puncture surgery by means of the surgical robot. And the sensing module with the body surface fitting force sensing function lays a hardware foundation for establishing a force safety protection mechanism of the surgical robot. In one embodiment, when the detected fitting force of the tail end is greater than or equal to the set safety threshold, the surgical robot is controlled to stop moving, so that abnormal pain or accidental injury of the patient is avoided. The safety threshold is larger than a preset threshold in guiding positioning.
The present invention does not specifically limit the preset threshold value and the safety threshold value.
Step S120: and acquiring the ultrasonic image in real time through the ultrasonic image sensing module.
In the step, the ultrasonic image is acquired in real time under the condition that the ultrasonic probe is attached to the body surface of the patient, so that the image sensing function is realized. Meanwhile, a doctor can capture the breathing phase of a patient according to the ultrasonic image acquired by the ultrasonic probe in real time, puncture is performed according to the breathing phase, the influence of breathing on puncture precision is eliminated, and the puncture precision and the puncture quality are improved.
Step S130: and acquiring pose information of the puncture needle through optical positioning of the workpiece.
In this step, the optical positioning workpiece includes four optical positioning balls, wherein the first connecting line 201 of the two optical positioning balls is parallel to the symmetry axis of the ultrasonic probe in the length direction, and the two optical positioning balls are tracked and captured by the optical tracking system, so that the spatial coordinates of the symmetry axis (i.e. the rotation axis) can be obtained; the second connecting line 202 of the two optical positioning balls is parallel to the guiding axis of the guiding claw, and the position and the posture of the guiding axis can be determined through the parallel relation and the position relation of the four optical positioning balls, so that the pose information of the puncture needle is obtained, and the operation reference is provided for doctors.
Step S140: and performing image fusion processing according to the ultrasonic image and the pose information to obtain an operation state diagram of the puncture needle, wherein the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and the target focus.
In the step, the acquired ultrasonic image and pose information are subjected to image fusion processing to obtain an operation state diagram of the puncture needle, and a doctor can observe the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus through the operation state diagram so as to judge whether the puncture operation is in place or not in the process of performing the puncture operation.
Step S150: and displaying the ultrasonic image and the running state diagram through a display interface of the interactive display module.
In the step, the ultrasonic image and the running state diagram are displayed on a display interface of the touch display screen, so that a doctor can observe the target focus and the breathing condition of a patient in real time, the puncture condition of the tail end positioning guide device can be obtained according to the ultrasonic image and the running state diagram, the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and the target focus can be observed in real time in the puncture process. And whether the puncture is in place or not and whether the puncture is on the target focus or not can be confirmed in real time through the ultrasonic image and the running state diagram, so that the puncture precision and the puncture quality are ensured.
Step S160: and responding to a pose adjustment instruction sent by an operation interface of the interactive display module, and adjusting the position and the pose of the guide module to determine the position and the needle inserting direction of the puncture needle.
In the step, an operation area and an operation control are arranged in an operation interface of the interactive display module, and a doctor can send out a pose adjustment instruction through touching the operation area and the operation control so as to adjust the position and the pose of the guide module to determine the position and the needle inserting direction of the puncture needle.
It can be understood that in an actual operation scene, when the breathing amplitude of a patient is large or the body position of the patient is adjusted after positioning, or a doctor observes that the ultrasonic image is not ideal after positioning, the doctor can adjust the position and the posture of the puncture terminal, and can combine the experience of the doctor and the ultrasonic image, and adjust the terminal position and the posture of the guide module through the operation interface, so that the puncture needle can directly reach the target focus in the body according to the guiding intervention.
According to some embodiments of the invention, a guide module comprises a motorized jaw and a guide jaw; step S160 may include, but is not limited to, the following steps: determining a target position and a target posture from the posture adjustment instruction; the guide claw is adjusted to the target position and the target posture so as to determine the position and the needle inserting direction of the puncture needle clamped by the electric clamping claw. The position and the posture of the guide claw are adjusted, so that the position and the needle inserting direction of the puncture needle are changed, and the successful efficiency and the quality of puncture are improved.
In the embodiment of the invention, by adopting the control method of the surgical robot comprising the steps S110 to S160, in the interventional operation process, the controller can acquire the bonding force between the ultrasonic probe and the body surface of the patient through the force sensing module, and under the condition that the bonding force is equal to the preset threshold value, the mechanical arm is controlled to stop running, so that an ultrasonic image with better quality is formed, and the safety in the operation process is improved; simultaneously, acquiring an ultrasonic image in real time through an ultrasonic image sensing module, acquiring pose information of a puncture needle through an optical positioning workpiece, and performing image fusion processing according to the ultrasonic image and the pose information to obtain an operation state diagram of the puncture needle, wherein the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus, and monitoring the condition of the puncture needle inserted into a body in real time; then, displaying an ultrasonic image and an operation state diagram through a display interface of the interactive display module, providing reliable operation reference information for doctors, and reducing the puncture positioning operation difficulty in a complex operation environment; and in response to the pose adjustment instruction sent by the operation interface of the interactive display module, the position and the pose of the guide module are adjusted so as to determine the position and the needle inserting direction of the puncture needle, thereby being beneficial to a doctor to adjust the puncture needle at the tail end in time and improving the operation efficiency, the operation precision and the operation quality when the interventional operation is performed. Therefore, the embodiment of the invention ensures that the surgical robot is applicable to complex and changeable surgical environments by utilizing the tail end positioning and guiding device with rich functions, flexibility and higher guiding precision, and improves the operation efficiency, the operation precision, the operation quality and the safety when the interventional operation is performed.
According to some embodiments of the invention, referring to fig. 5, after determining the position and the needle insertion direction of the puncture needle, the control method further comprises:
step S170: and controlling the electric clamping jaw to clamp the puncture needle in response to a first control instruction sent through an operation interface of the interactive display module.
Alternatively, step S180: and controlling the electric clamping jaw to release the puncture needle in response to a second control instruction sent through the operation interface of the interactive display module.
It can be understood that the clamping jaw part is automatically opened and closed, so that the puncture equipment is clamped and released, and the requirement of repeatedly performing puncture positioning in the process of guiding and positioning the puncture needle is met. Thus, step S170 and step S180 are two parallel steps, and the doctor can select to transmit the first control signal or the second control signal through the operation interface.
In a third aspect, an embodiment of the present invention provides a surgical robot, including: a mechanical arm; the tip positioning guide device of any one of the embodiments of the first aspect, the tip positioning guide device being attached to a tip of the robotic arm; the tip positioning guide device further includes a controller that, when executed by the computer, implements the control method of the surgical robot according to any one of the embodiments of the second aspect.
According to the surgical robot provided by the embodiment of the third aspect of the invention, in the interventional operation process, the terminal positioning and guiding device with rich functions, high flexibility and high guiding precision is utilized, so that the surgical robot is suitable for complex and changeable surgical environments, and the operation efficiency, the operation precision, the operation quality and the safety in the interventional operation are improved.
It is worth noting that the surgical robot provided with the tail end positioning guide device can directly present the surgical plan made by a doctor on the CT image on the surface of a patient, the doctor only needs to puncture according to the positioning guide, the problem that the doctor is difficult to position a puncture point and a needle insertion angle on the surface of the patient is reduced, the repeated CT scanning is not needed to confirm the puncture process, and the radiation quantity of CT to the patient in the operation is reduced.
In a fourth aspect, one embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions that are executed by a controller to cause the controller to perform the method steps described above and illustrated in fig. 4 and 5.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention.
Claims (10)
1. A tip positioning guide device of a surgical robot, provided at a tip of a mechanical arm of the surgical robot, the tip positioning guide device comprising:
a mounting base;
the ultrasonic image sensing module is provided with an ultrasonic probe and is arranged at the first end of the mounting seat;
the force sensing module is arranged in the ultrasonic image sensing module and fixedly connected with the ultrasonic image sensing module;
the guide module is provided with a puncture needle and is arranged at the first end of the mounting seat and fixedly connected with the ultrasonic image sensing module;
the rotation adjusting module is arranged at the first end of the mounting seat and is connected with the guide module;
the optical positioning workpiece and the interactive display module are arranged on the mounting seat, and the interactive display module comprises a display interface and an operation interface;
The controller is respectively and electrically connected with the mechanical arm, the ultrasonic image sensing module, the force sensing module, the guide module, the optical positioning workpiece and the interactive display module;
the controller is used for: acquiring the bonding strength between the ultrasonic probe and the body surface of the patient through the force sensing module, and controlling the mechanical arm to stop running under the condition that the bonding strength is equal to a preset threshold value; acquiring an ultrasonic image in real time through the ultrasonic image sensing module; acquiring pose information of the puncture needle through the optical positioning workpiece; performing image fusion processing according to the ultrasonic image and the pose information to obtain an operation state diagram of the puncture needle, wherein the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus; displaying the ultrasonic image and the running state diagram through a display interface of the interactive display module; and responding to a pose adjustment instruction sent by an operation interface of the interactive display module, and adjusting the position and the pose of the guide module to determine the position and the needle inserting direction of the puncture needle.
2. The tip positioning guide device according to claim 1, wherein the guide module comprises:
the electric clamping jaw is used for clamping or releasing the puncture needle;
the guide claw is arranged on one side of the ultrasonic probe and used for determining the position and the needle inserting direction of the puncture needle clamped by the electric clamping jaw.
3. The tip positioning guide device of claim 2, wherein the optical positioning workpiece comprises:
one end of the bracket penetrates through the mounting seat and is fixedly connected with the ultrasonic image sensing module; the other end of the bracket is provided with a small ball seat;
and the optical positioning ball is fixedly connected to the small ball seat.
4. A tip positioning guide as set forth in claim 3 wherein said optical positioning balls are at least three with the first lines of two of said optical positioning balls being parallel to the longitudinal symmetry axis of said ultrasound probe; wherein the second connecting line of the two optical positioning balls is parallel to the guiding axis of the guiding claw.
5. The tip positioning guide device of claim 1, further comprising:
The mechanical arm connecting seat is characterized in that one end of the mechanical arm connecting seat is fixedly connected with the second end of the mounting seat, and the other end of the mechanical arm connecting seat is detachably connected with the tail end of the mechanical arm; wherein the second end of the mounting base is opposite to the first end.
6. A control method of a surgical robot, characterized by being applied to the controller of the tip positioning guide device according to any one of claims 1 to 5, wherein the surgical robot includes a robot arm, the tip positioning guide device further comprising: the ultrasonic probe comprises a force sensing module, an ultrasonic image sensing module comprising an ultrasonic probe, a guide module provided with a puncture needle, an optical positioning workpiece and an interactive display module;
the control method comprises the following steps:
acquiring the bonding strength between the ultrasonic probe and the body surface of the patient through the force sensing module, and controlling the mechanical arm to stop running under the condition that the bonding strength is equal to a preset threshold value;
acquiring an ultrasonic image in real time through the ultrasonic image sensing module;
acquiring pose information of the puncture needle through the optical positioning workpiece;
performing image fusion processing according to the ultrasonic image and the pose information to obtain an operation state diagram of the puncture needle, wherein the operation state diagram is used for displaying the needle insertion condition of the puncture needle and the relative position relation between the puncture needle and a target focus;
Displaying the ultrasonic image and the running state diagram through a display interface of the interactive display module;
and responding to a pose adjustment instruction sent by an operation interface of the interactive display module, and adjusting the position and the pose of the guide module to determine the position and the needle inserting direction of the puncture needle.
7. The control method according to claim 6, wherein the guide module is an electric jaw and a guide claw; the responding to the pose adjusting instruction sent by the operation interface of the interactive display module adjusts the position and the pose of the guide module, and the method comprises the following steps:
determining a target position and a target posture from the posture adjustment instruction;
and adjusting the guide claw to the target position and the target posture so as to determine the position and the needle inserting direction of the puncture needle clamped by the electric clamping claw.
8. The control method according to claim 6, wherein after the determining of the position and the needle insertion direction of the puncture needle, the control method further comprises:
responding to a first control instruction sent through an operation interface of the interactive display module, and controlling the electric clamping jaw to clamp the puncture needle;
Or, in response to a second control instruction sent through the operation interface of the interactive display module, controlling the electric clamping jaw to release the puncture needle.
9. A surgical robot, comprising:
a mechanical arm;
the tip positioning guide device according to any one of claims 1 to 5, which is attached to a tip of the mechanical arm; the tip positioning guide device further comprises a controller which, when executing a computer, implements the control method of the surgical robot according to any one of claims 6 to 8.
10. A computer-readable storage medium, characterized in that computer-executable instructions for implementing a control method of the surgical robot according to any one of claims 6 to 8 are stored, which are executed by a controller.
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| CN202311015535.1A CN117204953A (en) | 2023-08-11 | 2023-08-11 | Surgical robot and terminal positioning and guiding device and control method thereof |
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| CN202311015535.1A CN117204953A (en) | 2023-08-11 | 2023-08-11 | Surgical robot and terminal positioning and guiding device and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024212416A1 (en) * | 2023-04-12 | 2024-10-17 | 珠海横乐医疗科技有限公司 | Puncture surgical robot and control method therefor, controller, and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024212416A1 (en) * | 2023-04-12 | 2024-10-17 | 珠海横乐医疗科技有限公司 | Puncture surgical robot and control method therefor, controller, and storage medium |
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