CN108938090A - A kind of the tumor operation robot system and its object localization method of precise positioning - Google Patents
A kind of the tumor operation robot system and its object localization method of precise positioning Download PDFInfo
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- CN108938090A CN108938090A CN201810950031.1A CN201810950031A CN108938090A CN 108938090 A CN108938090 A CN 108938090A CN 201810950031 A CN201810950031 A CN 201810950031A CN 108938090 A CN108938090 A CN 108938090A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The present invention relates to surgery operating technology field more particularly to the tumor operation robot systems and its object localization method of a kind of precise positioning.The tumor operation robot system of the precise positioning includes robot device, the robot device includes robot body, the sixdegree-of-freedom simulation being arranged on the mechanical human body and the trace labelling component connecting with the sixdegree-of-freedom simulation, the trace labelling component includes connecting rod, the head end of the connecting rod is connected with the end of the sixdegree-of-freedom simulation, the end of the connecting rod is equipped with trocar sleeve, and at least four reflective small balls are equipped in the connecting rod.The tumor operation robot system and its object localization method of precise positioning provided by the invention, effectively increase positioning accuracy, improve procedure efficiency and surgical effect.
Description
Technical field
The present invention relates to the tumor operation robot system of surgery operating technology field more particularly to a kind of precise positioning and
Its object localization method.
Background technique
With the continuous development and progress of medical technology, surgical operation is also just being sent out towards more complicated and fine direction
Exhibition.Traditional surgery operating wound is big, bleeding is more, is easy to happen postoperative complications, to patient cause physiology and at heart on
Pain.Since surgical operation robot has the characteristics that flexible operation, operative stabilization is good, accuracy is high, can assist
All kinds of highly difficult operations for completing elaborate can be reached for tumor operation by surgical operation robot
To preferable surgical effect.However existing tumor operation robot, for the operation higher tumor operation of precision requirement
Speech, navigation accuracy are difficult to reach expected requirement, not only will affect procedure efficiency, but also will affect the effect of operation.
Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide the tumor operation robot system and its object localization method of a kind of precise positioning, energy
Positioning accuracy is enough effectively improved, procedure efficiency and surgical effect are improved.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of tumor operation robot system of precise positioning, packets
Include robot device, the robot device includes robot body, the six degree of freedom machine that is arranged on the mechanical human body
Tool arm and the trace labelling component being connect with the sixdegree-of-freedom simulation；The trace labelling component includes connecting rod, institute
The head end for stating connecting rod is connected with the end of the sixdegree-of-freedom simulation, and the end of the connecting rod is equipped with trocar sleeve,
The connecting rod is equipped at least four reflective small balls.
Specifically, mounting rod is equipped at the connecting rod terminal position in the connecting rod, on the mounting rod
Equipped with a reflective small ball, mounting rack, the peace are equipped at connecting rod head end position in the connecting rod
The center shelved is equipped with mounting hole, and the connecting rod passes through the mounting hole, radially distributed on the mounting rack to have three
A reflective small ball.
Further, it is equipped with robot base in the bottom of the robot body, the bottom of the robot base is set
There is castor.
Specifically, the mechanical human body is connected by support rod with the head end of the sixdegree-of-freedom simulation, and described six
The end of degree-of-freedom manipulator is connected by ring flange with the connecting rod.
Further, maintenance side door and maintenance back door are equipped on the robot body.
Specifically, it is equipped with front side heat release hole in the front side of the robot body, rear side is equipped on the maintenance back door
Heat release hole.
Further, control cabinet, the control cabinet and the sixdegree-of-freedom simulation are equipped in the robot body
It is connected.
It further, further include outer computer, the outer computer is connected with the control cabinet.
It specifically, further include navigation device, the navigation device includes navigation pedestal, and the bottom of the navigation pedestal is equipped with
Traveling wheel is connected with navigation bracket on the navigation pedestal, is equipped with far infrared camera on the navigation bracket, wherein described
Far infrared camera is connected with the outer computer.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of tumor operation robot systems of precise positioning
Object localization method, this method use the tumor operation robot system of above-mentioned precise positioning, specifically comprise the following steps:
The current location of the trocar sleeve is set as line segment AB, the target position of the trocar sleeve is line segment A ' B ',
The current location of the sixdegree-of-freedom simulation end is point O；
It is that axis is rotated by 360 ° to form a flat circle with line segment A ' B ', by the current of the sixdegree-of-freedom simulation end
Location point O is projected in the flat circle, obtains subpoint P；
Line is made into the center of circle of the subpoint P and the flat circle, between the line and the circumference of the flat circle
Two intersection points are formed, the target position wherein close to the intersection point of the subpoint P as the sixdegree-of-freedom simulation end is taken
Point O '；
After obtaining 3 points of A ' B ' O ', the moving target pose of the sixdegree-of-freedom simulation end is calculated by matrix
Matrix Mtarget_NDI。
Further, this method further include:
S1, the current pose of the trace labelling component is set as Mnow_NDI, then the movement square of the trace labelling component
Battle array is Mreduc_NDI=Mnow_NDI_invert*Mtarget_NDI, wherein Mtarget_NDIFor the movement of the sixdegree-of-freedom simulation end
Object pose matrix, Mnow_NDI_invertFor Mnow_NDIIt is inverse；
S2, according to hand and eye calibrating matrix, by Mreduc_NDIIt is expressed as in the coordinate system of the sixdegree-of-freedom simulation end
Mreduc_robot, the current coordinate system pose of the sixdegree-of-freedom simulation end is Mnow_robotBase, then the six degree of freedom machine
The object pose M of tool arm endtarget_robotBase=Mnow_robotBase*Mreduc_robot；
S3, the M according to acquisitiontarget_robotBase, the trace labelling component movement is controlled to designated position；
S4, the current pose M for obtaining the trace labelling component is calculated againnow_NDI, and calculate and the six degree of freedom
The moving target position auto―control M of mechanical arm tail endtarget_NDIBetween error, if error be less than setting error threshold,
Execute step S5；If error is greater than or equal to the error threshold of setting, S1 is thened follow the steps；
S5, terminate to calculate, the trace labelling component has arrived at target position.
(3) beneficial effect
Above-mentioned technical proposal of the invention has the advantages that
The tumor operation robot system of precise positioning provided by the invention, by be arranged on mechanical human body six from
Trace labelling component movement is driven by degree mechanical arm, the position of trocar sleeve is determined by the reflective small ball being arranged in connecting rod
It sets, effectively increases positioning accuracy, improve procedure efficiency and surgical effect.
The object localization method of the tumor operation robot system of precise positioning provided by the invention, can be realized to machine
Accurate positioning of people's device from current location to target position, and positioning accurate caused by robot device's kinematic error can be corrected
Degree is insufficient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the tumor operation robot system of one precise positioning of the embodiment of the present invention；
Fig. 2 is the first solid of robot device in the tumor operation robot system of one precise positioning of the embodiment of the present invention
Structure chart；
Fig. 3 is the second solid of robot device in the tumor operation robot system of one precise positioning of the embodiment of the present invention
Structure chart；
Fig. 4 is the top view of robot device in the tumor operation robot system of one precise positioning of the embodiment of the present invention；
Fig. 5 is that trace labelling modular construction is illustrated in the tumor operation robot system of one precise positioning of the embodiment of the present invention
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figs. 1-5, the embodiment of the present invention provides a kind of tumor operation robot system of precise positioning, including machine
People's device 20, the robot device 20 include robot body 2, the six degree of freedom machine being arranged on the mechanical human body 2
Tool arm 8 and the trace labelling component 1 being connect with the sixdegree-of-freedom simulation 8.
Wherein, the trace labelling component 1 includes connecting rod 101, the head end and the six degree of freedom of the connecting rod 101
The end of mechanical arm 8 is connected, and the end of the connecting rod 101 is equipped with trocar sleeve 102, is equipped with extremely in the connecting rod 101
Few four reflective small balls 103.
Wherein, the trocar sleeve 102 is hollow cylinder structure, the outside of the trocar sleeve 102 and the connecting rod
101 are connected and fixed, and the diameter of the inner hole of the trocar sleeve 102 can be set to not size according to actual operation demand, to
It is adapted to the puncture needle of different thicknesses.
The tumor operation robot system of precise positioning described in the embodiment of the present invention, passes through the sixdegree-of-freedom simulation
8 drive the trace labelling components 1 to move, and then the trocar sleeve 102 is driven to move, by the reflective small ball 103 come
The position for determining the trocar sleeve 102, effectively increases positioning accuracy, improves procedure efficiency and surgical effect.
In the present embodiment, mounting rod 104 is equipped at the connecting rod terminal position in the connecting rod 101,
The mounting rod 104 is equipped with a reflective small ball 103, close to connecting rod head end position in the connecting rod 101
It sets place and is equipped with mounting rack 105, the center of the mounting rack 105 is equipped with mounting hole, and the connecting rod 101 passes through the mounting hole,
There are three the reflective small balls 103 for radial equably arrangement on the mounting rack 105, described reflective small by this four
Ball 103 is the position that can determine that the trocar sleeve 102.Certainly, the setting quantity of the reflective small ball 103 and described
Mounting means in connecting rod 101 can be adjusted according to actual needs.
Furthermore, it is understood that being equipped with robot base 3, the bottom of the robot base 3 in the bottom of the robot body 2
Portion is equipped with castor 6, is easy to implement the movement to the robot device 20.
Specifically, the mechanical human body 2 is connected by support rod 10 with the head end of the sixdegree-of-freedom simulation 8,
The end of the sixdegree-of-freedom simulation 8 is connected by ring flange 106 with the connecting rod 101.
Furthermore, it is understood that being equipped with maintenance side door 4 and maintenance back door 5 on the robot body 2, it is easy to implement to described
The internal maintenance of robot device 20.
Wherein, it is equipped with front side heat release hole 7 in the front side of the robot body 2, rear side is equipped on the maintenance back door 5
Heat release hole 14, convenient for radiating to the robot device 20.
Furthermore, it is understood that being equipped with control cabinet in the robot body 2, the control cabinet and the six degree of freedom are mechanical
Arm 8 is connected, and can control the sixdegree-of-freedom simulation 8 by the control cabinet and carry out designated movement.
Furthermore, it is understood that the tumor operation robot system further includes outer computer 19, the outer computer
19 are connected with the control cabinet, can send control instruction to the control cabinet by the outer computer 19, and then pass through
The control cabinet controls the sixdegree-of-freedom simulation 8 and carries out designated movement.
More specifically, the tumor operation robot system further includes navigation device, and the navigation device includes
Navigate pedestal 15, and the bottom of the navigation pedestal 15 is equipped with traveling wheel 16, and navigation bracket 17 is connected on the navigation pedestal 15,
Far infrared camera 18 is installed on the navigation bracket 17, wherein the far infrared camera 18 and the outer computer 19
It is connected.The location information for capableing of reflective small ball 103 described in real-time monitoring by the way that the far infrared camera 18 is arranged, and then determine
The real time position of the trocar sleeve 102, and real-time position information is fed back into the outer computer 19.
In addition, be additionally provided on the epipleural of the robot body 2 power switch 11, ground switch 12 and scram button
13。
When in use, control signal is sent to the control cabinet by the outer computer 19, the control cabinet is controlled again
It makes the sixdegree-of-freedom simulation 8 to move, under the action of sixdegree-of-freedom simulation 8, drives the trace labelling component 1
In trocar sleeve 102 move to designated position, and the far infrared camera 18 can determine the reflective small ball 103
Trocar sleeve 102 location information Real-time Feedback to the outer computer 19, and then ensure determining for the trocar sleeve 102
Position precision navigates to correct spatial position so that it is guaranteed that doctor can hold the trace labelling component 1 in vitro, confirms
And the position of the trocar sleeve 102 is recorded, and then in the case where keeping patient posture constant, carry out disinfection paving to puncture position
Single and auxiliary doctor's Needle localization.
Embodiment two
The embodiment of the invention also provides a kind of object localization methods of the tumor operation robot system of precise positioning, should
Method is specifically comprised the following steps: using the tumor operation robot system of precise positioning described in above-described embodiment one
The current location of the trocar sleeve is set as line segment AB, the target position of the trocar sleeve is line segment A ' B ',
The current location of the sixdegree-of-freedom simulation end is point O.
It is that axis is rotated by 360 ° to form a flat circle with line segment A ' B ', by the current of the sixdegree-of-freedom simulation end
Location point O is projected in the flat circle, obtains subpoint P.
Line is made into the center of circle of the subpoint P and the flat circle, between the line and the circumference of the flat circle
Two intersection points are formed, the target position wherein close to the intersection point of the subpoint P as the sixdegree-of-freedom simulation end is taken
Point O '.
After obtaining 3 points of A ' B ' O ', the moving target pose of the sixdegree-of-freedom simulation end is calculated by matrix
Matrix Mtarget_NDI。
Furthermore, it is understood that this method further includes following steps:
S1, the current pose of the trace labelling component is set as Mnow_NDI, then the movement square of the trace labelling component
Battle array is Mreduc_NDI=Mnow_NDI_invert*Mtarget_NDI, wherein Mtarget_NDIFor the movement of the sixdegree-of-freedom simulation end
Object pose matrix, Mnow_NDI_invertFor Mnow_NDIIt is inverse.
S2, according to hand and eye calibrating matrix, by Mreduc_NDIIt is expressed as in the coordinate system of the sixdegree-of-freedom simulation end
Mreduc_robot, the current coordinate system pose of the sixdegree-of-freedom simulation end is Mnow_robotBase, then the six degree of freedom machine
The object pose M of tool arm endtarget_robotBase=Mnow_robotBase*Mreduc_robot。
S3, the M according to acquisitiontarget_robotBase, the trace labelling component movement is controlled to designated position.
S4, the current pose M for obtaining the trace labelling component is calculated againnow_NDI, and calculate and the six degree of freedom
The moving target position auto―control M of mechanical arm tail endtarget_NDIBetween error, if error be less than setting error threshold,
Execute step S5；If error is greater than or equal to the error threshold of setting, S1 is thened follow the steps.
S5, terminate to calculate, the trace labelling component has arrived at target position.
The object localization method of the tumor operation robot system of the precise positioning through the embodiment of the present invention, can
It realizes the accurate positioning to robot device from current location to target position, and robot device's kinematic error can be corrected and led
The positioning accuracy of cause is insufficient.
In conclusion tumor operation robot system and its target positioning side of precise positioning described in the embodiment of the present invention
Method drives trace labelling component movement by the sixdegree-of-freedom simulation being arranged on mechanical human body, is being connected by setting
Reflective small ball on bar determines the position of trocar sleeve, effectively increases positioning accuracy, improves procedure efficiency and operation effect
Fruit.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
In the description of the present invention, unless otherwise indicated, " several " are meant that one or more；The meaning of " plurality " is
Two or more；The orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right", "inner", "outside" be based on
Orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion institute
The machine or element of finger must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the present invention
Limitation.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of tumor operation robot system of precise positioning, which is characterized in that including robot device, the robot dress
It sets including robot body, the sixdegree-of-freedom simulation being arranged on the mechanical human body and mechanical with the six degree of freedom
The trace labelling component of arm connection；The trace labelling component includes connecting rod, and the head end of the connecting rod and described six is freely
The end for spending mechanical arm is connected, and the end of the connecting rod is equipped with trocar sleeve, and it is anti-that at least four are equipped in the connecting rod
Light bead.
2. the tumor operation robot system of precise positioning according to claim 1, which is characterized in that in the connecting rod
Upper that mounting rod is equipped at the connecting rod terminal position, the mounting rod is equipped with a reflective small ball, described
Mounting rack is equipped in connecting rod at connecting rod head end position, the center of the mounting rack is equipped with mounting hole, the company
Extension bar passes through the mounting hole, and radially distributed on the mounting rack there are three the reflective small balls.
3. the tumor operation robot system of precise positioning according to claim 1, which is characterized in that in the robot
The bottom of ontology is equipped with robot base, and the bottom of the robot base is equipped with castor.
4. the tumor operation robot system of precise positioning according to claim 1, which is characterized in that the robot sheet
Body is connected by support rod with the head end of the sixdegree-of-freedom simulation, and the end of the sixdegree-of-freedom simulation passes through ring flange
It is connected with the connecting rod.
5. the tumor operation robot system of precise positioning according to claim 1, which is characterized in that in the robot
Ontology is equipped with maintenance side door and maintenance back door；It is equipped with front side heat release hole in the front side of the robot body, in the maintenance
Back door is equipped with rear side heat release hole.
6. the tumor operation robot system of precise positioning according to claim 1, which is characterized in that in the robot
Control cabinet is equipped in ontology, the control cabinet is connected with the sixdegree-of-freedom simulation.
7. the tumor operation robot system of precise positioning according to claim 6, which is characterized in that further include external meter
Calculation machine, the outer computer are connected with the control cabinet.
8. the tumor operation robot system of precise positioning according to claim 7, which is characterized in that further include navigation dress
It sets, the navigation device includes navigation pedestal, and the bottom of the navigation pedestal is equipped with traveling wheel, is connected on the navigation pedestal
Navigate bracket, is equipped with far infrared camera on the navigation bracket, wherein the far infrared camera and the external calculating
Machine is connected.
9. a kind of object localization method of the tumor operation robot system of precise positioning, which is characterized in that this method is using such as
The tumor operation robot system of the described in any item precise positionings of claim 1-8, specifically comprises the following steps:
The current location of the trocar sleeve is set as line segment AB, the target position of the trocar sleeve is line segment A ' B ', described
The current location of sixdegree-of-freedom simulation end is point O；
It is that axis is rotated by 360 ° to form a flat circle with line segment A ' B ', by the current location of the sixdegree-of-freedom simulation end
Point O is projected in the flat circle, obtains subpoint P；
Line is made into the center of circle of the subpoint P and the flat circle, is formed between the line and the circumference of the flat circle
Two intersection points take the source location O ' wherein close to the intersection point of the subpoint P as the sixdegree-of-freedom simulation end；
After obtaining 3 points of A ' B ' O ', the moving target position auto―control of the sixdegree-of-freedom simulation end is calculated by matrix
Mtarget_NDI。
10. the object localization method of the tumor operation robot system of precise positioning according to claim 9, feature exist
In, further includes:
S1, the current pose of the trace labelling component is set as Mnow_NDI, then the kinematic matrix of the trace labelling component be
Mreduc_NDI=Mnow_NDI_invert*Mtarget_NDI, wherein Mtarget_NDIFor the moving target of the sixdegree-of-freedom simulation end
Position auto―control, Mnow_NDI_invertFor Mnow_NDIIt is inverse；
S2, according to hand and eye calibrating matrix, by Mreduc_NDIIt is expressed as in the coordinate system of the sixdegree-of-freedom simulation end
Mreduc_robot, the current coordinate system pose of the sixdegree-of-freedom simulation end is Mnow_robotBase, then the six degree of freedom machine
The object pose M of tool arm endtarget_robotBase=Mnow_robotBase*Mreduc_robot；
S3, the M according to acquisitiontarget_robotBase, the trace labelling component movement is controlled to designated position；
S4, the current pose M for obtaining the trace labelling component is calculated againnow_NDI, and calculate and the sixdegree-of-freedom simulation
The moving target position auto―control M of endtarget_NDIBetween error, if error be less than setting error threshold, execute step
Rapid S5；If error is greater than or equal to the error threshold of setting, S1 is thened follow the steps；
S5, terminate to calculate, the trace labelling component has arrived at target position.
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