WO2017185540A1 - Neurosurgical robot navigation positioning system and method - Google Patents

Neurosurgical robot navigation positioning system and method Download PDF

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Publication number
WO2017185540A1
WO2017185540A1 PCT/CN2016/090789 CN2016090789W WO2017185540A1 WO 2017185540 A1 WO2017185540 A1 WO 2017185540A1 CN 2016090789 W CN2016090789 W CN 2016090789W WO 2017185540 A1 WO2017185540 A1 WO 2017185540A1
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WO
WIPO (PCT)
Prior art keywords
motion
lesion
targeted
computer device
coordinate systems
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PCT/CN2016/090789
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French (fr)
Inventor
Rongjun Wang
Depeng ZHAO
Lilong ZHANG
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Beijing Baihui Wei Kang Technology Co., Ltd.
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Application filed by Beijing Baihui Wei Kang Technology Co., Ltd. filed Critical Beijing Baihui Wei Kang Technology Co., Ltd.
Priority to EP16741841.7A priority Critical patent/EP3253320A4/en
Publication of WO2017185540A1 publication Critical patent/WO2017185540A1/en

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Definitions

  • Embodiments of the present invention relate to the technical field of medical surgical robots, and in particular, relate to a neurosurgical robot navigation and positioning system and method.
  • Automation equipment such as robots
  • Automation equipment such as robots
  • people are discussing how to introduce robots in the surgeries to provide new treatment methods and systems for surgeons by taking advantages of robots, sensors and the like high and new technologies to improve the surgery effects. That is, the surgeries are practiced by means of medical robots, including surgeries on and head.
  • frame brain three-dimensional navigation and frameless brain three-dimensional navigation or image guided neurosurgery phases are successively experienced.
  • One difference between frame brain three-dimensional navigation and frameless brain three-dimensional navigation lies in whether to sleeve a position frame on the head of a patent to achieve a series of technologies such as oriented registration.
  • a frame is purposely mounted outside the skull of the patient, which forms a three-dimensional spatial coordinate system, such that the brain structure is included in the coordinate system.
  • the frameless brain three-dimensional navigation is not suitable for the above positioning frame, and is mainly implemented based on a joint arm system and a digital instrument system.
  • the digital instrument system comprises infrared ray, sound wave, electromagnetic wave and the like digital instruments
  • the joint arm system comprises a robotic arm having multiple freedom degrees.
  • the robotic arm is only capable of implementing three-dimensional surgical plan and real-time virtual display of the skull position, but may not proactively participate targeting of the lesion position.
  • Embodiments of the present invention are intended to provide a neurosurgical robot navigation and positioning system and method, to solve the technical problems in the related art.
  • the present invention employs technical solutions as follows:
  • An embodiment of the present invention provides a neurosurgical robot navigation and positioning system, comprising: a motion executing device, a spatial position sensor, and an equipped position marker unit and a computer device; wherein
  • the computer device is connected to the motion executing device and the spatial position sensor, and configured to create a surgery plan on a digital graphic image, the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof;
  • the spatial position sensor is configured to capture the equipped position marker unit such that the computer device implements position mapping between different spatial coordinate systems
  • the motion execution device is mounted with a surgical instrument, and configured to generate a specific motion scheme according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, precisely self-target a lesion position, and securely lock the surgical instrument to support a surgical operation.
  • the equipped position marker unit comprises one or a combination of a marker on the motion executing device, a marker attached on the head of a patient and a marker on a handheld probe.
  • the computer device is configured to construct a craniocerebral three-dimensional model based on two-dimensional medical data, display a three-dimensional configuration and position delineating the lesion, and create the surgical plan on the three-dimensional configuration, the surgical plan comprises multiple targets and multiple cranial paths that are predetermined.
  • the computer device is configured to collect and process spatial information of the motion executing device and spatial information of the marker unit captured by the spatial sensor, and establish a transformation relationship between the different coordinate systems.
  • the computer device is configured to solve the motion scheme of the motion executing device according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulate and rehearse the motion scheme in the craniocerebral three-dimensional model, and make an adjustment to the motion scheme.
  • the computer device is further configured to synchronously navigate a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
  • An embodiment of the present invention further provides a neurosurgical robot navigation and positioning method, comprising:
  • the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof
  • the method further comprises: constructing a craniocerebral three-dimensional model based on two-dimensional medical data, displaying a three-dimensional configuration and position delineating the lesion, and creating the surgical plan on the three-dimensional configuration, the surgical plan comprising multiple targets and multiple cranial paths that are predetermined.
  • the method further comprises: solving the motion scheme of the motion executing device according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulating and rehearsing the motion scheme in the craniocerebral three-dimensional model, and making an adjustment to the motion scheme.
  • the method further comprises: synchronously navigating a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
  • a surgical plan is created by using the computer device on a digital graphic image, wherein the surgical plan comprises a lesion position which is precisely self-targeted and a motion path thereof; the spatial position sensor captures the equipped position marker unit such that the computer device implements position mapping between different spatial coordinate systems; the motion executing device generates a specific motion scheme to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems.
  • the surgical instrument may be securely locked to support a surgical operation, and the lesion position is precisely self-targeted.
  • FIG. 1 is a schematic diagram of a neurosurgical robot navigation and positioning system according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a relationship between a robotic arm and a surgical instrument according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a lesion position marker unit arranged on the head according to an embodiment of the present invention
  • FIG. 4 is another schematic diagram of a lesion position marker unit arranged on the head according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a neurosurgical robot navigation and positioning method according to an embodiment of the present invention.
  • a surgical plan is created by using the computer device on a digital graphic image, wherein the surgical plan comprises a lesion position which is precisely self-targeted and a motion path thereof; the spatial position sensor captures the equipped position marker unit such that the computer device implements position mapping between different spatial coordinate systems; the motion executing device generates a specific motion scheme to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems.
  • the surgical instrument may be securely locked to support a surgical operation, and the lesion position is precisely self-targeted.
  • FIG. 1 is a schematic diagram of a neurosurgical robot navigation and positioning system according to an embodiment of the present invention. As illustrated in FIG. 1, the system comprises: a motion executing device 101, a spatial position sensor 102, an equipped position marker unit 103 and a computer device 104.
  • the computer device 104 is connected to the motion executing device 101 and the spatial position sensor 102, and configured to create a surgery plan on a digital graphic image, the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof.
  • the computer device 104 may be fixed on a trolley 106, wherein the trolley 106 is connected to a couch via a fixed connection structure 105.
  • the digital graphic image comprises one or a combination of a craniocerebral axial plane, a coronal plane, a sagittal plane, a three-dimensional model, a vessel model and a standard spectrum.
  • the surgical plan is operated or practiced by a principal doctor on a digital graphic image, such that the abstract surgical intension and experience is digitalized, and thus can be computed, stored and accurately transferred.
  • the motion executing device 101 comprises a high-precision drive robotic arm.
  • the spatial position sensor 102 comprises one or a combination of an infrared ray, electromagnetic wave, an ultrasonic wave and a visible light sensor.
  • the computer device 104 constructs a craniocerebral three-dimensional model of a patient 100 and calculates a three-dimensional volume of the lesion, delineates a three-dimensional configuration and position in the craniocerebral three-dimensional model, and creates a surgical plan on a digital graphic image comprising the three-dimensional configuration of the lesion, wherein the surgical plan comprises multiple targets and multiple cranial paths that are predetermined.
  • two-dimensional medical image data may be all the medical image files complying with the DICOM protocol, including one or a combination of CT and MRI.
  • a surgical record of a patient including name, age and the of the patient, may be created according to the read craniocerebral two-dimensional medical image data of the patient.
  • the spatial position sensor 102 is configured to capture the equipped position marker unit 103, such that the computer device 104 implements position mapping between different spatial coordinate systems, thereby achieving matching between the digital graphic image and the patient.
  • the equipped position marker unit comprises one or a combination of a marker on the motion executing device 101, a marker attached on the head of a patient and a marker on a handheld probe.
  • the computer device 104 is configured to collect and process spatial information of the motion executing device 101 and spatial information of the marker unit captured by the spatial position sensor 102, and establish a transformation relationship between the different coordinate systems.
  • the computer device 104 is configured to solve the motion scheme of the motion executing device 101 according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulate and rehearse the motion scheme in the craniocerebral three-dimensional model, and make an adjustment to the motion scheme.
  • the computer device 104 is further configured to synchronously navigate a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
  • a bridge may be built for registration of various spaces based on the same marker; that is, coordinates of the same marker in different spaces may be firstly acquired, and a mapping matrix of the relationship between the same coordinate point in different spaces is acquired. As such, a transformation relationship from one space to another space is acquired.
  • the motion execution device 101 is mounted with a surgical instrument, and configured to generate a specific motion scheme according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, precisely self-target a lesion position, and securely lock the surgical instrument to support a surgical operation. As such, the motion executing device finally guides the surgical instrument to navigate and position to the practice of an anatomic structure.
  • motion of the robotic arm is controlled according to a data link established based on a specific motion scheme.
  • the surgical instrument comprises a minimal puncture needle, a neuroendoscope and the like.
  • FIG. 2 A schematic diagram of the motion executing device 101 mounted with a surgical instrument is given in FIG. 2.
  • the lesion position marker unit 103 is arranged on a tail end of the robotic arm of the motion executing device 101 or the surgical instrument or a probe 111, for example, a black-white positioning pattern.
  • the equipped position marker unit 103 may be a in vivo characteristic or a in vitro characteristic.
  • the in vitro characteristic comprises a marker arranged on the head of a patient, and the in vivo characteristic comprises a anatomic characteristic of the body of the patient, wherein the anatomic characteristic comprises, for example, spine, scapular and the like, which is not described herein any further.
  • the marker may be specifically a patch adhered to a surgical target position.
  • the patch is provided with a pattern which is identifiable by an optical positioning unit, wherein the pattern is a black-white block.
  • the pattern is defined on the surface of a panel, wherein the panel may be a soft base.
  • a plurality of markers are needed, which are respectively arranged at different positions in different directions of the patient, that is, a set of markers are used in the surgery. There are typically three or more than three markers, any three markers should not be arranged in the same line, and any four markers should not be arranged within the same plane.
  • identifiers such as C1, C2 and C3, and C1C2C3 are assigned to these markers and the mating relationship between these markers, the identifiers of these markers and the mating relationship between these markers are stored in an electronic tag during the production process, and the electronic tag is integrated with the panel, for example, embedded into the panel.
  • the electronic tag may also store any one of any combination of production information, sales channel information, inspection information and geometric dimensions of the markers.
  • the production information may comprise manufacturer and production date;
  • the sales channel information comprise sales information of hospitals having the sales qualifications, and information of hospitals legally using the markers;
  • the inspection information comprises scaled precision grade of the makers, and
  • the sales hospital information may comprise regional information such as postal codes of the sales hospitals.
  • relevant information regarding the patient and the surgery may be acquired, and the information of the patient may be stored in the electronic tag and bound to other information such as production information, sales channel information, inspection information and geometric dimensions of the markers.
  • the electronic tag may also store any one or any combination of information of the patient (name, age and disease category) , surgery time information, information of surgery carry-out hospital, doctor carrying out surgery.
  • the above position marker may further comprise a black-white positioning pattern arranged on the probe meter, which is not described herein any further.
  • the space of the motion executing device, the space of the lesion position sensor and the space of the patient surgery are known, and only the image space needs to be established.
  • Three first markers may be arranged on a periphery of the surgical target position of the patient as the lesion position marker units, as illustrated in FIG. 3. It should be noted that the number of first markers is not limited to 3, but may be 1.
  • Four second markers are arranged at the target position of the patient with reference to the first marker 101. It should be noted that the number of second markers is not limited to 4, but may be 3.
  • the transformation matrix is a rigid-body transformation matrix, wherein the position of the coordinate system of the image space is established by means of rotation and translation of the coordinate by using the rigid-body transformation matrix.
  • the lesion position determining unit 103 comprises a marker arranged on the head of a patient and a marker arranged on a probe, that is, a black-white pattern block.
  • the marker arranged on the surgical instrument is not described any further.
  • FIG. 5 is a schematic flowchart of a neurosurgical robot navigation and positioning method according to an embodiment of the present invention. As illustrated in FIG. 5, the method comprises the following steps:
  • a surgery plan is created on a digital graphic image, wherein the surgery plan comprises a lesion position which is precisely self-targeted and a motion path thereof.
  • the method further comprises: constructing a craniocerebral three-dimensional model based on two-dimensional medical data, displaying a three-dimensional configuration and position delineating the lesion, and creating the surgical plan on the three-dimensional configuration, the surgical plan comprising multiple targets and multiple cranial paths that are predetermined.
  • the method further comprises: solving the motion scheme of the motion executing device 101 according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulating and rehearsing the motion scheme in the craniocerebral three-dimensional model, and making an adjustment to the motion scheme.
  • the method further comprises: synchronously navigating a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
  • S602 Capture information of an equipped marker unit is acquired, and a position mapping between different spatial coordinate systems is calculated.
  • S603 A specific motion scheme is generated according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, a lesion position is precisely self-targeted, and the surgical instrument is securely locked to support a surgical operation.
  • Steps S601-S603 in this embodiment may be preferably or specifically performed with reference to the disclosure in FIG. 1, which are not described herein any further.
  • the above described apparatus embodiments are merely for illustration purpose only.
  • the units which are described as separate components may be physically separated or may be not physically separated, and the components which are illustrated as units may be or may not be physical units, that is, the components may be located in the same position or may be distributed into a plurality of network units. Partial or all the modules may be selected according to the actual needs to achieve the objectives of the technical solutions of the embodiments. Persons of ordinary skill in the art may understand and implement the present application without paying any creative effort.
  • the embodiments of the present invention may be implemented by means of hardware or by means of software plus a necessary general hardware platform.
  • portions of the technical solutions of the present application that essentially contribute to the related art may be embodied in the form of a software product, the computer software product may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, a CD-ROM and the like, including several instructions for causing a computer device (a personal computer, a server, or a network device) to perform the various embodiments of the present application, or certain portions of the method of the embodiments.

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Abstract

A neurosurgical robot navigation and positioning system and method are disclosed. The system comprises: a motion executing device(101), a spatial position sensor(102), an equipped position marker unit(103) and a computer device(104); wherein the computer device(104) is connected to the motion executing device(101) and the spatial position sensor(102), and configured to create a surgery plan on a digital graphic image, the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof; the spatial position sensor(102) is configured to capture the equipped position marker unit(103) such that the computer device(104) implements position mapping between different spatial coordinate systems; and the motion execution device(101) is mounted with a surgical instrument(111), and configured to generate a specific motion scheme according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, precisely self-target a lesion position, and securely lock the surgical instrument(111) to support a surgical operation.

Description

NEUROSURGICAL ROBOT NAVIGATION POSITIONING SYSTEM AND METHOD
CROSS REFERENCE TO RELATED APPLICATION
This application claims priority to Chinese Patent Application No. 201610285561. X, filed on 4/29/2016, the entire contents of which are incorporated herein by reference.
TECHNICAL FIELD
Embodiments of the present invention relate to the technical field of medical surgical robots, and in particular, relate to a neurosurgical robot navigation and positioning system and method.
BACKGROUND
Automation equipment, such as robots, has been widely applied n the industrial field, and has exhibited prominent advantages in operation flexibility, stability and accuracy and the like. To solve the problems that the surgeries are subjected to insufficient precision, more radiation, large cutting, operation fatigue and the like, people are discussing how to introduce robots in the surgeries to provide new treatment methods and systems for surgeons by taking advantages of robots, sensors and the like high and new technologies to improve the surgery effects. That is, the surgeries are practiced by means of medical robots, including surgeries on and head.
Using a brain surgery as an example, frame brain three-dimensional navigation and frameless brain three-dimensional navigation or image guided neurosurgery phases are successively experienced. One difference between frame brain three-dimensional navigation and frameless brain three-dimensional navigation lies in whether to sleeve a position frame on the head of a patent to  achieve a series of technologies such as oriented registration. Specifically, in the frame brain three-dimensional navigation, a frame is purposely mounted outside the skull of the patient, which forms a three-dimensional spatial coordinate system, such that the brain structure is included in the coordinate system. In this case, if the patient with the frame is subjected to scanning by CT or MRI, an CT or MRI image of the skull of the patient carrying the coordinate parameter marker of the frame is obtained, and anatomic structures of various images in the skull of the patient have a corresponding coordinate value in the coordinate system. Then, the coordinate point is reached according to mechanical data of a brain stereotaxic apparatus, thereby implementing brain stereotaxic orientation. However, the frameless brain three-dimensional navigation is not suitable for the above positioning frame, and is mainly implemented based on a joint arm system and a digital instrument system. The digital instrument system comprises infrared ray, sound wave, electromagnetic wave and the like digital instruments, and the joint arm system comprises a robotic arm having multiple freedom degrees.
With respect to the frameless brain three-dimensional navigation technology based on the robotic arm, in the related art, the robotic arm is only capable of implementing three-dimensional surgical plan and real-time virtual display of the skull position, but may not proactively participate targeting of the lesion position.
SUMMARY
Embodiments of the present invention are intended to provide a neurosurgical robot navigation and positioning system and method, to solve the technical problems in the related art.
The present invention employs technical solutions as follows:
An embodiment of the present invention provides a neurosurgical robot navigation and positioning system, comprising: a motion executing device, a spatial position sensor, and an equipped position marker unit and a computer device； wherein
the computer device is connected to the motion executing device and the spatial position sensor, and configured to create a surgery plan on a digital graphic image, the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof；
the spatial position sensor is configured to capture the equipped position marker unit such that the computer device implements position mapping between different spatial coordinate systems； and
the motion execution device is mounted with a surgical instrument, and configured to generate a specific motion scheme according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, precisely self-target a lesion position, and securely lock the surgical instrument to support a surgical operation.
Preferably, in an embodiment of the present invention, the equipped position marker unit comprises one or a combination of a marker on the motion executing device, a marker attached on the head of a patient and a marker on a handheld probe.
Preferably, in an embodiment of the present invention, the computer device is configured to construct a craniocerebral three-dimensional model based on two-dimensional medical data, display a three-dimensional configuration and position delineating the lesion, and create the surgical plan on the three-dimensional configuration, the surgical plan comprises multiple targets and multiple cranial paths that are predetermined.
Preferably, in an embodiment of the present invention, the computer device is configured to collect and process spatial information of the motion executing device and spatial information of the marker unit captured by the spatial sensor, and establish a transformation relationship between the different coordinate systems.
Preferably, in an embodiment of the present invention, the computer device is  configured to solve the motion scheme of the motion executing device according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulate and rehearse the motion scheme in the craniocerebral three-dimensional model, and make an adjustment to the motion scheme.
Preferably, in an embodiment of the present invention, the computer device is further configured to synchronously navigate a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
An embodiment of the present invention further provides a neurosurgical robot navigation and positioning method, comprising:
creating a surgery plan on a digital graphic image, the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof
acquiring capture information of an equipped marker unit, and calculating a position mapping between different spatial coordinate systems； and
generating a specific motion scheme according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, precisely self-targeting a lesion position, and securely locking the surgical instrument to support a surgical operation.
Preferably, in an embodiment of the present invention, the method further comprises: constructing a craniocerebral three-dimensional model based on two-dimensional medical data, displaying a three-dimensional configuration and position delineating the lesion, and creating the surgical plan on the three-dimensional configuration, the surgical plan comprising multiple targets and multiple cranial paths that are predetermined.
Preferably, in an embodiment of the present invention, the method further comprises: solving the motion scheme of the motion executing device according to  the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulating and rehearsing the motion scheme in the craniocerebral three-dimensional model, and making an adjustment to the motion scheme.
Preferably, in an embodiment of the present invention, the method further comprises: synchronously navigating a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
In the embodiments of the present invention, a surgical plan is created by using the computer device on a digital graphic image, wherein the surgical plan comprises a lesion position which is precisely self-targeted and a motion path thereof； the spatial position sensor captures the equipped position marker unit such that the computer device implements position mapping between different spatial coordinate systems； the motion executing device generates a specific motion scheme to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems. As such, the surgical instrument may be securely locked to support a surgical operation, and the lesion position is precisely self-targeted.
BRIEF DESCRIPTION OF THE DRAWINGS
To describe embodiments of the present invention or the technical solution in the related art, hereinafter, drawings that are to be referred for description of the embodiments or the related art are briefly described. Apparently, the drawings described hereinafter merely illustrate some embodiments of the present invention. Persons of ordinary skill in the art may also derive other drawings based on the drawings described herein without any creative effort.
FIG. 1 is a schematic diagram of a neurosurgical robot navigation and  positioning system according to an embodiment of the present invention；
FIG. 2 is a schematic diagram of a relationship between a robotic arm and a surgical instrument according to an embodiment of the present invention；
FIG. 3 is a schematic diagram of a lesion position marker unit arranged on the head according to an embodiment of the present invention；
FIG. 4 is another schematic diagram of a lesion position marker unit arranged on the head according to an embodiment of the present invention； and
FIG. 5 is a schematic flowchart of a neurosurgical robot navigation and positioning method according to an embodiment of the present invention.
DETAILED DESCRIPTION
To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions according to the embodiments of the present invention are clearly and thoroughly described with reference to the accompanying drawings of the embodiments of the present invention. The described embodiments are merely exemplary ones, but are not all the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments derived by persons of ordinary skill in the art without any creative efforts shall fall within the protection scope of the present invention.
In embodiments of the present invention hereinafter, a surgical plan is created by using the computer device on a digital graphic image, wherein the surgical plan comprises a lesion position which is precisely self-targeted and a motion path thereof； the spatial position sensor captures the equipped position marker unit such that the computer device implements position mapping between different spatial coordinate systems； the motion executing device generates a specific motion scheme to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems. As such, the surgical instrument may be securely locked to support a surgical  operation, and the lesion position is precisely self-targeted.
FIG. 1 is a schematic diagram of a neurosurgical robot navigation and positioning system according to an embodiment of the present invention. As illustrated in FIG. 1, the system comprises: a motion executing device 101, a spatial position sensor 102, an equipped position marker unit 103 and a computer device 104.
(1) The computer device 104 is connected to the motion executing device 101 and the spatial position sensor 102, and configured to create a surgery plan on a digital graphic image, the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof. The computer device 104 may be fixed on a trolley 106, wherein the trolley 106 is connected to a couch via a fixed connection structure 105.
Specifically, in this embodiment or any other embodiment of the present invention, the digital graphic image comprises one or a combination of a craniocerebral axial plane, a coronal plane, a sagittal plane, a three-dimensional model, a vessel model and a standard spectrum.
Preferably, the surgical plan is operated or practiced by a principal doctor on a digital graphic image, such that the abstract surgical intension and experience is digitalized, and thus can be computed, stored and accurately transferred.
preferably, in this embodiment or any other embodiment of the present invention, the motion executing device 101 comprises a high-precision drive robotic arm.
Preferably, in this embodiment or any other embodiment of the present invention, the spatial position sensor 102 comprises one or a combination of an infrared ray, electromagnetic wave, an ultrasonic wave and a visible light sensor.
Preferably, in this embodiment or any other embodiment of the present invention, the computer device 104 constructs a craniocerebral three-dimensional model of a patient 100 and calculates a three-dimensional volume of the lesion, delineates a three-dimensional configuration and position in the craniocerebral  three-dimensional model, and creates a surgical plan on a digital graphic image comprising the three-dimensional configuration of the lesion, wherein the surgical plan comprises multiple targets and multiple cranial paths that are predetermined.
Specifically, in this embodiment or any other embodiment of the present invention, two-dimensional medical image data may be all the medical image files complying with the DICOM protocol, including one or a combination of CT and MRI.
In addition, a surgical record of a patient, including name, age and the of the patient, may be created according to the read craniocerebral two-dimensional medical image data of the patient.
(2) The spatial position sensor 102 is configured to capture the equipped position marker unit 103, such that the computer device 104 implements position mapping between different spatial coordinate systems, thereby achieving matching between the digital graphic image and the patient.
specifically, in this embodiment or any other embodiment of the present invention, the equipped position marker unit comprises one or a combination of a marker on the motion executing device 101, a marker attached on the head of a patient and a marker on a handheld probe.
Preferably, in this embodiment or any other embodiment of the present invention, the computer device 104 is configured to collect and process spatial information of the motion executing device 101 and spatial information of the marker unit captured by the spatial position sensor 102, and establish a transformation relationship between the different coordinate systems.
Preferably, in this embodiment or any other embodiment of the present invention, the computer device 104 is configured to solve the motion scheme of the motion executing device 101 according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulate and rehearse the motion scheme in the craniocerebral three-dimensional model, and make an adjustment to  the motion scheme.
Preferably, in this embodiment or any other embodiment of the present invention, the computer device 104 is further configured to synchronously navigate a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
During a tracking process, a bridge may be built for registration of various spaces based on the same marker； that is, coordinates of the same marker in different spaces may be firstly acquired, and a mapping matrix of the relationship between the same coordinate point in different spaces is acquired. As such, a transformation relationship from one space to another space is acquired.
(3) The motion execution device 101 is mounted with a surgical instrument, and configured to generate a specific motion scheme according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, precisely self-target a lesion position, and securely lock the surgical instrument to support a surgical operation. As such, the motion executing device finally guides the surgical instrument to navigate and position to the practice of an anatomic structure.
In this embodiment or any other embodiment of the present invention, when the lesion position is precisely self-targeted, motion of the robotic arm is controlled according to a data link established based on a specific motion scheme.
Specifically, in this embodiment or any other embodiment of the present invention, the surgical instrument comprises a minimal puncture needle, a neuroendoscope and the like.
A schematic diagram of the motion executing device 101 mounted with a surgical instrument is given in FIG. 2. As illustrated in FIG. 2, the lesion position marker unit 103 is arranged on a tail end of the robotic arm of the motion executing device 101 or the surgical instrument or a probe 111, for example, a black-white positioning pattern.
In the above embodiment, the equipped position marker unit 103 may be a in  vivo characteristic or a in vitro characteristic. The in vitro characteristic comprises a marker arranged on the head of a patient, and the in vivo characteristic comprises a anatomic characteristic of the body of the patient, wherein the anatomic characteristic comprises, for example, spine, scapular and the like, which is not described herein any further.
Specifically, the marker may be specifically a patch adhered to a surgical target position. The patch is provided with a pattern which is identifiable by an optical positioning unit, wherein the pattern is a black-white block. To be specific, the pattern is defined on the surface of a panel, wherein the panel may be a soft base. In a common surgery, generally a plurality of markers are needed, which are respectively arranged at different positions in different directions of the patient, that is, a set of markers are used in the surgery. There are typically three or more than three markers, any three markers should not be arranged in the same line, and any four markers should not be arranged within the same plane.
To differentiate these markers and a mating relationship between these markers to further prevent a mixed use of these markers with non-mated markers, identifiers such as C1, C2 and C3, and C1C2C3 are assigned to these markers and the mating relationship between these markers, the identifiers of these markers and the mating relationship between these markers are stored in an electronic tag during the production process, and the electronic tag is integrated with the panel, for example, embedded into the panel.
The electronic tag may also store any one of any combination of production information, sales channel information, inspection information and geometric dimensions of the markers. The production information may comprise manufacturer and production date； the sales channel information comprise sales information of hospitals having the sales qualifications, and information of hospitals legally using the markers； and the inspection information comprises scaled precision grade of the makers, and the sales hospital information may comprise regional information such as postal codes of the sales hospitals. Such  different categories of additional information ensure quality of the markers, and meanwhile prevent the markers from being counterfeited.
During the surgery, relevant information regarding the patient and the surgery may be acquired, and the information of the patient may be stored in the electronic tag and bound to other information such as production information, sales channel information, inspection information and geometric dimensions of the markers. The electronic tag may also store any one or any combination of information of the patient (name, age and disease category) , surgery time information, information of surgery carry-out hospital, doctor carrying out surgery.
The above position marker may further comprise a black-white positioning pattern arranged on the probe meter, which is not described herein any further.
In the above embodiment, the space of the motion executing device, the space of the lesion position sensor and the space of the patient surgery are known, and only the image space needs to be established. Three first markers may be arranged on a periphery of the surgical target position of the patient as the lesion position marker units, as illustrated in FIG. 3. It should be noted that the number of first markers is not limited to 3, but may be 1. Four second markers are arranged at the target position of the patient with reference to the first marker 101. It should be noted that the number of second markers is not limited to 4, but may be 3.
In this embodiment, the transformation matrix is a rigid-body transformation matrix, wherein the position of the coordinate system of the image space is established by means of rotation and translation of the coordinate by using the rigid-body transformation matrix.
Referring to FIG. 4, the lesion position determining unit 103 comprises a marker arranged on the head of a patient and a marker arranged on a probe, that is, a black-white pattern block. The marker arranged on the surgical instrument is not described any further.
FIG. 5 is a schematic flowchart of a neurosurgical robot navigation and positioning method according to an embodiment of the present invention. As  illustrated in FIG. 5, the method comprises the following steps:
S601: A surgery plan is created on a digital graphic image, wherein the surgery plan comprises a lesion position which is precisely self-targeted and a motion path thereof.
Preferably, in an embodiment of the present invention, the method further comprises: constructing a craniocerebral three-dimensional model based on two-dimensional medical data, displaying a three-dimensional configuration and position delineating the lesion, and creating the surgical plan on the three-dimensional configuration, the surgical plan comprising multiple targets and multiple cranial paths that are predetermined.
Preferably, in an embodiment of the present invention, the method further comprises: solving the motion scheme of the motion executing device 101 according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulating and rehearsing the motion scheme in the craniocerebral three-dimensional model, and making an adjustment to the motion scheme.
Preferably, in an embodiment of the present invention, the method further comprises: synchronously navigating a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
S602: Capture information of an equipped marker unit is acquired, and a position mapping between different spatial coordinate systems is calculated.
S603: A specific motion scheme is generated according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, a lesion position is precisely self-targeted, and the surgical instrument is securely locked to support a surgical operation.
Steps S601-S603 in this embodiment may be preferably or specifically performed with reference to the disclosure in FIG. 1, which are not described  herein any further.
The above described apparatus embodiments are merely for illustration purpose only. The units which are described as separate components may be physically separated or may be not physically separated, and the components which are illustrated as units may be or may not be physical units, that is, the components may be located in the same position or may be distributed into a plurality of network units. Partial or all the modules may be selected according to the actual needs to achieve the objectives of the technical solutions of the embodiments. Persons of ordinary skill in the art may understand and implement the present application without paying any creative effort.
According to the above embodiments of the present invention, a person skilled in the art may clearly understand that the embodiments of the present invention may be implemented by means of hardware or by means of software plus a necessary general hardware platform. Based on such understanding, portions of the technical solutions of the present application that essentially contribute to the related art may be embodied in the form of a software product, the computer software product may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, a CD-ROM and the like, including several instructions for causing a computer device (a personal computer, a server, or a network device) to perform the various embodiments of the present application, or certain portions of the method of the embodiments.
It should be finally noted that the above-described embodiments are merely for illustration of the present invention, but are not intended to limit the present invention. Although the present invention is described in detail with reference to these embodiments, a person skilled in the art may also make various modifications to the technical solutions disclosed in the embodiments, or make equivalent replacements to a part of the technical features contained therein. Such modifications or replacement, made without departing from the principles of the present invention, shall fall within the scope of the present invention.

Claims (10)

  1. A neurosurgical robot navigation and positioning system, characterized by comprising: a motion executing device, a spatial position sensor, and an equipped position marker unit and a computer device； wherein
    the computer device is connected to the motion executing device and the spatial position sensor, and configured to create a surgery plan on a digital graphic image, the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof；
    the spatial position sensor is configured to capture the equipped position marker unit such that the computer device implements position mapping between different spatial coordinate systems； and
    the motion execution device is mounted with a surgical instrument, and configured to generate a specific motion scheme according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, precisely self-target a lesion position, and securely lock the surgical instrument to support a surgical operation.
  2. The system according to claim 1, characterized in that the equipped position marker unit comprises one or a combination of a marker on the motion executing device, a marker attached on the head of a patient and a marker on a handheld probe.
  3. The system according to claim 1, characterized in that the computer device is configured to construct a craniocerebral three-dimensional model based on two-dimensional medical data, display a three-dimensional configuration and position delineating the lesion, and create the surgical plan on the three-dimensional configuration, the surgical plan comprises multiple targets and multiple cranial paths that are predetermined.
  4. The system according to claim 1, characterized in that the computer device  is configured to collect and process spatial information of the motion executing device and spatial information of the marker unit captured by the spatial sensor, and establish a transformation relationship between the different coordinate systems.
  5. The system according to claim 3, characterized in that the computer device is configured to solve the motion scheme of the motion executing device according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulate and rehearse the motion scheme in the craniocerebral three-dimensional model, and make an adjustment to the motion scheme.
  6. The system according to claim 5, characterized in that the computer device is further configured to synchronously navigate a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
  7. A neurosurgical robot navigation and positioning method, characterized by comprising:
    creating a surgery plan on a digital graphic image, the surgery plan comprising a lesion position which is precisely self-targeted and a motion path thereof；
    acquiring capture information of an equipped marker unit, and calculating a position mapping between different spatial coordinate systems； and
    generating a specific motion scheme according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, precisely self-targeting a lesion position, and securely locking the surgical instrument to support a surgical operation.
  8. The method according to claim 7, characterized by further comprising: constructing a craniocerebral three-dimensional model based on two-dimensional medical data, displaying a three-dimensional configuration and position  delineating the lesion, and creating the surgical plan on the three-dimensional configuration, the surgical plan comprising multiple targets and multiple cranial paths that are predetermined.
  9. The method according to claim 8, characterized by further comprising: solving the motion scheme of the motion executing device according to the lesion position which is precisely self-targeted and the motion path thereof and the position mapping between the different spatial coordinate systems, simulating and rehearsing the motion scheme in the craniocerebral three-dimensional model, and making an adjustment to the motion scheme.
  10. The method according to claim 9, characterized by further comprising: synchronously navigating a relative position of the surgical instrument in the two-dimensional medical image data and the craniocerebral three-dimensional model.
PCT/CN2016/090789 2016-04-29 2016-07-21 Neurosurgical robot navigation positioning system and method WO2017185540A1 (en)

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