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CN118415727B - Needle insertion control method for puncture needle, controller and surgical robot - Google Patents

Needle insertion control method for puncture needle, controller and surgical robot Download PDF

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Publication number
CN118415727B
CN118415727B CN202410896991.XA CN202410896991A CN118415727B CN 118415727 B CN118415727 B CN 118415727B CN 202410896991 A CN202410896991 A CN 202410896991A CN 118415727 B CN118415727 B CN 118415727B
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needle
puncture
puncture needle
controller
actual
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CN118415727A (en
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请求不公布姓名
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Hangzhou Weijing Medical Robot Co ltd
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Hangzhou Weijing Medical Robot Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • A61B10/0241—Pointed or sharp biopsy instruments for prostate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • A61B34/30—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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • 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
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Power Engineering (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Manipulator (AREA)

Abstract

The application provides a puncture needle feeding control method, a controller and a surgical robot, wherein the puncture needle feeding control method is applied to the controller in the surgical robot, the surgical robot further comprises a motor and a puncture needle, the motor is used for controlling the puncture needle to move, and the method comprises the following steps: responding to a needle inserting instruction, and acquiring the actual needle inserting position, focus position and first actual needle inserting path of the puncture needle; planning a path based on the actual needle-inserting position and the focus position to obtain a planned needle-inserting track; inputting the first actual needle insertion path and the planned needle insertion path into a prediction model to obtain adjustment control parameters of the motor; based on the adjustment control parameters, the position of the adjustment needle after the puncture needle moves is obtained, and when the position of the adjustment needle does not accord with the focus position, a new position of the adjustment needle is obtained in an iterative way until the new position of the adjustment needle accords with the focus position. The application can plan the needle insertion track in the operation of the puncture needle and realize the accurate control of the puncture needle.

Description

Needle insertion control method for puncture needle, controller and surgical robot
Technical Field
The application relates to the technical field of intelligent medical control, in particular to a puncture needle insertion control method, a controller and a surgical robot.
Background
Prostate cancer is one of the common malignant tumors in men. The "gold standard" for diagnosing prostate cancer is to take a prostate puncture biopsy, obtain a tissue sample from the prostate through a puncture needle and perform a pathological examination.
During the penetration process, the penetration needle needs to be accurately guided along a predetermined path to the prostate tissue. However, after the needle enters soft tissue, the action of tissue surrounding the needle on the asymmetric tip can bend the incident trajectory of the needle, resulting in a deviation of the trajectory from the ideal trajectory.
In general, a doctor can manually insert a needle during operation, and generally adopts two methods to adjust the position of a puncture needle: ① The deflection direction of the puncture needle is controlled in a mode of rotating while inserting the needle, and the puncture needle is adjusted by force sensing and needle inserting results in the needle inserting process so as to gradually approach the target position, however, the manual operation mode is limited by the manual skill and sensing capability of doctors, and certain errors and instability can exist; ② The correction force is applied near the needle insertion point, and the correction force perpendicular to the needle insertion direction is applied to the needle body so as to realize needle steering, but the magnitude of the applied correction force is very high in the operation accuracy requirement of doctors, and the tissue of a patient can be torn due to improper operation. Therefore, how to accurately perform the needle insertion control of the puncture needle is a problem to be solved.
Disclosure of Invention
The application provides a puncture needle feeding control method, a controller and a surgical robot, which are used for solving the problems that in the prior art, the puncture needle is frequently adjusted in position and cannot be accurately controlled in the process of needle feeding.
In a first aspect, the present application provides a method for controlling needle insertion of a puncture needle, applied to a controller in a surgical robot, the surgical robot further comprising a motor connected to the controller and a puncture needle connected to the motor, the motor being used for controlling movement of the puncture needle, comprising:
Responding to a needle inserting instruction, and acquiring an actual needle inserting position of the puncture needle, a focus position of a target object and a first actual needle inserting path of the puncture needle;
Planning a path based on the actual needle insertion position and the focus position to obtain a planned needle insertion track;
inputting the first actual needle insertion path and the planned needle insertion path into a pre-trained prediction model to obtain adjustment control parameters of the motor;
and based on the adjustment control parameters, acquiring the position of the adjustment needle head after the puncture needle moves, and iteratively acquiring a new adjustment needle head position when the position of the adjustment needle head is not consistent with the focus position until the new adjustment needle head position is consistent with the focus position.
In one embodiment, the acquiring the actual needle insertion position of the puncture needle, the focal position of the target object, and the first actual needle insertion path of the puncture needle includes:
driving the motor by adopting initial control parameters to control the puncture needle to move, and acquiring at least one first ultrasonic image containing the puncture needle and the target object by adopting ultrasonic equipment in the process of moving the puncture needle;
Acquiring a first needle head position of the puncture needle in each first ultrasonic image;
Three-dimensional conversion is carried out on the first needle head position by adopting a pre-constructed conversion matrix, so as to obtain a second needle head position;
determining an actual needle insertion position of the puncture needle and a first actual needle insertion path of the puncture needle based on each second needle position;
And
Inputting any ultrasonic image into a pre-trained focus determination model to obtain the image position of the focus of the target object in the ultrasonic image, and performing three-dimensional conversion on the image position by adopting the conversion matrix to obtain the focus position.
In one embodiment, the prediction model includes a trajectory prediction model and a parameter prediction model;
inputting the first actual needle insertion path and the planned needle insertion path into a pre-trained prediction model to obtain adjustment control parameters, wherein the adjustment control parameters comprise:
Inputting at least one second needle head position contained in the first actual needle insertion path into the track prediction model to obtain a first predicted needle insertion path; the first predicted needle penetration path includes at least one first predicted needle position;
matching a first planned needle position corresponding to each first predicted needle position on the planned needle feeding track, and calculating a first coordinate difference value between each first predicted needle position and the corresponding first planned needle position;
and inputting the set formed by the first coordinate difference values into the parameter prediction model to obtain the adjustment control parameters.
In one embodiment, the inputting the at least one second needle position included in the first actual needle insertion path into the trajectory prediction model to obtain a first predicted needle insertion path includes:
Acquiring a second coordinate difference between any adjacent second needle positions;
and inputting the set formed by the second coordinate difference values and the first second needle head position into the track prediction model to obtain the first predicted needle insertion path.
In one embodiment, the acquiring the adjusted needle position of the puncture needle based on the adjustment control parameter includes:
Driving the motor by adopting the adjustment control parameters so as to control the puncture needle to move, and acquiring a second ultrasonic image comprising the puncture needle and the target object by adopting the ultrasonic equipment in the process of moving the puncture needle;
acquiring a third needle position of the puncture needle in each second ultrasonic image;
three-dimensional conversion is carried out on the third needle position by adopting the conversion matrix, so as to obtain a fourth needle position;
And determining the adjusted needle position based on each fourth needle position.
In one embodiment, after the obtaining the adjusted needle position of the puncture needle based on the adjustment control parameter, the method includes:
determining a second actual needle penetration path for the needle based on each of the fourth needle locations;
the iteratively obtaining a new adjusted needle position includes:
Inputting the second actual needle insertion path and the planned needle insertion path into the prediction model to obtain new adjustment control parameters;
based on the new adjustment control parameters, a new adjusted needle position is obtained.
In one embodiment, the inputting the second actual needle insertion path and the planned needle insertion path into the prediction model to obtain new adjustment control parameters includes:
Inputting at least one fourth needle head position contained in the second actual needle insertion path into the track prediction model to obtain a second predicted needle insertion path; the second predicted needle insertion path includes at least one second predicted needle position;
Matching a second planned needle position corresponding to each second predicted needle position on the planned needle insertion track, and calculating a third coordinate difference between each second predicted needle position and the corresponding second planned needle position;
And inputting the set formed by the third coordinate difference values into the parameter prediction model to obtain new adjustment control parameters.
In one embodiment, the obtaining a new adjusted needle position based on the new adjustment control parameter includes:
driving the motor by adopting new adjustment control parameters to control the movement of the puncture needle, and acquiring a third ultrasonic image containing the puncture needle and the target object by adopting the ultrasonic equipment in the process of moving the puncture needle;
acquiring a fifth needle head position of the puncture needle in each third ultrasonic image;
three-dimensional conversion is carried out on the position of the fifth needle head by adopting the conversion matrix, so that a sixth needle head position is obtained;
a new adjusted needle position is determined based on each of the sixth needle positions.
In a second aspect, the present application also provides a controller comprising: a memory, a processor;
the memory is used for storing computer control instructions; the processor executes the computer program to implement the method for controlling penetration of a puncture needle according to any of the above embodiments.
In a third aspect, the present application also provides a surgical robot, including the controller, the puncture needle, and the motor described in the above embodiments;
The controller is respectively connected to the puncture needle and the motor and is used for driving the motor according to the generated needle feeding control parameters;
the motor is connected to the puncture needle and is used for controlling the puncture needle to enter the needle according to the needle entering control parameter.
According to the puncture needle feeding control method, the controller and the surgical robot, a small needle feeding path can be actually generated in a patient according to the puncture needle, the moving path from the puncture needle to a focus is planned in operation, a planned needle feeding path is obtained, and the adjustment control parameters which are needed to be adopted by the motor are predicted based on the small needle feeding path which is actually generated, so that the possible path deviation phenomenon of the puncture needle is compensated by adjusting the control parameters, the puncture needle can move to the focus position as far as possible according to the planned needle feeding path under the control of the motor, the accurate control of the puncture needle is realized, the actual needle feeding path of the puncture needle can reduce the wound range in the patient as far as possible, the prostate tissue wound of the patient is reduced, and the postoperative rehabilitation time is shortened.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic view of a surgical robot in one embodiment;
FIG. 2 is a flow chart of a method of controlling needle penetration of a lancet according to one embodiment;
FIG. 3 is a schematic diagram of the position of an xy plane and a robot coordinate system in which an initial image represented by coordinate position information is located in one embodiment;
Fig. 4 is an internal structural diagram of a controller in one embodiment.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
A prostate puncture needle is a medical device for performing a prostatectomy. A prostate puncture needle can obtain a tissue sample of a patient by puncturing the prostate, and typically, the prostate puncture needle is composed of an elongated metal needle head and a handle, and a doctor needs to manually insert the metal needle head into the rectum of the patient and apply force to the handle with the aid of magnetic resonance imaging (Magnetic Resonance Imaging, MRI) and transrectal ultrasound (TRANSRECTAL OF ULTRASOUND, TRUS) images, etc. to complete needle insertion. This manual mode of operation is entirely dependent on the manual skill and perceptibility of the physician and may be subject to certain errors and instability.
The puncture needle insertion control method provided by the application can be applied to the surgical robot 100 shown in fig. 1, wherein the surgical robot 100 comprises a controller 110, a puncture needle 120 and a motor 130; the controller 110 is connected to the motor 130, and the controller 110 is configured to implement the needle insertion control method provided by the embodiment of the present application, so as to generate adjustment control parameters for driving the motor 130; the motor 130 is coupled to the needle 120 for controlling the insertion of the needle 120 in accordance with the adjustment control parameter.
The motor 130 can control the rotation angle and the translation distance of the puncture needle 120 by controlling the rotation of the motor rotor.
In one embodiment, a method of controlling penetration of a needle is provided. As shown in fig. 2, the puncture needle insertion control method includes:
Step 202, in response to a needle insertion command, acquiring an actual needle insertion position of the puncture needle, a focal position of the target object, and a first actual needle insertion path of the puncture needle.
The needle insertion command refers to a command to insert the puncture needle 120 of the surgical robot 100 into a lesion of a patient. The needle insertion command may be sent to the controller 110 in the surgical robot 100. When surgical robot 100 is applied to the extraction of prostate tissue, the lesion of the patient may refer to the prostate region of the patient.
As an example, the needle insertion instruction may be issued by the doctor through a fixed component on the man-machine interaction interface externally connected to the surgical robot 100, where the fixed component may be a pre-built page or applet; alternatively, the needle insertion command may be issued by the doctor via a fixed button provided on the surgical robot 100.
The target object is understood to be a specific patient.
The actual needle insertion position of the puncture needle refers to a spatial position of the puncture needle 120 in a robot coordinate system established based on the needle insertion control robot 100 corresponding to the needle insertion position of the puncture needle 120 in the body surface of the patient when the controller 110 drives the motor 130 according to the pre-stored initial control parameters to control the puncture needle 120 to penetrate into the body of the patient from outside the patient; the focal coordinate position of the target object refers to a spatial position corresponding to prostate tissue of the patient in the robot coordinate system, and the corresponding focal position may be an area composed of a plurality of spatial positions. Wherein the robot coordinate system may be a three-dimensional coordinate system.
The first actual needle insertion path refers to the needle insertion path that is generated when the controller 110 drives the motor 130 according to the pre-stored initial control parameters for a preset period of time to control the puncture needle 120 to perform the first puncture from outside the patient. The first actual needle insertion path may be a three-dimensional path formed in the robot coordinate system. The preset duration may be 20ms.
And 204, planning a path based on the actual needle insertion position and the focus position to obtain a planned needle insertion track.
The planning of the needle insertion track refers to planning a continuous three-dimensional path by taking the actual needle insertion position as a starting point and taking the focus position as an ending point in a robot coordinate system.
The planned needle penetration trajectory may be the shortest path from the actual needle penetration location to the lesion location.
And 206, inputting the first actual needle insertion path and the planned needle insertion path into a pre-trained prediction model to obtain adjustment control parameters of the motor.
The prediction model can be obtained by adopting a common convolution network, a long-term and short-term memory network and the like and based on training of a plurality of sample needle insertion paths, wherein each sample needle insertion path carries a prediction path label which is used for indicating a prediction needle insertion path corresponding to the current sample needle insertion path.
The adjustment control parameters outputted by the prediction model can be modified on the basis of the initial control parameters of the motor 130 to compensate for possible path deviation generated by the puncture needle 120, so that the needle insertion path generated by the actual needle insertion of the puncture needle 120 can be matched with the planned needle insertion track as much as possible.
Adjusting control parameters refers to controlling, by the motor 130 in the surgical robot 100, operating parameters of the puncture needle 120 during further needle insertion and generation of a next actual needle insertion path based on the first actual needle insertion path, including but not limited to rotational speed, acceleration, etc. of a rotor of the motor, where setting of these operating parameters may affect the puncture direction, puncture depth, speed, precision, etc. of the puncture needle 120, so as to achieve precise control of the rotational angle, translational distance of the puncture needle 120. Meanwhile, the puncture efficiency can be improved, the puncture injury can be reduced and the like by reasonably setting the actual operation parameters of the motor.
Step 208, based on the adjustment control parameters, obtaining the position of the adjustment needle after the puncture needle moves, and when the position of the adjustment needle does not accord with the focus position, iteratively obtaining a new position of the adjustment needle until the new position of the adjustment needle accords with the focus position.
Adjusting the needle position refers to the position of the needle of the puncture needle 120 after the controller 110 drives the motor 130 according to the adjustment control parameters to control the puncture needle 120 to further advance the needle by the motor 130, and generate the next actual needle advance path.
In this step, after the controller 110 drives the motor 130 according to the adjustment control parameters to control the puncture needle 120 to perform the second needle insertion operation, the position of the needle of the puncture needle 120 at this time can be obtained as the adjusted needle position, and the adjusted needle position is further compared with the focal position, if the adjusted needle position at this time accords with the focal position, the needle of the puncture needle 120 can be considered to have reached the focal region of the target object, otherwise, the controller can input the actual needle insertion path and the planned needle insertion track generated when the puncture needle 120 performs the second needle insertion operation into the prediction model again to obtain new adjustment control parameters, drive the motor 130 according to the new adjustment control parameters, control the puncture needle 120 to perform the third needle insertion operation, and further obtain the position of the needle of the puncture needle 120 at this time as the new adjusted needle position …, until the controller 110 inputs the actual needle insertion path and the planned needle insertion track generated when the puncture needle performs the n-1 needle insertion operation to the needle insertion operation, and the position of the puncture needle 120 at this time accord with the focal position after the puncture needle 120 performs the n needle insertion operation according to the adjustment control parameters output by the prediction model.
According to the puncture needle feeding control method, the motor can be driven according to the pre-stored initial control parameters, so that the puncture needle is inserted into a patient and a small section of actual feeding path is generated within the preset time period, then according to the insertion position of the puncture needle on the body surface of the patient and the section of actual feeding path, the adjustment control parameters which are needed to be adopted by the motor within the next preset time period are predicted, so that the possible path deviation phenomenon of the puncture needle can be compensated by adjusting the control parameters, the puncture needle can move to the focus position as far as possible according to the planned feeding path under the control of the motor, the actual feeding path of the puncture needle can reduce the wound range of the patient in the patient as far as possible, the prostate tissue wound of the patient is reduced, and the postoperative recovery time is shortened.
In some alternative embodiments, step 202 includes:
Driving a motor by adopting initial control parameters so as to control the movement of the puncture needle, and acquiring at least one first ultrasonic image containing the puncture needle and a target object by adopting ultrasonic equipment in the process of moving the puncture needle;
Acquiring a first needle position of the puncture needle in each first ultrasonic image;
Three-dimensional conversion is carried out on the first needle head position by adopting a pre-constructed conversion matrix, so as to obtain a second needle head position;
determining an actual needle insertion position of the puncture needle and a first actual needle insertion path of the puncture needle based on each second needle position;
And
Inputting any ultrasonic image into a pre-trained focus determination model to obtain the image position of a focus of a target object in the ultrasonic image, and performing three-dimensional conversion on the image position by adopting a conversion matrix to obtain the focus position.
The ultrasonic device may include an ultrasonic probe that constructs images of a target puncture needle and a target object by transmitting and receiving ultrasonic waves, which are converted into images and displayed on a screen of the display device, and a display device. Accordingly, the first ultrasound image may refer to an ultrasound image that includes the needle 120 and the patient.
The ultrasonic equipment can continuously acquire the first ultrasonic image according to the preset frequency.
For example, the first ultrasound image may be input into a pre-trained image segmentation model, which may be obtained by training a UNet model and a plurality of sample ultrasound images in advance, to obtain a first needle position, and in this step, after the first ultrasound image including the puncture needle 120 and the patient is input into the trained image segmentation model, the image position of the needle of the puncture needle 120 in the first ultrasound image may be output as the first needle position.
In the step of three-dimensionally converting the first needle position by using the transformation matrix, the first needle position needs to be converted into an image coordinate point in an image coordinate system established based on ultrasonic equipment, and then the image coordinate point is converted into a coordinate point in a robot coordinate system.
The transformation matrix can be constructed based on the acquired parameter information of the ultrasonic equipment, and the specific process comprises the following steps:
The acquired parameter information corresponding to the ultrasonic equipment can refer to physical structure and parameters of the ultrasonic probe, such as information of position, orientation, angle and the like of the ultrasonic probe, and specifically can comprise focal length information of the ultrasonic probe on an x axis and a y axis of an image coordinate system and aperture center information of the ultrasonic probe, and an internal reference matrix of the ultrasonic probe can be directly acquired by the acquired parameter information Wherein, the method comprises the steps of, wherein,、Refers to the focal length information of the ultrasonic probe on the x axis and the y axis of an image coordinate system,、And represents the aperture center information of the ultrasonic probe.
If the first needle position is to be converted into the image coordinate point in the image coordinate system, firstly, it is assumed that the ultrasound image is on the uv platform, secondly, the first ultrasound image needs to be converted from the uv plane to the same image processing dimension as the image coordinate system, which involves the conversion of the origin and the conversion of the measurement unit, so the conversion relationship between the image position on the imaging uv plane of the first ultrasound image and the coordinate position in the image coordinate system can be expressed as: wherein, the method comprises the steps of, wherein, 、The difference ratio of the measurement unit (for example, nm) respectively representing the distance between coordinate points in the image coordinate system to the measurement unit of the pixel point on the uv plane,、The difference between the origin formed by the optical axis of the ultrasonic probe and the origin on the uv plane is further expressed as。
Further, the coordinate position in the image coordinate system is converted into a coordinate position in the robot coordinate system, which involves adjustment of the scale, as shown in fig. 3, the xy-plane refers to the image coordinate system,、、The plane is a robot coordinate system and is connected with the origin of the robot coordinate systemAnd a coordinate location in the first ultrasound imageAnd after extension, a map as shown in fig. 3 can be constructed, wherein,Further can be expressed as。
Converting coordinate positions in an image coordinate system into coordinate positions in a robot coordinate system belongs to rigid transformation, and rotation and translation processing is only needed, and as an example, the origin of the image coordinate system isX axisY axisZ axisOrigin to robot coordinate systemX axisY axisZ axisThe conversion relation between them can be adopted=R+T, where R represents the rotation matrix and T represents the translation vector. Can be further converted into=，R：33，T：31。Can be understood as an external reference to the ultrasound probe.
Three-dimensional conversion is carried out on the first needle head position (u, v) in the first ultrasonic image to obtain a second needle head position corresponding to the first needle head position in the robot coordinate system,,) Can be expressed as: 。
The actual needle insertion position may be a second needle position corresponding to the first needle position in the first ultrasonic image, that is, the first second needle position, and the first actual needle insertion path may be a three-dimensional path formed by connecting the second needle positions corresponding to the first needle positions in each first ultrasonic image in a straight line according to the acquisition sequence of the first ultrasonic images.
The focus determining model can be obtained by training a deep neural network model and a plurality of sample three-dimensional models for representing the body of a patient in advance, and the coordinate positions of the representative focuses in the sample three-dimensional models are marked in advance.
In some alternative embodiments, the predictive models include a trajectory predictive model and a parameter predictive model;
step 206 comprises:
Inputting at least one second needle head position contained in the first actual needle insertion path into a track prediction model to obtain a first predicted needle insertion path; the first predicted needle penetration path includes at least one first predicted needle position;
Matching the first planned needle head positions corresponding to the first predicted needle head positions on the planned needle feeding track, and calculating first coordinate difference values between the first predicted needle head positions and the corresponding first planned needle head positions;
and inputting the set formed by the first coordinate difference values into a parameter prediction model to obtain adjustment control parameters.
The track prediction model can adopt a long-term and short-term memory network, and the training process of the track prediction model comprises the following steps: acquiring a plurality of groups of first samples based on a robot coordinate system, wherein each group of first samples comprises two continuous puncture tracks, the two puncture tracks are formed by controlling a puncture needle to continuously move for two preset time periods based on the same control parameters by a motor, the puncture tracks formed by moving the puncture needle in the first preset time period comprise a plurality of track coordinates, the track coordinates form a first training sample, each first training sample carries a coordinate label, and the coordinate labels are used for indicating a plurality of track coordinates contained in the puncture tracks formed by moving the puncture needle in the second preset time period; and training an initial long-term and short-term memory network by adopting a plurality of first training samples until the model converges to obtain a trained track prediction model.
The trajectory prediction model predicts the needle insertion path that the lancet 120 may have made in the next preset time period, based on the actual needle insertion path that the lancet 120 made in the previous preset time period, with the control parameters of the motor 130 unchanged.
In this step, at least one second needle position included in the first actual needle insertion path is input into a track prediction model, and the track prediction model may output, for example, at least one first predicted needle position ordered in sequence, and any adjacent first predicted needle positions are connected in a straight line, so as to obtain the first predicted needle insertion path.
For example, a coordinate point on the planned needle entry trajectory that is in the same preset direction as the first predicted needle position may be used as the first planned needle position. As an example, when the track prediction model outputs a plurality of first predicted needle positions, the preset direction is the direction of the y-axis,,）、（,,）…（,,) T is used for referring to the first predicted needle position, and the x coordinate is selected from the planned needle insertion track,…The point is used as a first planning needle position which can be expressed as,,）、（,,）…（,,) P is used to refer to a coordinate point on the planned needle insertion trajectory.
Further obtaining a first coordinate difference value between the first predicted needle position and the corresponding first planning needle position, and obtaining a first coordinate difference value of%,,）、（,,）…（,,）。
The parameter prediction model can also adopt a long-term and short-term memory network, and the training process of the parameter prediction model comprises the following steps: based on a robot coordinate system, acquiring a plurality of groups of second samples, wherein each group of second samples comprises two puncture tracks which are formed by puncturing from the same starting point of a puncture needle, acquiring a plurality of pairs of sample coordinate positions corresponding to the two puncture tracks in a preset direction according to a preset interval, further calculating sample coordinate differences corresponding to each pair of sample coordinate positions, taking a set formed by the plurality of sample coordinate differences corresponding to each group of sample puncture tracks as a second training sample, and marking parameter labels on the second training sample, wherein the parameter labels are used for indicating differences of actual control parameters of a motor when the puncture needle respectively forms the two puncture tracks; and training an initial long-term and short-term memory network by adopting a plurality of second training samples until the model converges to obtain a trained parameter prediction model.
The parameter prediction model is used for predicting adjustment control parameters of the motor 130 based on a plurality of first coordinate differences formed between a plurality of first predicted needle positions and corresponding first planning needle positions; the motor 130 operates based on the adjustment control parameters to control the needle 120 to adjust the rotation angle and the translation distance, so that the track formed by the needle 120 further advancing can conform to the planned needle advancing track.
In some alternative embodiments, the step of inputting at least one second needle position contained in the first actual needle insertion path into the trajectory prediction model to obtain a first predicted needle insertion path comprises:
Acquiring a second coordinate difference between any adjacent second needle positions;
And inputting the set formed by the second coordinate difference values and the first second needle head position into a track prediction model to obtain a first predicted needle insertion path.
According to the method for obtaining the track prediction model by training the first training samples, a large number of first samples are required to be collected in the same robot coordinate system, the sample number is required to be large, the collection difficulty is large, and in the embodiment, the training process of the track prediction model comprises the following steps: obtaining multiple groups of third samples, wherein each group of third samples comprises two continuous puncture tracks, the two puncture tracks are formed by controlling a puncture needle to continuously move for two preset time periods based on the same control parameters by a motor, the puncture track formed by moving the puncture needle in a first preset time period comprises a plurality of track coordinates, a third training sample (combination of the first track coordinates and any adjacent track coordinates) is formed by the collection of coordinate differences between the first track coordinates and any adjacent track coordinates, and each third training sample carries a coordinate label which is used for indicating the plurality of track coordinates contained in the puncture track formed by moving the puncture needle in a second preset time period; the initial long-term and short-term memory network is trained by adopting a plurality of third training samples until the model converges to obtain a trained track prediction model, and the number of samples required by training the track prediction model can be reduced.
In this embodiment, the input of the track prediction model is a set formed by the second coordinate differences between the first second needle position and any adjacent second needle position in the needle insertion path formed by the puncture needle within the previous preset time period, and the output is at least one first predicted needle position sequentially ordered, and any adjacent first predicted needle positions are connected in a straight line to obtain a first predicted needle insertion path, so as to represent the needle insertion path possibly generated by the puncture needle 120 within the next preset time period under the condition that the control parameters of the motor 130 are unchanged.
In some alternative embodiments, step 208 includes:
driving a motor by adopting adjustment control parameters so as to control the movement of the puncture needle, and acquiring a second ultrasonic image containing the puncture needle and the target object by adopting ultrasonic equipment in the process of the movement of the puncture needle;
Acquiring a third needle position of the puncture needle in each second ultrasonic image;
Three-dimensional conversion is carried out on the third needle position by adopting a conversion matrix to obtain a fourth needle position;
And determining an adjusted needle position based on each fourth needle position.
The ultrasonic device can continuously acquire the second ultrasonic image according to the preset frequency.
In this step, after the second ultrasound image including the puncture needle 120 and the patient is input to the image segmentation model, the image position of the needle of the puncture needle 120 in the second ultrasound image may be output as the third needle position.
And further performing three-dimensional conversion on the third needle position in the second ultrasonic image by adopting the conversion matrix to obtain a fourth needle position corresponding to the fourth needle position in the robot coordinate system, wherein the three-dimensional conversion process is the same as the process of converting the first needle position into the second needle position, and the description is omitted again.
The adjusted needle position may be the third needle position in the last second ultrasound image, the corresponding fourth needle position in the robot coordinate system, i.e., the position of the needle 120 after the second needle insertion is performed.
In some alternative embodiments, the step of obtaining an adjusted needle position of the needle based on the adjustment control parameter comprises:
Determining a second actual needle insertion path for the needle based on each fourth needle position;
step 208 further includes:
Inputting the second actual needle insertion path and the planned needle insertion path into a prediction model to obtain new adjustment control parameters;
based on the new adjustment control parameters, a new adjusted needle position is obtained.
The second actual needle insertion path may be a three-dimensional path formed by connecting a fourth needle position corresponding to the third needle position in each second ultrasonic image in a straight line according to the acquisition sequence of the second ultrasonic images.
Inputting the second actual needle insertion path and the planned needle insertion path into a prediction model, and obtaining new adjustment control parameters comprises the following steps: inputting at least one fourth needle head position contained in the second actual needle insertion path into a track prediction model to obtain a second predicted needle insertion path; the second predicted needle penetration path comprises at least one second predicted needle position; matching the planned needle feeding track to second planned needle positions corresponding to the second predicted needle positions, and calculating a third coordinate difference value between each second predicted needle position and the corresponding second planned needle position; and inputting the set formed by the second coordinate difference values into a parameter prediction model to obtain new adjustment control parameters.
The process of obtaining the new adjustment control parameter corresponds to the process of obtaining the adjustment control parameter after the first needle insertion operation of the puncture needle 120, and will not be described herein.
Based on the new adjustment control parameters, the step of obtaining a new adjusted needle position comprises: driving a motor by adopting new adjustment control parameters so as to control the movement of the puncture needle, and acquiring a third ultrasonic image containing the puncture needle and the target object by adopting ultrasonic equipment in the process of the movement of the puncture needle; acquiring a fifth needle position of the puncture needle in each third ultrasonic image; three-dimensional conversion is carried out on the position of the fifth needle head by adopting a conversion matrix, so that the position of the sixth needle head is obtained; based on each sixth needle position, a new adjusted needle position is determined.
The process of obtaining the new adjusted needle position corresponds to the process of obtaining the adjusted needle position after the second needle insertion operation of the puncture needle 120, and will not be described in detail herein.
According to the puncture needle feeding control method, the motor can be driven according to the pre-stored initial control parameters, so that the puncture needle is inserted into a patient and a small section of actual needle feeding path is generated within the preset time period, then according to the insertion position of the puncture needle on the body surface of the patient and the section of actual needle feeding path, the adjustment control parameters which are needed to be adopted by the motor within the next preset time period are predicted, so that the possible path deviation phenomenon of the puncture needle is compensated by adjusting the control parameters, the puncture needle can move to the focus position as far as possible according to the planned needle feeding track under the control of the motor, the actual needle feeding path of the puncture needle can reduce the wound range of the patient, the prostate tissue wound of the patient as far as possible, and the postoperative rehabilitation time is reduced.
It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
In one embodiment, a controller is provided, the internal structure of which may be as shown in FIG. 4. The controller includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input device. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the controller is configured to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the controller is used to exchange information between the processor and the external device. The communication interface of the controller is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program, when executed by the processor, implements a method of needle penetration control. The display unit of the controller is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the controller can be a touch layer covered on the display screen, and can also be a key, a track ball or a touch pad arranged on the puncture needle shell.
It will be appreciated by those skilled in the art that the structure shown in fig. 4 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the controller to which the present inventive arrangements are applied, and that a particular controller may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims (8)

1. A controller for needle insertion of a puncture needle, characterized by being applied to a surgical robot further comprising a motor connected to the controller and a puncture needle connected to the motor, the motor being for controlling the movement of the puncture needle, the controller being for:
Responding to a needle inserting instruction, and acquiring an actual needle inserting position of the puncture needle, a focus position of a target object and a first actual needle inserting path of the puncture needle;
Planning a path based on the actual needle insertion position and the focus position to obtain a planned needle insertion track;
Inputting the first actual needle insertion path and the planned needle insertion path into a pre-trained prediction model to obtain adjustment control parameters of the motor; the prediction model comprises a track prediction model and a parameter prediction model;
acquiring an adjusted needle head position after the puncture needle moves based on the adjustment control parameter, and repeating the step of acquiring a new adjusted needle head position when the adjusted needle head position is not consistent with the focus position until the new adjusted needle head position is consistent with the focus position;
the controller is specifically configured to, when inputting the first actual needle insertion path and the planned needle insertion path into a pre-trained prediction model to obtain an adjustment control parameter:
Inputting at least one second needle head position contained in the first actual needle insertion path into the track prediction model to obtain a first predicted needle insertion path; the first predicted needle penetration path includes at least one first predicted needle position;
matching a first planned needle position corresponding to each first predicted needle position on the planned needle feeding track, and calculating a first coordinate difference value between each first predicted needle position and the corresponding first planned needle position;
and inputting the set formed by the first coordinate difference values into the parameter prediction model to obtain the adjustment control parameters.
2. The controller according to claim 1, wherein the controller is configured, when acquiring the actual needle insertion position of the puncture needle, the focal position of the target object, and the first actual needle insertion path of the puncture needle, to:
driving the motor by adopting initial control parameters to control the puncture needle to move, and acquiring at least one first ultrasonic image containing the puncture needle and the target object by adopting ultrasonic equipment in the process of moving the puncture needle;
Acquiring a first needle head position of the puncture needle in each first ultrasonic image;
Three-dimensional transformation is carried out on the first needle head position by adopting a pre-constructed transformation matrix, so as to obtain a second needle head position in a robot coordinate system; the transformation matrix is constructed based on acquired parameter information of the ultrasonic equipment;
determining an actual needle insertion position of the puncture needle and a first actual needle insertion path of the puncture needle based on each second needle position;
And
Inputting any one of the first ultrasonic images into a pre-trained focus determination model to obtain the image position of the focus of the target object in the ultrasonic image, and performing three-dimensional conversion on the image position by adopting the conversion matrix to obtain the focus position.
3. The controller of claim 1, wherein the controller is configured to, when inputting at least one second needle position included in the first actual needle insertion path into the trajectory prediction model to obtain a first predicted needle insertion path:
Acquiring a second coordinate difference between any adjacent second needle positions;
and inputting the set formed by the second coordinate difference values and the first second needle head position into the track prediction model to obtain the first predicted needle insertion path.
4. The controller according to claim 1, wherein the controller, when acquiring the adjusted needle position of the puncture needle based on the adjusted control parameter, is specifically configured to:
Driving the motor by adopting the adjustment control parameters so as to control the puncture needle to move, and acquiring a second ultrasonic image comprising the puncture needle and the target object by adopting the ultrasonic equipment in the process of moving the puncture needle;
acquiring a third needle position of the puncture needle in each second ultrasonic image;
three-dimensional conversion is carried out on the third needle position by adopting the conversion matrix, so as to obtain a fourth needle position;
And determining the adjusted needle position based on each fourth needle position.
5. The controller of claim 4, wherein the controller, after obtaining the adjusted needle position of the needle based on the adjusted control parameter, is further configured to:
determining a second actual needle penetration path for the needle based on each of the fourth needle locations;
the controller is specifically configured to, when repeatedly acquiring a new adjusted needle position:
Inputting the second actual needle insertion path and the planned needle insertion path into the prediction model to obtain new adjustment control parameters;
based on the new adjustment control parameters, a new adjusted needle position is obtained.
6. The controller according to claim 5, wherein the controller is configured to, when inputting the second actual needle insertion path and the planned needle insertion trajectory into the prediction model to obtain new adjustment control parameters:
Inputting at least one fourth needle head position contained in the second actual needle insertion path into the track prediction model to obtain a second predicted needle insertion path; the second predicted needle insertion path includes at least one second predicted needle position;
Matching a second planned needle position corresponding to each second predicted needle position on the planned needle insertion track, and calculating a third coordinate difference between each second predicted needle position and the corresponding second planned needle position;
And inputting the set formed by the third coordinate difference values into the parameter prediction model to obtain new adjustment control parameters.
7. The controller of claim 5, wherein the controller, when acquiring a new adjusted needle position based on a new adjusted control parameter, is specifically configured to:
driving the motor by adopting new adjustment control parameters to control the movement of the puncture needle, and acquiring a third ultrasonic image containing the puncture needle and the target object by adopting the ultrasonic equipment in the process of moving the puncture needle;
acquiring a fifth needle head position of the puncture needle in each third ultrasonic image;
three-dimensional conversion is carried out on the position of the fifth needle head by adopting the conversion matrix, so that a sixth needle head position is obtained;
a new adjusted needle position is determined based on each of the sixth needle positions.
8. A surgical robot comprising the controller of any one of claims 1 to 7, a puncture needle, and a motor;
The controller is respectively connected to the motors and is used for driving the motors according to pre-stored initial control parameters and generated adjustment control parameters;
The motor is connected to the puncture needle and is used for driving the puncture needle to control the puncture needle to move.
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