CN109620365A - A kind of navigation puncture system and control method - Google Patents
A kind of navigation puncture system and control method Download PDFInfo
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- CN109620365A CN109620365A CN201910035945.XA CN201910035945A CN109620365A CN 109620365 A CN109620365 A CN 109620365A CN 201910035945 A CN201910035945 A CN 201910035945A CN 109620365 A CN109620365 A CN 109620365A
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- 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
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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
- A61B34/70—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
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
- A61B2034/207—Divots for calibration
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- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
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- 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 present invention provides a kind of navigation puncture system and control methods, are related to surgical navigational field, including workbench, host and with the control equipment and space positioning apparatus that are controlled by the host；The control equipment includes pedestal, the control module being arranged in the pedestal, fixed mechanical arm on the base, the puncture oriented module far from described pedestal one end on the robotic arm is arranged and the lancing motion module far from described mechanical arm one end on the puncture oriented module is arranged in；The mechanical arm is controlled by the control module；The space positioning apparatus includes magnetic field generator, electromagnetic field receivers, locating plate and the positioning probe being arranged on the locating plate；The space positioning apparatus is arranged on the workbench far from the control equipment side；The lancing motion module is equipped with sensor, and the advantage is that, which reduces manual change's puncture path in artificial puncture process, causes damage to sufferer, improves the accuracy of puncture process.
Description
Technical field
The present invention relates to surgical navigational field, in particular to a kind of navigation puncture system and control method.
Background technique
Lung cancer is the most common primary lung tumors, is that morbidity and mortality growth is most fast in global range, to people
Class health and lives threaten highest malignant tumour.Drug eluting stent can be used to the pulmonary diseases such as diagnosing, traditional lung
Aspiration biopsy needs repeatedly X-ray that disease could be accurately positioned according to imaging because of the limitations such as soft tissue drift brought by lung's breathing
Stove is punctured, and during which patient's raying dosage is excessive, complicated and time consumption of performing the operation, and due to positioning inaccurate, postoperative complications
Than a series of disadvantages such as more serious.
To solve the above-mentioned problems, the technology positioned in real time by magnetic navigation mode to surgical instrument is disclosed,
Implement intervention surgical procedure under reality environment, it is ensured that surgical instrument accurately reaches pulmonary lesion region, reduces to patient's
Damage.
This mode can position surgical instrument, but puncture process needs to wear location by artificial experience positioning
Guarantee accuracy is set, the secondary injury caused to sufferer may be adjusted in puncture process.
Summary of the invention
The technical problem to be solved by the present invention is to adjust puncture path in manual operation puncture process to hurt caused by sufferer
Evil.
In order to solve the above-mentioned technical problem, a kind of navigation puncture system and control method, the present invention are disclosed in the present invention
Technical solution be implemented:
A kind of navigation puncture system, including workbench, host and with the control equipment and space that are controlled by the host
Positioning device；The control equipment includes pedestal, the control module being arranged in the pedestal, fixed machine on the base
Tool arm is arranged the puncture oriented module on the robotic arm far from described pedestal one end and is arranged on the puncture oriented module
Lancing motion module far from described mechanical arm one end；The mechanical arm is controlled by the control module；The space orientation dress
It sets including magnetic field generator, electromagnetic field receivers, locating plate and the positioning probe being arranged on the locating plate；The space orientation
Device is arranged on the workbench far from the control equipment side；The lancing motion module is equipped with sensor.
Preferably, the puncture oriented module includes shell, dovetail groove, linear bearing and directive slide track；The straight line
Bearing one end is connect with the mechanical arm, and the other end is connect with shell, and the dovetail groove setting is on the housing far from mechanical
Arm side；Described directive slide track one end is equipped with the dovetails cooperated with the dovetail groove, and the dovetail groove is equipped with several be used for
The pinching screw one of the fixed dovetails.
Preferably, the lancing motion module includes guide part and puncture needle；The guide part includes guide plate one, guiding
Plate two and locating part；The guide plate one is fixed on the directive slide track far from described dovetail groove one end, the guide plate two
Sliding is connected on the directive slide track, and the locating part is arranged on the guide plate two；It the guide plate one and described leads
It is detachably connected to plate two with the directive slide track；Described puncture needle one end is connected to the guide plate two towards the guiding
On the side of plate one, the other end is pierced by guide plate one.
Preferably, the locating part includes several pinching screws two for being vertically set on two two sides of guide plate；It is several described
Pinching screw two all extends to the directive slide track side wall and contradicts with the directive slide track side wall.
Preferably, the puncture needle connect one end with the guide plate two and is equipped with and consolidates with what the guide plate two fitted closely
Fixed board, the fixed plate be equipped with several pinching screws three, several pinching screws three both pass through the fixed plate with it is described
Guide plate two is fixed.
Preferably, the pedestal is equipped with support type castor and knob.
Preferably, the puncture oriented module and the lancing motion module are made of weak magnetic material.
A kind of navigation puncture control method, applied to a kind of navigation puncture system described in above-mentioned power any one, including
Following steps:
S1: being loaded into the image of patient's scanning in the host, obtains image space；
S2: sticking the locating plate on object on the workbench, obtains physical space by the positioning probe,
And the fusion of above-mentioned physical space and image space is realized by algorithm automatic identification；
S3: the coordinate of the mechanical arm is merged and is calibrated with the sensor coordinates by the control module, is obtained mechanical
Arm space；
S4: above-mentioned mechanical arm space is merged with above-mentioned physical space by algorithm；
S5: the motion profile of mechanical arm is preset in the host and calibrates mechanical arm space, physical space and image
Space；
S6: the host plans that entering for puncture process and enters needle direction at pin mark in image space, and sends data to
Control module controls manipulator motion to designated position by control module；
S7: the puncture needle is pushed to complete puncture process manually.
The beneficial effects of the practice of the present invention is:
1, controlling mechanical arm by host drives puncture needle to carry out puncture path positioning to sufferer, only need to manually push puncture
Needle realizes puncture process, reduces manual change's puncture path in artificial puncture process and causes damage to sufferer, improves
The accuracy of puncture process reduces the sense of discomfort of patient in the course of surgery；
2, it punctures oriented module and lancing motion module relevant components components is all made of the products designs such as carbon fiber, no
Any magnetic disturbance is not only generated to magnetic field generator, and own wt gently has high speed responsiveness and stability
3, control module and sensor cooperate, and realize the fusion of physical space and mechanical arm space, and match with host
It closes, realizes physical space, the synchronous fusion in mechanical arm space and image space, and then the motion profile of positioning mechanical arm and navigation
The puncture position of needle further increases the Stability and veracity in operating process.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
A kind of embodiment of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is in embodiment 1 for embodying the structural schematic diagram of control equipment；
Fig. 3 is in embodiment 1 for embodying the structural schematic diagram for puncturing oriented module；
Fig. 4 is in embodiment 1 for embodying the structural schematic diagram of lancing motion module.
In above-mentioned attached drawing, each figure number label is respectively indicated:
1- workbench；11- host；121- magnetic field generator；122- electromagnetic field receivers；2- pedestal；21- control module；22-
Mechanical arm；3- punctures oriented module；31- shell；32- dovetail groove；33- linear bearing；34- directive slide track；35- dovetails；36-
Pinching screw one；37- cushion；4- lancing motion module；41- guide plate one；42- guide plate two；43- pinching screw two；44-
Puncture needle；5- fixed plate；51- pinching screw three；6- support type castor；61- knob；7- sensor.
Specific embodiment
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 description, 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.
Embodiment 1；A kind of navigation puncture system, as depicted in figs. 1 and 2, including workbench 1, host 11 and with by leading
The control equipment and space positioning apparatus that machine 11 controls；Control equipment include pedestal 2, the control module being arranged in pedestal 21,
The mechanical arm 22 that is fixed on pedestal 2 is arranged in 3 pieces of puncture guiding module on mechanical arm 22 far from 2 one end of pedestal and is located at
Puncture the lancing motion module 4 on oriented module 3 far from 22 one end of mechanical arm；Mechanical arm 22 is controlled by control module 21；Space
Positioning device includes magnetic field generator 121, electromagnetic field receivers 122, locating plate and and the positioning probe that is arranged on locating plate；It is empty
Between positioning device be arranged on workbench 1 far from control equipment side.
In the above-described embodiment, as shown in Figure 1, workbench 1 is used for object, i.e. sufferer is lain flat, and lancing motion module 4 is remote
From 2 one end of pedestal towards patient lungs, space positioning apparatus is punctured by magnetic field generator 121 and the acquisition of electromagnetic field receivers 122
The magnetic field data of motion module is fed back in host, and is compared with the striograph in host, then by host 11 to mechanical arm
22 issue instruction, and the control control control equipment of mechanical arm 22 carries out Needle localization, by acquiring image and comparison diagram in host 11
As comparison, suitable puncture path is selected, coordinate registration is then carried out, path and sufferer dot position information are transmitted to mechanical arm
22, navigation by triangulation and puncture are completed by mechanical arm 22, mechanical arm 22 is controlled by host 11 and is reduced in manual operation puncture process
The case where generating adjustment puncture path, and then the secondary injury to sufferer is reduced, facilitate operator to operate, reduces and operator is passed through
The dependence tested improves the accuracy of puncture process, and then reduces the sense of discomfort of patient in the course of surgery.
In the above-described embodiment, as shown in Figure 1, magnetic field generator 121, electromagnetic field receivers 122 are the prior art
In or the following device that will be come into operation, concrete model size can select applicable device according to practical service environment, fixed
Bit slice and positioning probe are the device that can be realized positioning function in the prior art, and sensor 7 can be set punctures fortune again
Any position on dynamic model block 4, can be realized the positioning of 4 position of lancing motion module, and space positioning apparatus is arranged remote
Control equipment and space positioning apparatus at work can be reduced from control equipment side to influence each other, and improve space positioning apparatus
Accuracy, while keeping the normal work of control device, conveniently control and operate.
In one preferred embodiment, as shown in Fig. 2, pedestal 2 is equipped with support type castor 6 and knob 7, mould is controlled
Block 21 is placed on inside pedestal 2, and support type castor 6 and knob 7 facilitate control equipment is whole to move manually and fixed, Jin Erfang
Just suitable position is moved to according to the case where patient, facilitates the operation of operator.
In one preferred embodiment, as shown in Fig. 2, mechanical arm 22 is six degree of freedom UR3 mechanical arm, UR3 is mechanical
Arm is a kind of small-sized collaborative mechanical arm 22, is very suitable to the applications such as light-duty assembling work and automated job platform, has
Load is imitated up to 6.6 pounds (about 3 kilograms), all wrist joints can be achieved 360 degree rotation, end joint can unlimited rotary,
Facilitate and realizes that navigation by triangulation and puncture, puncture needle weight can flexibly control the puncture road of puncture needle in 50-100g, mechanical arm
Diameter facilitates operation.
In one preferred embodiment, as shown in Figure 3 and Figure 4, puncturing oriented module 3 includes shell 31, dovetail groove
32, linear bearing 33 and directive slide track 34；33 one end of linear bearing is connect with mechanical arm 22, and the other end is connect with shell 31,
Dovetail groove 32 is arranged on shell 31 far from 22 side of mechanical arm；34 one end of directive slide track is equipped with the dovetail cooperated with dovetail groove 32
Block 35, dovetail groove 32 are equipped with several pinching screws 1 for being used to fix dovetails 35, puncture oriented module 3 by mechanical arm 22
It with movement, punctures 3 main function of oriented module and is to connect mechanical arm 22 and lancing motion module 4, and then realize and puncture fortune
Phase between linear bearing 33 and mechanical arm 22 may be implemented in the fixation of 4 position of dynamic model block, the fixation of dovetail groove 32 and dovetails 25
Change to position, can be arranged with Relative vertical, also can be set to satisfy the use demand, and the setting of pinching screw 1 improves
The stability that shell 31 is connect with directive slide track 34, improves the safety in use process, the setting master of linear bearing 33
If facilitating operation to make lancing motion module 4 reach puncture position.
In one preferred embodiment, as shown in figure 3, being equipped with cushion 37 in dovetail groove 32, cushion 37 is bullet
Property material be made, in the prior art have elasticity and can be useful in dovetail groove 32 can be used, in this specific embodiment party
In formula, cushion 37 is made of rubber, size according to dovetail groove 32 size be arranged, cushion 37 can reduce dovetails 35 with
Dovetail groove 32 is interference fitted the damage of generation for a long time, while can also increase the friction between dovetails 35 and dovetail groove 32
Power reduces and generates relative movement between dovetails 35 and dovetail groove 32 in use, increases by 35 inlay card of dovetail groove in dovetail
Stability in slot 32.
In one preferred embodiment, as shown in figure 4, lancing motion module 4 includes guide part and puncture needle 44；It leads
It include guide plate 1, guide plate 2 42 and locating part to part；Guide plate 1 is fixed on directive slide track 34 far from dovetail groove
32 one end, the sliding of guide plate 2 42 are connected on directive slide track 34, and locating part is arranged on guide plate 2 42；One 41 He of guide plate
Guide plate 2 42 is detachably connected with directive slide track 34；One 44 end of puncture needle is connected to guide plate 2 42 towards guide plate 1
One side on, the other end is pierced by guide plate 1.
In the above-described embodiment, as shown in figure 4, the sliding of guide plate 2 42 is connected on directive slide track 34, i.e., controllably
The distance between guide plate 2 42 and guide plate 1 processed, and then the distance that puncture needle 44 stretches out guide plate 1 is controlled, reach
The purpose for controlling the distance between puncture needle 44 and sufferer drives lancing motion module 4 to be moved to sufferer when puncturing oriented module 3
When position, operator opens locating part, puncture needle 44 is moved on patient punctures manually, due to guide plate 1 and leads
The motion path of puncture needle 44 is limited to plate 2 42, puncture needle 44 itself is flexible, affix guide plate 1 and guide plate two
42 guiding is easily achieved 0.5mm navigation puncture precision on the whole, further improves the puncture in whole system operating process
Precision reduces and manually adjusts the damage caused by patient in puncture process, and guide plate 1 and guide plate 2 42 are detachable,
Facilitate the guide plate one and guide plate two according to different use environment selection different angles, length or material, improves entire system
The applicability of system, removably in the prior art are applicable in, such as clamping, do not influence the use of lancing motion module 4 i.e.
Can, it is numerous to list herein.
In one preferred embodiment, as shown in figure 4, locating part includes being vertically set on 2 42 two sides of guide plate
Several pinching screws 2 43；In this embodiment, guide plate 2 42 is set on directive slide track 34, several pinching screws
2 43 all extend to 34 side wall of directive slide track and contradict with 34 side wall of directive slide track, and the setting of locating part is for realizing guide plate two
42 with the fixation of directive slide track 34, realize the fixation of 2 42 position of guide plate, reduce and drive lancing motion module 4 in mechanical arm 22
The position of guide plate two generates change when movement, and then influences the position of puncture needle 44, improves system in operation steady
It is qualitative, when by mechanical arm 22 have good positioning sufferer puncture path when, locating part can be opened, it is artificial to push guide part and puncture needle
44 carry out puncture process, and any position on guide plate 2 42 can be set in pinching screw 2 43, can be with directive slide track 34
The movement for contradicting simultaneously restricted guidance plate 2 42 is preferably provided at guide plate 2 42 and extends and cover the one of directive slide track 34
End, 2 42 two sides of guide plate are respectively provided with pinching screw 2 43, realize preferable restriction effect.
In one preferred embodiment, as shown in figure 4, puncture needle 44 connect with guide plate 2 42 one end be equipped with and lead
The fixed plate 5 fitted closely to plate 2 42, fixed plate 5 are equipped with several pinching screws 3 51, and several pinching screws 3 51 are worn
It crosses fixed plate 5 and guide plate 2 42 is fixed, puncture needle 44 may be implemented and lead by the setting of fixed plate 5 and pinching screw 3 51
To being detachably connected for plate 2 42.
In the above-described embodiment, puncture needle 44 is disposable, can be convenient replacement, when needing replacing puncture needle
When 44, pinching screw 3 43 only need to be unclamped manually and is inserted into new puncture needle 44 and tightens pinching screw 3 43, is led simultaneously
It is also detachable to part, guide part and puncture needle 44 can also be replaced simultaneously, have quick-replaceable function, convenient artificial fast quick change
Needle.
As shown in figure 4, fixed plate 5 is elastic plate, cabling space is reserved in 44 end of puncture needle, and puncture needle 44 is also to pass through tool
Flexible fixed plate 5 and the mode of pinching screw 3 43 are fixed, and on the one hand can be reduced pinching screw 3 43 and be squeezed for a long time
Fixed plate 5 makes damage caused by 5 surface of fixed plate, on the other hand, when artificial mobile puncture needle 44 carries out puncture process to sufferer
When, 44 needle point of puncture needle and patient contact will receive certain pressure, and it is certain that flexible fixed plate 5 can give puncture needle 44
Cushion effect, reduce and generate damage during puncture needle 44 enters patient's body and the case where can not be punctured.
In one preferred embodiment, as shown in Fig. 2, puncturing oriented module 3 and lancing motion module 4 by weak magnetic
Property material be made, in this embodiment, puncture the relevant components components in oriented module 3 and 4 pieces of lancing motion mould
The products designs such as carbon fiber are all made of, do not generate any magnetic disturbance to magnetic field generator not only, but also own wt is light, always
Weight about 1.4kg or so helps to reduce the shake generated when control mechanical arm 22 moves to a certain extent, further be conducive to
The stability of whole system in the operating condition, while loading relatively low, it is easy to accomplish lancing motion module 410m/s2Acceleration
It spends, the operating rate of the speed of 0.25m/s, and the work of any one station in 200mm stroke can be completed in 1.5s
Circulation.
Embodiment 2；The present invention also provides a kind of navigation puncture control methods, are applied to a kind of navigation of above-mentioned any one
Lancing system, comprising the following steps:
S1: the image of patient's scanning is loaded into the host 11；
S2: sticking the locating plate on the object on the workbench 1, obtains image space, is visited by the positioning
Head obtains physical space, and the fusion of above-mentioned physical space and image space is realized by algorithm automatic identification；
S3: the coordinate of the mechanical arm 22 is merged and is calibrated with 7 coordinate of sensor by the control module 21, is obtained
Mechanical arm space；
S4: above-mentioned mechanical arm space is merged with above-mentioned physical space by algorithm；
S5: the motion profile of mechanical arm 22 is preset in the host and calibrates mechanical arm space, physical space and figure
Image space；
S6: the host 11 plans that entering for puncture process and enters needle direction at pin mark in image space, and data are sent
To control module 21, mechanical arm 22 is controlled by control module 21 and moves to designated position；
S7: the puncture needle 44 is pushed to complete puncture process manually.
Treatment process:
S1 and S2 realizes that physical space is merged with image space coordinate, and locating plate, positioning probe patch are posted with patient
It is buckled on locating plate, locating plate passes through algorithm automatic identification coordinate in image space, and positioning probe can be in physical space
Physical space coordinates are obtained by Magnetic oriented, are merged physical space and magnetic field space by registration Algorithm, remember physics
Space is Pm, and note image space is Pi, remembers that transformational relation between the two is Tm, i；After the completion of this operation, it can will be implanted into magnetic
The surgical instrument of field alignment sensor merges display with image space, reaches the target that real-time imaging positions in real time；
S3 and S4 realizes mechanical arm space and physical space fusion, sensor 7 is equipped in lancing motion module 4, by object
Space and the fusion of mechanical arm space coordinate are managed, the coordinate Pi of sensor 7, while 22 own coordinate Pr of mechanical arm are acquired, by matching
Quasi- algorithm merges physical space coordinates and mechanical arm space coordinate, remembers the transformational relation of mechanical arm space Pr to physical space Pm
For Tr, m；
After completion of the above process, the transition that space conversion calculates can be used directly and obtain mechanical arm space coordinate to image
The transformational relation of space coordinate is denoted as Tr, i=Tr, m*Tm, i；Mechanical arm coordinate can switch to image space coordinate by Tr, i,
It realizes that the fusion of mechanical arm space in image space is shown, the motion morphology of mechanical arm can be drawn out in the picture；
This operating process is in system initialisation phase by presetting 22 motion profile mode of mechanical arm, i.e. S5, in the short time
Can automatically 22 coordinate of mechanical arm be calibrated by not needing human intervention inside, quick and precisely efficiently.
S6 can realize that the surgery planning operation of navigation system can be selected in image space that is, according to the image in host
Entering for puncturing out and enters needle direction at pin mark, by transformational relation Tr, i, inverts to obtain image space to mechanical arm space for Tr, i
Transformational relation Ti, r=Ti, r-1, by image space coordinate position and direction by transformation calculations obtain mechanical arm 22
Data are sent in control module 21 by moving target position and direction, and control mechanical arm 22 moves to specified position.
The above-mentioned various embodiments enumerated can be combined with each other implementation, those skilled in the art under the premise of reconcilable
In combination with attached drawing and above to the explanation of embodiment, as the foundation being combined to the technical characteristic in different embodiments.
It should be pointed out that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (8)
1. a kind of navigation puncture system, it is characterised in that:
Including workbench, host and with the control equipment and space positioning apparatus that are controlled by the host；
The control equipment include pedestal, the control module being arranged in the pedestal, fixed mechanical arm on the base,
Puncture oriented module on the robotic arm far from described pedestal one end is set and setting is separate on the puncture oriented module
The lancing motion module of described mechanical arm one end；
The mechanical arm is controlled by the control module；
The space positioning apparatus includes that magnetic field generator, electromagnetic field receivers, locating plate and being arranged on the locating plate are determined
Position probe；
The space positioning apparatus is arranged on the workbench far from the control equipment side；
The lancing motion module is equipped with sensor.
2. a kind of navigation puncture system according to claim 1, it is characterised in that:
The puncture oriented module includes shell, dovetail groove, linear bearing and directive slide track；
Described linear bearing one end is connect with the mechanical arm, and the other end is connect with shell, and the dovetail groove is arranged in the shell
Far from mechanical arm side on body；
Described directive slide track one end is equipped with the dovetails cooperated with the dovetail groove, and the dovetail groove is equipped with several for fixing
The pinching screw one of the dovetails.
3. a kind of navigation puncture system according to claim 2, it is characterised in that:
The lancing motion module includes guide part and puncture needle；
The guide part includes guide plate one, guide plate two and locating part；
The guide plate one is fixed on the directive slide track far from described dovetail groove one end, and the sliding of guide plate two is connected to
On the directive slide track, the locating part is arranged on the guide plate two；
The guide plate one and the guide plate two are detachably connected with the directive slide track；
Described puncture needle one end is connected to the guide plate two towards on the side of the guide plate one, and the other end is pierced by guide plate
One.
4. a kind of navigation puncture system according to claim 3, it is characterised in that:
The locating part includes several pinching screws two for being vertically set on two two sides of guide plate；Several pinching screws two are
It extends to the directive slide track side wall and is contradicted with the directive slide track side wall.
5. a kind of navigation puncture system according to claim 3, it is characterised in that:
The puncture needle connect one end with the guide plate two and is equipped with the fixed plate fitted closely with the guide plate two, described solid
Fixed board is equipped with several pinching screws three, and several pinching screws three both pass through the fixed plate and the guide plate two is solid
It is fixed.
6. a kind of navigation puncture system according to claim 1, it is characterised in that:
The pedestal is equipped with support type castor and knob.
7. a kind of navigation puncture system according to claim 1, it is characterised in that:
The puncture oriented module and the lancing motion module are made of weak magnetic material.
8. a kind of navigation puncture control method, it is characterised in that:
Applied to a kind of navigation puncture system described in any one in the claims 1~7, comprising the following steps:
S1: being loaded into the image of patient's scanning in the host, obtains image space；
S2: sticking the locating plate on object on the workbench, obtains physical space by the positioning probe, and lead to
Cross the fusion that algorithm automatic identification realizes above-mentioned physical space and image space；
S3: the coordinate of the mechanical arm is merged and is calibrated with the sensor coordinates by the control module, and it is empty to obtain mechanical arm
Between；
S4: above-mentioned mechanical arm space is merged with above-mentioned physical space by algorithm；
S5: the motion profile of mechanical arm is preset in the host and calibrates mechanical arm space, physical space and image space；
S6: the host plans that entering for puncture process and enters needle direction at pin mark in image space, and sends data to control
Module controls manipulator motion to designated position by control module；
S7: the puncture needle is pushed to complete puncture process manually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910035945.XA CN109620365A (en) | 2019-01-15 | 2019-01-15 | A kind of navigation puncture system and control method |
Applications Claiming Priority (1)
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