CN109330685B - Automatic navigation method for laparoscope of porous abdominal cavity surgical robot - Google Patents
Automatic navigation method for laparoscope of porous abdominal cavity surgical robot Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000683 abdominal cavity Anatomy 0.000 title abstract description 4
- 230000000007 visual effect Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 239000003550 marker Substances 0.000 claims description 3
- 230000003187 abdominal effect Effects 0.000 claims description 2
- 230000000449 premovement Effects 0.000 claims 8
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000001356 surgical procedure Methods 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 3
- 238000012084 abdominal surgery Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003759 clinical diagnosis Methods 0.000 description 1
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- 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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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses a laparoscope automatic navigation method of a multi-hole abdominal cavity surgical robot, which utilizes interventional surgical instruments carrying a plurality of mark points and a surgical field image processing technology, and ensures that an observation field image is kept clear and the distal end of the surgical instruments are always positioned in a proper observation field of a surgeon by automatically adjusting the center of the surgical field image and automatically adjusting the focal length of the laparoscope, thereby effectively improving the quality and efficiency of the surgery and reducing the labor intensity of the surgeon.
Description
Technical Field
The invention relates to the field of minimally invasive surgery, in particular to a laparoscopic automatic navigation technology of a porous abdominal surgery robot.
Background
The multi-hole abdominal surgery robot is provided with a laparoscope formed by a robot control system, a robot arm, an interventional surgery instrument and a binocular camera, and a surgeon uses both hands to operate the main hand of the robot control system by means of images generated by the laparoscope, so that the movement and operation of the interventional surgery instrument are controlled. The porous abdominal cavity surgical robot can enable a surgeon to develop minimally invasive surgery more conveniently, effectively reduce fatigue of the surgeon, improve surgical quality and efficiency, and enable a patient to recover easily due to small surgical incision.
During laparoscopic surgery, a surgeon needs to receive stereoscopic feedback of the surgical field with the aid of a binocular camera (laparoscope) placed in the patient in order to perform precise surgical procedures. In order to maintain proper surgical viewing field and high quality of images, the pose and focal length of the camera need to be adjusted in time according to the actual condition of the surgery to follow the movement and operation of the surgical instrument. The current common technologies include voice control, visual tracking of the surgeon, foot pedal control and other modes, but the modes have the problems of bringing extra burden to the surgeon, being difficult to flexibly and accurately control the camera and the like.
Therefore, a convenient and accurate scheme for adjusting the pose and focal length of the intraoperative camera is urgently needed in clinic.
Chinese patent application No. 201580025333.2 proposes "a system and method for controlling camera position in a surgical robot system", which uses a method of controlling mode switching to perform manual master-slave control of a camera. In this patent, a robotic surgical system includes at least one robotic arm, a camera, and a console. The console includes a first handle, a second handle, and a selector switch configured to select between a robot control mode and a camera control mode. In the system, the first handle or the second handle controls at least one robotic arm in a robotic control mode, and the first handle and the second handle control the camera in a camera control mode. This approach requires switching between two different modes of manipulation, is poorly real-time, and increases the extra burden on the surgeon.
The interventional surgical instrument with a plurality of marking points and the surgical field image processing technology are utilized to automatically adjust the posture of the laparoscope and the focal length of the camera, so that the method has the advantages of economy, convenience, accuracy and the like, the burden of doctors can be effectively reduced, and the surgical quality and efficiency are improved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a porous laparoscope automatic navigation method for a robot for abdominal surgery, aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
an automatic navigation method of a porous abdominal surgery robot laparoscope comprises the following steps:
step 1), a clinician adjusts the pose of a laparoscope according to the area of a focus of a patient, so that the focus is positioned in an operation visual field, the image is clear, and the distal ends of two interventional operation instruments are positioned in the visual field; for the far end of each interventional surgical instrument, at least two marking points used for marking the straight line where the interventional surgical instrument is positioned are arranged on the far end of each interventional surgical instrument, and the distance between each marking point and the tail end of each marking point is recorded;
step 2), calculating the intersection point coordinate O of the straight line where the distal ends of the two current interventional surgical instruments are located 0 Focal length f of current laparoscope 0 And an included angle alpha formed by connecting the tail ends of the two current interventional surgical instruments with the center of the surgical field image 0 ；
Step 2.1), obtaining a current operation visual field image and a focal length f of a laparoscope 0 : acquiring an image of a current surgical field by using an image acquisition unit, and recording a focal length f of a current laparoscope 0 ；
Step 2.2), obtaining image coordinates of all marking points on the distal ends of the two interventional surgical instruments: detecting all marking points at the distal ends of two interventional surgical instruments according to the surgical field image, and recording the image coordinates of all marking points;
step 2.3), obtaining equations and terminal coordinates of straight lines where two interventional surgical instruments are located: determining a linear equation of the distal ends of the two interventional surgical instruments in the surgical field image according to the coordinates of each marking point, and calculating the tail end coordinates of each interventional surgical instrument according to the distances between each marking point and the tail end of each interventional surgical instrument;
step 2.4), calculating the intersection point coordinate O of the straight line where the distal ends of the two interventional surgical instruments are located according to the straight line equation of the distal ends of the two interventional surgical instruments in the surgical field image 0 ；
Step 2.5), calculating an included angle alpha formed by connecting the tail ends of the two interventional surgical instruments with the center of the surgical field image 0 Let the tail ends of two interventional surgical instruments be E respectively 1 、E 2 The center of the operation visual field image is O, which is connected with E 1 O and E 2 O, then E 1 O and E 2 The included angle between O is alpha 0 ；
Step 3), after the distal ends of the two interventional surgical instruments are moved, calculating the intersection point coordinate O of the straight line where the distal ends of the two interventional surgical instruments are positioned 1 Included angle alpha formed by connecting two interventional surgical instrument ends and surgical field image center line 1 ；
Step 3.1), acquiring a moved operation field image;
step 3.2), detecting all marking points at the far ends of the two interventional surgical instruments according to the moved operation field image, and recording the image coordinates of all marking points;
step 3.3), acquiring an equation of a straight line where the two moved interventional surgical instruments are located and an end coordinate: determining a linear equation of the distal ends of the two interventional surgical instruments in the surgical field image according to the coordinates of each moved marking point, and calculating the tail end coordinates of each interventional surgical instrument after movement according to the distances between each marking point and the tail end of each interventional surgical instrument;
step 3.4), calculating the intersection point of the straight lines of the distal ends of the two moving interventional surgical instruments according to the straight line equation of the distal ends of the two moving interventional surgical instruments in the surgical field imageCoordinates O 1 ；
Step 3.5), calculating an included angle alpha formed by connecting the tail ends of the two interventional surgical instruments after movement with the center of the surgical field image 1 ；
Step 4), calculating the included angle change ratio r, r=alpha 1 /α 0 Adjusting the focal length f of the laparoscope according to r, wherein f=f 0 /r；
Step 5), adjusting the posture of the laparoscope to enable the center of the operation visual field image to move, and enabling the displacement and the intersection point coordinate O to be equal 0 、O 1 The displacement therebetween is the same.
As a further optimization scheme of the laparoscopic automatic navigation method of the multi-hole abdominal surgery robot, three spherical marking points are arranged at the distal ends of the two interventional surgical instruments.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
the invention utilizes the surgical instruments carrying a plurality of mark points and the surgical field image processing technology, automatically adjusts the posture of the laparoscope and the focal length of the laparoscope through two steps of the initialization of the laparoscopic navigation and the real-time automatic navigation, has the advantages of economy, convenience, accuracy and the like, can effectively reduce the burden of doctors, improves the surgical quality and efficiency, and is beneficial to clinical diagnosis and treatment.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 shows the coordinates O of the intersection point at the center of the image of the surgical field at the end of two interventional surgical instruments according to the invention 0 Schematic of the relationship between the two;
fig. 3 is a schematic view of a distal marker point of one of the interventional surgical instruments of the present invention.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
as shown in fig. 1, the invention discloses a laparoscopic automatic navigation method of a porous abdominal operation robot, which comprises the following steps:
step 1), a clinician adjusts the pose of a laparoscope according to the area of a focus of a patient, so that the focus is positioned in an operation visual field, the image is clear, and the distal ends of two interventional operation instruments are positioned in the visual field; for the far end of each interventional surgical instrument, at least two marking points used for marking the straight line where the interventional surgical instrument is positioned are arranged on the far end of each interventional surgical instrument, and the distance between each marking point and the tail end of each marking point is recorded;
step 2), calculating the intersection point coordinate O of the straight line where the distal ends of the two current interventional surgical instruments are located 0 Focal length f of current laparoscope 0 And an included angle alpha formed by connecting the tail ends of the two current interventional surgical instruments with the center of the surgical field image 0 ；
Step 2.1), obtaining a current operation visual field image and a focal length f of a laparoscope 0 : acquiring an image of a current surgical field by using an image acquisition unit, and recording a focal length f of a current laparoscope 0 ；
Step 2.2), obtaining image coordinates of all marking points on the distal ends of the two interventional surgical instruments: detecting all marking points at the distal ends of two interventional surgical instruments according to the surgical field image, and recording the image coordinates of all marking points;
step 2.3), obtaining equations and terminal coordinates of straight lines where two interventional surgical instruments are located: determining a linear equation of the distal ends of the two interventional surgical instruments in the surgical field image according to the coordinates of each marking point, and calculating the tail end coordinates of each interventional surgical instrument according to the distances between each marking point and the tail end of each interventional surgical instrument; when the tail end coordinates of each interventional surgical instrument are calculated, only the distance between one marking point and the tail end of the interventional surgical instrument is needed to be known, but the distances between other marking points and the tail end of the interventional surgical instrument can be used for correction, so that the correction is more accurate;
step 2.4), calculating the intersection point coordinate O of the straight line where the distal ends of the two interventional surgical instruments are located according to the straight line equation of the distal ends of the two interventional surgical instruments in the surgical field image 0 ；
Step 2.5), calculating an included angle alpha formed by connecting the tail ends of the two interventional surgical instruments with the center of the surgical field image 0 As shown in FIG. 2, the two interventional surgical instruments are respectively provided with tail endsE 1 、E 2 The center of the operation visual field image is O, which is connected with E 1 O and E 2 O, then E 1 O and E 2 The included angle between O is alpha 0 ；
Step 3), after the distal ends of the two interventional surgical instruments are moved, calculating the intersection point coordinate O of the straight line where the distal ends of the two interventional surgical instruments are positioned 1 Included angle alpha formed by connecting two interventional surgical instrument ends and surgical field image center line 1 ；
Step 3.1), acquiring a moved operation field image;
step 3.2), detecting all marking points at the far ends of the two interventional surgical instruments according to the moved operation field image, and recording the image coordinates of all marking points;
step 3.3), acquiring an equation of a straight line where the two moved interventional surgical instruments are located and an end coordinate: determining a linear equation of the distal ends of the two interventional surgical instruments in the surgical field image according to the coordinates of each moved marking point, and calculating the tail end coordinates of each interventional surgical instrument after movement according to the distances between each marking point and the tail end of each interventional surgical instrument;
step 3.4), calculating the intersection point coordinate O of the straight line where the distal ends of the two moving interventional surgical instruments are located according to the straight line equation of the distal ends of the two moving interventional surgical instruments in the surgical field image 1 ；
Step 3.5), calculating an included angle alpha formed by connecting the tail ends of the two interventional surgical instruments after movement with the center of the surgical field image 1 ；
Step 4), calculating the included angle change ratio r, r=alpha 1 /α 0 Adjusting the focal length f of the laparoscope according to r, wherein f=f 0 /r；
Step 5), adjusting the posture of the laparoscope to enable the center of the operation visual field image to move, and enabling the displacement and the intersection point coordinate O to be equal 0 、O 1 The displacement therebetween is the same.
As shown in fig. 3, the distal ends of the two interventional surgical instruments are each provided with three spherical marker points.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (2)
1. The automatic navigation system of the laparoscope of the multi-hole abdominal operation robot is characterized by comprising a distance recording module, a pre-movement gesture obtaining module, a post-movement gesture obtaining module, a laparoscope focal length adjusting module and a laparoscope pose adjusting module;
the distance recording module is used for recording the distance between each marking point and the tail end of each marking point according to at least two marking points on the straight line of each interventional surgical instrument, which are used for marking the marking points;
the pre-movement gesture obtaining module is used for calculating the intersection point coordinates of the straight lines where the distal ends of the current two interventional surgical instruments are locatedO 0 Focal length of current laparoscopef 0 And an included angle alpha formed by connecting the tail ends of the two current interventional surgical instruments with the center of the surgical field image 0 The following steps 2.1) to 2.5) are sequentially executed by the pre-movement gesture obtaining module;
step 2.1), obtaining a current operation visual field image and a focal length of a laparoscopef 0 : the pre-movement posture obtaining module obtains an image of the current operation field by using the image acquisition unit and records the focal length of the current laparoscopef 0 ；
Step 2.2), obtaining image coordinates of all marking points on the distal ends of the two interventional surgical instruments: the pre-movement gesture obtaining module detects all marking points at the far ends of two interventional surgical instruments according to the surgical field image and records the image coordinates of all marking points;
step 2.3), obtaining equations and terminal coordinates of straight lines where two interventional surgical instruments are located: the pre-movement gesture obtaining module determines a linear equation of the distal ends of the two interventional surgical instruments in the operation field image according to the coordinates of each marking point, and calculates the tail end coordinates of each interventional surgical instrument according to the distances between each marking point and the tail end of each interventional surgical instrument;
step 2.4), the pre-movement gesture obtaining module calculates the intersection point coordinates of the straight lines of the distal ends of the two interventional surgical instruments according to the straight line equation of the distal ends of the two interventional surgical instruments in the surgical field imageO 0 ；
Step 2.5), the pre-movement gesture obtaining module calculates an included angle alpha formed by connecting the tail ends of the two interventional surgical instruments with the center line of the surgical field image 0 The tail ends of two interventional surgical instruments are respectivelyE 1 、E 2 The center of the operation visual field image isO，ConnectionE 1 OAndE 2 OThenE 1 OAndE 2 OThe included angle between them isα 0 ；
The post-movement gesture obtaining module is used for calculating the intersection point coordinates of the straight lines where the distal ends of the two interventional surgical instruments are located after the distal ends of the two interventional surgical instruments moveO 1 Included angle formed by connecting two ends of interventional surgical instruments with center line of surgical field imageα 1 The method comprises the steps of carrying out a first treatment on the surface of the The following steps 3.1) to 3.5) are sequentially executed by the post-movement gesture obtaining module;
step 3.1), the moved gesture obtaining module obtains a moved operation vision image;
step 3.2), the moved gesture obtaining module detects all marking points at the far ends of the two interventional surgical instruments according to the moved operation field image, and records the image coordinates of all marking points;
step 3.3), the moved posture obtaining module obtains an equation of a straight line where the two moved interventional surgical instruments are located and terminal coordinates: determining a linear equation of the distal ends of the two interventional surgical instruments in the surgical field image according to the coordinates of each moved marking point, and calculating the tail end coordinates of each interventional surgical instrument after movement according to the distances between each marking point and the tail end of each interventional surgical instrument;
step 3.4), the post-movement posture obtaining module calculates the intersection point coordinates of the straight lines of the distal ends of the two post-movement interventional surgical instruments according to the straight line equation of the distal ends of the two post-movement interventional surgical instruments in the surgical field imageO 1 ；
Step 3.5), the post-movement gesture obtaining module calculates an included angle formed by connecting the tail ends of the two post-movement interventional surgical instruments with the center line of the surgical field imageα 1 ；
The laparoscopic focal length adjusting module is used for calculating the change proportion of the included angle after the distal ends of the two interventional surgical instruments are movedr，r = α 1 /α 0 And according torAdjusting the focal length of a laparoscopef，f= f 0 / r；
The laparoscope pose adjusting module is used for adjusting the focal length of the laparoscope after the distal ends of the two interventional surgical instruments are movedfAfter adjustment, the posture of the laparoscope is adjusted to enable the center of the operation visual field image to move, the displacement and the intersection point coordinatesO 0 、O 1 The displacement therebetween is the same.
2. The multi-hole laparoscopic automatic surgical robotic navigation system of claim 1, wherein the two interventional surgical instruments are each provided with three spherical marker points at their distal ends.
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| EP3946130A4 (en) * | 2019-03-27 | 2023-05-10 | Sina Robotics & Medical Innovators Co., Ltd | Controlling a laparoscopic instrument |
| 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 |
| CN115120353A (en) * | 2020-12-15 | 2022-09-30 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, computer-readable storage medium, and control device |
| CN114652449A (en) * | 2021-01-06 | 2022-06-24 | 深圳市精锋医疗科技股份有限公司 | Surgical robot and method and control device for guiding surgical arm to move |
| 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 |
| CN113633387B (en) * | 2021-06-21 | 2024-01-26 | 安徽理工大学 | Surgical field tracking supporting laparoscopic minimally invasive robot touch interaction method and system |
| CN114366313B (en) * | 2022-03-21 | 2022-08-02 | 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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