CN112426225B - Radiotherapy operation system based on motion capture - Google Patents
Radiotherapy operation system based on motion capture Download PDFInfo
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- CN112426225B CN112426225B CN202011231722.XA CN202011231722A CN112426225B CN 112426225 B CN112426225 B CN 112426225B CN 202011231722 A CN202011231722 A CN 202011231722A CN 112426225 B CN112426225 B CN 112426225B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
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- A—HUMAN NECESSITIES
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- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N2005/1074—Details of the control system, e.g. user interfaces
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Abstract
A radiotherapy operation system based on motion capture relates to a radiotherapy operation system, and solves the problems that when the existing master-slave robot operation system is used, all parts of a body need to cooperate and operate together, and the operation burden is heavy; and the main hand mechanism of the operating system influences the movement stroke of the arm of the operator due to the structural limitation of the main hand mechanism. The invention comprises a motion capture system, an upper computer and a handheld tool which are positioned in an operating room, and an operation mechanical arm and a vision collector which are positioned in the operating room; at least 3 infrared target balls are stuck on 4 positions of the big arm, the forearm, the back of the hand and the hand-held tool of an operator; the motion capture lens collects images of the infrared target balls on 4 positions on the operation arm of an operator, the images are uploaded to the upper computer to be processed, the spatial positions of all the infrared target balls on each position are obtained, and a control instruction is generated according to the spatial positions of all the infrared target balls on each position to control the operation arm. The invention is mainly applied to radiotherapy operation.
Description
Technical Field
The invention relates to a radiotherapy operation system, in particular to a radiotherapy operation system combined with a motion capture device.
Background
Brachytherapy is the implantation of radioactive seeds through a needle into a tumor, with the resulting radiation produced by decay killing the cancer cells. This technique is currently being put into clinical treatment. Due to the characteristics of reasonable control of radiation dose, small surgical wound and the like, the particle implantation brachytherapy seed coat has advantages in various cancer treatment schemes, and a high surgical success rate and a low recurrence rate can be obtained by adopting a particle implantation brachytherapy surgical scheme. However, in the current application, the surgical plan has the problems of dependence on the surgical experience of the doctor, error in the implantation position and the like, and because the surgical process needs to use the CT for many times and the implantation particles carry radiation, the doctor has a large radiation dose in the particle implantation surgical process.
In order to prevent the problem that a doctor bears radiation in the process of a particle implantation operation, a teleoperation technology is adopted in the prior art, and the doctor can be isolated to an environment far away from the radiation on the premise of ensuring accurate transmission of arm actions of the doctor; however, most of the existing surgical robots adopt a master-slave scheme, most of the existing surgical robots are general surgical robot systems for laparoscopic surgery, and in the existing master-slave robot operating systems, a general master hand mechanism is mostly adopted, on one hand, the operation is limited by the structure of the master hand mechanism, a doctor needs to coordinate with the working space, the motion mode and the like of the master hand mechanism to perform actions when operating, the motion of the hand of the doctor and the actions required by the surgery are deformed when using the master hand mechanism, the working space of the doctor is limited, the motion stroke of the arm of the doctor is influenced, and the actions performed by the doctor and the actions of the surgery are inconsistent and are not in accordance with the intuition of the operation; on the other hand, in the process of operating the master hand mechanism by the doctor, in addition to the operation movement of both hands, additional control operations such as pedaling, eye movement and the like are required, and the robot system can understand the control intention of the doctor to operate only through cooperation, so that a large operation burden is brought to the doctor; therefore, the above problems need to be solved.
Disclosure of Invention
The invention aims to solve the problems that when the existing master-slave robot operating system is used, all parts of a body need to cooperate and operate together, and the operation burden is heavy; the main hand mechanism of the operating system is limited by the structure of the main hand mechanism, so that the movement stroke of the arm of an operator is influenced; the invention provides a radiotherapy operation system based on motion capture.
A radiotherapy operation system based on motion capture comprises a motion capture system 1, an upper computer 2 and a handheld tool 3 which are positioned in an operation room, and an operation mechanical arm 4 and a vision collector 5 which are positioned in the operation room;
the vision collector 5 is used for collecting images of the to-be-operated area of the patient 7 and uploading the images to the upper computer 2 for display;
the motion capture system 1 comprises a plurality of motion capture lenses 1-1 and a plurality of infrared target balls;
the infrared target balls are stuck on 4 parts of the big arm, the forearm, the back of the hand and the hand-held tool 3 in the hand of an operator 6, and each part is provided with at least 3 infrared target balls;
all the motion capture lenses 1-1 are uniformly distributed around an operator 6 and used for acquiring images of the infrared target balls on 4 parts of the operating arm of the operator 6 in real time and uploading the images to an upper computer 2;
the upper computer 2 processes the received images of the infrared target balls to obtain the spatial positions of all the infrared target balls on each part, and generates a control command to control the surgical manipulator 4 according to the spatial positions of all the infrared target balls on each part.
Preferably, the upper computer 2 processes the received images of the infrared target balls to obtain the spatial positions of all the infrared target balls on each portion, and generates a control command to control the surgical robot arm 4 according to the spatial positions of all the infrared target balls on each portion, so that the implementation manner is as follows:
the upper computer 2 extracts the spatial positions of all the infrared target balls on each part from the received images of the infrared target balls, and calculates the positions and postures of the mass centers of 4 parts at the current moment according to the spatial positions of all the infrared target balls on each part; and then, generating a control instruction to control the surgical mechanical arm 4 according to the positions and postures of the centroids of the 4 parts at the current moment.
Preferably, the implementation mode that the upper computer 2 generates the control command to control the surgical manipulator 4 according to the positions and postures of the centroids of the 4 parts at the current moment is as follows:
the upper computer 2 calculates the position of each part mass center at the current moment and at the previous moment, after acquiring the speed, the angular velocity, the acceleration and the angular acceleration of each part mass center at the current moment, performs action feature extraction on the position, the posture, the speed, the angular velocity, the acceleration and the angular acceleration of each part mass center at the current moment by adopting a simulation learning algorithm, and generates a corresponding control instruction at the current moment according to the extracted action features of the operator 6 to control the surgical manipulator 4;
wherein, the initial value of the centroid position of each part is a preset value.
Preferably, the upper computer 2 calculates the position of each part centroid at the current time and at the previous time, and the implementation manner of obtaining the velocity, the angular velocity, the acceleration and the angular acceleration of each part centroid at the current time is as follows:
the upper computer 2 performs differential operation on the position of each part mass center at the current moment and the position of each part mass center at the previous moment to obtain the speed and the acceleration of each part mass center at the current moment, and meanwhile, the upper computer 2 also performs operation on the position of each part mass center at the current moment and the position of each part mass center at the previous moment through an Euler angle differential equation to obtain the angular speed and the angular acceleration of each part mass center at the current moment.
Preferably, the motion capture lens 1-1 is an infrared camera.
The radiotherapy operation system based on motion capture has the beneficial effects that on one hand, the motion information of the arm of the operator can be directly extracted according to the collected image of the infrared target ball, the motion stroke of the motion made by the operator is not limited by space, the made motion is consistent with the operation, the operation intuition is met, and the control precision of the operation mechanical arm 4 is improved. On the other hand, since the field of view of the motion capture system 1 completely covers the motion area of the arm of the operator, all motion information of the arm of the operator can be directly extracted, additional matching operation of feet and eyes is not needed, the motion is simplified, and the difficulty of operation and the fatigue of the operation can be reduced.
The radiotherapy operation system based on motion capture is mainly applied to radiotherapy operation, and avoids the radiation risk of an operator in the process of particle implantation operation.
Drawings
Fig. 1 is a schematic diagram of a radiotherapy surgical system based on motion capture according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1 to illustrate the embodiment, the radiotherapy surgical system based on motion capture in the embodiment includes a motion capture system 1, an upper computer 2 and a handheld tool 3 in an operating room, and a surgical manipulator 4 and a vision collector 5 in the operating room;
the vision collector 5 is used for collecting images of the to-be-operated area of the patient 7 and uploading the images to the upper computer 2 for display;
the motion capture system 1 comprises a plurality of motion capture lenses 1-1 and a plurality of infrared target balls;
the infrared target balls are stuck on 4 parts of the big arm, the forearm, the back of the hand and the hand-held tool 3 in the hand of an operator 6, and each part is provided with at least 3 infrared target balls;
all the motion capture lenses 1-1 are uniformly distributed around an operator 6 and used for acquiring images of the infrared target balls on 4 parts of the operating arm of the operator 6 in real time and uploading the images to an upper computer 2;
the upper computer 2 processes the received images of the infrared target balls to obtain the spatial positions of all the infrared target balls on each part, and generates a control command to control the surgical manipulator 4 according to the spatial positions of all the infrared target balls on each part.
In specific application, the vision collector 5 is used for collecting images of an area to be operated, the operator 6 makes corresponding actions according to the images of the area to be operated, so that the surgical mechanical arm 4 is controlled to make corresponding actions, the action capturing lens 1-1 is arranged in an operation space of the operator 6, and the view field of the action capturing lens 1-1 can be ensured to include the action range of the operator 6 for operating the arm. Before use, the motion capture lens 1-1 is calibrated, and the relative position parameters of the motion capture lens 1-1 are updated. At least 3 infrared target balls are adhered to 4 positions of the big arm, the forearm, the back of the hand and the hand-held tool 3 of the operator 6. In the using process, the vision collector 5 obtains a real-time image of an operation part in an operating room, and an operator 6 performs corresponding operation actions according to image feedback and the tail end position of the operation mechanical arm 4. In the action process, the action capturing lens 1-1 obtains the real-time positions of all the target balls, and the upper computer 2 generates a control instruction according to the spatial positions of all the infrared target balls on each part to control the surgical mechanical arm 4.
According to the radiotherapy operation system based on motion capture, on one hand, motion information of an arm of an operator can be directly extracted according to collected images of an infrared target ball, the motion stroke of actions made by the operator is not limited by space, the actions and operation operations are consistent and accord with the operation intuition, and the control precision of the operation mechanical arm 4 is improved. On the other hand, since the field of view of the motion capture system 1 completely covers the motion area of the arm of the operator, all motion information of the arm of the operator can be directly extracted, additional matching operation of feet and eyes is not needed, the motion is simplified, and the difficulty of operation and the fatigue of the operation can be reduced.
Further, referring to fig. 1 specifically, the implementation manner of processing the received image of the infrared target ball by the upper computer 2 to obtain the spatial positions of all the infrared target balls on each portion, and generating a control command to control the surgical manipulator 4 according to the spatial positions of all the infrared target balls on each portion is as follows:
the upper computer 2 extracts the spatial positions of all the infrared target balls on each part from the received images of the infrared target balls, and calculates the positions and postures of the mass centers of 4 parts at the current moment according to the spatial positions of all the infrared target balls on each part; and then, generating a control instruction to control the surgical mechanical arm 4 according to the positions and postures of the centroids of the 4 parts at the current moment.
Further, referring to fig. 1 specifically, the implementation manner of the upper computer 2 generating the control command to control the surgical manipulator 4 according to the positions and postures of the centroids of the 4 parts at the current time is as follows:
the upper computer 2 calculates the position of each part mass center at the current moment and at the previous moment, after acquiring the speed, the angular velocity, the acceleration and the angular acceleration of each part mass center at the current moment, performs action feature extraction on the position, the posture, the speed, the angular velocity, the acceleration and the angular acceleration of each part mass center at the current moment by adopting a simulation learning algorithm, and generates a corresponding control instruction at the current moment according to the extracted action features of the operator 6 to control the surgical manipulator 4;
wherein, the initial value of the centroid position of each part is a preset value.
In the present embodiment, the upper computer 2 is loaded with the imitation learning algorithm, and the feature extraction of the movement of the operator 6 can be performed by the imitation learning algorithm, so that the control instruction for controlling the surgical manipulator 4 is generated in real time, wherein the imitation learning algorithm is an existing algorithm, and the control instruction which is smooth, has good motion characteristics and high safety can be issued to the surgical manipulator 4, and the high-precision motion control of the surgical manipulator 4 can be performed.
Further, referring to fig. 1 specifically, the upper computer 2 calculates the position of the centroid of each part at the current time and at the previous time, and obtains the velocity, the angular velocity, the acceleration, and the angular acceleration of the centroid of each part at the current time in the following manner:
the upper computer 2 performs differential operation on the position of each part mass center at the current moment and the position of each part mass center at the previous moment to obtain the speed and the acceleration of each part mass center at the current moment, and meanwhile, the upper computer 2 further processes the position of each part mass center at the current moment and the position of each part mass center at the previous moment through an Euler angle differential equation to obtain the angular speed and the angular acceleration of each part mass center at the current moment.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (4)
1. A radiotherapy operation system based on motion capture is characterized by comprising a motion capture system (1) positioned in an operation room, an upper computer (2), a handheld tool (3), an operation mechanical arm (4) positioned in the operation room and a vision collector (5);
the vision collector (5) is used for collecting images of an area to be operated of the patient (7) and uploading the images to the upper computer (2) for display;
the motion capture system (1) comprises a plurality of motion capture lenses (1-1) and a plurality of infrared target balls;
the infrared target balls are stuck on 4 parts of the big arm, the forearm, the back of the hand and the hand-held tool (3) in the hand of an operator (6), and each part is provided with at least 3 infrared target balls;
all the motion capture lenses (1-1) are uniformly distributed around an operator (6) and used for acquiring images of the infrared target balls on 4 parts of the operating arm of the operator (6) in real time and uploading the images to the upper computer (2);
the upper computer (2) processes the received images of the infrared target balls to obtain the spatial positions of all the infrared target balls on each part, and generates a control instruction according to the spatial positions of all the infrared target balls on each part to control the surgical manipulator (4);
the upper computer (2) processes the received images of the infrared target balls, obtains the spatial positions of all the infrared target balls on each part, and generates a control command according to the spatial positions of all the infrared target balls on each part to control the surgical manipulator (4) in the following way:
the upper computer (2) extracts the spatial positions of all the infrared target balls on each part from the received images of the infrared target balls, and calculates the positions and postures of the mass centers of 4 parts at the current moment according to the spatial positions of all the infrared target balls on each part; and then generating a control instruction to control the surgical mechanical arm (4) according to the positions and postures of the centroids of the 4 parts at the current moment.
2. The radiotherapy surgical system based on motion capture as claimed in claim 1, characterized in that the upper computer (2) generates control commands to control the surgical manipulator (4) according to the positions and postures of the centroids of 4 parts at the current time in the following way:
the upper computer (2) calculates the position of each part mass center at the current moment and at the last moment, after the speed, the angular velocity, the acceleration and the angular acceleration of each part mass center at the current moment are obtained, the action characteristics of the position, the posture, the speed, the angular velocity, the acceleration and the angular acceleration of each part mass center at the current moment are extracted by adopting a simulation learning algorithm, and then a control instruction corresponding to the current moment is generated according to the extracted action characteristics of an operator (6) to control the operation mechanical arm (4);
wherein, the initial value of the centroid position of each part is a preset value.
3. The radiotherapy operation system based on motion capture as claimed in claim 2, wherein the upper computer (2) operates the position of each part centroid at the current time and the previous time, and the speed, the angular velocity, the acceleration and the angular acceleration of each part centroid at the current time are obtained by:
the upper computer (2) performs differential operation on the positions of the mass centers of each part at the current moment and the last moment to obtain the speed and the acceleration of the mass center of each part at the current moment, and meanwhile, the upper computer (2) also performs operation on the positions of the mass centers of each part at the current moment and the last moment through an Euler angle differential equation to obtain the angular speed and the angular acceleration of the mass center of each part at the current moment.
4. A motion capture based radiotherapy surgical system according to claim 1, characterized in that the motion capture lens (1-1) is an infrared camera.
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| US8473031B2 (en) * | 2007-12-26 | 2013-06-25 | Intuitive Surgical Operations, Inc. | Medical robotic system with functionality to determine and display a distance indicated by movement of a tool robotically manipulated by an operator |
| CN102028549B (en) * | 2011-01-17 | 2012-06-06 | 哈尔滨工业大学 | Catheter robot system for minimally invasive interventional operation in blood vessel |
| KR102218244B1 (en) * | 2012-12-10 | 2021-02-22 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms |
| GB201504787D0 (en) * | 2015-03-20 | 2015-05-06 | Cambridge Medical Robotics Ltd | User interface for a robot |
| CN105058396A (en) * | 2015-07-31 | 2015-11-18 | 深圳先进技术研究院 | Robot teaching system and control method thereof |
| CN105411681B (en) * | 2015-12-22 | 2018-07-03 | 哈尔滨工业大学 | The hand eye coordination control system and method for split type micro-wound operation robot |
| CN107970060A (en) * | 2018-01-11 | 2018-05-01 | 上海联影医疗科技有限公司 | Surgical robot system and its control method |
| CN108127669A (en) * | 2018-02-08 | 2018-06-08 | 华南理工大学 | A kind of robot teaching system and implementation based on action fusion |
| CN108972559B (en) * | 2018-08-20 | 2021-08-03 | 上海嘉奥信息科技发展有限公司 | Hand-eye calibration method based on infrared stereoscopic vision positioning system and mechanical arm |
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Inventor after: Fan Yilun Inventor after: Zhao Jie Inventor after: Li Changle Inventor after: Liu Gangfeng Inventor before: Fan Yilun Inventor before: Zhao Jie Inventor before: Li Changle Inventor before: Liu Gangfeng |