CN108404301A - A kind of tumor radiotherapy auxiliary robot production method - Google Patents
A kind of tumor radiotherapy auxiliary robot production method Download PDFInfo
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- CN108404301A CN108404301A CN201810249128.XA CN201810249128A CN108404301A CN 108404301 A CN108404301 A CN 108404301A CN 201810249128 A CN201810249128 A CN 201810249128A CN 108404301 A CN108404301 A CN 108404301A
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- tumor radiotherapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1014—Intracavitary radiation therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
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Abstract
The invention discloses a kind of tumor radiotherapy auxiliary robot production methods, comprise the steps of：A, the analysis of tumor radiotherapy robotic system surgical procedure and system structure；By the observation to Artificial Intervention particle surgical procedure tumor radiotherapy robotic surgery scheme is formulated in conjunction with the radiotherapy practical experience of clinician；B, tumor radiotherapy auxiliary robot motion analysis and spatial registration；C, tumor radiotherapy auxiliary robot controling mechanism is formulated；D, tumor radiotherapy robotic system experimental study.The tumor radiotherapy auxiliary robot developed of the present invention has that precision is high, error is small, can avoiding barrier, pose setting space, inserting needle space, the safety of radioactive prospecting instrument etc. can be improved.
Description
Technical field
The present invention relates to medical electronics technology, specifically a kind of tumor radiotherapy auxiliary robot production method.
Background technology
Currently, tumor disease incidence increasingly improves, according to incompletely statistics, 2017, which are only China, is diagnosed daily with swollen
The number of tumor disease up to 10,000 people, average minute clock just have 7 people, tumour to have become the major reason for influencing people's quality of life,
Therefore it is clinical problem in the urgent need to address to develop effective therapy.On the other hand, with the improvement of living standards, state
The people give more and more concerns for the prevention, diagnosis, treatment of hygiene and health and self-disease, to medical technology means
Propose increasingly higher demands.
In tumor disease clinical treatment, radiotherapy is the inspection generally used, treatment means, but its there are target area controls
The problems such as precision processed is low, and stability is poor, it would be highly desirable to it assists implementing using automated arm, it will be in radioactive prospecting instrument tumour
Portion will be the treatment means for more having application prospect to kill cancer cell.As robot technology is in sides such as positioning, controls
The fast development in face, application range are also gradually permeated to medical field.Along with image technology answering extensively in medical field
With foring a new medical research hot spot：The medical robot surgery systems of view-based access control model navigation.Robot in the system
Has the advantages that stabilization, accurately and rapidly according to the action of preoperative planning path；And image navigation operation has solution plane position visual
The advantages of change, the two combination can be such that operation precision greatly improves.
Invention content
The purpose of the present invention is to provide a kind of tumor radiotherapy auxiliary robot production methods, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides the following technical solutions：
A kind of tumor radiotherapy auxiliary robot production method, comprises the steps of：
A, the analysis of tumor radiotherapy robotic system surgical procedure and system structure；By to Artificial Intervention particle surgical procedure
Observation formulate tumor radiotherapy robotic surgery scheme in conjunction with the radiotherapy practical experience of clinician；
B, tumor radiotherapy auxiliary robot motion analysis and spatial registration；
C, tumor radiotherapy auxiliary robot controling mechanism is formulated；
D, tumor radiotherapy robotic system experimental study.
Further technical solution as the present invention：The step B is specifically included（1）D-H method positive kinematics resolve；It establishes
Robot space coordinates solve the correspondence position orientation relation between each joint of robot and end；（2）The inverse movement of Analytic Method
It learns：According to end-of-arm tooling pose, corresponding joint variable is resolved；（3）Monte Carlo method seeks working space：Working space is exactly end
Hold the position that can be reached[23], the position to robot end under coordinate system is solved according to D-H parametric methods, passes through robot
The set of the correspondence range of each joint variable, each range of articulation of random ergodic, end is exactly its working space；（4）Verify refined gram
Than matrix correctness.
Further technical solution as the present invention：The step D on animal tissue's model particular by carrying out mould
Draft experiment examines feasibility.
Further technical solution as the present invention：The surgical procedure includes in spatial registration, art to lesion target spot
Positioning, puncture, radioactive prospecting instrument, postoperative precision effect assessment；Hardware system should include operating robot, vision guided navigation system
System, end trocar Assembly and six-dimension force sensor.
Further technical solution as the present invention：Step（4）Specifically utilize optical positioning system coordinate system, robot
The passive rigid body coordinate system and sleeve-penetrating needle needle that basis coordinates system, robot end's tool focus coordinate system, robot end are connected
Transformational relation between sharp coordinate system, and choose one from planimetric method, rotary registration method and the rotational automatic registration method of straight line
The highest registration approach of kind precision carries out metro planning.
Compared with prior art, the beneficial effects of the invention are as follows：The tumor radiotherapy auxiliary robot tool that the present invention is developed
Have that precision is high, error is small, can avoiding barrier, pose setting space, inserting needle space, radioactive prospecting instrument etc. can be improved
The safety of aspect.
Description of the drawings
Fig. 1 is the surgical procedure figure of tumor radiotherapy auxiliary robot of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of tumor radiotherapy auxiliary robot production method, comprises the steps of：
A. the analysis of tumor radiotherapy robotic system surgical procedure and system are constructed by Artificial Intervention particle surgical procedure
Observation formulate tumor radiotherapy robotic surgery scheme in conjunction with the radiotherapy practical experience of clinician.Surgical procedure includes
To the positioning of lesion target spot, puncture, radioactive prospecting instrument, postoperative precision effect assessment in spatial registration, art；Hardware system is answered
Including operating robot, vision navigation system, end trocar Assembly and six-dimension force sensor；Software systems should include robot
Upper computer control system, operative space registration Algorithm and controling mechanism.
B. tumor radiotherapy auxiliary robot motion analysis and spatial registration
（1）D-H method positive kinematics resolve：Robot space coordinates are established, pair between each joint of robot and end is solved
Answer position orientation relation.
（2）Analytic Method inverse kinematics：According to end-of-arm tooling pose, corresponding joint variable is resolved.
（3）Monte Carlo method seeks working space：Working space is exactly the position that end can reach, according to D-H parametric methods
Position of the robot end under coordinate system is solved, by the correspondence range of each joint variable of robot, random ergodic respectively closes
The set of adjusting range, end is exactly its working space.
（4）Verify Jacobian matrix correctness.
Spatial registration is mainly the transformational relation between 5 coordinate systems, optical positioning system coordinate system, robot basis coordinates
The passive rigid body coordinate system and sleeve-penetrating needle needle point coordinate that system, robot end's tool focus coordinate system, robot end are connected
System.And choose a kind of highest registration approach of precision from planimetric method, rotary registration method and the rotational automatic registration method of straight line
Carry out metro planning.
C. tumor radiotherapy auxiliary robot controling mechanism studies radiosurgery system security mechanism, in surgical procedure,
Robot will appear a variety of situations with environmental interaction, such as occur barrier in planning path, it is necessary to which adaptation of taking the initiative is external
The control method of environment.Because carrying out operative space division, different spaces take different control strategies.
D. tumor radiotherapy robotic system experimental study for tumor radiotherapy robotic system test and be ground
Study carefully, simulated experiment is carried out on animal tissue's model, examines feasibility.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. a kind of tumor radiotherapy auxiliary robot production method, which is characterized in that comprise the steps of：
Tumor radiotherapy robotic system surgical procedure is analyzed and system structure；By to Artificial Intervention particle surgical procedure
Observation formulates tumor radiotherapy robotic surgery scheme in conjunction with the radiotherapy practical experience of clinician；
Tumor radiotherapy auxiliary robot motion analysis and spatial registration；
Formulate tumor radiotherapy auxiliary robot controling mechanism；
Tumor radiotherapy robotic system experimental study.
2. a kind of tumor radiotherapy auxiliary robot production method according to claim 1, which is characterized in that the step B
It specifically includes（1）D-H method positive kinematics resolve；Robot space coordinates are established, are solved between each joint of robot and end
Correspondence position orientation relation；（2）Analytic Method inverse kinematics：According to end-of-arm tooling pose, corresponding joint variable is resolved；（3）
Monte Carlo method seeks working space：Working space is exactly the position that end can reach[23], solved to machine according to D-H parametric methods
Position of the device people end under coordinate system passes through the correspondence range of each joint variable of robot, each range of articulation of random ergodic, end
The set at end is exactly its working space；（4）Verify Jacobian matrix correctness.
3. a kind of tumor radiotherapy auxiliary robot production method according to claim 1 or 2, which is characterized in that the step
Rapid D examines feasibility particular by simulated experiment is carried out on animal tissue's model.
4. a kind of tumor radiotherapy auxiliary robot production method according to claim 1, which is characterized in that described to perform the operation
Journey includes in spatial registration, art to the positioning of lesion target spot, puncture, radioactive prospecting instrument, postoperative precision effect assessment；Hardware
System should include operating robot, vision navigation system, end trocar Assembly and six-dimension force sensor.
5. a kind of tumor radiotherapy auxiliary robot production method according to claim 2, which is characterized in that step（4）Tool
Body is to utilize optical positioning system coordinate system, robot basis coordinates system, robot end's tool focus coordinate system, robot end
Transformational relation between connected passive rigid body coordinate system and sleeve-penetrating needle needle point coordinate system, and match from planimetric method, rotation
A kind of highest registration approach progress metro planning of precision is chosen in quasi- method and the rotational automatic registration method of straight line.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109907825A (en) * | 2019-03-25 | 2019-06-21 | 天津大学 | The close-range particle operation implant system of mixed reality guidance |
| CN110404156A (en) * | 2019-08-03 | 2019-11-05 | 芜湖安普机器人产业技术研究院有限公司 | Target control system and method that the clinic sense of seeds implanted robot mechanics reproduces |
| CN110478628A (en) * | 2019-08-03 | 2019-11-22 | 安徽工程大学 | Clinical lithotomy position targeting seeds implanted robot man-machine safety interactive system and method |
| CN111345898A (en) * | 2020-03-18 | 2020-06-30 | 上海交通大学医学院附属第九人民医院 | Laser surgery path guiding method, computer equipment and system thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907825A (en) * | 2019-03-25 | 2019-06-21 | 天津大学 | The close-range particle operation implant system of mixed reality guidance |
| CN109907825B (en) * | 2019-03-25 | 2021-06-25 | 天津大学 | Mixed reality guided near field particle surgical implantation system |
| CN110404156A (en) * | 2019-08-03 | 2019-11-05 | 芜湖安普机器人产业技术研究院有限公司 | Target control system and method that the clinic sense of seeds implanted robot mechanics reproduces |
| CN110478628A (en) * | 2019-08-03 | 2019-11-22 | 安徽工程大学 | Clinical lithotomy position targeting seeds implanted robot man-machine safety interactive system and method |
| CN111345898A (en) * | 2020-03-18 | 2020-06-30 | 上海交通大学医学院附属第九人民医院 | Laser surgery path guiding method, computer equipment and system thereof |
| CN111345898B (en) * | 2020-03-18 | 2021-06-04 | 上海交通大学医学院附属第九人民医院 | Laser surgery path guiding method, computer equipment and system thereof |
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