CN107928791A - Robot-assisted puncture method, system and device - Google Patents
Robot-assisted puncture method, system and device Download PDFInfo
- Publication number
- CN107928791A CN107928791A CN201711283221.4A CN201711283221A CN107928791A CN 107928791 A CN107928791 A CN 107928791A CN 201711283221 A CN201711283221 A CN 201711283221A CN 107928791 A CN107928791 A CN 107928791A
- Authority
- CN
- China
- Prior art keywords
- puncture
- needle
- path
- puncture needle
- soft tissue
- Prior art date
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 210000004872 soft tissue Anatomy 0.000 claims abstract description 45
- 238000013334 tissue model Methods 0.000 claims abstract description 18
- 230000003902 lesion Effects 0.000 claims description 46
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 2
- 208000019155 Radiation injury Diseases 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 8
- 238000002059 diagnostic imaging Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 238000002679 ablation Methods 0.000 description 2
- 238000001574 biopsy Methods 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- 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
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a robot-assisted puncture method, which comprises the steps of receiving a medical image signal of a puncture object, and modeling a focus and soft tissue of the puncture object to obtain a focus three-dimensional model and a soft tissue model; planning a puncture path according to the focus three-dimensional model and the soft tissue model; determining a body surface puncture point and a needle inserting angle of a puncture object according to the puncture path; controlling a puncture execution device to move to a corresponding body surface puncture position according to the body surface puncture point and the needle inserting angle, wherein the puncture execution device comprises a puncture needle and a puncture power assembly for driving the puncture needle to move; and controlling the puncture needle to puncture to a target spot according to the puncture path. The method realizes puncture of a puncture object through robot assistance, avoids the problem that whether the optimal puncture point is reached cannot be accurately judged depending on clinical experience of a doctor, reduces surgical risks, improves puncture efficiency, and reduces long-time radiation injury of medical personnel.
Description
Technical field
The present invention relates to medical auxiliary equipment field, more specifically to a kind of robot assisted piercing method and is
System, further relates to a kind of robot assisted sting device.
Background technology
In tradition, doctor guides positioning body surface to wear when doing puncturing operation for patient, by medical images such as CT, X-ray machines
Point is pierced, then single-handedly carries out puncturing operation according to experience by doctor, and for not abundant enough the doctor of experience, piercing process
In can also adjust inserting needle direction under X-ray guiding until reaching target position.
There are the problem of be：During puncturing operation is done, doctor can only single-handedly puncture, and undue dependence is faced with doctor's
Bed experience, can not accurate judgement whether have arrived at optimum puncturing point, on the one hand cause very big operation risk, the opposing party
Face, verification is repeatedly adjusted due to needing ceaselessly to iterate through the medical imaging devices such as CT, until reach target position, make patient and
Medical worker is exposed under X-ray for a long time, is caused medical worker and is received unnecessary radiation injury, and punctures effect
Rate is relatively low.
It need to be sentenced in conclusion how to efficiently solve and optimum puncturing point is reached in puncturing operation according to doctors experience
Disconnected, the problems such as operation risk is big, be current those skilled in the art's urgent problem.
The content of the invention
In view of this, it is an object of the invention to provide a kind of robot assisted piercing method, solve in puncturing operation
The problems such as optimum puncturing point need to be judged according to doctors experience, operation risk is big is reached, second object of the present invention is to carry
For a kind of robot assisted lancing system, third object of the present invention is to provide a kind of robot assisted sting device.
In order to reach above-mentioned first purpose, the present invention provides following technical solution：
A kind of robot assisted piercing method, including：
The medical image signal for puncturing object is received, the lesion and soft tissue of the puncture object are modeled, obtained
Lesion threedimensional model and soft tissue model；
According to the lesion threedimensional model and the soft tissue model, puncture path is planned；
According to the puncture path, the body puncture point and needle angle for puncturing object is determined；
According to the body puncture point and the needle angle, control punctures executive device and is moved to corresponding body puncture
Position, the executive device that punctures include puncture needle and drive the puncture Power Component of the puncture needle movement；
According to the puncture path, the puncture needle is controlled to be punctured to target.
Preferably, it is described according to the puncture path, control the puncture needle to be punctured to target, specific bag
Include：
Obtain according to the preset rules scanning real time position and target for puncturing the puncture needle that object obtains
Position, corrects the puncture path in real time, and controls the puncture needle to be punctured to target.
Preferably, it is described according to the puncture path, control the puncture needle to be punctured to target, specific bag
Include：
The virtual piercing assembly synchronous with the puncture needle is received to puncture the virtual object that punctures according to the puncture path
Actual puncture path signal, according to puncture needle described in the actual puncture path signal Synchronization Control to it is described puncture object into
Row punctures.
Preferably, the method further includes：
The resistance signal between the puncture needle and soft tissue is obtained, and the resistance signal is sent to the virtual puncture
Component.
Preferably, it is described to puncture executive device according to the body puncture point and the needle angle, control and be moved to phase
Before the body puncture position answered, the method further includes：
The sky between space relative coordinate between the lesion and CT, the lesion and body puncture point is obtained respectively
Between relative coordinate and it is described CT with the space relative coordinate of the puncture needle；
Determine the space relative coordinate between the body puncture point and the puncture needle.
Present invention also offers a kind of robot assisted lancing system, including：
Medical image acquiring unit, the medical image signal of object is punctured for receiving, to the lesion of the puncture object
It is modeled with soft tissue, obtains lesion threedimensional model and soft tissue model；
Control unit, for the lesion threedimensional model that is obtained according to the medical image acquiring unit and soft group described
Organization model, plans puncture path；According to the puncture path, the body puncture point and needle angle for puncturing object is determined；
According to the body puncture point and the needle angle, control punctures executive device and is moved to corresponding body puncture position, institute
State and puncture the puncture Power Component that executive device includes puncture needle and drives the puncture needle to move；According to the puncture path,
The puncture needle is controlled to be punctured to target.
Preferably, described control unit specifically includes：
Puncture path amending unit：For obtaining according to the preset rules scanning puncture needle for puncturing object and obtaining
Real time position and target position, correct the puncture path in real time, and control the puncture needle to be punctured to target
Target spot.
Preferably, described control unit, specifically includes：
Virtual piercing assembly signal acquiring unit, for receiving the virtual piercing assembly synchronous with the puncture needle according to institute
Puncture path is stated to the virtual actual puncture path signal for puncturing object and puncturing；
Puncture needle synchronous control unit, for the actual puncture received according to the virtual piercing assembly signal acquiring unit
Path signal, puncture needle described in Synchronization Control puncture the puncture object.
Preferably, described control unit further includes：
Puncture needle force feedback unit, believes for obtaining the resistance signal of the puncture needle and soft tissue, and by the resistance
Number send to the virtual piercing assembly.
Present invention also offers a kind of robot assisted sting device, including：
The lesion image and the medical image of soft tissue shadow's picture and transmission to master control set that object is punctured for obtaining obtain
Device；
Lesion image and soft tissue shadow's picture for the puncture object sent according to the medical image acquisition device
Handled, the puncture path after being planned, and control puncture executive device to be moved along the puncture path to realize
The master control set of automatic puncturing, the master control set perform dress with the medical image acquisition device and the puncture respectively
Confidence number connects；
The executive device that punctures includes puncture needle and drives the puncture Power Component of the puncture needle movement.
Robot assisted piercing method provided by the invention, including the medical image signal for puncturing object is received, to puncturing
The lesion and soft tissue of object are modeled, and obtain lesion threedimensional model and soft tissue model；According to lesion threedimensional model and soft
Model is organized, plans puncture path；According to puncture path, determine to puncture the body puncture point and needle angle of object；According to body
Table point of puncture and needle angle, control puncture executive device and are moved to corresponding body puncture position, and puncturing executive device includes
Puncture needle and the puncture Power Component for driving puncture needle movement；According to puncture path, control puncture needle is punctured to target
Point.
This method punctures the lesion threedimensional model and soft tissue model of object by being obtained ahead of time, and plans puncture path, and
Body puncture point and needle angle are determined by puncture path, control puncture needle is punctured to target, passes through robot
Auxiliary realize to puncture object puncture, its avoid relying on doctor's clinical experience can not accurate judgement whether reach optimum puncturing point
The problem of, operation risk is reduced, improves and punctures efficiency, and reduce the prolonged radiation injury of medical staff.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of robot assisted piercing method provided in an embodiment of the present invention；
Fig. 2 is a kind of structure diagram of robot assisted lancing system provided in an embodiment of the present invention；
Fig. 3 is a kind of structure diagram of robot assisted sting device provided in an embodiment of the present invention；
Fig. 4 is a kind of structure diagram of the master control set of robot assisted sting device provided in an embodiment of the present invention；
Fig. 5 is a kind of structure diagram of the mechanical arm of robot assisted sting device provided in an embodiment of the present invention.
Embodiment
The embodiment of the invention discloses a kind of robot assisted piercing method, solves to reach optimal puncture in puncturing operation
The problems such as point need to be judged according to doctors experience, operation risk is big.
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is a kind of flow chart of robot assisted piercing method provided in an embodiment of the present invention；One
In kind specific embodiment, robot assisted piercing method provided by the invention, including：
S11：The medical image signal for puncturing object is received, the lesion and soft tissue for puncturing object are modeled, obtained
Lesion threedimensional model and soft tissue model；
Wherein, puncturing the medical image of object can be obtained by equipment such as CT machines, X-ray machine or B ultrasound, generally, on
State device and be scanned to puncturing object, and the medical image signal after scanning is sent can be by building to computer, computer
Mould software is modeled the lesion and soft tissue that puncture object, such as Mimics softwares, can voluntarily be selected according to being actually needed
Suitable modeling software, within the scope of the present invention.
S12：According to lesion threedimensional model and soft tissue model, puncture path is planned；
According to obtained lesion threedimensional model and soft tissue model, specifically, can be in conjunction with the actual patient's condition for puncturing object
And doctors experience, integrate and obtain the puncture path from object body surface is punctured to lesion target spot, wherein, it may include a variety of puncture roads
Footpath, can choose an optimal puncture path of conduct, and be stored.
S13：According to puncture path, determine to puncture the body puncture point and needle angle of object；According to above-mentioned acquisition most
Excellent puncture path, obtains puncturing the body puncture point of object and the needle angle of puncture needle.
S14：According to body puncture point and needle angle, control punctures executive device and is moved to corresponding body puncture position
Put, puncturing executive device includes puncture needle and drive the puncture Power Component of puncture needle movement；
In one embodiment, can be controlled remotely by a computer mechanical arm drives puncture needle to realize movement, and mechanical arm can
The preferably not less than high-accuracy mechanical arm of the 5 axis frees degree, nonmetallic puncture fixture can be set on its top, it is generally weak make
Shadow material is made, such as carbon fiber, can be configured according to actual needs.Arrived it is of course also possible to manually move puncture needle
Up to body puncture point, and the needle angle of puncture needle is adjusted, in such cases, manipulator motion pattern is preferably that power follows machinery
Arm pattern, specifically, can voluntarily make choice.
S15：According to puncture path, control puncture needle is punctured to target.
Based on above-mentioned technical proposal, this method punctures the lesion threedimensional model and soft tissue mould of object by being obtained ahead of time
Type, plans puncture path, and determines body puncture point and needle angle by puncture path, can automatically control puncture needle and be worn
Thorn realizes the puncture to puncturing object, it avoids relying on doctor's clinical experience can not be accurate to target by robot assisted
The problem of really judging whether to reach optimum puncturing point, reduces operation risk, improves and punctures efficiency, and reduces medical staff for a long time
Radiation injury.
Specifically, according to puncture path, control puncture needle is punctured to target, specifically included：
Real time position and the target position scanned according to preset rules and puncture the puncture needle that object obtains are obtained, in real time
Puncture path is corrected, and controls puncture needle to be punctured to target.
In order in surgical procedure, grasp the position relationship of puncture needle and target in time, medical imaging devices can root
Be scanned according to preset rules to puncturing object, in one embodiment, preset rules can be every 30 seconds to its run-down,
Certainly, in other embodiments, it can be voluntarily configured, or can also be swept when needed according to operation complexity etc.
Retouch, within the scope of the present invention, controller will scan the obtained real time position of puncture needle and the position of target
Data processing is carried out, and puncture path is corrected in real time, and then controls puncture needle to be punctured to target, it ensures
In surgical procedure puncture needle move it is accurate, prevent because there is blood vessel or touch other organs and caused by bleeding or other evil
Property consequence.
Further, punctured to target, specifically included according to puncture path, control puncture needle：
Receive the virtual piercing assembly synchronous with puncture needle and actually wearing for object puncture is punctured to virtual according to puncture path
Path signal is pierced, is punctured according to actual puncture path signal Synchronization Control puncture needle to puncturing object.
Generally, virtual piercing assembly is connected with control device signal, doctor can operate virtual puncture according to puncture path
Component carries out real-time operation, punctures subject inner structure with reference to display real-time monitored, single stepping step is with puncturing road instantly
When footpath offer path is consistent, it can automatically give tacit consent to and carry out next step operation, single stepping step and puncture path are inconsistent instantly
When, can be by carrying out real-time operation to virtual piercing assembly when such as running into blood vessel or other organs, virtual piercing assembly will puncture
The Actual path signal such as angle and depth of pin sends to controller, controller and sends actual puncture path signal to puncture
Pin, the inserting needle of Synchronization Control puncture needle, when puncture needle reaches target, can carry out the automatic holding of puncture needle, or selection
Depart from puncture needle to reset, doctor can enter operating room and carry out the operation such as follow-up biopsy, ablation.This method can puncture object hand
When art is complex, can by the auxiliary operation of doctor, the virtual piercing assembly of remote control realize to puncture the puncture of object into
Pin, reduces operation risk, improves and punctures efficiency.
In one embodiment, method further includes：
The resistance signal between puncture needle and soft tissue is obtained, and resistance signal is sent to virtual piercing assembly.
Puncture needle is typically provided device for force feedback, by sending the resistance signal between puncture needle and soft tissue in real time to control
Device, controller are fed back to virtual piercing assembly, and doctor is carried out down by feeding back to the resistance signal on virtual piercing assembly
Single stepping, device for force feedback can be specially force snesor etc., can be configured according to actual needs.
On the basis of the various embodiments described above, according to body puncture point and needle angle, control punctures executive device movement
To corresponding body puncture position, method further includes：
Obtain respectively space relative coordinate between space relative coordinate between lesion and CT, lesion and body puncture point and
CT with the space relative coordinate of puncture needle；
Determine the space relative coordinate between body puncture point and puncture needle.
In order to realize automatic inserting needle of the puncture needle from initial position to target, medical imaging devices acquisition can be first passed through
Lesion and the space relative coordinate where object between CT is punctured, the space relative coordinate between lesion and body puncture point and CT
With the space relative coordinate of puncture needle, and then space relative coordinate between body puncture point and puncture needle is determined, realize puncture needle
The automatic inserting needle of point from initial position to body puncture, and then according to puncture path, by matching body surface point of puncture and inserting needle angle
Degree, realizes the automatic inserting needle of puncture needle.
Robot assisted lancing system provided in an embodiment of the present invention is introduced below, robot described below is auxiliary
Lancing system is helped to correspond reference with above-described robot assisted piercing method.
Fig. 2 is a kind of structure diagram of robot assisted lancing system provided in an embodiment of the present invention, which includes：
Medical image acquiring unit 100, for receive puncture object medical image signal, to puncture object lesion and
Soft tissue is modeled, and obtains lesion threedimensional model and soft tissue model；
Control unit 110, for the lesion threedimensional model and soft tissue model obtained according to medical image acquiring unit, rule
Draw puncture path；According to puncture path, determine to puncture the body puncture point and needle angle of object；According to body puncture point and into
Pin angle, control puncture executive device and are moved to corresponding body puncture position, and puncturing executive device includes puncture needle and drive
The puncture Power Component of puncture needle movement；According to puncture path, control puncture needle is punctured to target.
Based on above-mentioned technical proposal, robot assisted lancing system provided in an embodiment of the present invention, is worn by being obtained ahead of time
Pierce object lesion threedimensional model and soft tissue model, plan puncture path, and by puncture path determine body puncture point and
Needle angle, control puncture needle are punctured to target, realize the puncture to puncturing object by robot assisted, it is kept away
Exempt to rely on doctor clinical experience can not accurate judgement the problem of whether reaching optimum puncturing point, reduce operation risk, improve and puncture
Efficiency, and reduce the prolonged radiation injury of medical staff.
Specifically, control unit 110 specifically includes：
Puncture path amending unit：The real-time position for puncturing the puncture needle that object obtains is scanned according to preset rules for obtaining
Put and target location, correct puncture path in real time, and control puncture needle to be punctured to target.
Further, control unit 110 specifically includes：
Virtual piercing assembly signal acquiring unit, for receiving the virtual piercing assembly synchronous with puncture needle according to puncture road
Footpath is to the virtual actual puncture path signal for puncturing object；
Puncture needle synchronous control unit, for the actual puncture path received according to virtual piercing assembly signal acquiring unit
Signal, Synchronization Control puncture needle are punctured to puncturing object.
Further, control unit 110 further includes：
Puncture needle force feedback unit, for obtaining the resistance signal of puncture needle and soft tissue, and by resistance signal send to
Virtual piercing assembly.
Based on above-described embodiment, present invention also offers a kind of robot assisted sting device, as in Figure 3-5, Fig. 3 is
A kind of structure diagram of robot assisted sting device provided in an embodiment of the present invention；Fig. 4 is provided in an embodiment of the present invention
A kind of structure diagram of the master control set of robot assisted sting device；Fig. 5 is a kind of machine provided in an embodiment of the present invention
People aids in the structure diagram of the mechanical arm of sting device.The device includes：
The lesion image and the medical image of soft tissue shadow's picture and transmission to master control set 3 that object is punctured for obtaining obtain
Device；
Wherein, medical image acquisition device can be specially CT machines, X-ray machine or B ultrasound machine etc., can be set according to actual needs
Put, as long as identical technical purpose can be reached, specific device is not construed as limiting.
The lesion image of puncture object and soft tissue shadow's picture for being sent according to medical image acquisition device are handled,
Puncture path after being planned, and control puncture executive device to be moved along puncture path to realize the master control of automatic puncturing
Device 3, master control set 3 are connected with medical image acquisition device and puncture executive device signal respectively；
Puncture the puncture Power Component 2 that executive device includes puncture needle 10 and drives puncture needle 10 to move.
Master control set 3 can be connected with medical image acquisition device and puncture executive device signal respectively by glass fiber cables bus
Connect, certainly, in other embodiments, can also be attached by way of wireless telecommunications, can voluntarily select connection mode,
Within the scope of the present invention.It can be specially the grade Power Component of mechanical arm 8 to puncture Power Component 2, and puncture needle 10 is generally with wearing
Thorn Power Component 2 is removably fixedly connected, and such as by clamp, certainly, in other embodiments, can voluntarily be set and be worn
Pricker 10 and the connection mode for puncturing Power Component 2, within the scope of the present invention.
In one embodiment, can be controlled remotely by a computer mechanical arm 8 drives puncture needle 10 to realize movement, mechanical arm
8 be preferably the high-accuracy mechanical arm 8 no less than the 5 axis frees degree, nonmetallic puncture fixture can be set on its top, it is generally
Weak radiography material is made, such as carbon fiber, can be configured according to actual needs.It is of course also possible to manually mobile puncture
Pin 10 reaches body puncture point, and adjusts the needle angle of puncture needle 10, it is preferable that mechanical arm 8 is specially that power follows mechanical arm
8, in such cases, 8 motor pattern of mechanical arm is preferably that power follows 8 pattern of mechanical arm, and manually mobile mechanical arm 8 realizes power
Follow, specifically, can voluntarily make choice.
In order in surgical procedure, grasp the position relationship of puncture needle 10 and target in time, medical imaging devices can
It is scanned according to preset rules to puncturing object, in one embodiment, preset rules can be to scan one to it every 30 seconds
It is secondary, certainly, in other embodiments, can be voluntarily configured according to operation complexity etc., or can also when needed into
Row scanning, within the scope of the present invention.
Using robot assisted sting device provided by the invention, obtained by medical image acquisition device and puncture object
Lesion and soft-tissue image and send it is handled to controller, controller, the puncture path after being planned, control is worn
Thorn executive device moves realization along puncture path and punctures, which can realize the automatic puncturing to lesion, improves and punctures efficiency, and
Reduce the radiation hazradial bundle of medical staff.
Specifically, further include be connected with 3 signal of master control set, can remote control puncture needle 10 be synchronization-moving virtually wears
Component 4 is pierced, master control set 3 is moved according to the movement of virtual piercing assembly 4, Synchronization Control puncture needle 10.
Generally, virtual piercing assembly 4 is connected with control device signal, doctor can operate virtual puncture according to puncture path
Component 4 carries out real-time operation, punctures subject inner structure with reference to 5 real-time monitored of display, single stepping step is with puncturing instantly
When path offer path is consistent, it can automatically give tacit consent to and carry out next step operation, single stepping step differs with puncture path instantly
, can be by carrying out real-time operation to virtual piercing assembly 4 when such as running into blood vessel or other organs during cause, virtual piercing assembly 4 will
The Actual path signal such as angle and depth of puncture needle 10 is sent to controller, controller by actual puncture path signal send to
Puncture needle 10, the inserting needle of Synchronization Control puncture needle 10, when puncture needle 10 reaches target, can carry out the automatic guarantor of puncture needle 10
Hold, or selection departs from puncture needle 10 and resets, doctor can enter operating room and carry out the operation such as follow-up biopsy, ablation.This method
It can be realized when puncture object operation is complex by the auxiliary operation of doctor, the virtual piercing assembly 4 of remote control to wearing
The puncture inserting needle of object is pierced, reduces operation risk, improves and punctures efficiency.
In one embodiment, virtual piercing assembly 4 can be handle or virtual puncture needle, pass through handle or virtual puncture
The rotational angle of pin and mobile depth realize the Synchronization Control to puncture needle 10, can be by setting corresponding angle detection device
Realize real time data transmission with depth detection apparatus, angle and the depth of virtual piercing assembly 4 are operated according to doctor with send to
Master control set 3, master control set 3 are sent to puncture needle 10, to realize the real-time synchronization to puncture needle 10, certainly, in other implementations
In example, the actual form of virtual piercing assembly 4 can also be voluntarily selected, is only more preferred embodiment herein, at this
In the protection domain of invention.
It is used to detect resistance letter between puncture needle 10 and soft tissue specifically, puncturing and being equipped between Power Component 2 and puncture needle 10
Number force snesor, force snesor is connected with 3 signal of master control set.
By sending the resistance signal between puncture needle 10 and soft tissue in real time to controller, controller is fed back to virtually
Piercing assembly 4 so that doctor when operating virtual piercing assembly 4 can real-time synchronization puncture needle 10 in the resistance suffered by patient's body
Power, ensures virtual effect.In other embodiments, suitable device for force feedback can also be selected.
Further, puncturing Power Component includes stent and the mechanical arm 8 that is provided thereon, stent be equipped with slide and and its
What is coordinated slides part, and mechanical arm 8 is removably fixedly connected with sliding part.
Stent setting generally corresponding with CT lathes, to simplify the conversion of space coordinate between CT lathes, stent is equipped with machine
Tool arm 8, mechanical arm 8 are generally the mechanical arm 8 no less than five frees degree, and stent is equipped with slide and slides part, mechanical arm 8 with
Slide part to be generally removably fixedly connected, be such as connected through a screw thread, by slide and the cooperation for sliding part, realize to machine
The coarse adjustment of tool arm 8 and the patient's body surface point of puncture, drives puncture needle 10 to realize position accurate adjustment, to realize puncture needle by mechanical arm 8
10 initial positions certainly, in other embodiments, can also voluntarily set the tool for puncturing force piece to the movement of body puncture point
Body form, as long as puncture needle 10 can be driven to reach corresponding position, within the scope of the present invention.
On the basis of the various embodiments described above, medical image acquisition device is specially medical image CT machines 1, in other implementations
In example, or the device such as X-ray machine, B ultrasound machine, can voluntarily make choice.
Further, master control set 3 includes main controller and the display 5, the operation panel that are connected with main controller difference signal
11 and roller-ball mouse 6.Doctor can rebuild lesion threedimensional model and week by operation panel 11, roller-ball mouse 6 to medical image
Side soft tissue model, makes rational planning for puncture path, carries out puncture emulation.
Further, the angular transducer being connected respectively with virtual piercing assembly 4 and main controller signal and position are further included
Displacement sensor, the move angle of virtual piercing assembly 4 and depth are sent to main controller in real time.Virtually worn by obtaining in real time
The puncture angle and depth of needle of component 4 are pierced, Synchronization Control puncture needle 10 is moved accordingly, realizes that accurate remote punctures,
Certainly, in other embodiments, other detection devices can also be set to carry out Real-time Feedback, in protection scope of the present invention
It is interior.
In a kind of specific embodiment, which includes master control set 3, punctures Power Component 2, mechanical arm 4 and doctor
Image CT machines 1 are learned, master control set 3, puncture Power Component 2, mechanical arm 4 and medical image CT machines 1 are kilomega optic fiber cable bus
Connecting communication.Before puncturing operation, doctor rebuilds medical image by the operation panel 11 on master control set 3 and roller-ball mouse 6
Lesion threedimensional model and soft tissue model, plan rational puncture path, carry out puncture emulation.In art, carried out to puncturing object
CT scan, image data are uploaded to master control set 3, and master control set 3 is analyzed by puncturing the image section parameter of object lesion, control
System punctures Power Component 2 and CT coordinate matchings, and 10 pinpoint movement of puncture needle of 8 end of mechanical arm is extremely punctured the default of object
Point of puncture, operates puncture procedure device by virtual puncture needle and is remotely controlled the control progress puncturing operation of puncture needle 10, puncture needle 10
Clamped by puncture needle fixture and be connected with the mechanical arm of mechanical arm 8, puncture needle fixture is equipped with force snesor, can be in real time puncturing through
Power in journey is converted to electric signal and is uploaded to penetration control, then is fed back to by penetration control control puncture procedure device and virtually worn
Component 4 is pierced, so as to achieve the purpose that puncture needle force feedback.
Each embodiment is described by the way of progressive in specification, and what each embodiment stressed is and other realities
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is referring to method part illustration
.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes each exemplary composition and step according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical solution.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Can directly it be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Robot assisted piercing method, system and device provided by the present invention are described in detail above.Herein
In apply specific case the principle of the present invention and embodiment be set forth, the explanation of above example is only intended to side
Assistant solves the method and its core concept of the present invention.It should be pointed out that for those skilled in the art, not
On the premise of departing from the principle of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification is also fallen into
In the protection domain of the claims in the present invention.
Claims (10)
- A kind of 1. robot assisted piercing method, it is characterised in that including：The medical image signal for puncturing object is received, the lesion and soft tissue of the puncture object are modeled, obtain lesion Threedimensional model and soft tissue model；According to the lesion threedimensional model and the soft tissue model, puncture path is planned；According to the puncture path, the body puncture point and needle angle for puncturing object is determined；According to the body puncture point and the needle angle, control punctures executive device and is moved to corresponding body puncture position Put, the executive device that punctures includes puncture needle and drives the puncture Power Component of the puncture needle movement；According to the puncture path, the puncture needle is controlled to be punctured to target.
- 2. robot assisted piercing method according to claim 1, it is characterised in that it is described according to the puncture path, Control the puncture needle to be punctured to target, specifically include：Obtain according to the preset rules scanning real time position for puncturing the puncture needle that object obtains and target position, The puncture path is corrected in real time, and controls the puncture needle to be punctured to target.
- 3. robot assisted piercing method according to claim 2, it is characterised in that it is described according to the puncture path, Control the puncture needle to be punctured to target, specifically include：The virtual piercing assembly synchronous with the puncture needle is received according to the puncture path to the virtual reality for puncturing object and puncturing Border puncture path signal, wears the puncture object according to puncture needle described in the actual puncture path signal Synchronization Control Thorn.
- 4. robot assisted piercing method according to claim 3, it is characterised in that the method further includes：The resistance signal between the puncture needle and soft tissue is obtained, and the resistance signal is sent to the virtual puncture group Part.
- 5. according to claim 1-4 any one of them robot assisted piercing methods, it is characterised in that described according to the body Table point of puncture and the needle angle, before control puncture executive device is moved to corresponding body puncture position, the method is also Including：The space phase between space relative coordinate between the lesion and CT, the lesion and body puncture point is obtained respectively To coordinate and it is described CT with the space relative coordinate of the puncture needle；Determine the space relative coordinate between the body puncture point and the puncture needle.
- A kind of 6. robot assisted lancing system, it is characterised in that including：Medical image acquiring unit, the medical image signal of object is punctured for receiving, to the puncture lesion of object and soft Tissue is modeled, and obtains lesion threedimensional model and soft tissue model；Control unit, for the lesion threedimensional model obtained according to the medical image acquiring unit and the soft tissue mould Type, plans puncture path；According to the puncture path, the body puncture point and needle angle for puncturing object is determined；According to The body puncture point and the needle angle, control punctures executive device and is moved to corresponding body puncture position, described to wear Piercing executive device includes puncture needle and drives the puncture Power Component of the puncture needle movement；According to the puncture path, control The puncture needle is punctured to target.
- 7. robot assisted lancing system according to claim 6, it is characterised in that described control unit specifically includes：Puncture path amending unit：For obtaining according to the preset rules scanning reality for puncturing the puncture needle that object obtains When position and target position, correct the puncture path in real time, and control the puncture needle to be punctured to target.
- 8. robot assisted lancing system according to claim 7, it is characterised in that described control unit, specifically includes：Virtual piercing assembly signal acquiring unit, the virtual piercing assembly for receiving synchronous with the puncture needle are worn according to Path is pierced to the virtual actual puncture path signal for puncturing object and puncturing；Puncture needle synchronous control unit, for the actual puncture path received according to the virtual piercing assembly signal acquiring unit Signal, puncture needle described in Synchronization Control puncture the puncture object.
- 9. robot assisted lancing system according to claim 8, it is characterised in that described control unit further includes：Puncture needle force feedback unit, sends out for obtaining the resistance signal of the puncture needle and soft tissue, and by the resistance signal Send to the virtual piercing assembly.
- A kind of 10. robot assisted sting device, it is characterised in that including：For obtain puncture object lesion image and soft tissue shadow's picture and send to master control set medical image acquisition device；The lesion image of the puncture object and soft tissue shadow's picture for being sent according to the medical image acquisition device carry out Processing, the puncture path after being planned, and it is automatic to realize to control puncture executive device to be moved along the puncture path The master control set punctured, the master control set are believed with the medical image acquisition device and the puncture executive device respectively Number connection；The executive device that punctures includes puncture needle and drives the puncture Power Component of the puncture needle movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283221.4A CN107928791A (en) | 2017-12-07 | 2017-12-07 | Robot-assisted puncture method, system and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283221.4A CN107928791A (en) | 2017-12-07 | 2017-12-07 | Robot-assisted puncture method, system and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107928791A true CN107928791A (en) | 2018-04-20 |
Family
ID=61945148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711283221.4A Pending CN107928791A (en) | 2017-12-07 | 2017-12-07 | Robot-assisted puncture method, system and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107928791A (en) |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670415A (en) * | 2018-06-11 | 2018-10-19 | 沈阳尚贤微创医疗器械股份有限公司 | Endoscopic surgery tow-armed robot and robot system |
| CN108803872A (en) * | 2018-05-08 | 2018-11-13 | 上海嘉奥信息科技发展有限公司 | The plug-in system of force feedback hardware is called in illusory engine |
| CN108836485A (en) * | 2018-07-13 | 2018-11-20 | 江苏集萃智能制造技术研究所有限公司 | A kind of medical robot for pyramid plastic operation |
| CN109044529A (en) * | 2018-08-20 | 2018-12-21 | 杭州三坛医疗科技有限公司 | Construction method, device and the electronic equipment of guide channel |
| CN109394317A (en) * | 2018-12-14 | 2019-03-01 | 清华大学 | Puncture path device for planning and method |
| CN109646090A (en) * | 2019-01-21 | 2019-04-19 | 北京理工大学 | Puncture needle control method and device |
| CN109646089A (en) * | 2019-01-15 | 2019-04-19 | 浙江大学 | A kind of spine and spinal cord body puncture based on multi-mode medical blending image enters waypoint intelligent positioning system and method |
| CN109805991A (en) * | 2019-03-14 | 2019-05-28 | 北京理工大学 | Vascular puncture auxiliary control method and device |
| CN109805990A (en) * | 2019-03-12 | 2019-05-28 | 严光能 | Auxiliary locator and positioning system for puncture |
| CN109925052A (en) * | 2019-03-04 | 2019-06-25 | 杭州三坛医疗科技有限公司 | Determination methods, devices and systems, the readable storage medium storing program for executing in target spot path |
| CN110074867A (en) * | 2019-06-06 | 2019-08-02 | 王君臣 | A kind of percutaneous nephrolithy surgical robot system |
| CN110353774A (en) * | 2018-12-15 | 2019-10-22 | 深圳铭杰医疗科技有限公司 | Assist Needle-driven Robot and its control method, computer equipment, storage medium |
| CN110537960A (en) * | 2018-05-29 | 2019-12-06 | 上海联影医疗科技有限公司 | Puncture path determination method, storage device and robot-assisted surgery system |
| CN110755136A (en) * | 2019-10-10 | 2020-02-07 | 中国科学院合肥肿瘤医院 | Puncture method |
| CN110856664A (en) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
| CN111407370A (en) * | 2020-03-10 | 2020-07-14 | 山东大学 | Navigation device for accurate tumor puncture and CT (computed tomography) visual navigation system |
| CN111603205A (en) * | 2020-03-23 | 2020-09-01 | 苏州新医智越机器人科技有限公司 | Three-dimensional image reconstruction and positioning analysis system used in CT (computed tomography) cabin of puncture surgical robot |
| CN111803214A (en) * | 2020-07-21 | 2020-10-23 | 京东方科技集团股份有限公司 | Surgical robot device |
| WO2020216253A1 (en) * | 2019-04-25 | 2020-10-29 | 李汉忠 | Surgical robot system for transurethral resection of prostate |
| CN112192566A (en) * | 2020-09-25 | 2021-01-08 | 武汉联影智融医疗科技有限公司 | Control method for end adapter of mechanical arm |
| CN112353461A (en) * | 2020-10-08 | 2021-02-12 | 王洪奎 | CT real-time positioning accurate puncture robot |
| CN112370124A (en) * | 2020-11-12 | 2021-02-19 | 哈尔滨工业大学 | Manual puncture device and system for robot-assisted puncture operation |
| CN112674876A (en) * | 2020-12-23 | 2021-04-20 | 中国人民解放军总医院第六医学中心 | Operating arm for surgery, control method of operating arm and surgical robot |
| CN112741688A (en) * | 2020-12-11 | 2021-05-04 | 北京信息科技大学 | Path planning method for minimally invasive surgery software manipulator |
| CN113100934A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Operation assisting method, device, computer equipment and storage medium |
| CN113768619A (en) * | 2020-06-10 | 2021-12-10 | 长庚大学 | Path positioning method, information display device, storage medium and integrated circuit chip |
| CN113786229A (en) * | 2021-09-15 | 2021-12-14 | 苏州朗润医疗系统有限公司 | AR augmented reality-based auxiliary puncture navigation method |
| CN114067646A (en) * | 2021-10-16 | 2022-02-18 | 复旦大学 | Visual simulation teaching system of puncture surgical robot |
| CN114129263A (en) * | 2021-11-29 | 2022-03-04 | 武汉联影智融医疗科技有限公司 | Surgical robot path planning method, system, equipment and storage medium |
| CN114224448A (en) * | 2021-12-21 | 2022-03-25 | 武汉大学 | Puncture path planning device, apparatus, and computer-readable storage medium |
| CN117942161A (en) * | 2023-12-12 | 2024-04-30 | 中国人民解放军总医院第一医学中心 | Single puncture needle power confirmation method and device, electronic equipment and storage medium |
| CN118415727A (en) * | 2024-07-05 | 2024-08-02 | 杭州唯精医疗机器人有限公司 | Needle insertion control method for puncture needle, controller and surgical robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1803102A (en) * | 2005-12-02 | 2006-07-19 | 北京航空航天大学 | Constrained operation programming method based on medicinal image predisplayed puncture trail |
| CN1806771A (en) * | 2006-01-26 | 2006-07-26 | 清华大学深圳研究生院 | Puncture guiding system and method in computer aided percutaneous nephrostolithotomy |
| CN103006335A (en) * | 2013-01-06 | 2013-04-03 | 新博医疗技术有限公司 | General calibration mould for surgical navigation and calibration method |
| CN103987324A (en) * | 2012-11-09 | 2014-08-13 | 株式会社东芝 | Puncture assist device |
| CN106859742A (en) * | 2017-03-21 | 2017-06-20 | 北京阳光易帮医疗科技有限公司 | A kind of puncturing operation navigation positioning system and method |
| CN107049497A (en) * | 2017-05-02 | 2017-08-18 | 浙江伽奈维医疗科技有限公司 | Puncture navigation robot system |
| CN107126258A (en) * | 2017-06-29 | 2017-09-05 | 哈尔滨理工大学 | A kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle |
| CN208552018U (en) * | 2017-12-07 | 2019-03-01 | 上海钛米机器人科技有限公司 | Auxiliary puncture device of robot |
-
2017
- 2017-12-07 CN CN201711283221.4A patent/CN107928791A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1803102A (en) * | 2005-12-02 | 2006-07-19 | 北京航空航天大学 | Constrained operation programming method based on medicinal image predisplayed puncture trail |
| CN1806771A (en) * | 2006-01-26 | 2006-07-26 | 清华大学深圳研究生院 | Puncture guiding system and method in computer aided percutaneous nephrostolithotomy |
| CN103987324A (en) * | 2012-11-09 | 2014-08-13 | 株式会社东芝 | Puncture assist device |
| CN103006335A (en) * | 2013-01-06 | 2013-04-03 | 新博医疗技术有限公司 | General calibration mould for surgical navigation and calibration method |
| CN106859742A (en) * | 2017-03-21 | 2017-06-20 | 北京阳光易帮医疗科技有限公司 | A kind of puncturing operation navigation positioning system and method |
| CN107049497A (en) * | 2017-05-02 | 2017-08-18 | 浙江伽奈维医疗科技有限公司 | Puncture navigation robot system |
| CN107126258A (en) * | 2017-06-29 | 2017-09-05 | 哈尔滨理工大学 | A kind of paths planning method of Minimally Invasive Surgery sleeve pipe flexible needle |
| CN208552018U (en) * | 2017-12-07 | 2019-03-01 | 上海钛米机器人科技有限公司 | Auxiliary puncture device of robot |
Cited By (47)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803872A (en) * | 2018-05-08 | 2018-11-13 | 上海嘉奥信息科技发展有限公司 | The plug-in system of force feedback hardware is called in illusory engine |
| CN108803872B (en) * | 2018-05-08 | 2021-07-27 | 上海嘉奥信息科技发展有限公司 | Plug-in system for invoking force feedback hardware in illusion engine |
| CN110537960A (en) * | 2018-05-29 | 2019-12-06 | 上海联影医疗科技有限公司 | Puncture path determination method, storage device and robot-assisted surgery system |
| CN108670415A (en) * | 2018-06-11 | 2018-10-19 | 沈阳尚贤微创医疗器械股份有限公司 | Endoscopic surgery tow-armed robot and robot system |
| CN108836485A (en) * | 2018-07-13 | 2018-11-20 | 江苏集萃智能制造技术研究所有限公司 | A kind of medical robot for pyramid plastic operation |
| CN109044529A (en) * | 2018-08-20 | 2018-12-21 | 杭州三坛医疗科技有限公司 | Construction method, device and the electronic equipment of guide channel |
| CN110856664B (en) * | 2018-08-23 | 2022-03-25 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
| CN110856664A (en) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
| CN109394317A (en) * | 2018-12-14 | 2019-03-01 | 清华大学 | Puncture path device for planning and method |
| CN109394317B (en) * | 2018-12-14 | 2020-11-20 | 清华大学 | Puncture path planning device and method |
| CN110353774A (en) * | 2018-12-15 | 2019-10-22 | 深圳铭杰医疗科技有限公司 | Assist Needle-driven Robot and its control method, computer equipment, storage medium |
| CN109646089A (en) * | 2019-01-15 | 2019-04-19 | 浙江大学 | A kind of spine and spinal cord body puncture based on multi-mode medical blending image enters waypoint intelligent positioning system and method |
| CN109646089B (en) * | 2019-01-15 | 2021-04-13 | 浙江大学 | Intelligent positioning system and method for spinal cord body surface puncture access point based on multi-mode medical fusion image |
| CN109646090A (en) * | 2019-01-21 | 2019-04-19 | 北京理工大学 | Puncture needle control method and device |
| CN109925052A (en) * | 2019-03-04 | 2019-06-25 | 杭州三坛医疗科技有限公司 | Determination methods, devices and systems, the readable storage medium storing program for executing in target spot path |
| CN109805990A (en) * | 2019-03-12 | 2019-05-28 | 严光能 | Auxiliary locator and positioning system for puncture |
| CN109805990B (en) * | 2019-03-12 | 2024-04-26 | 严光能 | Auxiliary positioning device and positioning system for puncture |
| CN109805991B (en) * | 2019-03-14 | 2022-02-01 | 北京理工大学 | Blood vessel puncture auxiliary control method and device |
| CN109805991A (en) * | 2019-03-14 | 2019-05-28 | 北京理工大学 | Vascular puncture auxiliary control method and device |
| WO2020216253A1 (en) * | 2019-04-25 | 2020-10-29 | 李汉忠 | Surgical robot system for transurethral resection of prostate |
| CN110074867A (en) * | 2019-06-06 | 2019-08-02 | 王君臣 | A kind of percutaneous nephrolithy surgical robot system |
| CN110755136A (en) * | 2019-10-10 | 2020-02-07 | 中国科学院合肥肿瘤医院 | Puncture method |
| CN111407370A (en) * | 2020-03-10 | 2020-07-14 | 山东大学 | Navigation device for accurate tumor puncture and CT (computed tomography) visual navigation system |
| CN111603205A (en) * | 2020-03-23 | 2020-09-01 | 苏州新医智越机器人科技有限公司 | Three-dimensional image reconstruction and positioning analysis system used in CT (computed tomography) cabin of puncture surgical robot |
| CN113768619A (en) * | 2020-06-10 | 2021-12-10 | 长庚大学 | Path positioning method, information display device, storage medium and integrated circuit chip |
| CN111803214B (en) * | 2020-07-21 | 2024-06-14 | 京东方科技集团股份有限公司 | Surgical robot device |
| CN111803214A (en) * | 2020-07-21 | 2020-10-23 | 京东方科技集团股份有限公司 | Surgical robot device |
| CN112192566B (en) * | 2020-09-25 | 2022-03-01 | 武汉联影智融医疗科技有限公司 | Control method for end adapter of mechanical arm |
| CN112192566A (en) * | 2020-09-25 | 2021-01-08 | 武汉联影智融医疗科技有限公司 | Control method for end adapter of mechanical arm |
| CN112353461A (en) * | 2020-10-08 | 2021-02-12 | 王洪奎 | CT real-time positioning accurate puncture robot |
| CN112370124B (en) * | 2020-11-12 | 2021-09-03 | 哈尔滨工业大学 | Manual puncture device and system for robot-assisted puncture operation |
| CN112370124A (en) * | 2020-11-12 | 2021-02-19 | 哈尔滨工业大学 | Manual puncture device and system for robot-assisted puncture operation |
| CN112741688B (en) * | 2020-12-11 | 2023-09-29 | 北京信息科技大学 | Path planning method for minimally invasive surgery software manipulator |
| CN112741688A (en) * | 2020-12-11 | 2021-05-04 | 北京信息科技大学 | Path planning method for minimally invasive surgery software manipulator |
| CN112674876A (en) * | 2020-12-23 | 2021-04-20 | 中国人民解放军总医院第六医学中心 | Operating arm for surgery, control method of operating arm and surgical robot |
| CN112674876B (en) * | 2020-12-23 | 2022-08-02 | 中国人民解放军总医院第六医学中心 | Operating arm for surgery, control method of operating arm and surgical robot |
| CN113100934A (en) * | 2021-04-06 | 2021-07-13 | 德智鸿(上海)机器人有限责任公司 | Operation assisting method, device, computer equipment and storage medium |
| CN113786229A (en) * | 2021-09-15 | 2021-12-14 | 苏州朗润医疗系统有限公司 | AR augmented reality-based auxiliary puncture navigation method |
| CN113786229B (en) * | 2021-09-15 | 2024-04-12 | 苏州朗润医疗系统有限公司 | Auxiliary puncture navigation system based on AR augmented reality |
| CN114067646A (en) * | 2021-10-16 | 2022-02-18 | 复旦大学 | Visual simulation teaching system of puncture surgical robot |
| CN114129263B (en) * | 2021-11-29 | 2023-07-25 | 武汉联影智融医疗科技有限公司 | Surgical robot path planning method, system, equipment and storage medium |
| CN114129263A (en) * | 2021-11-29 | 2022-03-04 | 武汉联影智融医疗科技有限公司 | Surgical robot path planning method, system, equipment and storage medium |
| CN114224448B (en) * | 2021-12-21 | 2023-11-10 | 武汉大学 | Puncture path planning device, puncture path planning apparatus, and puncture path planning program |
| CN114224448A (en) * | 2021-12-21 | 2022-03-25 | 武汉大学 | Puncture path planning device, apparatus, and computer-readable storage medium |
| CN117942161A (en) * | 2023-12-12 | 2024-04-30 | 中国人民解放军总医院第一医学中心 | Single puncture needle power confirmation method and device, electronic equipment and storage medium |
| CN117942161B (en) * | 2023-12-12 | 2024-07-09 | 中国人民解放军总医院第一医学中心 | Single puncture needle power confirmation method and device, electronic equipment and storage medium |
| CN118415727A (en) * | 2024-07-05 | 2024-08-02 | 杭州唯精医疗机器人有限公司 | Needle insertion control method for puncture needle, controller and surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107928791A (en) | Robot-assisted puncture method, system and device | |
| US11950859B2 (en) | Navigation and positioning system and method for joint replacement surgery robot | |
| US20240335247A1 (en) | Surgery robot system and use method therefor | |
| CN108392271A (en) | Orthopaedics operating system and its control method | |
| CN112603538A (en) | Orthopedic navigation positioning system and method | |
| CN105796161A (en) | Method for conducting puncture navigation in CT interventional therapy and puncture navigation device | |
| CN111920524A (en) | Remote control stepping puncture robot system and operation method | |
| KR101758741B1 (en) | Guiding method of interventional procedure using medical images and system for interventional procedure for the same | |
| CN111513849B (en) | Surgical system for puncture, control method and control device | |
| KR20230079492A (en) | Methods for conducting guided oral and maxillofacial procedures, and associated system | |
| CN113413216A (en) | Double-arm puncture robot based on ultrasonic image navigation and puncture method | |
| CN208552018U (en) | Auxiliary puncture device of robot | |
| KR101758740B1 (en) | Guiding method of interventional procedure using medical images and system for interventional procedure for the same | |
| CN105125289A (en) | Minimally-invasive medical robot system | |
| CN109481018A (en) | A kind of navigation equipment and method applied in medical care precess | |
| CN113558735A (en) | Robot puncture positioning method and device for biliary tract puncture | |
| CN109674519A (en) | A kind of artificial guidance automatic puncturing device | |
| CN111407370A (en) | Navigation device for accurate tumor puncture and CT (computed tomography) visual navigation system | |
| CN110537985A (en) | Spine space coordinate system positioning device and method for augmented reality surgery system | |
| CN108324353A (en) | Operating robot and its point of puncture instruction device | |
| CN113855287A (en) | Oral implant surgical robot with implant precision evaluation function and control method | |
| CN113729941B (en) | VR-based operation auxiliary positioning system and control method thereof | |
| CN115670656A (en) | Laser execution navigation system | |
| CN212879562U (en) | Remote control stepping puncture robot system | |
| CN109620366A (en) | A kind of self-navigation lancing system and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180420 |
|
| RJ01 | Rejection of invention patent application after publication |