WO2021012142A1 - 手术机器人***及其控制方法 - Google Patents
手术机器人***及其控制方法 Download PDFInfo
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- WO2021012142A1 WO2021012142A1 PCT/CN2019/097032 CN2019097032W WO2021012142A1 WO 2021012142 A1 WO2021012142 A1 WO 2021012142A1 CN 2019097032 W CN2019097032 W CN 2019097032W WO 2021012142 A1 WO2021012142 A1 WO 2021012142A1
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- 238000003384 imaging method Methods 0.000 claims abstract description 70
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- 238000001356 surgical procedure Methods 0.000 claims abstract description 38
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- 238000004590 computer program Methods 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 12
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- 238000001514 detection method Methods 0.000 description 6
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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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
-
- 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
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
Definitions
- the present disclosure relates to the technical field of medical devices, in particular to a surgical robot system and a control method thereof.
- a variety of positioning surgical instruments are well known. However, when the surgical instrument is manually positioned, the user needs to manually determine the position of the surgical tool and move it, so errors are likely to occur between the position of the affected part and the surgical tool.
- the embodiments of the present disclosure provide a surgical robot system and a control method thereof, which can be used to perform a variety of precise operations on focal organs that cannot be performed manually, and has the advantages of small trauma, low infectivity, and flexible surgical methods.
- a surgical robot system including:
- the imaging device is used to scan the target site to be operated to obtain the imaging data of the target site;
- a robotic arm the front end of the robotic arm carries a surgical device
- Positioning device for positioning the target part
- the coordinate system processor is used to generate and store the first coordinate transformation relationship that transforms the coordinates from the first coordinate system of the imaging data to the second coordinate system of the robotic arm, and generates and stores the coordinate transformation from the robotic arm Transforming the second coordinate system into the second coordinate transformation relationship of the third coordinate system of the positioning device;
- the controller is configured to generate a three-dimensional image of the target part in the first coordinate system according to the imaging data, display the three-dimensional image through a user interface, receive the surgical path input by the user, and according to the surgical path, the The first coordinate transformation relationship and the second coordinate transformation relationship control the robotic arm to perform surgery on the target part.
- the controller is specifically configured to transform the surgical path input by the user through the user interface into a first coordinate track in the second coordinate system according to the first coordinate transformation relationship, and according to the The second coordinate transformation relationship transforms the first coordinate trajectory into a second coordinate trajectory on the third coordinate system, and controls the robotic arm to perform surgery on the target part according to the second coordinate trajectory.
- the imaging data includes multiple two-dimensional cross-sectional images of the target part
- the controller is specifically configured to acquire a region of interest in one of the two-dimensional cross-sectional images, and determine the boundary of the region of interest; repeat;
- the boundaries of the regions of interest of all the two-dimensional cross-sectional images are acquired; geometric configuration is performed according to the boundaries of the regions of interest of all the two-dimensional cross-sectional images to obtain a three-dimensional image of the target part.
- the controller is specifically configured to transform the boundary information of the region of interest of all two-dimensional cross-sectional images into a point group in the first coordinate system, and generate a three-dimensional image of the target part according to the point group .
- the coordinate system processor is specifically configured to select at least four first reference points from the first coordinate system, and determine the first reference point of the at least four first reference points in the first coordinate system.
- a coordinate value and a second coordinate value in the second coordinate system are calculated according to the first coordinate value and the second coordinate value to obtain a first conversion function characterizing the first coordinate transformation relationship;
- Select at least four second reference points in the second coordinate system and determine the third coordinate value of the at least four second reference points in the second coordinate system and the fourth coordinate value in the third coordinate system.
- the coordinate value is calculated according to the third coordinate value and the fourth coordinate value to obtain a second conversion function representing the second coordinate transformation relationship.
- the imaging device includes:
- the C-shaped arm is arranged on the base, and both ends of the C-shaped arm are respectively provided with a ray emitting part and a ray receiving part.
- the target part is located in the ray Between the transmitting part and the ray receiving part.
- the positioning device includes:
- a positioning mark attached to or close to the target location
- At least two optical emitting devices in different positions for emitting specific light
- the positioning part is configured to receive the specific light reflected by the positioning mark, and determine the spatial position of the positioning mark in the third coordinate system according to the received specific light.
- the robotic arm includes:
- a moving part that moves the rotating part in the direction of at least one of the three shafts.
- the moving part includes:
- the first direction driving part moves along the first axis direction
- the second direction driving part is connected to the first direction driving part and moves along the second axis direction;
- the third direction driving part is connected to the second direction driving part and moves along the third axis direction;
- the rotating part includes:
- the first rotation driving part includes one end connected to the third-direction driving part and rotating around the first rotation axis;
- the second rotation driving part includes an end connected to the first rotation driving part and rotating around a second rotation shaft, and the surgical device is attached to the second rotation driving part.
- the embodiment of the present disclosure also provides a control method of a surgical robot system, which includes:
- the imaging device scans the target site to be operated to obtain imaging data of the target site
- the positioning device locates the target part
- the coordinate system processor generates and stores the first coordinate transformation relationship that transforms the coordinates from the first coordinate system of the imaging data to the second coordinate system of the robot arm, and generates and stores the coordinates from the second coordinate system of the robot arm.
- the coordinate system is transformed into the second coordinate transformation relationship of the third coordinate system of the positioning device;
- the controller generates a three-dimensional image of the target part in the first coordinate system according to the imaging data, displays the three-dimensional image through a user interface, receives the surgical path input by the user, and according to the surgical path and the first coordinate
- the transformation relationship and the second coordinate transformation relationship control the robotic arm to perform surgery on the target part.
- controlling the robotic arm to perform surgery on the target site includes:
- the controller transforms the surgical path input by the user through the user interface into a first coordinate track on the second coordinate system according to the first coordinate transformation relationship, and transforms the surgical path according to the second coordinate transformation relationship.
- the first coordinate trajectory is transformed into a second coordinate trajectory on the third coordinate system, and the robotic arm is controlled to perform surgery on the target part according to the second coordinate trajectory.
- the imaging data includes multiple two-dimensional cross-sectional images of the target part, and generating the three-dimensional image includes:
- the controller acquires the region of interest in one of the two-dimensional cross-sectional images, and determines the boundary of the region of interest; repeats the above steps until the boundaries of the region of interest of all the two-dimensional cross-sectional images are acquired;
- the boundary of the region of interest is geometrically configured to obtain a three-dimensional image of the target part.
- generating a three-dimensional image of the target part in the second coordinate system includes:
- the controller transforms the boundary information of the region of interest of all two-dimensional cross-sectional images into a point group in the first coordinate system, and generates a three-dimensional image of the target part according to the point group.
- generating the first coordinate transformation relationship and the second coordinate transformation relationship includes:
- the coordinate system processor selects at least four first reference points from the first coordinate system, and determines the first coordinate values of the at least four first reference points in the first coordinate system and the The second coordinate value in the second coordinate system is calculated according to the first coordinate value and the second coordinate value to obtain a first conversion function characterizing the first coordinate transformation relationship; select from the second coordinate system At least four second reference points, determine the third coordinate value of the at least four second reference points in the second coordinate system and the fourth coordinate value in the third coordinate system, according to the first The third coordinate value and the fourth coordinate value are calculated to obtain a second conversion function representing the second coordinate transformation relationship.
- the imaging device includes: a base; a C-shaped arm is arranged on the base, and both ends of the C-shaped arm are respectively provided with a ray emitting part and a ray receiving part, and the target When a part is scanned, the target part is located between the ray emitting part and the ray receiving part; obtaining imaging data of the target part includes:
- the ray emitting part emits rays
- the radiation receiving unit receives radiation passing through the target part, and generates the imaging data according to the received radiation information.
- the positioning device includes: a positioning mark attached to or arranged close to the target part; at least two optical emitting devices at different positions for emitting specific light; and positioning the target part includes:
- the positioning unit receives the specific light reflected by the positioning mark, and determines the spatial position of the positioning mark in the third coordinate system according to the received specific light.
- the robotic arm includes: a rotating part that carries a surgical device, and uses at least one of the two rotating shafts as a center to rotate the surgical device; and a moving part that makes the rotating part move toward three directions. At least one of the two axes moves in the direction;
- Surgery on the target site includes:
- the controller moves the rotating part to at least one of the three axes through the moving part;
- the controller rotates the surgical device with at least one of the two rotating shafts as a center through the rotating part.
- the embodiment of the present disclosure also provides a control device of a surgical robot system, including: a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
- the computer program is executed when the processor is executed. Steps in the control method of the surgical robot system as described above.
- the embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned control method of the surgical robot system is implemented step.
- Figure 1 shows a schematic structural diagram of a surgical robot system according to an embodiment of the present disclosure
- FIGS. 2 and 3 show schematic diagrams of the structure of an imaging device according to an embodiment of the present disclosure
- FIG. 4 shows a schematic diagram of the composition of a surgical robot according to an embodiment of the present disclosure
- 5 and 6 show schematic diagrams of the process of generating a three-dimensional image according to an embodiment of the present disclosure
- FIG. 7 shows a schematic flowchart of a control method of a surgical robot system according to an embodiment of the present disclosure.
- the embodiments of the present disclosure provide a surgical robot system and a control method thereof, which can be used to perform a variety of precise operations on focal organs that cannot be performed manually, and has the advantages of small trauma, low infectivity, and flexible surgical methods.
- the embodiment of the present disclosure provides a surgical robot system, as shown in FIG. 1, including:
- the imaging device 11 is used to scan a target part to be operated on to obtain imaging data of the target part;
- a robotic arm 15 carrying surgical devices at the front end of the robotic arm 15;
- the positioning device 12 is used for positioning the target part
- the coordinate system processor 13 is used to generate and store the first coordinate transformation relationship that transforms the coordinates from the first coordinate system of the imaging data to the second coordinate system of the robot arm 15, and generates and stores the coordinate transformation from the The second coordinate system of the mechanical arm 15 is transformed into the second coordinate transformation relationship of the third coordinate system of the positioning device 12;
- the controller 14 is configured to generate a three-dimensional image of the target part in the first coordinate system according to the imaging data, display the three-dimensional image through a user interface, receive the surgical path input by the user, and according to the surgical path, The first coordinate transformation relationship and the second coordinate transformation relationship control the robotic arm 15 to perform surgery on the target part.
- the imaging device 11 is used to obtain the imaging data of the target part. According to the imaging data, a three-dimensional image of the target part can be generated and displayed. A user such as a doctor can input the surgical path according to the displayed three-dimensional image, so that the surgical robot can follow the instructions of the user. The surgical path performs surgery on the target site.
- the doctor can control the surgical robot through the user interface, which can improve the precision of the operation, simplify the control method, and reduce the operation error.
- the target site is a subject that can be treated with surgical devices, such as bones that need to be boned, lesions that need to be removed, etc.
- the target site can be located in the patient's body or external surface, including but not limited to bones, joints, and internal organs.
- the imaging device 11 may be used to scan the target part to obtain imaging data of the target part.
- the imaging data may include multiple two-dimensional cross-sectional images of the target part.
- the imaging device 11 can adopt, but is not limited to, X-ray equipment, ultrasound equipment, electronic computed tomography equipment, positron emission computed tomography equipment, etc.
- the imaging device 11 is used to continuously scan the target part to obtain multiple two-dimensional cross-sectional images and their spatial coordinates.
- the controller 14 performs spatial reconstruction of the target part in the first coordinate system according to the imaging data, and establishes the geometric configuration of the target part in the first coordinate system, so that the doctor can learn the detailed information of the target part and perform the operation accordingly Path planning.
- the imaging device 11 may include:
- the C-shaped arm 100 is arranged on the base, and both ends of the C-shaped arm 100 are respectively provided with a ray emitting part 103 and a ray receiving part 104. As shown in FIG. 3, the target part 302 is During scanning, the target part 302 is located between the ray emitting part 103 and the ray receiving part 104.
- the base includes a supporting table 205, and a pillar 101 arranged perpendicular to the supporting table 205, and the middle of the C-shaped arm 100 can be arranged at all through a movable structure. Said pillar 101, so that the C-shaped arm 100 can move.
- the supporting table 205 may be a T-shaped structure composed of a first supporting portion 2051 and a second supporting portion 2052 that are perpendicular to each other.
- the bottoms of the first supporting portion 2051 and the second supporting portion 2052 are respectively provided with universal wheels 206.
- the controller 14 obtains the region of interest in one of the two-dimensional cross-sectional images of the plurality of two-dimensional cross-sectional images, and determines the boundary of the region of interest; repeats the above steps until all the two-dimensional cross-sectional images of interest are obtained The boundary of the region; performing geometric configuration according to the boundary of the region of interest of all two-dimensional cross-sectional images to obtain a three-dimensional image of the target part.
- the process of generating a three-dimensional image specifically includes the following steps:
- the controller receives imaging data, and obtains a region of interest in one of the two-dimensional cross-sectional images;
- the two-dimensional cross-sectional image may also include image information of other parts.
- the operation only needs to know the information of the target part. Therefore, you can first distinguish the regions of interest in the two-dimensional cross-sectional image that require surgery In this way, the doctor can understand the situation of the target part more intuitively, without being misled by the images of other parts, and it can also reduce the amount of image data processing.
- the doctor can manually determine the region of interest in the two-dimensional cross-sectional image that needs to be operated on; it can also be combined with the neural network to select the region of interest that needs to be operated on in the two-dimensional cross-sectional image.
- the boundary of the region of interest needs to be determined, specifically, The boundary of the region of interest in each two-dimensional cross-sectional image needs to be determined.
- the controller 14 may transform the boundary information of the region of interest of all two-dimensional cross-sectional images into a point group in the first coordinate system, and generate a three-dimensional image of the target part according to the point group.
- step S15 Process the next two-dimensional cross-sectional image, and go to step S11.
- generating a three-dimensional image of the target part according to the point group specifically includes the following steps:
- the Otsu algorithm can be used to find the region of interest. Mark, based on the mark, the boundary detection of the region of interest can be performed.
- the technical solution of the present disclosure is not limited to using the Otsu algorithm to find the mark, and other algorithms can also be used to find the mark of the region of interest.
- the boundary of the region of interest in each two-dimensional profile image needs to be determined.
- the boundary of the region of interest can be determined by the Watershed algorithm.
- the Watershed algorithm also known as water segmentation, is a morphological segmentation algorithm that imitates the map immersion process Its essence is to use the regional characteristics of the image to segment the image. It combines the advantages of edge detection and region growth to obtain a single-pixel wide, connected, closed and accurate contour.
- the technical solution of the present disclosure is not limited to using the Watershed algorithm to determine the boundary of the region of interest, and other boundary detection algorithms can also be used to determine the boundary of the region of interest.
- the boundary centroid can be used as the basis for processing the next two-dimensional profile image.
- the positioning device 12 of this embodiment may include:
- a positioning mark attached to or close to the target location
- At least two optical emitting devices in different positions for emitting specific light
- the positioning part is configured to receive the specific light reflected by the positioning mark, and determine the spatial position of the positioning mark in the third coordinate system according to the received specific light.
- the target part can be positioned through the spatial position of the positioning mark and the position relationship between the positioning mark and the target position, and the spatial position of the target part in the third coordinate system can be obtained.
- the specific light is preferably light that can penetrate human skin, such as infrared rays.
- the optical emitting device may be at least two infrared probes located obliquely above the target part, capable of emitting infrared; the positioning mark may be an infrared reflective positioning ball, but is not limited to this; the positioning part may be located obliquely above the target part The two optical cameras above.
- the optical emitting device emits infrared rays, the positioning mark reflects infrared rays, and the positioning part receives the infrared rays reflected by the positioning mark, and the position of the positioning mark can be accurately obtained by triangulation.
- the positioning mark needs to be attached to or arranged close to the target site in advance, for example, installed on the patient's bone that requires surgery.
- the robot arm 15 can move with five degrees of freedom or six degrees of freedom.
- the robotic arm 15 may include: a rotating part that carries a surgical device, and uses at least one of the two rotating shafts as the center to rotate the surgical device; and a moving part that makes the rotating part move toward three axes. Move in at least one axis direction.
- the robotic arm 15 can be attached to an operating table for use.
- the moving part may include:
- the first direction driving part moves along the first axis direction
- the second direction driving part is connected to the first direction driving part and moves along the second axis direction;
- the third direction driving part is connected to the second direction driving part and moves along the third axis direction;
- first axis direction is perpendicular to the second axis direction
- second axis direction is perpendicular to the third axis direction
- first axis direction is perpendicular to the third axis direction
- the rotating part includes:
- the first rotation driving part includes one end connected to the third-direction driving part and rotating around the first rotation axis;
- the second rotation driving part includes an end connected to the first rotation driving part and rotating around a second rotation shaft, and the surgical device is attached to the second rotation driving part.
- the surgical robot system may include one robotic arm 15 or multiple robotic arms 15.
- the surgical robot system can perform bone surgery, and the surgical robot system can include two robotic arms, and the surgical device is a gripper arranged in the front section of the robotic arm.
- the surgical robot system of this embodiment includes:
- the first robotic arm 201 and the second robotic arm 202 are symmetrically arranged on the opposite sides of the pillar 101 along the first direction, and the ends of the first robotic arm 201 and the second robotic arm 202 are both provided with useful The gripper for gripping 2012.
- the gripper 2012 of the first robotic arm 201 and/or the second robotic arm 202 can be controlled to grasp the bone to be boned and control the first robotic arm 201 and/or Or the second robotic arm 202 moves to perform bone fixation.
- the first robotic arm 201 and the second robotic arm 202 are symmetrically arranged at all.
- the two opposite sides of the pillar 101, and the target location is located between the two ends of the C-shaped arm 100, that is, the position facing the pillar 101, which facilitates the realization of bones.
- the movement direction and movement mode of the first robotic arm 201 and the second robotic arm 202 can be set according to actual needs, and the first robotic arm 201 and the second robotic arm 202 The movement can be controlled uniformly or independently.
- the surgical robot system can also perform other types of surgery, such as removing lesions, and the robotic arm assembly can also include:
- a third robot arm 203 and a fourth robot arm 204 are arranged on opposite sides of the pillar 101 along the first direction, and the third robot arm 203 and/or the fourth robot arm 204 are provided at their ends.
- the third robotic arm 203 and/or the fourth robotic arm 204 can be controlled to perform a corresponding type of surgical operation.
- the surgical robot system of this embodiment may only include the first robotic arm 201 and the second robotic arm 202, or may only include the third robotic arm 203 and the fourth robotic arm 204, or both
- the first robotic arm 201, the second robotic arm 202, the third robotic arm 203, and the fourth robotic arm 204 are used to increase the functions of the surgical robot and expand its scope of application.
- the controller 14 can display a three-dimensional image of the target part in the user interface, and the doctor can study the three-dimensional image displayed in the user interface and determine the surgical path by scribing.
- the surgical robot system of this embodiment should also include at least one display connected to the controller 14.
- the display can receive the three-dimensional image of the controller 14 and display it in the user interface.
- one of the displays can be used to display the user interface, and the other displays can be used to display the scene.
- the controller 14 can control the robotic arm 15 to perform surgery according to the surgical path, but there are three different coordinate systems in the surgical robot system of this embodiment: the first coordinate system M of the imaging data, and the robotic arm 15
- the second coordinate system R of the positioning device 12, the third coordinate system O of the positioning device 12, the surgical path determined by the doctor is based on the first coordinate system, and the coordinate transformation relationship between different coordinate systems needs to be obtained to realize the above three coordinate systems Only by positioning and alignment can the surgical path planned by the doctor based on the three-dimensional image be transmitted to the robotic arm 15 and the robotic arm 15 can operate at the corresponding position of the target part.
- the positioning part of the positioning device 12 is located above the entire system.
- the XYZ direction is The XYZ directions of the imaging device 11 on the same altitude side of the system are obviously different.
- the XYZ direction of the positioning device 12 and the XYZ direction of the robotic arm 15 are also different.
- the three can be unified through coordinate matrix transposition.
- the coordinate system processor 13 may select at least four first reference points from the first coordinate system, and determine the first coordinate values of the at least four first reference points in the first coordinate system and the The second coordinate value in the second coordinate system is calculated according to the first coordinate value and the second coordinate value to obtain a first conversion function characterizing the first coordinate transformation relationship; from the second coordinate system Select at least four second reference points in the, determine the third coordinate value of the at least four second reference points in the second coordinate system and the fourth coordinate value in the third coordinate system, according to the The third coordinate value and the fourth coordinate value are calculated to obtain a second conversion function representing the second coordinate conversion relationship.
- the reference point coordinates of the second coordinate system are The reference point coordinates of the first coordinate system are
- the reference point coordinates of the third coordinate system are
- the conversion between coordinate system O and coordinate system M can be realized first, and then the conversion between coordinate system M and coordinate system R can be realized, then two conversion functions can be obtained with among them, Is the conversion function between coordinate system R and coordinate system M, It is the conversion function between coordinate system O and coordinate system M.
- the controller 14 can transform the surgical path into the first coordinate track on the second coordinate system according to the first coordinate transformation relationship, According to the second coordinate transformation relationship, the first coordinate trajectory is transformed into a second coordinate trajectory on the third coordinate system, and the robot arm 15 is controlled to perform the operation on the target part according to the second coordinate trajectory. surgery.
- the doctor can control the surgical robot system to accurately perform various precise operations on the diseased organ that cannot be performed manually by the doctor, and has the advantages of small trauma, low infectivity, and flexible operation methods.
- the embodiment of the present disclosure also provides a control method of a surgical robot system, as shown in FIG. 7, including:
- the imaging device scans the target site to be operated to obtain imaging data of the target site
- the positioning device locates the target part
- the coordinate system processor generates and stores the first coordinate transformation relationship that transforms the coordinates from the first coordinate system of the imaging data to the second coordinate system of the robot arm, and generates and stores the coordinates from the first coordinate system of the robot arm. Transforming the second coordinate system into the second coordinate transformation relationship of the third coordinate system of the positioning device;
- the controller generates a three-dimensional image of the target part in the first coordinate system according to the imaging data, displays the three-dimensional image through a user interface, receives a surgical path input by the user, and according to the surgical path and the first coordinate system A coordinate transformation relationship and the second coordinate transformation relationship control the robotic arm to perform surgery on the target part.
- the imaging device is used to obtain the imaging data of the target part. According to the imaging data, a three-dimensional image of the target part can be generated and displayed. The path performs surgery on the target site.
- the doctor can control the surgical robot through the user interface, which can improve the precision of the operation, simplify the control method, and reduce the operation error.
- the target site is a subject that can be treated with surgical devices, such as bones that need to be boned, lesions that need to be removed, etc.
- the target site can be located in the patient's body or external surface, including but not limited to bones, joints, and internal organs.
- the imaging device 11 can be used to scan the target part to obtain imaging data of the target part.
- the imaging data may include multiple two-dimensional cross-sectional images of the target part.
- the imaging device 11 can adopt, but is not limited to, X-ray equipment, ultrasound equipment, electronic computed tomography equipment, positron emission computed tomography equipment, etc.
- the imaging device 11 is used to continuously scan the target part to obtain multiple two-dimensional cross-sectional images and their spatial coordinates.
- the controller 14 performs spatial reconstruction of the target part in the first coordinate system according to the imaging data, and establishes the geometric configuration of the target part in the first coordinate system, so that the doctor can learn the detailed information of the target part and perform the operation accordingly Path planning.
- the imaging device 11 may include:
- the C-shaped arm 100 is arranged on the base, and both ends of the C-shaped arm 100 are respectively provided with a ray emitting part 103 and a ray receiving part 104. As shown in FIG. 3, the target part 302 is During scanning, the target part 302 is located between the ray emitting part 103 and the ray receiving part 104.
- the steps of obtaining imaging data of the target part include:
- the radiation emitting part 103 emits radiation
- the radiation receiving unit 104 receives radiation passing through the target part, and generates the imaging data according to the received radiation information.
- the controller 14 obtains the region of interest in one of the two-dimensional cross-sectional images of the plurality of two-dimensional cross-sectional images, and determines the boundary of the region of interest; repeats the above steps until all the two-dimensional cross-sectional images of interest are obtained The boundary of the region; performing geometric configuration according to the boundary of the region of interest of all two-dimensional cross-sectional images to obtain a three-dimensional image of the target part.
- the process of generating a three-dimensional image specifically includes the following steps:
- the controller receives imaging data, and obtains a region of interest in one of the two-dimensional cross-sectional images;
- the two-dimensional cross-sectional image may also include image information of other parts.
- the operation only needs to know the information of the target part. Therefore, you can first distinguish the regions of interest in the two-dimensional cross-sectional image that require surgery In this way, the doctor can understand the situation of the target part more intuitively, without being misled by the images of other parts, and it can also reduce the amount of image data processing.
- the doctor can manually determine the region of interest in the two-dimensional cross-sectional image that needs to be operated on; it can also be combined with the neural network to select the region of interest that needs to be operated on in the two-dimensional cross-sectional image.
- the boundary of the region of interest needs to be determined, specifically, The boundary of the region of interest in each two-dimensional cross-sectional image needs to be determined.
- the controller 14 may transform the boundary information of the region of interest of all two-dimensional cross-sectional images into a point group in the first coordinate system, and generate a three-dimensional image of the target part according to the point group.
- step S15 Process the next two-dimensional cross-sectional image, and go to step S11.
- generating a three-dimensional image of the target part according to the point group specifically includes the following steps:
- the Otsu algorithm can be used to find the region of interest. Mark, based on the mark, the boundary detection of the region of interest can be performed.
- the technical solution of the present disclosure is not limited to using the Otsu algorithm to find the mark, and other algorithms can also be used to find the mark of the region of interest.
- the boundary of the region of interest in each two-dimensional profile image needs to be determined.
- the boundary of the region of interest can be determined by the Watershed algorithm.
- the Watershed algorithm also known as water segmentation, is a morphological segmentation algorithm that imitates the map immersion process Its essence is to use the regional characteristics of the image to segment the image. It combines the advantages of edge detection and region growth to obtain a single-pixel wide, connected, closed and accurate contour.
- the technical solution of the present disclosure is not limited to using the Watershed algorithm to determine the boundary of the region of interest, and other boundary detection algorithms can also be used to determine the boundary of the region of interest.
- the boundary centroid can be used as the basis for processing the next two-dimensional profile image.
- the positioning device 12 of this embodiment may include:
- a positioning mark attached to or close to the target location
- At least two optical emitting devices in different positions for emitting specific light
- Positioning the target part includes:
- the positioning unit receives the specific light reflected by the positioning mark, and determines the spatial position of the positioning mark in the third coordinate system according to the received specific light.
- the target part can be positioned through the spatial position of the positioning mark and the position relationship between the positioning mark and the target position, and the spatial position of the target part in the third coordinate system can be obtained.
- the specific light is preferably light that can penetrate human skin, such as infrared rays.
- the optical emitting device may be at least two infrared probes located obliquely above the target part, capable of emitting infrared; the positioning mark may be an infrared reflective positioning ball, but is not limited to this; the positioning part may be located obliquely above the target part The two optical cameras above.
- the optical emitting device emits infrared rays, the positioning mark reflects infrared rays, and the positioning part receives the infrared rays reflected by the positioning mark, and the position of the positioning mark can be accurately obtained by triangulation.
- the positioning mark needs to be attached or configured close to the target part in advance, for example, installed at the bone of the patient that needs to be operated on.
- the robot arm 15 can move with five degrees of freedom or six degrees of freedom.
- the robotic arm 15 may include: a rotating part that carries a surgical device, and uses at least one of the two rotating shafts as the center to rotate the surgical device; and a moving part that makes the rotating part move toward three axes. Move in at least one axis direction.
- the robotic arm 15 can be attached to an operating table for use.
- the moving part may include:
- the first direction driving part moves along the first axis direction
- the second direction driving part is connected to the first direction driving part and moves along the second axis direction;
- the third direction driving part is connected to the second direction driving part and moves along the third axis direction;
- first axis direction is perpendicular to the second axis direction
- second axis direction is perpendicular to the third axis direction
- first axis direction is perpendicular to the third axis direction
- the rotating part includes:
- the first rotation driving part includes one end connected to the third-direction driving part and rotating around the first rotation axis;
- the second rotation driving part includes an end connected to the first rotation driving part and rotating around a second rotation shaft, and the surgical device is attached to the second rotation driving part.
- the steps of performing surgery on the target site include:
- the controller moves the rotating part to at least one of the three axes through the moving part;
- the controller rotates the surgical device with at least one of the two rotating shafts as a center through the rotating part.
- the controller 14 can display a three-dimensional image of the target part in the user interface, and the doctor can study the three-dimensional image displayed in the user interface and determine the surgical path by scribing.
- the surgical robot system of this embodiment should also include at least one display connected to the controller 14.
- the display can receive the three-dimensional image of the controller 14 and display it in the user interface.
- one of the displays can be used to display the user interface, and the other displays can be used to display the scene.
- the controller 14 can control the robotic arm 15 to perform surgery according to the surgical path, but there are three different coordinate systems in the surgical robot system of this embodiment: the first coordinate system M of the imaging data, and the robotic arm 15
- the second coordinate system R of the positioning device 12, the third coordinate system O of the positioning device 12, the surgical path determined by the doctor is based on the first coordinate system, and the coordinate transformation relationship between different coordinate systems needs to be obtained to realize the above three coordinate systems Only by positioning and alignment can the surgical path planned by the doctor based on the three-dimensional image be transmitted to the robotic arm 15 and the robotic arm 15 can operate at the corresponding position of the target part.
- the positioning part of the positioning device 12 is located above the entire system.
- the XYZ direction is The XYZ directions of the imaging device 11 on the same altitude side of the system are obviously different.
- the XYZ direction of the positioning device 12 and the XYZ direction of the robotic arm 15 are also different.
- the three can be unified through coordinate matrix transposition.
- the coordinate system processor 13 may select at least four first reference points from the first coordinate system, and determine the first coordinate values of the at least four first reference points in the first coordinate system and the The second coordinate value in the second coordinate system is calculated according to the first coordinate value and the second coordinate value to obtain a first conversion function characterizing the first coordinate transformation relationship; from the second coordinate system Select at least four second reference points in the, determine the third coordinate value of the at least four second reference points in the second coordinate system and the fourth coordinate value in the third coordinate system, according to the The third coordinate value and the fourth coordinate value are calculated to obtain a second conversion function representing the second coordinate conversion relationship.
- the reference point coordinates of the second coordinate system are The reference point coordinates of the first coordinate system are
- the reference point coordinates of the third coordinate system are
- the conversion between coordinate system O and coordinate system M can be realized first, and then the conversion between coordinate system M and coordinate system R can be realized, then two conversion functions can be obtained with among them, Is the conversion function between coordinate system R and coordinate system M, It is the conversion function between the coordinate system O and the coordinate system M.
- the controller 14 can transform the surgical path into the first coordinate track on the second coordinate system according to the first coordinate transformation relationship, According to the second coordinate transformation relationship, the first coordinate trajectory is transformed into a second coordinate trajectory on the third coordinate system, and the robot arm 15 is controlled to perform the operation on the target part according to the second coordinate trajectory. surgery.
- the doctor can control the surgical robot system to accurately perform various precise operations on the diseased organ that cannot be performed manually by the doctor, and has the advantages of small trauma, low infectivity, and flexible operation methods.
- the embodiment of the present disclosure also provides a control device of a surgical robot system, including: a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
- the computer program is executed when the processor is executed. Steps in the control method of the surgical robot system as described above.
- the embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned control method of the surgical robot system is implemented step.
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
Description
Claims (19)
- 一种手术机器人***,其中,包括:成像器件,用于对待手术的目标部位进行扫描,得到目标部位的成像数据;机械手臂,所述机械手臂前端携带有手术器件;***件,用于对所述目标部位进行定位;坐标系处理器,用于生成并存储将坐标从所述成像数据的第一坐标系变换成所述机械手臂的第二坐标系的第一坐标变换关系,生成并存储将坐标从所述机械手臂的第二坐标系变换成所述***件的第三坐标系的第二坐标变换关系;控制器,用于根据所述成像数据生成所述目标部位在所述第一坐标系的三维图像,通过用户界面展示所述三维图像,接收用户输入的手术路径,根据所述手术路径、所述第一坐标变换关系和所述第二坐标变换关系控制所述机械手臂对所述目标部位进行手术。
- 根据权利要求1所述的手术机器人***,其中,所述控制器具体用于将用户通过所述用户界面输入的所述手术路径根据所述第一坐标变换关系变换成所述第二坐标系上的第一坐标轨迹,根据所述第二坐标变换关系将所述第一坐标轨迹变换成所述第三坐标系上的第二坐标轨迹,并根据所述第二坐标轨迹控制所述机械手臂对所述目标部位进行手术。
- 根据权利要求1所述的手术机器人***,其中,所述成像数据包括多张所述目标部位的二维剖面图像,所述控制器具体用于获取其中一张二维剖面图像中的感兴趣区域,确定所述感兴趣区域的边界;重复上述步骤,直至获取所有二维剖面图像的感兴趣区域的边界;根据所有二维剖面图像的感兴趣区域的边界进行几何构型,得到所述目标部位的三维图像。
- 根据权利要求3所述的手术机器人***,其中,所述控制器具体用于将所有二维剖面图像的感兴趣区域的边界信息变换为所述第一坐标系中的点群,根据所述点群生成所述目标部位的三维图像。
- 根据权利要求1所述的手术机器人***,其中,所述坐标系处理器具体用于从所述第一坐标系中选择至少四个第一参考点,确定所述至少四个第一参考点在所述第一坐标系中的第一坐标值和在所述第二坐标系中的第二坐标值,根据所述第一坐标值和所述第二坐标值计算得到表征所述第一坐标变换关系的第一转换函数;从所述第二坐标系中选择至少四个第二参考点,确定所述至少四个第二参考点在所述第二坐标系中的第三坐标值和在所述第三坐标系中的第四坐标值,根据所述第三坐标值和所述第四坐标值计算得到表征所述第二坐标变换关系的第二转换函数。
- 根据权利要求1所述的手术机器人***,其中,所述成像器件包括:基座;C形臂,设置于所述基座上,且所述C形臂的两端分别设置有射线发射部和射线接收部,在对所述目标部位进行扫描时,所述目标部位位于所述射线发射部和所述射线接收部之间。
- 根据权利要求1所述的手术机器人***,其中,所述***件包括:附着或接近于所述目标部位进行配置的定位标记;处于不同位置的至少两个光学发射器件,用于发射特定光线;定位部,用于接收所述定位标记反射的特定光线,并根据接收到的特定光线确定所述定位标记在所述第三坐标系中的空间位置。
- 根据权利要求1所述的手术机器人***,其中,所述机械手臂包括:旋转部,携带有手术器件,以两个旋转轴中的至少一个旋转轴为中心,使所述手术器件旋转;移动部,其使所述旋转部向三个轴中至少一个轴方向移动。
- 根据权利要求8所述的手术机器人***,其中,所述移动部包括:第一方向驱动部,沿着第一轴方向进行移动;第二方向驱动部,连接于所述第一方向驱动部,沿着第二轴方向进行移动;第三方向驱动部,连接于所述第二方向驱动部,沿着第三轴方向进行移动;所述旋转部包括:第一旋转驱动部,包括连接于所述第三方向驱动部的一端,以第一旋转轴为中心旋转;及第二旋转驱动部,包括连接于所述第一旋转驱动部的一端,以第二旋转轴为中心旋转,所述手术器件附着于所述第二旋转驱动部。
- 一种手术机器人***的控制方法,其中,包括:成像器件对待手术的目标部位进行扫描,得到目标部位的成像数据;***件对所述目标部位进行定位;坐标系处理器生成并存储将坐标从所述成像数据的第一坐标系变换成机械手臂的第二坐标系的第一坐标变换关系,生成并存储将坐标从所述机械手臂的第二坐标系变换成所述***件的第三坐标系的第二坐标变换关系;控制器根据所述成像数据生成所述目标部位在所述第一坐标系的三维图像,通过用户界面展示所述三维图像,接收用户输入的手术路径,根据所述手术路径、所述第一坐标变换关系和所述第二坐标变换关系控制所述机械手臂对所述目标部位进行手术。
- 根据权利要求10所述的手术机器人***的控制方法,其中,所述控制所述机械手臂对所述目标部位进行手术包括:所述控制器将用户通过所述用户界面输入的所述手术路径根据所述第一坐标变换关系变换成所述第二坐标系上的第一坐标轨迹,根据所述第二坐标变换关系将所述第一坐标轨迹变换成所述第三坐标系上的第二坐标轨迹,并根据所述第二坐标轨迹控制所述机械手臂对所述目标部位进行手术。
- 根据权利要求10所述的手术机器人***的控制方法,其中,所述成像数据包括多张所述目标部位的二维剖面图像,生成所述三维图像包括:所述控制器获取其中一张二维剖面图像中的感兴趣区域,确定所述感兴趣区域的边界;重复上述步骤,直至获取所有二维剖面图像的感兴趣区域的边界;根据所有二维剖面图像的感兴趣区域的边界进行几何构型,得到所述目标部位的三维图像。
- 根据权利要求12所述的手术机器人***的控制方法,其中,生成所 述目标部位在所述第二坐标系的三维图像包括:所述控制器将所有二维剖面图像的感兴趣区域的边界信息变换为所述第一坐标系中的点群,根据所述点群生成所述目标部位的三维图像。
- 根据权利要求10所述的手术机器人***的控制方法,其中,生成所述第一坐标变换关系和所述第二坐标变换关系包括:所述坐标系处理器从所述第一坐标系中选择至少四个第一参考点,确定所述至少四个第一参考点在所述第一坐标系中的第一坐标值和在所述第二坐标系中的第二坐标值,根据所述第一坐标值和所述第二坐标值计算得到表征所述第一坐标变换关系的第一转换函数;从所述第二坐标系中选择至少四个第二参考点,确定所述至少四个第二参考点在所述第二坐标系中的第三坐标值和在所述第三坐标系中的第四坐标值,根据所述第三坐标值和所述第四坐标值计算得到表征所述第二坐标变换关系的第二转换函数。
- 根据权利要求10所述的手术机器人***的控制方法,其中,所述成像器件包括:基座;C形臂,设置于所述基座上,且所述C形臂的两端分别设置有射线发射部和射线接收部,在对所述目标部位进行扫描时,所述目标部位位于所述射线发射部和所述射线接收部之间;得到目标部位的成像数据包括:所述射线发射部发出射线;所述射线接收部接收穿过所述目标部位的射线,根据接收到的射线信息生成所述成像数据。
- 根据权利要求10所述的手术机器人***的控制方法,其中,所述***件包括:附着或接近于所述目标部位进行配置的定位标记;处于不同位置的至少两个光学发射器件,用于发射特定光线;对所述目标部位进行定位包括:定位部接收所述定位标记反射的特定光线,并根据接收到的特定光线确定所述定位标记在所述第三坐标系中的空间位置。
- 根据权利要求10所述的手术机器人***的控制方法,其中,所述机械手臂包括:旋转部,携带有手术器件,以两个旋转轴中的至少一个旋转轴 为中心,使所述手术器件旋转;移动部,其使所述旋转部向三个轴中至少一个轴方向移动;对所述目标部位进行手术包括:所述控制器通过所述移动部使所述旋转部向三个轴中至少一个轴方向移动;所述控制器通过所述旋转部使所述手术器件,以两个旋转轴中的至少一个旋转轴为中心旋转。
- 一种手术机器人***的控制设备,其中,包括:存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,所述计算机程序被所述处理器执行时实现如权利要求10至17中任一项所述的手术机器人***的控制方法中的步骤。
- 一种计算机可读存储介质,其中,所述计算机可读存储介质上存储有计算机程序,所述计算机程序被处理器执行时实现如权利要求10至17中任一项所述的手术机器人***的控制方法中的步骤。
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