CN101069964A - Surgical operation robot system guided under navigation system - Google Patents
Surgical operation robot system guided under navigation system Download PDFInfo
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- CN101069964A CN101069964A CN 200610011868 CN200610011868A CN101069964A CN 101069964 A CN101069964 A CN 101069964A CN 200610011868 CN200610011868 CN 200610011868 CN 200610011868 A CN200610011868 A CN 200610011868A CN 101069964 A CN101069964 A CN 101069964A
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Abstract
A surgery robot system guided by a navigation system contains a manipulator, an instrumental adapter, a surgery instrument and a navigation system of the robot. The surgery navigation system is used to guide the manipulator driving various surgery instruments for operation along the desired approach. The invention also relates to a method to use surgery robot for operation under the guidance of the navigation system.
Description
Technical field
The present invention relates to a kind of medical operating robot system, follow the tracks of the location that it adopts optical navigation system to carry out the operating theater instruments of clamping on the robot arm, is used for operation.
Background technology
Along with computer and microelectric technique and medical science applied fast development, the Medical Robot of various uses is just obtaining application more and more widely in medical domain.It integrates many technology such as robot, telecommunications, image processing, virtual reality, Minimally Invasive Surgery.The medical operating robot is one of forward position research focus wherein.At present, medical robot has been obtained at aspects such as neuro-surgery, cardiac repair, gall-bladder excising operation, prosthetic replacement, plastic surgery, Urology Surgery operations widely and has been used, when improving surgical effect and precision, also constantly start new operation, and expand to other field.
Compare with doctor's manual operations and to have great advantage in some aspects, because the location of manipulator is much more accurate, strong than the people, surgical procedure Chinese and foreign department doctor needn't stand in around the patient for a long time, thereby avoids operation to bring ground tired.Operation may cause the vibration of surgeon's arm for a long time, and this situation will not appear in manipulator.Just owing to the above-mentioned advantage of robot, the clinical practice of operating robot has expanded to the every field of surgery.
Surgical navigation systems is emerging a kind of surgery systems in this year, is a kind of frameless stereotaxis navigation system based on iconography (CT, MRI).It melts horseley-Clarke technique, computer medical image technology, and artificial intelligence technology and microinvasion technology are one.Before art, obtain patient's 3-D view by CT, MRI, set up dynamically between virtual digitized image and actual nervous system anatomical structure by optical system then and get in touch, in whole brain surgical procedure, provide real-time location navigation, help selecting in best operative approach, the art focus accurately to be located, with the damage of minimum, reach the satisfied excision of focus.It has represented the latest developments of image guide neurosurgery, has embodied the comprehensive development level of neuroimaging technology, microsurgery and computer technology, is the important component part of microinvasion neurosurgery.Have the following advantages: design operation plan before the art; Accurately make the real-time three-dimensional position of operation; Show art open country structure on every side; Point out the spatial relationship of present surgery location and target kitchen range; Adjust operative approach in the art in real time; Show the structure that operative approach may run into; Show important structure; Show the lesion resection scope.
Existing surgical robot system, as laid-open U.S. Patents 6999852, United States Patent (USP) 6728599 and Chinese patent 200410093829.7 etc. are used for laparoscopic surgery.They all are under endoscope or microscope guiding, control operating robot by the surgeon and finish various operation techniques.In these existing technology, the position that the operating theater instruments of the mechanical arm clamping of operating robot and needs of patients undergo surgery and operate, all must be presented in the mode of " truly " imaging or direct-view operative doctor in face of, to help the doctor, finish various operations in real time by operating robot control operating theater instruments.
Yet, in some operating occasions,, in the middle of the operation such as hip replacement, can not pass through endoscope as the implantation of spine pedicle screws, perhaps microscope is determined the path of operation, the important parameters such as orientation of apparatus.For example when spine pedicle screws is implanted, the operator need be according to the structure and the form of patient's backbone pedicle of vertebral arch, determine the pedicle nail implantation path of a safety, to avoid in the screw implantation process, accidentally injure patient's spinal nerve or vertebral artery blood vessel, cause complication or operative failure in the serious art.In such operation, endoscope or microscope just can't be used for determining the path of operation.
The optical operation navigation system is the development in recent years new technology of getting up, it can be by optical alignment, the tracking system of a cover infrared ray, determine the path and the orientation of operating theater instruments, simultaneously the path of the operating theater instruments of having determined and orientation are mated with the CT of the mode of image and patient's diseased region or MRI three-dimensional reconstruction image and overlap, present to the operation doctor, thereby the guided surgery doctor undergos surgery along safety, accurate operation pathway and orientation, avoids damaging in the art normal structure.The image that operation guiding system presents is different from endoscope and microscope, is the image that a kind of " virtual " rebuilds, but real-time.
When existing operation optical navigation system guiding operative doctor underwent surgery, operating theater instruments was manual direct operated by operative doctor.The limitation of this modus operandi is: determined when operation guiding system after the path and orientation of best operating theater instruments, because apparatus shake, deviation that operator's manual operations apparatus causes, often cause operating theater instruments to depart from predetermined operation pathway and orientation, the patient is threatened.In addition, rely on operative doctor hand-guided operating theater instruments, also can cause operator's physical fatigue for a long time, cause manipulation accuracy to descend operating theater instruments.
The present invention's optical navigation system of will performing the operation combines with surgical robot system, forms a new surgery systems as shown in Figure 2.Whole system is made up of two parts, i.e. optical operation navigation system and robot system.The optical operation navigation system mainly is made up of two thermal cameras, on operating theater instruments, be fixed with some infrared index points, thermal camera is caught the infrared index point on the operating theater instruments, determine the position of index point according to each index point position difference of imaging on video camera, thereby determine the position of operating theater instruments in the space.Operative doctor reaches assigned position according to the motion of the mechanical arm of this positional information control operating robot, finishes the accurate control to operating theater instruments.Like this, both guarantee the path of operating theater instruments and the accurate selection in orientation in the art, guaranteed again that mechanical arm was handled operating theater instruments accurately, safely in surgical procedure, finished meticulous operation technique.
Summary of the invention
The invention provides a kind of operating surgical robot system that can be used in conjunction with the optical operation navigation system.By infrared index point fixing on the surgical instrument of holding at mechanical arm, the operating theater instruments that robot measurement is abducted is with respect to patient's attitude and position, to improve the positioning accuracy of robot; By this operating robot can clamping, the positioning operation apparatus work is to needed surgery location, undergo surgery with guiding or auxiliary doctor.Whole system is made up of two parts, optical operation navigation system and robot system.The optical operation navigation system mainly is made up of two thermal cameras, on operating theater instruments, be fixed with some infrared index points, thermal camera is caught the infrared index point on the operating theater instruments, determine the position of index point according to each index point position difference of imaging on video camera, thereby determine the position of operating theater instruments in the space.Operating robot reaches assigned position according to the motion of this positional information control mechanical arm, has realized the accurate control to operating theater instruments.
Because what robot adopted is the operating theater instruments terminal positioning, the position of the direct positioning operation apparatus of navigation positioning system, therefore compare with traditional robot locating measurement method, the measure error of joint of robot can not transmitted and be amplified to operating theater instruments, precision is higher, therefore is more suitable for carrying out accurate operations such as surgery.
Purpose of the present invention: a kind of operating surgical robot system that can be used in conjunction with the optical operation navigation system is provided.The operator is by the optical operation navigation system, and control guiding operating robot carries out accurate operation with the operating theater instruments of clamping.
Technical scheme: whole system is made up of two parts, optical operation navigation system and robot system.The optical operation navigation system mainly is made up of two thermal cameras, on operating theater instruments, be fixed with some infrared index points, thermal camera is caught the infrared index point on the operating theater instruments, determine the position of index point according to each index point position difference of imaging on video camera, thereby determine the position of operating theater instruments in the space.Operative doctor reaches assigned position according to the motion of the mechanical arm of this positional information control operating robot, has realized the accurate control to operating theater instruments.
Benefit of the present invention: can realize the correct selection in the path and the orientation of operating theater instruments in the art, avoid damaging in the art normal structure; The error that can avoid artificial error of operator and long-time manual operations operation back fatigue to cause, the operation risk to the patient brings improves the success rate of operation, reduces the generation of complication in the art.
Description of drawings
Fig. 1 is the schematic diagram of the surgical robot system of a joint type with a plurality of frees degree.
Fig. 2 is the theory diagram of the surgical operation robot system under the navigation system guiding.
Fig. 3 is the schematic diagram that follow the tracks of the operating theater instruments location under the optical navigation system guiding.
Fig. 4 (a) is the schematic diagram of a typical infrared optical tracer.
Fig. 4 (b) is a schematic diagram that the operating theater instruments of infrared optics tracer is installed.
Fig. 5 is the schematic diagram that is installed in the operating theater instruments that the infrared ray tracer is arranged on the apparatus adapter by anchor clamps.
Fig. 6 is the schematic diagram of spine pedicle screws implant surgery.
Fig. 7 is the schematic diagram of hip replacement surgery.
The specific embodiment
Below describing is explanation of the invention, is not that institute of the present invention restricted portion is referring to claim to the qualification of invention, and under the situation of spirit of the present invention, the present invention can do any type of modification.
Described in the invention is a kind of operating robot system that is used for, and as shown in Figure 1, surgical robot system 1 is a robot with joint type of a plurality of frees degree.Operating theater instruments 3 (ultrasonic surgical blade) front end is equipped with surgical knife tool 5, be connected to by apparatus adapter 4 on the mechanical arm 2 of operating robot 1, mechanical arm 2 by accurate control multi-freedom joint humanoid robot 1, can finish accurate control, realize the operation of elaborate operating theater instruments 3.
Surgical robot system described in the invention can combine with operation guiding system, finishes meticulous operation.Though operating robot can accurately be controlled operating theater instruments and finish the meticulous operation of various complexity, but because operation is more and more to Wicresoft's development, replace traditional big otch " direct-view " operation gradually, therefore Wicresoft's delicate procedure develops in recent years: by the research to image datas such as patient CT, MRI, formulate the pre-operative surgical plan before art; In art, by CT in the art anatomical structure of patient's diseased region is rebuild, again by the position of operation guiding system accurate tracking operating theater instruments, make the patient under the situation of Wicresoft, the position of the anatomical structure of patient's diseased region of rebuilding by navigation system and the operating theater instruments of navigation system indication realizes the patient is implemented Minimally Invasive Surgery.Concrete principle as shown in Figure 2.CT passes to the CT work station with the image data of diseased region real-time in patient's art in the art, the CT work station passes to navigation system with these image datas, be reconstructed into the image of three-dimensional reflection patient anatomical structure by navigation system, the position with operating theater instruments is superimposed upon in patient's the 3 D anatomical image simultaneously.The operator can be implemented under Wicresoft's condition the control accurately accurate to operating theater instruments by the control robot, reduces the generation to complication in patient's wound and the art.
Operation guiding system of the present invention is based on the navigator fix and the tracking system of optical principle.As Fig. 3.On operating theater instruments 3, install infrared ray tracer 7 by anchor clamps 9 and trip bolt 10, plural infrared camera 11 is installed on the navigational tracker 6.Witch ball 8 on the thermal camera 11 real-time tracking tracers 7, thereby the position of on definite operating theater instruments 3 forward terminal 12 of surgical knife tool 5 being installed.Fig. 4 (a) provides a typical infrared optical tracer, and it comprises infrared light emission (perhaps reflective) ball 8, apparatus anchor clamps 9 and trip bolt 10.Fig. 4 (b) has provided an operating theater instruments 3 (being ultrasound knife shown in the figure) that the infrared optics tracer is installed, and surgical knife tool 5 is installed in the front end of operating theater instruments 3.
The operating theater instruments that the infrared ray tracer is installed is installed on the mechanical arm of operating robot by the operation adapter.As shown in Figure 5.The operating theater instruments 3 of infrared ray tracer is installed, is installed on the apparatus adapter 4 by anchor clamps 8.On the folder mouth 13 of anchor clamps, operating theater instruments 3 is locked on the apparatus anchor clamps 8, to guarantee that apparatus is firm, stable in the surgical procedure with lock-screw 18.Connector 14 and trip bolt 16 are fixed on the apparatus anchor clamps on the base 15 of apparatus adapter.Connector 27 is fixed on apparatus adapter 4 on the mechanical arm 2 of operating robot 1 by installing hole 17.
Patent of the present invention also relates to a kind of under the navigation system guiding, utilizes operating robot shown in Figure 1 to carry out operating method.Distinguishingly, utilize operating robot shown in Figure 1 can carry out spine pedicle screws implant surgery as shown in Figure 6.Operating robot can be divided into three steps:
1. bore in a certain direction earlier as a hole 27 by pedicle of vertebral arch 22 places at patient's backbone (cervical vertebra, lumbar vertebrae etc.) position by operating theater instruments such as electronic, pneumatic abrasive drilling of control of apparatus adapter or ultrasound knifes;
2. on the apparatus adapter, change tapping apparatus (electronic or on-electric), attack screw thread in hole 27 by the tapping apparatus;
3. on the apparatus adapter, change screwdriver apparatus (electronic or on-electric), pedicle nail 19 is implanted in patient's pedicle of vertebral arch 22 and the centrum 20 by the screwdriver apparatus.
In above 3 steps, the operator all will accurately control various operating theater instruments by robot and enter the position of pedicle of vertebral arch and centrum, in order to avoid damaged patient's spinal cord 21.
Distinguishingly, utilize operating robot shown in Figure 1 can carry out in as shown in Figure 7 the hip replacement surgery, install at the bottom of the metal acetabular in the formation of the screw hole 25 on 24 used patient's basin bones 23.Fixing screw hole 25 is got out on patient's basin bone 23 by the surgical knife tool 5 on the operating theater instruments 3 under the robot arm control, and the accuracy of its direction can be obtained by the precision control of mechanical arm, has guaranteed the accurate installation of artificial hip joint.
Above-mentioned example of the present invention and embodiment can be thought exemplary, rather than determinate, and the present invention is not limited to the given details of this specification, but enclosing claims and being equal within the scope of replacement, can improve.
Claims (4)
1. the surgical operation robot system under a navigation system guides, this system comprises mechanical arm, apparatus adapter, surgical operating instrument and the operation guiding system of robot, the mechanical arm that described operation guiding system is used for guided robot drives various operating theater instruments, operation approach along plan undergos surgery to the patient.
2. according to claim 1, described apparatus adapter is used for surgical operating instrument is clamped to the mechanical arm of robot.
3. according to claim 1, described surgical operating instrument is finished various operations under the driving of robot arm.
4. one kind is utilized operating robot system as claimed in claim 1 to carry out operating method.This method comprises:
Surgical operating instrument is passed through the clamping of apparatus adapter to the mechanical arm of robot;
Under the guiding of operation guiding system, the accurate location of operating theater instruments is offered operative doctor;
Operative doctor control operating robot by the driving operating theater instruments of robot arm, is finished various operations.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200610011868 CN101069964A (en) | 2006-05-10 | 2006-05-10 | Surgical operation robot system guided under navigation system |
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| CN 200610011868 CN101069964A (en) | 2006-05-10 | 2006-05-10 | Surgical operation robot system guided under navigation system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862223A (en) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | Operating robot |
| CN102258399A (en) * | 2011-04-28 | 2011-11-30 | 上海交通大学 | Ultrasonic ranging and optical positioning coupled noninvasive real-time tracker |
| CN102512246A (en) * | 2011-12-22 | 2012-06-27 | 中国科学院深圳先进技术研究院 | Surgery guiding system and method |
| CN104688344A (en) * | 2013-12-09 | 2015-06-10 | 苏州点合医疗科技有限公司 | Decompression combined robot arm for digital spinal surgeries |
| CN105310754A (en) * | 2015-02-04 | 2016-02-10 | 江苏怡龙医疗科技有限公司 | Constant-thrust and uniform-speed cutting orthopedic electric saw mechanism applicable to surgical robots |
| CN106539625A (en) * | 2017-01-10 | 2017-03-29 | 北京积水潭医院 | A kind of operating robot optical tracker positioner |
| CN112025704A (en) * | 2020-08-25 | 2020-12-04 | 杭州湖西云百生科技有限公司 | Real-time distributed robot control method and system based on memory type database |
| CN112203611A (en) * | 2018-04-13 | 2021-01-08 | 艾斯伊医疗技术公司 | Medical robot |
| CN113456229A (en) * | 2020-03-31 | 2021-10-01 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
| CN113693722A (en) * | 2021-04-14 | 2021-11-26 | 北京铸正机器人有限公司 | Auxiliary intervertebral foramen mirror positioning and guiding device |
| CN115553923A (en) * | 2022-09-19 | 2023-01-03 | 重庆生物智能制造研究院 | Ankle joint surgical robot system and control method thereof |
-
2006
- 2006-05-10 CN CN 200610011868 patent/CN101069964A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862223A (en) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | Operating robot |
| CN101862223B (en) * | 2010-06-24 | 2012-02-15 | 中国科学院深圳先进技术研究院 | Operating robot |
| CN102258399A (en) * | 2011-04-28 | 2011-11-30 | 上海交通大学 | Ultrasonic ranging and optical positioning coupled noninvasive real-time tracker |
| CN102258399B (en) * | 2011-04-28 | 2012-11-28 | 上海交通大学 | Ultrasonic ranging and optical positioning coupled noninvasive real-time tracker |
| CN102512246A (en) * | 2011-12-22 | 2012-06-27 | 中国科学院深圳先进技术研究院 | Surgery guiding system and method |
| CN102512246B (en) * | 2011-12-22 | 2014-03-26 | 中国科学院深圳先进技术研究院 | Surgery guiding system and method |
| CN104688344A (en) * | 2013-12-09 | 2015-06-10 | 苏州点合医疗科技有限公司 | Decompression combined robot arm for digital spinal surgeries |
| CN105310754A (en) * | 2015-02-04 | 2016-02-10 | 江苏怡龙医疗科技有限公司 | Constant-thrust and uniform-speed cutting orthopedic electric saw mechanism applicable to surgical robots |
| CN106539625A (en) * | 2017-01-10 | 2017-03-29 | 北京积水潭医院 | A kind of operating robot optical tracker positioner |
| CN112203611A (en) * | 2018-04-13 | 2021-01-08 | 艾斯伊医疗技术公司 | Medical robot |
| CN113456229A (en) * | 2020-03-31 | 2021-10-01 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
| CN112025704A (en) * | 2020-08-25 | 2020-12-04 | 杭州湖西云百生科技有限公司 | Real-time distributed robot control method and system based on memory type database |
| CN113693722A (en) * | 2021-04-14 | 2021-11-26 | 北京铸正机器人有限公司 | Auxiliary intervertebral foramen mirror positioning and guiding device |
| CN115553923A (en) * | 2022-09-19 | 2023-01-03 | 重庆生物智能制造研究院 | Ankle joint surgical robot system and control method thereof |
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Effective date of registration: 20080926 Address after: Room 302, block B, Haisheng office building, 45 Cheng Fu Road, Haidian District, Beijing. Applicant after: Beijing Boda Micro Technology Co., Ltd. Co-applicant after: Beijing Jishuitan Hospital Address before: A, building 405, research building, Tsinghua Science and Technology Park, Beijing, Haidian District Applicant before: Beijing Boda High Tech Co., Ltd. Co-applicant before: Beijing Jishuitan Hospital |
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Application publication date: 20071114 |