CN109330685A - A kind of porous abdominal operation robot laparoscope automatic navigation method - Google Patents
A kind of porous abdominal operation robot laparoscope automatic navigation method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000003187 abdominal effect Effects 0.000 title claims abstract description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000003902 lesion Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003759 clinical diagnosis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—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
- A61B34/30—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
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses a kind of porous abdominal operation robot laparoscope automatic navigation methods, this method utilizes the interventional operation equipment and surgical field of view image processing techniques for carrying multiple mark points, pass through the adjust automatically of adjust automatically and laparoscope focal length to operation field-of-view image center, so that field of view image keeps clear, surgical instrument distal end is always positioned in the suitable field of view of operative doctor, surgical quality and efficiency can be effectively improved, the labor intensity of doctor is reduced.
Description
Technical field
The present invention relates to Minimally Invasive Surgery field more particularly to porous abdominal operation robot laparoscope automatic navigation technologies.
Background technique
Porous abdominal operation robot has robot control system, robots arm, interventional operation equipment and binocular phase
Mechanism at laparoscope, image that surgeon is generated by means of laparoscope with the hands operates robot control system
Main hand, to control the movement and operation of interventional operation equipment.Porous abdominal operation robot can make surgeon more square
Just carry out Minimally Invasive Surgery, effectively reduce the fatigue of operative doctor, improve surgical quality and efficiency, operative incision is small, Huan Zheyi
In recovery.
In laparoscopic procedures, surgeon need to receive hand by the binocular camera (laparoscope) being placed in the patient
The stereoscopic vision in art region is fed back, to carry out accurate surgical procedure.In order to keep suitable operation field of view and figure
The high quality of picture, camera posture and focal length need to adjust movement and behaviour to follow surgical instrument in due course according to operation actual conditions
Make.Currently used technology includes the modes such as voice control, surgeon's visual pursuit, foot pedal control, but these modes are deposited
Additional burden is being brought to operative doctor, is difficult to the problems such as flexibly being accurately controlled to camera.
It is therefore, clinical that there is an urgent need to camera posture and the schemes of Focussing in a kind of convenient accurate art.
Chinese Patent Application No. 201580025333.2 proposes " for controlling the position of camera in surgical robot system
System and method ", it carries out artificial master & slave control to camera using the method for control mode switch.In that patent, machine
People's surgery systems include at least one robots arm, camera and console.Console include first handle, second handle and
It is configured to carry out the selector switch of selection between robot control model and camera control model.In systems, first
Handle or second handle control at least one robots arm under robot control model, and first handle and second handle exist
Camera is controlled under camera control model.This mode needs to switch between two different control modes, in real time
Property is poor, and increases the added burden of operative doctor.
Using the interventional operation equipment and surgical field of view image processing techniques for carrying multiple mark points, to automatically adjust abdominal cavity
Mirror posture and camera focus, have many advantages, such as economical, convenient, accurate, can effectively reduce the burden of doctor, improve surgical quality and
Efficiency.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of porous abdomen for defect involved in background technique
Chamber operating robot laparoscope automatic navigation method.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of porous abdominal operation robot laparoscope automatic navigation method comprising the steps of:
Step 1), clinical operation doctor region according to locating for patient's lesion, adjusts the pose of laparoscope, so that lesion is located at
Surgical field of view and image clearly, and it is located at two interventional operation equipment distal ends in the visual field；It is remote for each interventional operation equipment
End is equipped at least two for demarcating its institute's mark point on straight line thereon, record each mark point and its end away from
From；
Step 2) calculates the intersecting point coordinate O of the straight line where the first two interventional operation equipment distal end0, current laparoscope
Focal length f0And the angle α when the first two interventional operation equipment end and the formation of surgical field of view picture centre line0；
Step 2.1) obtains the focal length f of current procedure field-of-view image and laparoscope0: worked as using image acquisition units acquisition
The image of preceding surgical field of view, and record the focal length f of current laparoscope0；
Step 2.2) obtains the image coordinate of two upper all mark points in interventional operation equipment distal end: according to surgical field of view
Image detects two all mark points in interventional operation equipment distal end, records the image coordinate of all mark points；
Step 2.3), the equation and ending coordinates of straight line where obtaining two interventional operation equipments: according to each mark point
Coordinate, determine linear equation of two interventional operation equipments distal end in surgical field of view image, and according to interventional operation equipment
Each mark point and the distance of its end calculate the ending coordinates of each interventional operation equipment；
Step 2.4) calculates two according to linear equation of two interventional operation equipment distal ends in surgical field of view image
The intersecting point coordinate O of straight line where interventional operation equipment distal end0；
Step 2.5) calculates the angle of two interventional operation equipment ends and the formation of surgical field of view picture centre line
α0, enabling two interventional operation equipment ends is respectively E1、E2, surgical field of view picture centre is O, connects E1O and E2O, then E1O with
And E2Angle between O is α0；
Step 3) after two interventional operation equipment distal ends are mobile, calculates straight line where two interventional operation equipment distal ends
Intersecting point coordinate O1, the angle α that is formed of two interventional operation equipment ends and surgical field of view picture centre line1；
Step 3.1), the surgical field of view image after obtaining movement；
Step 3.2) detects two all labels in interventional operation equipment distal end according to the surgical field of view image after movement
Point records the image coordinate of all mark points；
Step 3.3), the equation and ending coordinates of straight line where two interventional operation equipments after obtaining movement: according to shifting
The coordinate of each mark point after dynamic determines straight line side of mobile latter two interventional operation equipment distal end in surgical field of view image
Journey, and according to the distance of each mark point of interventional operation equipment and its end calculate it is mobile after each interventional operation equipment end
Sit up straight mark；
Step 3.4) is calculated according to linear equation of mobile latter two interventional operation equipment distal end in surgical field of view image
The intersecting point coordinate O of straight line where moving latter two interventional operation equipment distal end out1；
Step 3.5) calculates what latter two mobile interventional operation equipment end was formed with surgical field of view picture centre line
Angle α1；
Step 4) calculates variable angle ratio r, r=α1/α0, the focal length f, f=f of laparoscope are adjusted according to r0/r；
Step 5) adjusts the posture of laparoscope, moves the center of surgical field of view image, and displacement and intersection point are sat
Mark O0、O1Between displacement it is identical.
As a kind of further prioritization scheme of porous abdominal operation robot laparoscope automatic navigation method of the invention, institute
It states two interventional operation equipments distal end and is respectively provided with that there are three spherical labels points.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
The present invention is led using the surgical instrument and surgical field of view image processing techniques that carry multiple mark points by laparoscope
Boat initialization and two steps of self-navigation are automatically adjusted laparoscope posture and laparoscope focal length in real time, have it is economical,
The advantages that convenient, accurate, can effectively reduce the burden of doctor, improve surgical quality and efficiency, be conducive to clinical diagnosis and treatment.
Detailed description of the invention
Fig. 1 is flow diagram of the invention；
Fig. 2 is two interventional operation equipment ends, surgical field of view picture centre, intersecting point coordinate O in the present invention0Between pass
It is schematic diagram；
Fig. 3 is the schematic diagram of one of interventional operation equipment distal marker point in the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, the invention discloses a kind of porous abdominal operation robot laparoscope automatic navigation method, comprising with
Lower step:
Step 1), clinical operation doctor region according to locating for patient's lesion, adjusts the pose of laparoscope, so that lesion is located at
Surgical field of view and image clearly, and it is located at two interventional operation equipment distal ends in the visual field；It is remote for each interventional operation equipment
End is equipped at least two for demarcating its institute's mark point on straight line thereon, record each mark point and its end away from
From；
Step 2) calculates the intersecting point coordinate O of the straight line where the first two interventional operation equipment distal end0, current laparoscope
Focal length f0And the angle α when the first two interventional operation equipment end and the formation of surgical field of view picture centre line0；
Step 2.1) obtains the focal length f of current procedure field-of-view image and laparoscope0: worked as using image acquisition units acquisition
The image of preceding surgical field of view, and record the focal length f of current laparoscope0；
Step 2.2) obtains the image coordinate of two upper all mark points in interventional operation equipment distal end: according to surgical field of view
Image detects two all mark points in interventional operation equipment distal end, records the image coordinate of all mark points；
Step 2.3), the equation and ending coordinates of straight line where obtaining two interventional operation equipments: according to each mark point
Coordinate, determine linear equation of two interventional operation equipments distal end in surgical field of view image, and according to interventional operation equipment
Each mark point and the distance of its end calculate the ending coordinates of each interventional operation equipment；Calculate each interventional operation equipment
Ending coordinates when, in fact it is only necessary to know that in interventional operation equipment a mark point and its end distance, but can
To be corrected with the distance of other mark points and its end, keep its more accurate；
Step 2.4) calculates two according to linear equation of two interventional operation equipment distal ends in surgical field of view image
The intersecting point coordinate O of straight line where interventional operation equipment distal end0；
Step 2.5) calculates the angle of two interventional operation equipment ends and the formation of surgical field of view picture centre line
α0, as shown in Fig. 2, enabling two interventional operation equipment ends is respectively E1、E2, surgical field of view picture centre is O, connects E1O and
E2O, then E1O and E2Angle between O is α0；
Step 3) after two interventional operation equipment distal ends are mobile, calculates straight line where two interventional operation equipment distal ends
Intersecting point coordinate O1, the angle α that is formed of two interventional operation equipment ends and surgical field of view picture centre line1；
Step 3.1), the surgical field of view image after obtaining movement；
Step 3.2) detects two all labels in interventional operation equipment distal end according to the surgical field of view image after movement
Point records the image coordinate of all mark points；
Step 3.3), the equation and ending coordinates of straight line where two interventional operation equipments after obtaining movement: according to shifting
The coordinate of each mark point after dynamic determines straight line side of mobile latter two interventional operation equipment distal end in surgical field of view image
Journey, and according to the distance of each mark point of interventional operation equipment and its end calculate it is mobile after each interventional operation equipment end
Sit up straight mark；
Step 3.4) is calculated according to linear equation of mobile latter two interventional operation equipment distal end in surgical field of view image
The intersecting point coordinate O of straight line where moving latter two interventional operation equipment distal end out1；
Step 3.5) calculates what latter two mobile interventional operation equipment end was formed with surgical field of view picture centre line
Angle α1；
Step 4) calculates variable angle ratio r, r=α1/α0, the focal length f, f=f of laparoscope are adjusted according to r0/r；
Step 5) adjusts the posture of laparoscope, moves the center of surgical field of view image, and displacement and intersection point are sat
Mark O0、O1Between displacement it is identical.
As shown in figure 3, described two interventional operation equipment distal ends are respectively provided with, there are three spherical labels points.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (2)
1. a kind of porous abdominal operation robot laparoscope automatic navigation method, which is characterized in that comprise the steps of:
Step 1), clinical operation doctor region according to locating for patient's lesion, adjusts the pose of laparoscope, so that lesion is located at operation
The visual field and image clearly, and it is located at two interventional operation equipment distal ends in the visual field；For each interventional operation equipment distal end, its
On be equipped at least two for demarcate its mark point on straight line, record the distance of each mark point He its end；
Step 2) calculates the intersecting point coordinate O of the straight line where the first two interventional operation equipment distal end0, current laparoscope focal length
f0And the angle α when the first two interventional operation equipment end and the formation of surgical field of view picture centre line0；
Step 2.1) obtains the focal length f of current procedure field-of-view image and laparoscope0: current procedure is obtained using image acquisition units
The image in the visual field, and record the focal length f of current laparoscope0；
Step 2.2) obtains the image coordinate of the upper all mark points in two interventional operation equipments distal end: according to surgical field of view image,
Two all mark points in interventional operation equipment distal end are detected, the image coordinate of all mark points is recorded；
Step 2.3), the equation and ending coordinates of straight line where obtaining two interventional operation equipments: according to the seat of each mark point
Mark determines linear equation of two interventional operation equipment distal ends in surgical field of view image, and each according to interventional operation equipment
Mark point and the distance of its end calculate the ending coordinates of each interventional operation equipment；
Step 2.4) calculates two interventions according to linear equation of two interventional operation equipment distal ends in surgical field of view image
The intersecting point coordinate O of straight line where surgical instrument distal end0；
Step 2.5) calculates the angle α of two interventional operation equipment ends and the formation of surgical field of view picture centre line0, enable two
A interventional operation equipment end is respectively E1、E2, surgical field of view picture centre is O, connects E1O and E2O, then E1O and E2O it
Between angle be α0；
Step 3), after two interventional operation equipment distal ends are mobile, the friendship of straight line where calculating two interventional operation equipment distal ends
Point coordinate O1, the angle α that is formed of two interventional operation equipment ends and surgical field of view picture centre line1；
Step 3.1), the surgical field of view image after obtaining movement；
Step 3.2) detects two all mark points in interventional operation equipment distal end, note according to the surgical field of view image after movement
Record the image coordinate of all mark points；
Step 3.3), the equation and ending coordinates of straight line where two interventional operation equipments after obtaining movement: after movement
Each mark point coordinate, determine linear equation of mobile latter two interventional operation equipment distal end in surgical field of view image,
And the end of each interventional operation equipment after movement is calculated according to the distance of each mark point of interventional operation equipment and its end
Coordinate；
Step 3.4) calculates shifting according to linear equation of mobile latter two interventional operation equipment distal end in surgical field of view image
The intersecting point coordinate O of straight line where moving latter two interventional operation equipment distal end1；
Step 3.5) calculates the angle of latter two mobile interventional operation equipment end and the formation of surgical field of view picture centre line
α1；
Step 4) calculates variable angle ratio r, r=α1/α0, the focal length f, f=f of laparoscope are adjusted according to r0/r；
Step 5) adjusts the posture of laparoscope, moves the center of surgical field of view image, displacement and intersecting point coordinate O0、
O1Between displacement it is identical.
2. porous abdominal operation robot laparoscope automatic navigation method according to claim 1, which is characterized in that described
Two interventional operation equipments distal end is respectively provided with that there are three spherical labels points.
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| CN201811285372.8A CN109330685B (en) | 2018-10-31 | 2018-10-31 | Automatic navigation method for laparoscope of porous abdominal cavity surgical robot |
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| CN201811285372.8A CN109330685B (en) | 2018-10-31 | 2018-10-31 | Automatic navigation method for laparoscope of porous abdominal cavity surgical robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112587244A (en) * | 2020-12-15 | 2021-04-02 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN112618029A (en) * | 2021-01-06 | 2021-04-09 | 深圳市精锋医疗科技有限公司 | Surgical robot and method and control device for guiding surgical arm to move |
| CN113633387A (en) * | 2021-06-21 | 2021-11-12 | 安徽理工大学 | Surgical field tracking supporting laparoscopic minimally invasive robot touch force interaction method and system |
| CN113905684A (en) * | 2019-03-27 | 2022-01-07 | 阿里雷扎·米尔巴赫里 | Laparoscopic instrument control |
| CN114366313A (en) * | 2022-03-21 | 2022-04-19 | 杭州华匠医学机器人有限公司 | Endoscope holding robot control method based on laparoscopic surgical instrument pose |
| WO2022126995A1 (en) * | 2020-12-15 | 2022-06-23 | 深圳市精锋医疗科技有限公司 | Surgical robot, control method therefor and control device thereof |
| WO2022166929A1 (en) * | 2021-02-03 | 2022-08-11 | 上海微创医疗机器人（集团）股份有限公司 | Computer-readable storage medium, electronic device, and surgical robot system |
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| CN114366313A (en) * | 2022-03-21 | 2022-04-19 | 杭州华匠医学机器人有限公司 | Endoscope holding robot control method based on laparoscopic surgical instrument pose |
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| CN109330685B (en) | 2024-02-02 |
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