CN109646090A - Puncture needle control method and device - Google Patents
Puncture needle control method and device Download PDFInfo
- Publication number
- CN109646090A CN109646090A CN201910055048.5A CN201910055048A CN109646090A CN 109646090 A CN109646090 A CN 109646090A CN 201910055048 A CN201910055048 A CN 201910055048A CN 109646090 A CN109646090 A CN 109646090A
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- China
- Prior art keywords
- puncture
- puncture needle
- site
- unit
- control
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00212—Electrical control of surgical instruments using remote controls
Abstract
This application discloses a kind of puncture needle control methods.This method includes obtaining the position of position and puncture needle to site of puncture；According to puncture needle described in the position control of the position to site of puncture and the puncture needle to the position precession to site of puncture；The puncture needle is received to the reaction force fed back when site of puncture punctures；Continue to move according to puncture needle described in the control of the reactive force, to complete to the puncture procedure to site of puncture.Present invention also provides a kind of puncture needle control devices for implementing above-mentioned puncture needle control method.Present application addresses in the related technology because can not real-time display body foci position and biopsy needle, ablation needle relative position caused by the lower technical problem of procedure efficiency.
Description
Technical field
This application involves the field of medical instrument technology, in particular to a kind puncture needle control method and device.
Background technique
Lung puncture operation is a kind of in such a way that biopsy needle or ablation needle etc. are punctured into lung through pleural cavity visceral layer, is used for
The diagnosis and differential diagnosis method that lung peripheral portion lesion or dispersivity tuberculosis become is that minimally invasive hand is melted in most popular detection at present
Art.The mode of lung puncture operation mainly finds lesions position by CT equipment in the related technology, then patient is removed irradiation zone,
The lesions position shown by doctor according to CT empirically carries out puncturing operation to patient.Lung puncture is carried out using such mode
Operation can not real-time display body foci position and biopsy needle, ablation needle relative position, procedure efficiency is lower.
For in the related technology because can not real-time display body foci position and the relative position of biopsy needle, ablation needle cause
The lower problem of procedure efficiency, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind puncture needle control method and device, with solve in the related technology because
Can not real-time display body foci position and biopsy needle, ablation needle relative position caused by the lower problem of procedure efficiency.
To achieve the goals above, according to the one aspect of the application, a kind puncture needle control method, the party are provided
Method includes: to obtain to the position of site of puncture and the position of puncture needle；According to the position to site of puncture and the puncture
Puncture needle described in the position control of needle is to the position precession to site of puncture；The puncture needle is received to the portion to be punctured
The reaction force that position is fed back when being punctured；Continue to move according to puncture needle described in the control of the reactive force, to complete to institute
State the puncture procedure to site of puncture.
Further, method as the aforementioned, the puncture needle according to the control of the reactive force continue to move, packet
It includes: the reaction force is transferred to the operating stick that can be controlled the puncture needle；The operating stick is received to described
The operational motion that puncture needle carries out, controls the puncture needle according to the operational movement of the operating stick according to the operational motion.
Further, method as the aforementioned, described be transferred to the reaction force can control the puncture needle
The operating stick of system, comprising: feedback resistance is provided according to the reaction force, wherein the feedback resistance and the reaction force
Size is identical；The feedback resistance is transferred to the operating stick.
Further, method as the aforementioned, it is described that the puncture needle is controlled according to the operation according to the operational motion
The operational movement of bar, comprising: the real time position of the operating stick is sent according to the operational motion；According to the real time position control
The puncture needle is made according to the operational movement of the operating stick.
Further, method as the aforementioned, the position and the position of the puncture needle according to site of puncture
The puncture needle is controlled to the position precession to site of puncture, comprising: by the position of the puncture needle and scanning imagery list
Member is associated, and the scanning and imaging unit is enable to track the position where the puncture needle；It obtains described to site of puncture
Position and the scanning and imaging unit positional relationship；Obtain the position of the position to site of puncture and the puncture needle
Incidence relation controls the puncture needle to the position precession to site of puncture according to the incidence relation.
To achieve the goals above, according to the another aspect of the application, a kind of puncture needle control device, the device are provided
It include: position associative cell, moving cell and the sensing unit being connected with the moving cell, wherein the moving cell
The precession control unit and servo antrol unit being connected including puncture needle and respectively at the puncture needle；The position association
Unit, for obtaining the position to site of puncture and the position of puncture needle；The precession control unit, it is described wait wear for basis
Puncture needle described in the position at position and the position control of the puncture needle is pierced to the position precession to site of puncture；The biography
Unit is felt, for receiving the puncture needle to the reaction force fed back when site of puncture punctures；The servo-actuated control
Unit processed continues to move for the puncture needle according to the control of the reactive force, to complete to wear to described to site of puncture
Thorn operation.
Further, device as the aforementioned, the moving cell further include transmission unit, the transmission unit, and being used for will
The reaction force is transferred to the operating stick that can be controlled the puncture needle；The servo antrol unit, is also used to connect
The operational motion that the operating stick carries out the puncture needle is received, the puncture needle is controlled according to described according to the operational motion
The operational movement of operating stick.
Further, device as the aforementioned, the moving cell further include feedback control unit, the feedback control unit
For providing feedback resistance according to the reaction force, wherein the feedback resistance is identical as the size of the reaction force；Institute
Transmission unit is stated, is also used to the feedback resistance being transferred to the operating stick.
Further, device as the aforementioned, the transmission unit are also used to send the operation according to the operational motion
The real time position of bar is to the servo antrol unit；The servo antrol unit is also used to control institute according to the real time position
Puncture needle is stated according to the operational movement of the operating stick.
Further, device as the aforementioned, the position associative cell, including association process unit, in which: the association
Processing unit enables the scanning and imaging unit to track institute for the puncture needle to be associated with scanning and imaging unit
State the position where puncture needle；The association process unit is also used to obtain the position to site of puncture and the scanning
The positional relationship of imaging unit；The association process unit is also used to obtain the position to site of puncture and the puncture
The position incidence relation of needle；The precession control unit is also used to control the puncture needle according to the incidence relation to described
Position precession to site of puncture.
In the embodiment of the present application, by the way of obtaining to the position of site of puncture and the position of puncture needle, pass through control
Puncture needle processed is worn according to control of the reactive force to receiving the reaction force of puncture needle while position precession to site of puncture
Pricker continues to move, and has achieved the purpose that being remotely controlled puncture needle carries out lung puncture operation, to realize the skill for improving procedure efficiency
Art effect, so solve in the related technology because can not real-time display body foci position and biopsy needle, ablation needle opposite position
The lower technical problem of procedure efficiency caused by setting.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is a kind of flow diagram for puncture needle control method that the application one embodiment provides；
Fig. 2 is a kind of flow diagram for puncture needle control method that the application one embodiment provides；And
Fig. 3 be the application one embodiment provide a kind of puncture needle control device structure and with other relevant devices
Connection relationship diagram.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
According to embodiments of the present invention, a kind of puncture needle control method is provided, as shown in Figure 1 and Figure 2, this method includes such as
Under step:
Step S1. is obtained to the position of site of puncture and the position of puncture needle；
Step S2. puncture needle according to the position control to the position of site of puncture with the puncture needle is to described
Position precession to site of puncture；
Further, as shown in Fig. 2, the puncture needle is associated by step S21. with scanning and imaging unit, make described
Scanning and imaging unit can track the position where the puncture needle；
Step S22. obtains the positional relationship of the position to site of puncture and the scanning and imaging unit；
Step S23. obtains the position incidence relation of the position to site of puncture and the puncture needle, according to the pass
Connection relationship controls the puncture needle to the position precession to site of puncture.
Specifically, the mechanical arm of lung puncture robot being connected with puncture needle is protruded into CT machine with fixed angle, machine
Positioning of the lung puncture robot in CT coordinate system is completed equipped with the marker that can be identified by CT, by this step in device arm end；
It after it exits CT machine by mechanical arm, places the patient under CT machine, obtains patient relative to the position in CT coordinate system, pass through seat
Mark converts available patient and waits for the position of site of puncture and the relativeness of robot coordinate system；Then pass through CAN bus, benefit
Robotic arm is set to reach position and the posture of inserting needle by sending control instruction in CAN bus with CANOPEN agreement.
Step S3. receives the puncture needle to the reaction force fed back when site of puncture punctures；
Step S4. puncture needle according to the control of the reactive force continues to move, to complete to described to site of puncture
Puncture procedure.
Further, as shown in Fig. 2, the reaction force is transferred to by step S41. to control to the puncture needle
The operating stick of system；
Further, as shown in Fig. 2, step S411. provides feedback resistance according to the reaction force, wherein described anti-
It is identical as the size of the reaction force to present resistance；
The feedback resistance is transferred to the operating stick by step S412..
Step S42. receives the operational motion that the operating stick carries out the puncture needle, is controlled according to the operational motion
The puncture needle according to the operating stick operational movement；
Further, as shown in Fig. 2, step S421. sends the real-time position of the operating stick according to the operational motion
It sets；
Step S422. controls the puncture needle according to the operational movement of the operating stick according to the real time position；
Specifically, the serial ports that is forced through of puncture needle end is sent to instead in real time equipped with force snesor in mechanical arm tail end
Control unit is presented, feedback control unit makes reversed force motor provide size according to the algorithm relationship of power and opposite force driving motor
Equal resistance, so that operating stick experiences the size of this feedback force, it, can be real since operator holds this operating stick
When experience the feedback force experienced needle end；The real time position for the motor encoder that operating stick is connected simultaneously is total by CAN
Line is sent to inserting needle motor, makes puncture needle that operating stick be followed to be servo-actuated.
It can be seen from the above description that the present invention realizes following technical effect:
Lung puncture robot remote control system of the present invention is one kind based under the navigation of CT real-time fluoroscopic, passes through operation
Person (doctor) operates an operating stick with reaction force, drives the puncture needle of robot end to complete lung by control operating stick
Puncturing operation, such operator, by controlling operating stick, can experience needle end under the premise of CT real time scan
Real-time Feedback power, guarantee operational safety, avoid encountering barrier, while inserting needle direction can be finely adjusted, so that wearing
Pricker can quick and precisely reach target, complete lung puncture operation, effectively improve procedure efficiency；Directly acquire force snesor
Data simultaneously directly obtain required current value by algorithm, and fast response time improves motor and follows speed and applied according to feedback force
Speed；It using the control algolithm of reaction force, is superimposed by real-time power, further promotes the telepresenc of operator's operation.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer installation, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to embodiments of the present invention, a kind of puncture needle control dress for implementing above-mentioned puncture needle control method is additionally provided
It sets, as shown in figure 3, the device includes position associative cell, moving cell and the sensing unit being connected with the moving cell,
Wherein, the moving cell includes precession control unit, servo antrol unit, transmission unit and feedback control unit；
The position associative cell, for obtaining the position to site of puncture and the position of puncture needle；
The position associative cell, including association process unit, for carrying out the puncture needle and scanning and imaging unit
Association, enables the scanning and imaging unit to track the position where the puncture needle；
The association process unit is also used to obtain the position of the position to site of puncture and the scanning and imaging unit
Set relationship；
The association process unit is also used to obtain the position to site of puncture and is associated with the position of the puncture needle
Relationship；
The precession control unit, for controlling the puncture needle to described to site of puncture according to the incidence relation
Position precession.
Specifically, the mechanical arm of lung puncture robot being connected with puncture needle is protruded into CT machine with fixed angle, machine
Equipped with the marker that can be identified by CT, association process unit is completed lung puncture robot and is determined in CT coordinate system for device arm end
Position；It after by mechanical arm, it exits CT machine, places the patient under CT machine, association process unit obtains patient relative to CT coordinate system
Interior position, association process unit convert position and the robot coordinate system that available patient waits for site of puncture by coordinate
Relativeness；Then by CAN bus, make robotic arm by sending control instruction in CAN bus using CANOPEN agreement
Reach position and the posture of inserting needle.
The sensing unit, for receiving the puncture needle to the reaction fed back when site of puncture punctures
Power；
The servo antrol unit, continues to move for the puncture needle according to the control of the reactive force；
The feedback control unit, for according to the reaction force provide feedback resistance, wherein the feedback resistance with
The size of the reaction force is identical；
The transmission unit, for the feedback resistance to be transferred to the operating stick；
The transmission unit, the real time position for being also used to send the operating stick according to the operational motion are servo-actuated to described
Control unit；
The servo antrol unit is also used to control the puncture needle according to the operating stick according to the real time position
Operational movement controls the puncture needle as operating stick moves, to complete to the portion to be punctured according to the real time position
The puncture procedure of position.
Specifically, the serial ports that is forced through of puncture needle end is sent to instead in real time equipped with force snesor in mechanical arm tail end
Control unit is presented, feedback control unit makes reversed force motor provide size according to the algorithm relationship of power and opposite force driving motor
Equal resistance, so that operating stick experiences the size of this feedback force, it, can be real since operator holds this operating stick
When experience the feedback force experienced needle end；The real time position for the motor encoder that operating stick is connected simultaneously is total by CAN
Line is sent to inserting needle motor, makes puncture needle that operating stick be followed to be servo-actuated.
It should be noted that term " includes " and " tool in the description and claims of this application and above-mentioned attached drawing
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, device, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of puncture needle control method characterized by comprising
It obtains to the position of site of puncture and the position of puncture needle；
The puncture needle according to the position control of the position to site of puncture and the puncture needle is to described to site of puncture
Position precession；
The puncture needle is received to the reaction force fed back when site of puncture punctures；
Continue to move according to puncture needle described in the control of the reactive force, to complete to the puncture procedure to site of puncture.
2. the method according to claim 1, wherein the puncture needle according to the control of the reactive force after
Reforwarding is dynamic, comprising:
The reaction force is transferred to the operating stick that can be controlled the puncture needle；
The operational motion that the operating stick carries out the puncture needle is received, the puncture needle is controlled according to the operational motion and is pressed
According to the operational movement of the operating stick.
3. according to the method described in claim 2, it is characterized in that, described be transferred to the reaction force can wear to described
The operating stick that pricker is controlled, comprising:
Feedback resistance is provided according to the reaction force, wherein the feedback resistance is identical as the size of the reaction force；
The feedback resistance is transferred to the operating stick.
4. according to the method described in claim 2, it is characterized in that, described press according to the operational motion control puncture needle
According to the operational movement of the operating stick, comprising:
The real time position of the operating stick is sent according to the operational motion；
The puncture needle is controlled according to the operational movement of the operating stick according to the real time position.
5. method as claimed in any of claims 1 to 4, which is characterized in that it is described according to site of puncture
Position and the puncture needle position control described in puncture needle to the position precession to site of puncture, comprising:
The position of the puncture needle is associated with scanning and imaging unit, the scanning and imaging unit is enable to track described wear
Position where pricker；
Obtain the positional relationship of the position to site of puncture and the scanning and imaging unit；
The position incidence relation for obtaining the position to site of puncture and the puncture needle controls institute according to the incidence relation
Puncture needle is stated to the position precession to site of puncture.
6. a kind of puncture needle control device, which is characterized in that including position associative cell, moving cell and with the moving cell
The sensing unit being connected, wherein the moving cell includes puncture needle and the precession that is connected respectively at the puncture needle
Control unit and servo antrol unit；
The position associative cell, for obtaining the position to site of puncture and the position of puncture needle；
The precession control unit, for being worn according to the position control to the position of site of puncture with the puncture needle
Pricker is to the position precession to site of puncture；
The sensing unit, for receiving the puncture needle to the reaction force fed back when site of puncture punctures；
The servo antrol unit, continues to move for the puncture needle according to the control of the reactive force, to complete to described
Puncture procedure to site of puncture.
7. device according to claim 6, which is characterized in that the moving cell further includes transmission unit, the transmission
Unit, for the reaction force to be transferred to the operating stick that can be controlled the puncture needle；
The servo antrol unit is also used to receive the operational motion that the operating stick carries out the puncture needle, according to described
Operational motion controls the puncture needle according to the operational movement of the operating stick.
8. device according to claim 7, which is characterized in that the moving cell further includes feedback control unit, described
Feedback control unit is used to provide feedback resistance according to the reaction force, wherein the feedback resistance and the reaction force
Size is identical；
The transmission unit is also used to the feedback resistance being transferred to the operating stick.
9. device according to claim 7, which is characterized in that the transmission unit is also used to according to the operational motion
The real time position of the operating stick is sent to the servo antrol unit；
The servo antrol unit is also used to control the puncture needle according to the operation of the operating stick according to the real time position
Movement.
10. device according to any one of claims 6 to 9, which is characterized in that the position associative cell, including
Association process unit, in which:
The association process unit makes the scanning imagery list for the puncture needle to be associated with scanning and imaging unit
Member can track the position where the puncture needle；
The association process unit, the position for being also used to obtain the position to site of puncture and the scanning and imaging unit are closed
System；
The association process unit is also used to obtain the position to site of puncture and is associated with the position of the puncture needle
System；
The precession control unit is also used to control the puncture needle according to the incidence relation to the position to site of puncture
Set precession.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055048.5A CN109646090A (en) | 2019-01-21 | 2019-01-21 | Puncture needle control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055048.5A CN109646090A (en) | 2019-01-21 | 2019-01-21 | Puncture needle control method and device |
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| Publication Number | Publication Date |
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| CN109646090A true CN109646090A (en) | 2019-04-19 |
Family
ID=66120217
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910055048.5A Pending CN109646090A (en) | 2019-01-21 | 2019-01-21 | Puncture needle control method and device |
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| CN (1) | CN109646090A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113576667A (en) * | 2021-07-20 | 2021-11-02 | 北京理工大学 | Force feedback method for percutaneous puncture surgery, electronic device and robot |
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| CN113576667A (en) * | 2021-07-20 | 2021-11-02 | 北京理工大学 | Force feedback method for percutaneous puncture surgery, electronic device and robot |
| CN113576667B (en) * | 2021-07-20 | 2023-12-22 | 北京理工大学 | Force feedback method for percutaneous puncture operation, electronic device and robot |
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Application publication date: 20190419 |