CN109701169A - A kind of system of tumor treatment that mechanical arm punctures - Google Patents
A kind of system of tumor treatment that mechanical arm punctures Download PDFInfo
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Abstract
The invention discloses the system of tumor treatment that a kind of mechanical arm punctures, including CT machine, Ultrasound Instrument, electromagnetic positioners, therapeutic bed, optical operation navigation instrument, sting device, mechanical arm, console, mechanical arm piercing step is as follows: step 1, system calibrating, utilize coordinate calibrating template, the pixel coordinate of lesion and the positional relationship of space coordinate are obtained, provides information source for subsequent image procossing；Step 2, sting device is moved to the skin entry point of surgery planning by arm translational motion by mechanical arm；Step 3, wrist adjusts sting device posture according to inserting needle path in the case where keeping needle point point motionless；Step 4, sting device is advanced to the lesion target position of optical operation navigation instrument acquisition by the translational motion of needling mechanism by mechanical arm；Step 5, after completing tissue treatment, mechanical arm is by the translational motion of needling mechanism according to the quick withdraw of the needle of former inserting needle path.
Description
Technical field
The present invention relates to oncotherapy technical fields, and in particular to a kind of system of tumor treatment that mechanical arm punctures.
Background technique
Puncturing ablation radiotherapy is one of cancer complex treatment main means, and to patient with advanced cancer, radiotherapy is often resulted in
The symptoms such as peripheral blood leukocytes number decline, tired.Therefore, seeking safer, the effective treatment means of one kind becomes the task of top priority.
In recent years, closely status of the ablation radiotherapy in Multimodality Therapy of Malignant Tumors is more and more important, has been used to prostate, cream
In the oncotherapy of the organs such as gland, liver, lung.The advantage of this method is that: surrounding tissue raying influences small；Due to ray
Prolonged exposure and make tumour be proliferated reduction again；Target area biological effect dosage is high；Irradiation field does not become with the movement of target area of irradiation
Change.The minimally invasive ablation in part has splendid therapeutic effect.But close-range particle implantation surgery wants the experience and technology of doctor
Ask higher, long-time operation easily causes fatigue and radiation injury.
Summary of the invention
The object of the invention is that a kind of system of tumor treatment that mechanical arm punctures is provided to solve the above-mentioned problems,
Elaboration as detailed below.
To achieve the above object, the present invention provides following technical schemes: a kind of system of tumor treatment that mechanical arm punctures,
Including CT machine, Ultrasound Instrument, electromagnetic positioners, therapeutic bed, optical operation navigation instrument, sting device, mechanical arm, console,
Mechanical arm is fixedly mounted in therapeutic bed, and the end of mechanical arm is arranged in the ultrasonic probe and sting device of Ultrasound Instrument
It holds on actuator, realizes the accurate treatment to tumor locus；
Electromagnetic positioners and optical operation navigation instrument, the slice of electromagnetic positioners combination ultrasonic probe are provided with outside therapeutic bed
The pose image of image and electromagnetic positioners, constructs the 3-D image of tumour, and optical operation navigation instrument is fixed by image recognition
The accurate positioning of position tumour,
Console receive from CT machine, Ultrasound Instrument, electromagnetic positioners, optical operation navigation instrument data-signal, control wears
Thorn device, mechanical arm are acted accordingly.
The movement step of mechanical arm and motor function are planned according to the characteristics of clinical puncturing operation, and realized
The function that mechanical arm punctures, steps are as follows:
Step 1, system calibrating is closed using the position of coordinate calibrating template, the pixel coordinate and space coordinate that obtain lesion
System, provides information source for subsequent image procossing；
Step 2, sting device is moved to the skin entry point of surgery planning by arm translational motion by mechanical arm；
Step 3, wrist adjusts sting device posture according to inserting needle path in the case where keeping needle point point motionless；
Step 4, sting device is advanced to optical operation navigation instrument by the translational motion of needling mechanism and obtained by mechanical arm
Lesion target position；
Step 5, after completing tissue treatment, mechanical arm is quick according to former inserting needle path by the translational motion of needling mechanism
The withdraw of the needle.
Beneficial effect is:
1, puncture radiotherapy is carried out using mechanical arm, improve the precision of operation and avoids the radiation injury of medical staff
Etc. technical effects；
2, mechanical arm retarder uses fuzzy control, realizes being precisely controlled for surgical action；；
3, the accurate guidance to mechanical arm sting device is realized by optical guidance；
4, by the building three-dimensional nodule image of electromagnetic positioners combination ultrasonic probe, making rational planning for for operation is realized.
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
Some embodiments 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 overall composition figure of the invention；
Fig. 2 is mechanical arm structure chart of the invention；
Fig. 3 is that mechanical arm of the invention punctures flow chart；
Fig. 4 is RF ablation device circuit composition figure of the invention；
Fig. 5 is the image processing flow figure of camera vision system of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
Referring to shown in Fig. 1-Fig. 5, the present invention provides the system of tumor treatment that a kind of mechanical arm punctures, including it is CT machine, super
Sound instrument, electromagnetic positioners, therapeutic bed, optical operation navigation instrument, sting device, mechanical arm, console,
Mechanical arm is fixedly mounted in therapeutic bed, and the end of mechanical arm is arranged in the ultrasonic probe and sting device of Ultrasound Instrument
It holds on actuator, realizes the accurate treatment to tumor locus；
Electromagnetic positioners and optical operation navigation instrument, the slice of electromagnetic positioners combination ultrasonic probe are provided with outside therapeutic bed
The pose image of image and electromagnetic positioners, constructs the 3-D image of tumour, and optical operation navigation instrument is fixed by image recognition
The accurate positioning of position tumour,
Console receive from CT machine, Ultrasound Instrument, electromagnetic positioners, optical operation navigation instrument data-signal, control wears
Thorn device, mechanical arm are acted accordingly.
The movement step of mechanical arm and motor function are planned according to the characteristics of clinical puncturing operation, and realized
The function that mechanical arm punctures, steps are as follows:
Step 1, system calibrating is closed using the position of coordinate calibrating template, the pixel coordinate and space coordinate that obtain lesion
System, provides information source for subsequent image procossing；
Step 2, sting device is moved to the skin entry point of surgery planning by arm translational motion by mechanical arm；
Step 3, wrist adjusts sting device posture according to inserting needle path in the case where keeping needle point point motionless；
Step 4, sting device is advanced to optical operation navigation instrument by the translational motion of needling mechanism and obtained by mechanical arm
Lesion target position；
Step 5, after completing tissue treatment, mechanical arm is quick according to former inserting needle path by the translational motion of needling mechanism
The withdraw of the needle.
Mechanical arm includes mechanical part and partial power, and mechanical arm is used to adjust according to the inserting needle path of surgery planning and puncture
Device pose reaches lesion target spot with making sting device safety and precise.
Wherein, mechanical part includes pedestal, connector, large arm, forearm, wrist, end effector and rotary joint, rotation
Turn joint be located between pedestal and connector, between connector and large arm, between large arm and forearm and wrist and end
Between actuator, pedestal is load-bearing basic components, is fixed on ground or bracket, and connector is the support member of large arm, is realized
The revolute function of mechanical arm, connector are rotated on pedestal, and large arm is the support member of forearm, and the swing of large arm changes end
The stroke of actuator in the horizontal direction is held, the evolution of end effector in vertical direction, wrist are realized in the pitching of forearm
The rotation angles and positions of the end effector rotary joint adjustment carrying target in portion.
The dragging of mechanical arm external force is makes mechanical arm have force-sensing ability during inserting needle, in robot arm end effector
Six-dimension force sensor is installed, while using dragging force driving machine tool arm arm permanent magnet synchronous servo motor, realizing mechanical arm external force
Drag function, doctor can random driving machinery arm, so that sting device is moved to skin entry point, punctured manually with clinic similar
Seemingly, mechanical arm wrist pinpoints posture adjustment campaign after needle tip is moved to skin entry point, in order to guarantee needle point point in mechanical arm
It is remained stationary when wrist posture adjustment campaign, realizes that mechanical arm pinpoints posture adjustment using the heterodromous needle point bit shift compensation algorithm of Descartes
Function.
The pedestal rotary joint perpendicular to the axis in ground couples, and socket joint is mounted on the base, and provides support for large arm,
Large arm, forearm and the connecting rod for keeping wrist level are installed thereon, large arm, forearm and connecting rod mutually constitute parallelogram, increase
The rigidity for having added entire arm meets the easily-controllable property of wrist by the synergistic effect for parallelogram mechanism of connecting.
The structure increases the rigidity of entire arm, and the interaction of parallelogram increases entire mechanical arm power train
The rigidity of system reduces mechanical arm caused by under starting and emergency stop and trembles, and stroke amplification reduces system inertia, save at
This, while the stability of system is increased, handling machinery arm utilizes the control of mechanical arm pose of " parallelogram " simplified principle
System, reduces the difficulty of process control, can shorten duty cycle and the R & D design cost of mechanical arm.
Wherein, partial power include encoder, decoding circuit, optical coupling isolation circuit, permanent magnet synchronous servo motor (PMSM),
Retarder and intelligent power control module (IPM), Hall current sensor acquire the U phase and V phase of permanent magnet synchronous servo motor
Electric current, feeds back to motion controller, and encoder feeds back permanent magnet synchronous servo motor to motion controller in real time by decoding circuit
Physical location, motion controller receive target position information by universal serial bus, and target position, physical location and actual current exist
Uniaxial logic control is done in motion controller, and optical coupling isolation circuit is passed through by the sequential scheduling output pulse width modulation of vector controlled
It is supplied to intelligent power control module and is converted to power control signal, optical coupling isolation circuit realizes control section circuit and power
Partial circuit is completely isolated, greatly improves the reliability of hardware, and intelligent power control module drives permanent magnet synchronous servo motor
The rotary joint of operating, permanent magnet synchronous servo motor output shaft and retarder, retarder and mechanical part connects, and retarder is transported
The control of movement controller, the fining adjustment of realization movement.
After motion controller receives the control instruction that console is sent, it is raw that corresponding program is executed according to control instruction
At speed signal, count signal and acceleration-deceleration signal, the speed signal of rotation is sent to permanent magnet synchronous servo motor, to subtracting
Fast device sends count signal and acceleration-deceleration signal, after the servomechanism installation of permanent magnet synchronous servo motor receives signal, to its into
Row adjustment, enhanced processing generate turn signal and are sent to permanent magnet synchronous servo motor, the rotation of motor driven rotary joint, movement
Controller will be mounted on the feedback signal of the encoder of the permanent magnet synchronous servo motor of each rotary joint by system integrating control
System processed returns to industrial personal computer, and feedback signal for monitoring the shape of mechanical arm in real time in the human-computer interaction interface on industrial personal computer
State simultaneously shows data.
Motion controller sets the zero point pose in each joint of mechanical arm, and zero point pose is decided by mechanical arm in the initial state
When each permanent magnet synchronous servo motor position, zero point pose is recorded by motion controller, after mechanical arm fulfils assignment, is passed through
Sending zero-bit instruction makes mechanical arm return to zero point pose, to complete to return to zero.
Wherein, retarder is double reduction mechanism, including centre wheel, planetary gear, planetary gear, crank axle, Cycloidal Wheel, pinwheel
And output panel, the power transfer path of retarder are, power is inputted from right end, and engaging by centre wheel with planetary gear makes planet
Take turns rotation；Planetary gear and crank axle are connected, and crank axle is installed on ring flange；Cycloidal Wheel is installed on crank axle, and and pinwheel
Engagement, Cycloidal Wheel are turned round by crankshaft drives planetary gear, and power is exported by the output panel connecting with planetary gear.
Wherein, motion controller further includes fuzzy control device, carries out fuzzy control, fuzzy control device to retarder
Including difference engine, differentiator, defuzzification interface, output quantity conversion module, inference machine, knowledge base, load estimation module will be measured
The measurement load voltage of retarder difference engine is supplied to by bandpass filter, difference engine bears the setting that operator inputs
It carries voltage and measurement load voltage subtracts each other to obtain error value E, error value E obtains error rate dE/dt, error by differentiator
Value E and error rate dE/dt are supplied to defuzzification interface, carry out blurring tax to error value E and error rate dE/dt
Value respectively obtains blurring error amount ME and blurring error change value MEC, blurring error amount ME and blurring error change
Value MEC is supplied to inference machine, inference machine according in knowledge base input and output degree of membership vector value and reasoning from logic rule it is right
Blurring error amount ME and blurring error change value MEC carries out fuzzy reasoning and obtains fuzzy control quantity MU, output quantity modulus of conversion
Fuzzy control quantity MU is converted to practical control amount U by block, is controlled power supply according to practical control amount U and is provided voltage to retarder.
Wherein, fuzzy control method specifically: according to selection parameter PL, PB of the linguistic variable of operator, PM, PS,
Z0, NS, NM, NB, BL respectively indicate positive super large, honest, center, it is just small, zero, bear in small, negative, bear big, negative super large, corresponding mould
Paste collection-n ,-n+1 ..., 0 ..., n-1, n }, n=4, n are primary fuzzy collection variable；
Determine quantizing factor, ke=n/e, wherein keFor error amount quantizing factor, e is the worst error value of measurement, kec=
N/ec, kecFor error rate quantizing factor, ec is the worst error change rate of measurement,
If m≤keE≤m+1, m < n, then being blurred error amount ME is the k by rounding upeE, m are secondary fuzzy set
Variable；
If keE <-n, then being blurred error amount ME is-n；
If keE > n, then being blurred error amount ME is n；
If m≤kecE≤m+1, m < n, then being blurred error change value MEC is the k by rounding upecE；
If kecE <-n, then being blurred error change value MEC is-n；
If kecE > n, then being blurred error change value MEC is n.
The accurate control that can effectively realize mechanical arm retarder automatically by fuzzy control, reduce manually set it is anti-
The inaccuracy of waste and precision in bring efficiency is modified again, realizes accurately puncturing operation.
Console include host computer, slave computer, manual control box, RS485 interface, USB interface, CAN translation interface, frequency converter,
Rack is enabled and brake enables module, two data potentiometers, A/D converter, I/O interface, address logic device, logic orderliness
Device, D/F module, F/D module, RAM, differential driving, input, output switching value level conversion and flash memory, when manual control box is closed
When, host computer receive from CT machine, Ultrasound Instrument, electromagnetic positioners, optical operation navigation instrument data-signal, and generate control and refer to
Order is sent to slave computer, and when manual control box is opened, slave computer only receives the control instruction of manual control box, slave computer receive host computer or
After the instruction of manual control box, communication interface is converted by RS485 and issues corresponding call instruction to clutch, sting device, each stepping
Motor, permanent magnet synchronous servo motor, retarder.
Host computer is computer, and slave computer PLC carries out the programming of control system, by special using dedicated programmed software
The computer program woven is transmitted by the transmission that data and signal are carried out with transmission line to the memory storage of PLC,
PLC is set to generate pulse signal and pwm signal, to control stepper motor, permanent magnet synchronous servo motor, retarder
By the programming to PLC, it is set to export the pulse signal of fixed frequency, to control the revolving speed of stepper motor, simultaneously
By the output to control direction signal, the rotating forward and reversion of stepper motor are controlled, step is installed between PLC and stepper motor
Into motor driver, electric current is exported to drive stepper motor, stepper motor driver is responsible for putting the electric pulse that PLC is exported
Greatly, it is converted into the angular displacement of stepper motor, after the pulse signal that stepper motor driver receives PLC sending, step
Fixed setting angle can be rotated according to the direction of setting into motor.
Stepper motor is that the pulse issued by PLC carries out drive control, and the pulse frequency of output determines stepping
The output revolving speed of motor, meanwhile, the direction signal of PLC output determines the steering of stepper motor.
Permanent magnet synchronous servo motor uses PWM control system, and function covers: adding to permanent magnet synchronous servo motor
Speed is slowed down and permanent magnet synchronous servo motor rotates and reverse control, and the revolving speed of permanent magnet synchronous servo motor is adjusted,
Also be able to achieve the size of permanent magnet synchronous servo motor revolving speed simultaneously facilitates reading, to realize the intelligence of permanent magnet synchronous servo motor
It can control mode, directly clearing, starting, pause, continuous function further comprised for the control of permanent magnet synchronous servo motor.
Sting device is RF ablation device, and RF ablation device includes input protection circuit, current rectifying and wave filtering circuit, pressure regulation
Circuit, inverter circuit, auxiliary power circuit, PWM modulator, high frequency transformer and control circuit, input protection circuit be by
Fuse and Industrial Frequency Transformer composition, prevent high current caused by short circuit damage component, and effectively with power grid every
From the alternating current of 220V/50Hz filters out the various interference in power grid, the direct current of output is through toning by current rectifying and wave filtering circuit
Volt circuit, DC voltage needed for making regulating circuit output under the control of the control circuit, control section includes that voltage and current is anti-
Current feed circuit and pulse-width modulation circuit three parts composition, control circuit are adjusted in real time according to the variation of feed circuit sampled signal
Pulse width keeps the stabilization of output voltage, direct current signal is reverse into the AC signal of high frequency by inverter circuit, through excessively high
Frequency power transformer isolation output；When overcurrent or over-voltage occurs in system, protection circuit will send signal to control circuit, make system
It stopping working, the operating voltage of RF ablation device circuit is provided by accessory power supply, in order to which system run all right is reliable, auxiliary electricity
Source carries out independent design.
Sine voltage is converted into single pulsating dc voltage by rectification circuit realization, and rectification circuit uses full-wave rectification
Circuit is made of four diodes, and the cathode and anode of two diodes connect and second point at first point respectively, when input voltage is
When positive half cycle, electric current is flowed out from first point, and the second diode and the 4th diode current flow are flowed into from second point；Work as input voltage
When for negative half period, electric current is flowed out from second point, and first diode and third diode current flow are flowed into from first point, in alternating current
In the whole cycle of pressure, the voltage and current direction in load is remained unchanged.
Regulating circuit realizes the buck functionality of DC to DC, by switching tube, the 5th diode, switching tube and the five or two pole
The conduction voltage drop of pipe is 0, and switching tube is connected with DC input voitage IU, when PWM drive signal is applied on switching tube, switch
Pipe is periodically turned on and off according to the frequency of pwm signal, and the switching frequency by changing switching tube obtains new direct current
Voltage is filtered by subsequent inductance and capacitor composition LC filter, and during conduction of the switch tube, the electric current on inductance is not
Can mutation, electric current will linearly rise, and in the form of magnetic energy in inductance storage energy, and the 5th diode of afterflow because
Reverse bias and by when switching tube just ends, the electric current on inductance cannot be mutated, and will then be generated opposite polarity electronic
Gesture, the conducting of the 5th diode forward of afterflow, the energy stored on inductance will by the 5th diode of afterflow and load resistance into
Row release, electric current on inductance will linear decline, increased electric current is equal to switching tube and turns off the phase during switching tube is being opened
Between reduction electric current when, the energy on inductance can reach dynamic equilibrium.
Auxiliary power circuit individually separates the alternating current of 18V/50Hz all the way by Industrial Frequency Transformer decompression, then by whole
Stream filtering, finally by voltage needed for integrated regulator output.
Ultrasound Instrument is digital black and white Ultrasound Instrument, including host, probe and black-white image grabbing card, black white image acquisition
The two dimensional image of black and white Ultrasound Instrument is collected console by card.
Optical operation navigation instrument uses camera vision system, and RGB video camera is as image output device, by believing light
Number electric signal is converted to complete Image Acquisition and export, and mainly includes three modules: optical imaging moieties, photoelectric conversion part
And electronic circuitry part, optical imaging moieties include optical lens and imaging plane, when the light reflection projected in lesion passes through
After crossing optical lens refraction, on the image projecting to the imaging plane of RGB video camera of lesion, light is believed by photoelectric conversion part
Number switch to electric signal, electronic circuitry part amplifies faint electric signal and uploads to console by USB interface, at console image
Reason obtains lesion target position.
Wherein, using image procossing acquisition lesion target spot, detailed process is as follows:
Step 1, the original image of lesion perienchyma and lesion is obtained, the camera lens optical axis and lesion of RGB video camera are kept
In parallel；
Step 2, image enhancement is filtered denoising to the rgb value in original image respectively.To filtering for original image
Wave denoising, noise includes noise of equipment, salt-pepper noise, quantizing noise, and the filtering of noise is shown below:
Wherein, rectangular coordinate system x-0-y, f are established by origin of the center of original imageR(x, y), fG(x, y), fB(x, y)
It is located at R, G, B value function of the pixel of coordinate (x, y) respectively in original image, wherein x=(0,1, L L 255), y ∈ (0,
1, L L 255), and FR(x, y), FG(x, y), FB(x, y) is filtered R, G, B value function, and N × N is the window for indicating interception
Size, N=(3,5,7......), preferably N=3, P indicate window in pixel composition point set；
The filtering mode is filtered the rgb value of pixel respectively, inhibits garbage, has been effectively maintained original image
Color information；
Step, 3, image segmentation obtains lesion target image.
Step 3.1, RGB color is converted, generates new color space U1U2U3。
By filtered FR(x, y), FG(x, y), FB(x, y) becomes corresponding coefficient function by following conversions:
Wherein, U1(x, y) is red green correlation function, U2(x, y) is red blue correlation function, U3(x, y) is turquoise related letter
Number；
Step 3.2, the differentiation of lesion and lesion perienchyma.
Construct the segmentation function G of lesion and lesion perienchymaS(x, y) uses U1(x, y), U2(x, y), which is used as, judges item
Part:
Wherein, TsFor segmentation threshold；
Segmentation threshold TSIt can be preset fixed value, such as TS=4.
Step 4, image denoising.
The image of targeted site is obtained by operation, but is inevitable that there are the noises of some small areas, i.e. image
On speckle noise, these speckle noises are apparently not the image of lesion, need to filter out, and open fortune used here as mathematical morphology
It calculates and closed operation is denoised
Step 4.1, binary segmentation function G ' is constructedA(x, y), first by segmentation function G before operationA(x, y) carries out two-value
Change, binary segmentation function are as follows:
Step 4.2, using opening operation, erosion operation first is carried out to bianry image and is then carrying out dilation operation；
Step 4.3, using closed operation.Dilation operation first is carried out to bianry image and is then carrying out erosion operation；
Step 4.4, final lesion objective function G is generatedF(x, y).Bianry image and segmentation after opening and closing operation
Function G 'AThe bianry image that (x, y) is constituted carries out and operation, in the region of 1 value by GAThe value of (x, y) according to coordinate assignment one by one,
Constitute final lesion objective function GF(x, y)；
Step 5, the center (x of lesion is obtainedcen, ycen).Its object is to allow mechanical arm that can position the position of lesion
It sets, and then realizes puncture for treating.
The maximum response in image is obtained with Gaussian filter, and then determines the center of target in image, structure
Build Gaussian response value function are as follows:Wherein, δ is scale factor, can be set according to actual conditions；
To GF(x, y) carries out convolutional calculation, obtains Gaussian convolution receptance function:
H (x, y)=GF(x, y) * g (x, y),
Calculate the coordinate when maximum value for working as h (x, y), the i.e. center (x of lesioncen, ycen)。
Therapeutic bed includes X-axis component, Y-axis component, Z axis component, turning part and rotary table, and Z axis component is for holding
Patient is carried, stretching is protruded by therapeutic bed, patient is sent to assigned work position, including CT scan position and puncture position position,
X-axis component is used for the left and right transverse shifting of patient, and head foot vertical direction of the Y-axis component for patient is mobile, and Z axis component is for disease
The lifting moving of people, therapeutic bed is elevated to desired height position will when turning part is used to start on patient onto therapeutic bed
Therapeutic bed overturning, lies prone convenient for patient onto therapeutic bed, when rotary table is mainly used for CT scan, puncture for treating, driving treatment
Bed rotates to required position.
Embodiment described above only expresses one embodiment of the present invention, and but it cannot be understood as to this
The limitation of invention scope.It should be pointed out that for those of ordinary skill in the art, in the premise for not departing from present inventive concept
Under, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Claims (10)
1. the system of tumor treatment that a kind of mechanical arm punctures, including CT machine, Ultrasound Instrument, electromagnetic positioners, therapeutic bed, optical operation
Navigator, sting device, mechanical arm, console,
Mechanical arm is fixedly mounted in therapeutic bed, and the end that mechanical arm is arranged in the ultrasonic probe and sting device of Ultrasound Instrument is held
On row device, the accurate treatment to tumor locus is realized；
Electromagnetic positioners and optical operation navigation instrument, the sectioning image of electromagnetic positioners combination ultrasonic probe are provided with outside therapeutic bed
And the pose image of electromagnetic positioners, the 3-D image of tumour is constructed, optical operation navigation instrument positions swollen by image recognition
The accurate positioning of tumor,
Console receive from CT machine, Ultrasound Instrument, electromagnetic positioners, optical operation navigation instrument data-signal, control puncture dress
It sets, mechanical arm is acted accordingly；
The movement step of mechanical arm and motor function are planned according to the characteristics of clinical puncturing operation, and realize machinery
The function that arm punctures, steps are as follows:
Step 1, system calibrating obtains the pixel coordinate of lesion and the positional relationship of space coordinate, is using coordinate calibrating template
Subsequent image procossing provides information source；
Step 2, sting device is moved to the skin entry point of surgery planning by arm translational motion by mechanical arm；
Step 3, wrist adjusts sting device posture according to inserting needle path in the case where keeping needle point point motionless；
Step 4, sting device is advanced to the disease of optical operation navigation instrument acquisition by the translational motion of needling mechanism by mechanical arm
Stove target position；
Step 5, after completing tissue treatment, mechanical arm is quickly moved back by the translational motion of needling mechanism according to former inserting needle path
Needle.
2. the system of tumor treatment that a kind of mechanical arm punctures according to claim 1, it is characterised in that: mechanical arm includes machinery
Part and partial power, mechanical arm are used to adjust sting device pose according to the inserting needle path of surgery planning, pacify sting device
Lesion target spot is accurately arrived at entirely.
3. the system of tumor treatment that a kind of mechanical arm punctures according to claim 2, it is characterised in that: partial power includes compiling
Code device, decoding circuit, optical coupling isolation circuit, permanent magnet synchronous servo motor, retarder and intelligent power control module, Hall electricity
Flow sensor acquires the U phase and V phase current of permanent magnet synchronous servo motor, feeds back to motion controller, and encoder passes through decoding electricity
Permanent magnet synchronous servo motor physical location is fed back to motion controller in real time in road, and motion controller receives target by universal serial bus
Location information, target position, physical location and actual current do uniaxial logic control in motion controller, pass through vector controlled
Sequential scheduling output pulse width modulation intelligent power control module is supplied to by optical coupling isolation circuit and is converted to power control
Signal, intelligent power control module drive permanent magnet synchronous servo motor operating, permanent magnet synchronous servo motor output shaft and retarder
The rotary joint of connection, retarder and mechanical part connects, control of the retarder by motion controller.
4. the system of tumor treatment that a kind of mechanical arm punctures according to claim 3, it is characterised in that: motion controller also wraps
Fuzzy control device is included, fuzzy control carried out to retarder, fuzzy control device includes that difference engine, differentiator, blurring connect
Mouth, output quantity conversion module, inference machine, knowledge base, load estimation module pass through the measurement load voltage of the retarder measured
Bandpass filter is supplied to difference engine, and difference engine subtracts each other the setting load voltage that operator inputs and measurement load voltage
To error value E, error value E obtains error rate dE/dt by differentiator, and error value E and error rate dE/dt are supplied to
Defuzzification interface carries out blurring assignment to error value E and error rate dE/dt, respectively obtain blurring error amount ME and
It is blurred error change value MEC, blurring error amount ME and blurring error change value MEC and is supplied to inference machine, inference machine root
According in knowledge base input and output degree of membership vector value and reasoning from logic rule to blurring error amount ME and blurring error
Changing value MEC carries out fuzzy reasoning and obtains fuzzy control quantity MU, and fuzzy control quantity MU is converted to reality by output quantity conversion module
Control amount U controls power supply according to practical control amount U and provides voltage to retarder.
5. the system of tumor treatment that a kind of mechanical arm punctures according to claim 4, it is characterised in that fuzzy control method tool
Body are as follows: respectively indicated according to selection parameter PL, PB, PM, PS, Z0, NS, NM, NB, BL of the linguistic variable of operator positive excess
Greatly, honest, center, it is just small, zero, bear in small, negative, bear big, negative super large, corresponding fuzzy set-n ,-n+1 ...,
0 ..., n-1, n }, n=4, n are primary fuzzy collection variable；
Determine quantizing factor, ke=n/e, wherein keFor error amount quantizing factor, e is the worst error value of measurement, kes=n/ec,
kesFor error rate quantizing factor, ec is the worst error change rate of measurement,
If m≤keE≤m+1, m < n, then being blurred error amount ME is the k by rounding upeE, m are that secondary fuzzy set becomes
Amount；
If keE <-n, then being blurred error amount ME is-n；
If keE > n, then being blurred error amount ME is n；
If m≤kecE≤m+1, m < n, then being blurred error change value MEC is to close five k entered by fourecE；
If kecE <-n, then being blurred error change value MEC is-n；
If kecE > n, then being blurred error change value MEC is n.
6. the system of tumor treatment that a kind of mechanical arm punctures according to claim 1, it is characterised in that: console includes upper
Machine, slave computer, manual control box, RS485 interface, USB interface, CAN translation interface, frequency converter, rack be enabled and enabled module of braking,
Two data potentiometers, A/D converter, I/O interface, address logic device, logic orderliness device, D/F module, F/D module, RAM, difference
Divide driving, input, output switching value level conversion and flash memory, when manual control box is closed, host computer reception comes from CT machine, ultrasound
Instrument, electromagnetic positioners, optical operation navigation instrument data-signal, and generate control instruction and be sent to slave computer, when manual control box is beaten
When opening, slave computer only receives the control instruction of manual control box and passes through RS485 after slave computer receives the instruction of host computer or manual control box
Conversion communication interface issue corresponding call instruction to clutch, sting device, each stepper motor, permanent magnet synchronous servo motor, subtract
Fast device.
7. the system of tumor treatment that a kind of mechanical arm punctures according to claim 1, it is characterised in that: sting device is radio frequency
Ablating device, RF ablation device include input protection circuit, current rectifying and wave filtering circuit, regulating circuit, inverter circuit, accessory power supply
Circuit, PWM modulator, high frequency transformer and control circuit, input protection circuit are made of fuse and Industrial Frequency Transformer,
It prevents high current caused by short circuit from damaging component, and is effectively isolated with power grid, the alternating current of 220V/50Hz passes through
Current rectifying and wave filtering circuit filters out the various interference in power grid, and the direct current of output passes through regulating circuit, under the control of the control circuit
DC voltage needed for making regulating circuit output, control section includes feedback of voltage and current circuit and pulse-width modulation circuit three parts
Composition, control circuit adjust pulse width according to the variation of feed circuit sampled signal in real time, keep the steady of output voltage
It is fixed, direct current signal is reverse into the AC signal of high frequency by inverter circuit, is isolated by high frequency transformer and exports；When system goes out
When existing overcurrent or over-voltage, protection circuit will send signal to control circuit, make system stalls, RF ablation device circuit
Operating voltage provided by accessory power supply, in order to which system run all right is reliable, accessory power supply carry out independent design.
8. the system of tumor treatment that a kind of mechanical arm punctures according to claim 7, it is characterised in that: rectification circuit is realized will
Sine voltage is converted into single pulsating dc voltage, and rectification circuit uses full-wave rectifying circuit, is made of four diodes,
The cathode and anode of two diodes connect and second point at first point respectively, and when input voltage is positive half cycle, electric current is from first point
Outflow, the second diode and the 4th diode current flow are flowed into from second point；When input voltage is negative half period, electric current is from second
Point outflow, first diode and third diode current flow, flow into from first point, in the whole cycle of alternating voltage, in load
Voltage and current direction remain unchanged.
9. the system of tumor treatment that a kind of mechanical arm punctures according to claim 7, it is characterised in that: regulating circuit is realized straight
The buck functionality for flowing to direct current, by switching tube, the 5th diode, the conduction voltage drop of switching tube and the 5th diode is 0, switching tube
It connects with DC input voitage IU, when PWM drive signal is applied on switching tube, switching tube is made according to the frequency of pwm signal
Periodically turn on and off, the switching frequency by changing switching tube obtains new DC voltage, by subsequent inductance and
Capacitor composition LC filter is filtered, and during conduction of the switch tube, the electric current on inductance cannot be mutated, and electric current will be linearly
Rise, and in the form of magnetic energy in inductance storage energy, and the 5th diode of afterflow because reverse bias and by switching
When pipe just cut-off, the electric current on inductance cannot be mutated, and will then generate opposite polarity electromotive force, the 5th diode forward of afterflow
It is connected, the energy stored on inductance will be discharged by the 5th diode of afterflow and load resistance, and the electric current on inductance will
Meeting linear decline, when increased electric current is equal to the electric current of reduction during switching tube turns off during switching tube is being opened, on inductance
Energy can reach dynamic equilibrium.
10. the system of tumor treatment that a kind of mechanical arm punctures according to claim 7, it is characterised in that: auxiliary power circuit
The alternating current that 18V/50Hz all the way is individually separated by Industrial Frequency Transformer decompression, then passes through rectifying and wave-filtering, finally by integrated
Voltage needed for voltage-stablizer output.
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| CN117379116A (en) * | 2023-12-12 | 2024-01-12 | 上海修能医疗器械有限公司 | Rotary cutting needle notch size adjustment method, rotary cutting needle notch size adjustment system and focus cutting method |
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