CN105963018A - Intelligent spinal anesthesia puncture robot system - Google Patents
Intelligent spinal anesthesia puncture robot system Download PDFInfo
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- CN105963018A CN105963018A CN201610268405.2A CN201610268405A CN105963018A CN 105963018 A CN105963018 A CN 105963018A CN 201610268405 A CN201610268405 A CN 201610268405A CN 105963018 A CN105963018 A CN 105963018A
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- A61B17/34—Trocars; Puncturing needles
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Abstract
The invention relates to an intelligent spinal anesthesia puncture robot system, which is characterized by comprising two parts, namely a robot main body and an image processing system, wherein the robot main body and the image processing system are in data communication by virtue of a wireless network; the robot main body is provided with an executing module, a control module, a pressure sensor module, an A/D conversion (analog-to-digital conversion) unit and a motor driving module; and the image processing system comprises a PC (personal computer), a calibration module and a binocular vision system. By virtue of an image processing technology, route planning for preoperative puncture is achieved by the system; preoperative puncture actions are implemented by virtue of a robot automatic control technology; axial stress of a puncture needle adopted in the puncture is detected and collected in real time by virtue of the integrated pressure sensor module, so that the whole course of the puncture process is monitored and possible accidents caused by manual puncture are effectively avoided; and the entire system is simple in structure and logics and is high in reliability.
Description
Technical field
The present invention relates to a kind of Intelligent spine anesthetic puncture robot system.
Background technology
Spinal anesthesia is and local anaesthetics is injected into epidural space or subarachnoid space, blocks spinal nerve root and makes corresponding site produce paralysis.Existing spinal anesthesia operation is general uses free-hand location or radioactivity to monitor and determine body surface entry point and direction, but inserting needle often results in the complication that some are common the most accurately, exert oneself the excessive epidural vessel hemorrhage caused during cavum epidural puncture and epidural catheter puts entrance subarachnoid space by mistake, bring certain interference to the data analysis of diagnostic monitoring.Put conduit by mistake and there is also other materials some are invalid, poisonous or pernicious (such as anesthetis, antibiotic, chemotherapy agents or other diagnostic reagents etc.) introducing body.It addition, the complication vertebra headache after thecal puncture also can be brought by extra puzzlement and misery to minimal invasive treatment.
Summary of the invention
For problems of the prior art, it is an object of the invention to provide the Intelligent spine anesthetic puncture robot system of the security performance monitoring of a kind of execution carrying out puncture action in the linear programming of preoperative puncture path, art and anesthetic puncture process.This system realizes the path planning of preoperative puncture by image processing techniques；The execution of puncture action in art is realized by robot automatic control technology；By integrated pressure sensor module, the axially loaded of the puncture needle in puncturing detected in real time and gathers, it is achieved the monitored over time of piercing process, it is possible to being prevented effectively from and manually puncture the unexpected generation that may bring；The structure of whole system, logic are simple, with a high credibility.
Described Intelligent spine anesthetic puncture robot system, it is characterised in that be made up of robot body and image processing system two parts, carry out data communication by wireless network between robot body and image processing system；
Described robot body is provided with execution module, control module, pressure sensor module, A/D converting unit and motor drive module,
Described pressure sensor module can detect the axial force that puncture needle is subject in real time；
The axially loaded of puncture needle can be analyzed by described control module according to the force value of pressure sensor module Real-time Collection, critical point when judging that puncture needle penetrates different tissues by the change of stress value, it is achieved the monitored over time of piercing process；The signal input part of described control module is connected with the outfan of pressure sensor module by A/D converting unit, the control signal outfan of control module is connected with the control signal input of motor drive module, and control module can be communicated wirelessly with image processing system by communication interface；
Described execution module is robot modules based on 5 axle joint arms, and including support and be arranged at the 3 axle joint detent mechanisms being connected above support and with support, 3 axle joint detent mechanisms are arranged in series with binary turning arm；Described binary turning arm can hold the mechanical hand putting pin, and at the pressure sensor module described in the installation of binary pivot arm ends；
Described image processing system includes PC, calibration module and binocular vision system, and PC is high-end PC, as the hardware platform of image processing system；
Described calibration module is made up of three pieces of calibration plates, including upper plane landmark plate, lower plane mark plate and matrix correction plate, upper plane landmark plate, lower plane mark plate and matrix correction plate are sequentially arranged on the image amplifier of C-arm X-ray machine, the steel ball ball wherein going up plane landmark plate and be respectively embedded into three consistent a diameter of 2mm of arrangement mode on lower plane mark plate, index point as images match, the irradiation utilizing the X-ray emission source in the C-arm of C arm X-ray machine forms calibration image on imaging plane, by PC, image and calibration module is carried out coordinate unification；The front of described matrix correction plate is evenly distributed with the diameter 2mm steel ball ball that spacing is 10mm of 15x15, index point as image distortion correction, the irradiation utilizing the X-ray emission source in C-arm forms correction chart picture on imaging plane, by PC, fluoroscopy images is carried out distortion correction；The bottom of described calibration module is distributed 3 diameter 2mm steel ball balls representing calibration module coordinate plane；
Described binocular vision system includes 1 high-definition camera, two width digital pictures of the different angles of the most same index point are obtained by mobile fixed range, and the binocular vision system constructed based on Binocular Vision Principle, for unifying the coordinate system of calibration module and robot module.
Described Intelligent spine anesthetic puncture robot system, it is characterised in that the operating procedure of this Intelligent spine anesthetic puncture robot system is as follows:
(1) calibration operation:
1) calibration module is arranged on the image amplifier of C arm X-ray machine, first loads onto matrix correction plate, obtain fluoroscopy images by C arm X-ray machine, and fluoroscopy images is inputted to image processing system, it is achieved the correction to fault image；
2) take off matrix correction plate, then load onto plane landmark plate, lower plane mark plate, obtain fluoroscopy images by C arm X-ray machine, and fluoroscopy images is inputted to image processing system, it is achieved image coordinate and the unification of calibration module coordinate；
(2) inserting needle operation:
A) patient is positioned between image amplifier and the X-ray emission source of C arm X-ray machine, is obtained the fluoroscopy images of focus by C arm X-ray machine, and fluoroscopy images is inputted to image processing system；Then on the human-computer interaction interface of image processing system, choose entry point, confirm errorless rear operation；Result of calculation, after computing, is sent to robot body by wireless network by image processing system；
B), after robot body receives result of calculation, control execution module is carried out inserting needle operation by its control module；During inserting needle, carrying out mechanics monitoring by pressure sensor module, when penetrating ligamenta flava, robot can stop inserting needle operation immediately, and points out operator in art can carry out defeated anaesthetic operation；
C), after completing the operation of defeated anaesthetic, in art, operator can send withdraw of the needle instruction by the human-computer interaction interface of image processing system to robot, and after robot receives withdraw of the needle instruction, robot can exit anesthetic needle along inserting needle route.
The invention has the beneficial effects as follows:
1) present invention can carry out linear orientation by the fluoroscopy images of the C arm X-ray machine of the 2D in art, i.e. utilizes the fluoroscopy images of the C arm X-ray machine of 2D to calculate entry point and inserting needle direction；And existing spinal anesthesia operation is general uses free-hand location or radioactivity to monitor and determine body surface entry point and direction, according to free-hand positioning mode, then cannot precise positioning, cause have an injection operation in operating process, is repeated, add the misery of patient and the risk of anesthesia；Carry out the mode positioned according to radioactivity monitoring, such as CT etc., although the precision of location so can be improved, but allow again patient be subjected to the injury of ray in anaesthesia process；And the present invention just can calculate entry point and inserting needle direction only by the fluoroscopy images of the C arm X-ray machine of the 2D in an art, the most just decreases the misery of patient, greatly reduces the risk of anesthesia；
2) existing spinal anesthesia operation is except cannot be in addition to precise positioning, the problem of poor stability when there is also hand operation；And the present invention uses robot module to carry out inserting needle operation, there is the advantage of high stability, high precision；
3) in spinal anesthesia operates, owing to anesthetic needle penetrates some tissue, during such as ligamenta flava, inserting needle resistance is bigger, cause operator cannot control inserting needle dynamics, ultimately resulting in epidural vessel hemorrhage and epidural catheter puts a series of problems such as entrance subarachnoid space by mistake, therefore even having the auxiliary of radioactivity monitoring device, existing spinal anesthesia operation yet suffers from the biggest risk and mortality；And the present invention has installed pressure sensor module additional at the end performing robot module, the axial force being subject to puncture needle is monitored in real time, by the analysis of control module, it is clear that current anesthetic needle is either with or without penetrating critical tissue, it can be allowed to stop at once when the moment that anesthetic needle penetrates, effectively prevent by mistake putting of anesthetic needle.
Accompanying drawing explanation
Fig. 1 is Intelligent spine anesthetic puncture robot system architecture's block diagram；
Fig. 2 is the structural representation of Intelligent spine anesthetic puncture robot system；
Fig. 3 is upper plane landmark plate schematic diagram；
Fig. 4 is lower plane mark plate schematic diagram；
Fig. 5 is matrix correction plate schematic diagram；
Fig. 6 is calibration module coordinate index point schematic diagram；
Fig. 7 is the stress curve schematic diagram of piercing process；
In figure: 1-C arm X-ray machine；2-image amplifier；3-X photo-emission source；4-patient；5-anesthetic needle or conduit；6-mechanical hand；The binary turning arm of 7-；8-3 axle joint detent mechanism；9-support；10-binocular vision system；11-photographic head initial bit；12-photographic head stop bits；13-upper plane landmark plate；14-lower plane mark plate；15-matrix correction plate；16-calibration module coordinate index point.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described:
Fig. 1 is Intelligent spine anesthetic puncture robot system architecture's block diagram of the present invention, includes robot body and the big nucleus module of image processing system two.Data communication is carried out by wireless network between robot body and image processing system.Robot body is provided with execution module, control module, A/D converting unit, motor drive module and pressure sensor module, and pressure sensor module therein can detect the axial force that puncture needle is subject in real time.And pressure sensor module is connected with control module further through A/D converting unit, control module is connected with performing module by motor drive module.The axially loaded of puncture needle can be analyzed by control module according to the force value of pressure sensor module Real-time Collection, Fig. 6 is the stress curve schematic diagram of piercing process, as shown in the figure, when inserting needle to t1 moment, inserting needle resistance reaches maximum, when breaking through certain tissue (such as ligamenta flava), i.e. during t2 moment, inserting needle resistance dramatic decrease.Critical point when control module judges that puncture needle penetrates different tissues by the change of stress value, it is achieved the monitored over time of piercing process, controls to perform the motion of module simultaneously.Image processing system described in Fig. 1 includes PC, calibration module and binocular vision system 10.
Fig. 2 is the structural representation of Intelligent spine anesthetic puncture robot system of the present invention, and described calibration module is made up of upper plane landmark plate 13, lower plane mark plate 14, matrix correction plate 15, may be installed on the image amplifier 2 of C arm X-ray machine 1.Upper plane landmark plate 13 therein consistent with being respectively embedded into three arrangement modes on lower plane mark plate 14 directly for 2mm steel ball ball, as shown in Figure 3, Figure 4, index point as images match, the irradiation utilizing the X-ray emission source in the C-arm of C arm X-ray machine forms calibration image on imaging plane, by PC, image and calibration module is carried out coordinate unification；Additionally the front of matrix correction plate 15 is evenly distributed with the diameter 2mm steel ball ball that spacing is 10mm of 15x15, as it is shown in figure 5, utilize the irradiation of the X-ray emission source in C-arm to form correction chart picture on imaging plane, by PC, fluoroscopy images is carried out distortion correction.On the support 9 of the execution module that binocular vision system 10 is arranged on robot body, maintain fixing relative position relation with support 9.Binocular vision system 10 includes 1 high-definition camera, it is the digital picture by shooting the calibration module coordinate index point 16 in a calibration module coordinates logo plane at photographic head initial bit 11, then fixed range is moved to the digital picture of the calibration module coordinate index point 16 shot again at photographic head stop bits 12 in a calibration module coordinates logo plane, and the transformational relation of the coordinate system of calibration module and the coordinate system of robot module is derived based on Binocular Vision Principle, finally unify the coordinate to robot coordinate and fasten.
Binocular vision system has been mature technology, and the present invention is only applied to, and therefore binocular vision system does not repeats them here.
3 axle joint detent mechanisms 8 in Fig. 2 are connected with support 9, and 3 axle joint detent mechanisms 8 are arranged in series with binary turning arm 7 again, and mechanical hand 6 is arranged on binary turning arm 7, and anesthetic needle or conduit 5 are gripped by mechanical hand 6.
The operating procedure of the present invention is as follows:
(1) calibration operation:
1) calibration module is arranged on the image amplifier 2 of C arm X-ray machine 1, first loads onto matrix correction plate 15, obtain fluoroscopy images by C arm X-ray machine 1, and fluoroscopy images is inputted to image processing system, it is achieved the correction to fault image；
2) take off matrix correction plate 15, then load onto plane landmark plate 13, lower plane mark plate 14, obtain fluoroscopy images by C arm X-ray machine 1, and fluoroscopy images is inputted to image processing system, it is achieved image coordinate and the unification of calibration module coordinate；
(2) inserting needle operation:
A) patient 4 is positioned between image amplifier 2 and the X-ray emission source 3 of C arm X-ray machine 1, is obtained the fluoroscopy images of focus by C arm X-ray machine 1, and fluoroscopy images is inputted to image processing system；Then choosing entry point on the human-computer interaction interface of image processing system, confirm errorless rear operation, result of calculation, after computing, is sent to robot body by wireless network by image processing system；
B), after robot body receives result of calculation, control execution module is carried out inserting needle operation by its control module；During inserting needle, carry out mechanics monitoring by pressure sensor module；When penetrating certain particular organization (such as ligamenta flava), robot can stop inserting needle operation immediately, and points out operator in art can carry out defeated anaesthetic operation；
C), after completing the operation of defeated anaesthetic, in art, operator can send withdraw of the needle instruction by the human-computer interaction interface of image processing system to robot；After robot receives withdraw of the needle instruction, robot can exit anesthetic needle along inserting needle route.
This system realizes the path planning of preoperative puncture by image processing techniques；The execution of puncture action in art is realized by robot automatic control technology；By integrated pressure sensor module, the axially loaded of the puncture needle in puncturing detected in real time and gathers, it is achieved the monitored over time of piercing process, it is possible to being prevented effectively from and manually puncture the unexpected generation that may bring；The structure of whole system, logic are simple, with a high credibility.
It should be pointed out that, that the above detailed description of the invention can make those skilled in the art that the invention is more fully understood, but limit the invention never in any form.Therefore; although this specification referring to the drawings and embodiment to the invention, oneself has been described in detail; but; skilled artisan would appreciate that; still the invention can be modified or equivalent; in a word, all are without departing from the technical scheme of the spirit and scope of the invention and improvement thereof, and it all should be contained in the middle of the protection domain of the invention patent.
Claims (2)
1. Intelligent spine anesthetic puncture robot system, it is characterised in that be made up of robot body and image processing system two parts, carry out data communication by wireless network between robot body and image processing system；
Described robot body is provided with execution module, control module, pressure sensor module, A/D converting unit and motor drive module,
Described pressure sensor module can detect the axial force that puncture needle is subject in real time；
The axially loaded of puncture needle can be analyzed by described control module according to the force value of pressure sensor module Real-time Collection, critical point when judging that puncture needle penetrates different tissues by the change of stress value, it is achieved the monitored over time of piercing process；The signal input part of described control module is connected with the outfan of pressure sensor module by A/D converting unit, the control signal outfan of control module is connected with the control signal input of motor drive module, and control module can be communicated wirelessly with image processing system by communication interface；
Described execution module is robot modules based on 5 axle joint arms, and including support and be arranged at the 3 axle joint detent mechanisms being connected above support and with support, 3 axle joint detent mechanisms are arranged in series with binary turning arm；Described binary turning arm can hold the mechanical hand putting pin, and at the pressure sensor module described in the installation of binary pivot arm ends；
Described image processing system includes PC, calibration module and binocular vision system, and PC is high-end PC, as the hardware platform of image processing system；
Described calibration module is made up of three pieces of calibration plates, including upper plane landmark plate, lower plane mark plate and matrix correction plate, upper plane landmark plate, lower plane mark plate and matrix correction plate are sequentially arranged on the image amplifier of C-arm X-ray machine, the steel ball ball wherein going up plane landmark plate and be respectively embedded into three consistent a diameter of 2mm of arrangement mode on lower plane mark plate, index point as images match, the irradiation utilizing the X-ray emission source in the C-arm of C arm X-ray machine forms calibration image on imaging plane, by PC, image and calibration module is carried out coordinate unification；The front of described matrix correction plate is evenly distributed with the diameter 2mm steel ball ball that spacing is 10mm of 15x15, index point as image distortion correction, the irradiation utilizing the X-ray emission source in C-arm forms correction chart picture on imaging plane, by PC, fluoroscopy images is carried out distortion correction；The bottom of described calibration module is distributed 3 diameter 2mm steel ball balls representing calibration module coordinate plane；
Described binocular vision system includes 1 high-definition camera, two width digital pictures of the different angles of the most same index point are obtained by mobile fixed range, and the binocular vision system constructed based on Binocular Vision Principle, for unifying the coordinate system of calibration module and robot module.
Intelligent spine anesthetic puncture robot system the most according to claim 1, it is characterised in that the operating procedure of this Intelligent spine anesthetic puncture robot system is as follows:
(1) calibration operation:
1) calibration module is arranged on the image amplifier of C arm X-ray machine, first loads onto matrix correction plate, obtain fluoroscopy images by C arm X-ray machine, and fluoroscopy images is inputted to image processing system, it is achieved the correction to fault image；
2) take off matrix correction plate, then load onto plane landmark plate, lower plane mark plate, obtain fluoroscopy images by C arm X-ray machine, and fluoroscopy images is inputted to image processing system, it is achieved image coordinate and the unification of calibration module coordinate；
(2) inserting needle operation:
A) patient is positioned between image amplifier and the X-ray emission source of C arm X-ray machine, is obtained the fluoroscopy images of focus by C arm X-ray machine, and fluoroscopy images is inputted to image processing system；Then on the human-computer interaction interface of image processing system, choose entry point, confirm errorless rear operation；Result of calculation, after computing, is sent to robot body by wireless network by image processing system；
B), after robot body receives result of calculation, control execution module is carried out inserting needle operation by its control module；During inserting needle, carrying out mechanics monitoring by pressure sensor module, when penetrating ligamenta flava, robot can stop inserting needle operation immediately, and points out operator in art can carry out defeated anaesthetic operation；
C), after completing the operation of defeated anaesthetic, in art, operator can send withdraw of the needle instruction by the human-computer interaction interface of image processing system to robot, and after robot receives withdraw of the needle instruction, robot can exit anesthetic needle along inserting needle route.
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| CN107049431A (en) * | 2016-12-30 | 2017-08-18 | 西安中科微光影像技术有限公司 | A kind of automatic puncturing robot |
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