CN109701169B - Tumor treatment system for mechanical arm puncture - Google Patents
Tumor treatment system for mechanical arm puncture Download PDFInfo
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- CN109701169B CN109701169B CN201811619721.5A CN201811619721A CN109701169B CN 109701169 B CN109701169 B CN 109701169B CN 201811619721 A CN201811619721 A CN 201811619721A CN 109701169 B CN109701169 B CN 109701169B
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Abstract
The invention discloses a tumor treatment system with mechanical arm puncture, which comprises a CT machine, an ultrasonic instrument, an electromagnetic positioner, a treatment bed, an optical operation navigator, a puncture device, a mechanical arm and a console, wherein the mechanical arm puncture comprises the following steps: step 1, system calibration, namely, obtaining the position relation between a pixel coordinate and a space coordinate of a focus by using a coordinate calibration template to provide an information source for subsequent image processing; step 2, the mechanical arm moves the puncture device to a skin needle insertion point planned by the operation through arm translation motion; step 3, the wrist part adjusts the posture of the puncture device according to the needle inserting path under the condition of keeping the needle point immovable; step 4, the mechanical arm pushes the puncture device to a focus target point position obtained by the optical operation navigator through the translational motion of the needle inserting mechanism; and 5, after the tissue treatment is finished, the mechanical arm rapidly withdraws the needle according to the original needle insertion path through the translational motion of the needle insertion mechanism.
Description
Technical Field
The invention relates to the technical field of tumor treatment, in particular to a tumor treatment system with a mechanical arm for puncture.
Background
Puncture ablation radiotherapy is a main means in the comprehensive treatment of cancer, and for patients with advanced cancer, radiotherapy often causes the symptoms of peripheral blood leukocyte reduction, fatigue and the like. Therefore, it is urgent to find a safer and more effective treatment. In recent years, brachytherapy has become more important in the comprehensive treatment of malignant tumors, and has been used for treating tumors in organs such as prostate, breast, liver, and lung. The method has the advantages that: the surrounding tissues are less affected by radiation; reduction of tumor re-proliferation due to continued irradiation with radiation; the target area has high biological effect dosage; the irradiation field does not change with the movement of the irradiation target area. Local minimally invasive ablation has excellent treatment effect. However, the close-range particle implantation operation has high requirements on the experience and the technology of doctors, and is easy to cause fatigue and radiation injury after long-time operation.
Disclosure of Invention
The present invention aims to solve the above problems and provide a mechanical arm puncturing tumor treatment system, which is described in detail below.
In order to achieve the purpose, the invention provides the following technical scheme: a tumor treatment system with mechanical arm puncture comprises a CT machine, an ultrasonic instrument, an electromagnetic positioner, a treatment bed, an optical operation navigator, a puncture device, a mechanical arm and a console,
the mechanical arm is fixedly arranged on the treatment couch, and an ultrasonic probe and a puncture device of the ultrasonic instrument are arranged on an end effector of the mechanical arm, so that accurate treatment of a tumor part is realized;
an electromagnetic positioner and an optical operation navigator are arranged outside the treatment bed, the electromagnetic positioner combines the slice image of the ultrasonic probe and the pose image of the electromagnetic positioner to construct a three-dimensional image of the tumor, the optical operation navigator identifies and positions the accurate positioning of the tumor through the image,
the control console receives data signals from the CT machine, the ultrasonic instrument, the electromagnetic positioner and the optical operation navigator and controls the puncture device and the mechanical arm to perform corresponding actions.
The mechanical arm puncture planning method has the advantages that the movement steps and the movement functions of the mechanical arm are planned according to the characteristics of a clinical puncture operation, and the mechanical arm puncture function is realized, and the steps are as follows:
step 1, system calibration, namely, obtaining the position relation between a pixel coordinate and a space coordinate of a focus by using a coordinate calibration template to provide an information source for subsequent image processing;
step 2, the mechanical arm moves the puncture device to a skin needle insertion point planned by the operation through arm translation motion;
step 3, the wrist part adjusts the posture of the puncture device according to the needle inserting path under the condition of keeping the needle point immovable;
step 4, the mechanical arm pushes the puncture device to a focus target point position obtained by the optical operation navigator through the translational motion of the needle inserting mechanism;
and 5, after the tissue treatment is finished, the mechanical arm rapidly withdraws the needle according to the original needle insertion path through the translational motion of the needle insertion mechanism.
Has the advantages that:
1. the mechanical arm is used for puncture radiotherapy, so that the operation precision is improved, and the technical effects of radiation injury of medical personnel and the like are avoided;
2. the mechanical arm speed reducer adopts fuzzy control to realize accurate control of operation actions; (ii) a
3. The mechanical arm puncture device is accurately guided through optical guidance;
4. the reasonable planning of the operation is realized by combining the electromagnetic positioner with the ultrasonic probe to construct a three-dimensional tumor image.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an overall constitution diagram of the present invention;
FIG. 2 is a view of the robotic arm of the present invention;
FIG. 3 is a flow chart of robotic arm lancing of the present invention;
FIG. 4 is a circuit composition diagram of the RF ablation device of the present invention;
fig. 5 is a flow chart of the image processing of the camera vision system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Referring to fig. 1-5, the invention provides a mechanical arm puncture tumor treatment system, comprising a CT machine, an ultrasonic instrument, an electromagnetic positioner, a treatment couch, an optical operation navigator, a puncture device, a mechanical arm and a console,
the mechanical arm is fixedly arranged on the treatment couch, and an ultrasonic probe and a puncture device of the ultrasonic instrument are arranged on an end effector of the mechanical arm, so that accurate treatment of a tumor part is realized;
an electromagnetic positioner and an optical operation navigator are arranged outside the treatment bed, the electromagnetic positioner combines the slice image of the ultrasonic probe and the pose image of the electromagnetic positioner to construct a three-dimensional image of the tumor, the optical operation navigator identifies and positions the accurate positioning of the tumor through the image,
the control console receives data signals from the CT machine, the ultrasonic instrument, the electromagnetic positioner and the optical operation navigator and controls the puncture device and the mechanical arm to perform corresponding actions.
The mechanical arm puncture planning method has the advantages that the movement steps and the movement functions of the mechanical arm are planned according to the characteristics of a clinical puncture operation, and the mechanical arm puncture function is realized, and the steps are as follows:
step 1, system calibration, namely, obtaining the position relation between a pixel coordinate and a space coordinate of a focus by using a coordinate calibration template to provide an information source for subsequent image processing;
step 2, the mechanical arm moves the puncture device to a skin needle insertion point planned by the operation through arm translation motion;
step 3, the wrist part adjusts the posture of the puncture device according to the needle inserting path under the condition of keeping the needle point immovable;
step 4, the mechanical arm pushes the puncture device to a focus target point position obtained by the optical operation navigator through the translational motion of the needle inserting mechanism;
and 5, after the tissue treatment is finished, the mechanical arm rapidly withdraws the needle according to the original needle insertion path through the translational motion of the needle insertion mechanism.
The mechanical arm comprises a mechanical part and an electric part, and the mechanical arm is used for adjusting the position and the posture of the puncture device according to the needle inserting path planned by the operation, so that the puncture device can safely and accurately reach a focus target point.
The mechanical part comprises a base, a connecting piece, a large arm, a small arm, a wrist, an end effector and a rotary joint, wherein the rotary joint is respectively positioned between the base and the connecting piece, between the connecting piece and the large arm, between the large arm and the small arm and between the wrist and the end effector, the base is a bearing base part and is fixed on the ground or a support, the connecting piece is a supporting part of the large arm and realizes the rotation function of the mechanical arm, the connecting piece rotates on the base, the large arm is a supporting part of the small arm, the swinging of the large arm changes the stroke of the end effector in the horizontal direction, the pitching of the small arm realizes the position transformation of the end effector in the vertical direction, and the rotary joint of the end effector of the wrist adjusts the rotation angle and the position of a bearing target.
The external force dragging of the mechanical arm is to enable the mechanical arm to have force sensing capability in the needle inserting process, a six-dimensional force sensor is installed on an end effector of the mechanical arm, meanwhile, dragging force is utilized to drive a permanent magnet synchronous servo motor of the mechanical arm, the external force dragging function of the mechanical arm is achieved, a doctor can drag the mechanical arm at will to enable a puncture device to move to a skin needle inserting point, the external force dragging function is similar to clinical manual puncture, after a puncture needle point of the mechanical arm moves to the skin needle inserting point, in order to guarantee that the needle point keeps still when the wrist of the mechanical arm performs posture adjusting movement, the fixed point posture adjusting function of the mechanical arm is achieved through a Cartesian reverse movement needle point displacement compensation algorithm.
The base is connected with a rotary joint with the axis vertical to the ground, the joint seat is arranged on the base and used for supporting the big arm, the small arm and the connecting rod for keeping the wrist horizontal are arranged on the joint seat, the big arm, the small arm and the connecting rod form a parallelogram mutually, the rigidity of the whole arm is increased, and the controllability of the wrist is met through the superposition effect of serial parallelogram mechanisms.
The structure increases the rigidity of the whole arm, the interaction of the parallelograms increases the rigidity of the whole mechanical arm transmission system, reduces the vibration of the mechanical arm caused under the conditions of starting and sudden stop, enlarges the stroke, reduces the system inertia, saves the cost, simultaneously increases the stability of the system, carries the mechanical arm, simplifies the control of the pose of the mechanical arm by utilizing the parallelogram principle, reduces the difficulty of process control, and can shorten the working period and the research and development design cost of the mechanical arm.
Wherein, the power part comprises an encoder, a decoding circuit, an optical coupling isolation circuit, a permanent magnet synchronous servo motor (PMSM), a speed reducer and an intelligent power control module (IPM), a Hall current sensor collects the phase current of U and V of the permanent magnet synchronous servo motor and feeds back the phase current to the motion controller, the encoder feeds back the actual position of the permanent magnet synchronous servo motor to the motion controller in real time through the decoding circuit, the motion controller receives the target position information through a serial bus, the target position, the actual position and the actual current are subjected to single-shaft logic control in the motion controller, the pulse width modulation is output through the time sequence scheduling of vector control and is provided for the intelligent power control module through the optical coupling isolation circuit and converted into a power control signal, the optical coupling isolation circuit realizes the complete isolation of the control part circuit and the power part circuit, the reliability of hardware is greatly improved, the intelligent power control module drives the permanent magnet synchronous servo motor to operate, the output shaft of the permanent magnet synchronous servo motor is connected with a speed reducer, the speed reducer is connected with a rotary joint of the mechanical part, and the speed reducer is controlled by a motion controller to realize fine adjustment of actions.
After receiving a control instruction sent by a console, a motion controller executes a corresponding program according to the control instruction to generate a speed signal, a counting signal and an acceleration and deceleration signal, sends a rotating speed signal to a permanent magnet synchronous servo motor, sends the counting signal and the acceleration and deceleration signal to a speed reducer, adjusts and amplifies the signals after a servo device of the permanent magnet synchronous servo motor receives the signals, generates a rotating signal and sends the rotating signal to the permanent magnet synchronous servo motor, the motor drives a rotating joint to rotate, the motion controller returns a feedback signal of a coder of the permanent magnet synchronous servo motor installed on each rotating joint to an industrial personal computer through a network integrated control system, and the feedback signal is used for monitoring the state of a mechanical arm in real time in a man-machine interaction interface on the industrial personal computer and displaying data.
The motion controller sets zero-point poses of all joints of the mechanical arm, the zero-point poses are determined by the positions of all the permanent magnet synchronous servo motors when the mechanical arm is in an initial state, the zero-point poses are recorded by the motion controller, and after the mechanical arm completes operation, the mechanical arm returns to the zero-point poses by sending a zero-point instruction, so that zero return is completed.
The speed reducer is a two-stage speed reducing mechanism and comprises a central wheel, a planet wheel, a crank shaft, a cycloid wheel, a pin wheel and an output disc, wherein the power transmission path of the speed reducer is that power is input from the right end, and the planet wheel rotates by meshing the central wheel and the planet wheel; the planet gear is fixedly connected with a crankshaft, and the crankshaft is arranged on the flange plate; the cycloidal gear is arranged on the crank shaft and is meshed with the pin wheel, the cycloidal gear drives the planet wheel to rotate through the crank shaft, and power is output by an output disc connected with the planet wheel.
The motion controller also comprises a fuzzy control device which carries out fuzzy control on the speed reducer, the fuzzy control device comprises a differentiator, a fuzzification interface, an output quantity conversion module, a reasoning machine and a knowledge base, the load estimation module provides measured load voltage of the speed reducer to the differentiator through a band-pass filter, the differentiator subtracts set load voltage input by an operator from the measured load voltage to obtain an error value E, the error value E obtains an error change rate dE/dt through the differentiator, the error value E and the error change rate dE/dt are provided to the fuzzification interface, fuzzification assignment is carried out on the error value E and the error change rate dE/dt to respectively obtain a fuzzification error value ME and a fuzzification error change value MEC, the fuzzification error value ME and the fuzzification error change value MEC are provided to the reasoning machine, and the reasoning machine carries out fuzzy control on the fuzzification error value ME and the fuzzification error value according to input and output membership values in the knowledge base and a logic reasoning rule And the fuzzy error change value MEC carries out fuzzy reasoning to obtain a fuzzy control quantity MU, the output quantity conversion module converts the fuzzy control quantity MU into an actual control quantity U, and the power supply is controlled to supply voltage to the speed reducer according to the actual control quantity U.
The fuzzy control method specifically comprises the following steps: selecting parameters PL, PB, PM, PS, Z0, NS, NM, NB and BL according to language variables of an operator, wherein the parameters respectively represent positive oversize, positive centering, positive small, zero, negative small, negative centering, negative large and negative oversize, and a corresponding fuzzy set is { -n, -n +1,. once.once.0,. once.n-1, n }, n is 4, and n is a primary fuzzy set variable;
determination of the quantization factor, keN/e, wherein keIs the error value quantization factor, e is the measured maximum error value, kec＝n/ec，kecIs the error rate quantization factor, ec is the measured maximum error rate,
if m is less than or equal to keE is less than or equal to m +1, m is less than n, the fuzzification error value ME is k roundedeE, m is a secondary fuzzy set variable;
if k iseWhen E is less than-n, the fuzzification error value ME is-n;
if k iseE is larger than n, the fuzzification error value ME is n;
if m is less than or equal to kecE is less than or equal to m +1, m is less than n, then the variation value MEC of the fuzzification error is k after roundingecE；
If k isecWhen E is less than-n, the fuzzification error variation value MEC is-n;
if k isecAnd E is more than n, the variation value MEC of the fuzzification error is n.
The precision control of the mechanical arm speed reducer can be automatically and effectively realized through fuzzy control, the waste on the efficiency and the inaccuracy of the precision caused by repeated modification of manual setting are reduced, and the precise puncture operation is realized.
The console comprises an upper computer, a lower computer, a manual control box, an RS485 interface, a USB interface, a CAN conversion interface, a frequency converter, a rack enabling and brake enabling module, two data potentiometers, an A/D converter, an I/O interface, an address logic device, a logic organizer, a D/F module, an F/D module, an RAM, a differential drive, an input and output switching value level conversion and a flash memory, wherein when the manual control box is closed, the upper computer receives data signals from a CT (computed tomography) machine, an ultrasonic instrument, an electromagnetic positioner and an optical surgery navigator, generates control instructions and sends the control instructions to the lower computer, when the manual control box is opened, the lower computer only receives the control instructions of the manual control box, and after receiving the instructions of the upper computer or the manual control box, the lower computer sends corresponding instructions to the clutch, the puncture device, each stepping motor, the permanent magnet synchronous servo motor through the RS485 conversion communication interface, And a speed reducer.
The upper computer is a computer, the lower computer is a PLC, special programming software is used for programming the control system, data and signals are transmitted through a special transmission line, a programmed computer program is transmitted to a memory storage of the PLC, and the PLC generates pulse signals and PWM signals so as to control the stepping motor, the permanent magnet synchronous servo motor and the speed reducer.
Through the programming to PLC, make its pulse signal of output fixed frequency, control step motor's rotational speed, simultaneously through the output to control direction signal, control step motor's corotation and reversal, install the step motor driver between PLC and step motor, output current is in order to drive step motor, the step motor driver is responsible for enlargiing the electric pulse of PLC output, turn into step motor's angle displacement, after the step motor driver received a pulse signal that PLC sent, step motor can rotate fixed angle of setting according to the direction of setting for.
The stepping motor is driven and controlled by the pulse sent by the PLC, the output pulse frequency determines the output rotating speed of the stepping motor, and meanwhile, the direction signal output by the PLC determines the steering direction of the stepping motor.
The permanent magnet synchronous servo motor uses a PWM control system, and the functions of the PWM control system comprise: the intelligent control system has the advantages that the acceleration and deceleration of the permanent magnet synchronous servo motor and the forward rotation and reverse rotation control of the permanent magnet synchronous servo motor are realized, the rotating speed of the permanent magnet synchronous servo motor is adjusted, and meanwhile, the convenient reading of the rotating speed of the permanent magnet synchronous servo motor can be realized, so that the intelligent control mode of the permanent magnet synchronous servo motor is realized, and the control of the permanent magnet synchronous servo motor also comprises the functions of direct zero clearing, starting, suspending and continuity.
The puncture device is a radio frequency ablation device, the radio frequency ablation device comprises an input protection circuit, a rectifying filter circuit, a voltage regulating circuit, an inverter circuit, an auxiliary power supply circuit, a PWM modulator, a high-frequency transformer and a control circuit, the input protection circuit consists of a fuse and a power frequency transformer, the high-current ablation device can prevent large current caused by circuit short circuit from damaging components and can be effectively isolated from a power grid, 220V/50Hz alternating current passes through the rectifying filter circuit to filter various interferences in the power grid, the output direct current passes through the voltage regulating circuit, the voltage regulating circuit can output required direct current voltage under the control of the control circuit, the control part comprises a voltage and current feedback circuit and a pulse width modulation circuit, the control circuit regulates the pulse width in real time according to the change of sampling signals of the feedback circuit, keeps the stability of the output voltage, and inverts the direct current signal into a high-frequency alternating current signal through the inverter circuit, the output is isolated through a high-frequency transformer; when the system is in overcurrent or overvoltage, the protection circuit sends a signal to the control circuit to stop the system from working, the working voltage of the circuit of the radio frequency ablation device is provided by the auxiliary power supply, and the auxiliary power supply is independently designed for stable and reliable operation of the system.
The rectifier circuit converts sine wave voltage into single pulsating direct current voltage, the rectifier circuit adopts a full-wave rectifier circuit and consists of four diodes, the cathodes and the anodes of the two diodes are respectively connected with a first point and a second point, when the input voltage is positive half cycle, current flows out from the first point, and the second diode and the fourth diode are conducted and flow in from the second point; when the input voltage is negative half cycle, the current flows out from the second point, the first diode and the third diode are conducted, the current flows in from the first point, and the voltage and the current direction on the load are kept unchanged in the whole cycle of the alternating voltage.
The voltage regulating circuit realizes the voltage reducing function from direct current to direct current, the voltage regulating circuit comprises a switching tube, a fifth diode, the conducting voltage drop of the switching tube and the fifth diode is 0, the switching tube is connected with a direct current input voltage IU in series, when a PWM driving signal is applied to the switching tube, the switching tube is periodically switched on and off according to the frequency of the PWM signal, a new direct current voltage is obtained by changing the switching frequency of the switching tube, and is filtered by a LC filter consisting of a following inductor and a following capacitor, the current on the inductor cannot suddenly change during the switching-on period of the switching tube, the current can linearly rise and can store energy in the inductor in the form of magnetic energy, the follow current fifth diode is cut off due to reverse bias, when the switching tube is just cut off, the current on the inductor cannot suddenly change, so that electromotive force with opposite polarity is generated, the follow current fifth diode is switched on in the forward direction, and the energy stored on the inductor is released through the follow current fifth diode and a load resistor, the current on the inductor will decrease linearly, and the energy on the inductor will be dynamically balanced when the increased current during the on period of the switch tube is equal to the decreased current during the off period of the switch tube.
The auxiliary power supply circuit is used for independently dividing 18V/50Hz alternating current through voltage reduction of the power frequency transformer, then rectifying and filtering are carried out, and finally required voltage is output through the integrated voltage stabilizer.
The ultrasonic instrument is a full-digital black-and-white ultrasonic instrument and comprises a host, a probe and a black-and-white image acquisition card, wherein the black-and-white image acquisition card acquires a two-dimensional image of the black-and-white ultrasonic instrument to a console.
The optical operation navigator adopts camera vision system, and the RGB camera is as image output equipment, accomplishes image acquisition and output through converting light signal into the signal of telecommunication, mainly includes three module: the optical imaging part comprises an optical lens and an imaging plane, when light projected onto a focus is reflected and refracted by the optical lens, an image of the focus is projected onto the imaging plane of the RGB camera, an optical signal is converted into an electric signal through the photoelectric conversion part, the electric signal which is amplified by the electronic circuit part and weak is uploaded to a console through a USB interface, and the console performs image processing to obtain the position of a focus target point.
The specific process of obtaining the focus target point by using image processing is as follows:
step 1, acquiring original images of surrounding tissues and focuses of focuses, wherein optical axes of lenses of RGB cameras are parallel to the focuses;
and 2, enhancing the image, and respectively filtering and denoising the RGB values in the original image. Filtering and denoising the original image, wherein the noise comprises equipment noise, salt and pepper noise and quantization noise, and the filtering process of the noise is shown as the following formula:
wherein, a rectangular coordinate system x-0-y, f is established by taking the center of the original image as the originR(x，y)、fG(x，y)、fB(x, y) are R, G, B-valued functions of the pixel at coordinate (x, y) in the original image, respectively, where x ═ 0, 1, L L255, y ∈ (0, 1, L L255), and FR(x，y)、FG(x，y)、FB(x, y) is a function of the filtered R, G, B value, N × N is a size representing a truncated window, N ═ 3, 5, 7. > preferably N ═ 3, and P represents a set of points made up of pixels within the window;
the filtering mode filters the RGB values of the pixels respectively, inhibits useless information and well reserves the color information of the original picture;
and 3, segmenting the image to obtain a focus target image.
Step 3.1, converting the RGB color space to generate a new color space U1U2U3。
Filtered FR(x，y)、FG(x，y)、FB(x, y) becomes the corresponding coefficient function via the following transformation:
wherein, U1(x, y) is a red-green correlation function, U2(x, y) is a red-blue correlation function, U3(x, y) is a green-blue correlation function;
and 3.2, distinguishing the focus from the tissues around the focus.
Constructing segmentation function G of focus and focus peripheral tissueS(x, y) Using U1(x，y)、U2(x, y) as a judgment condition:
wherein, TsIs a segmentation threshold;
segmentation threshold TSMay be a predetermined fixed value, e.g. TS＝4。
And 4, denoising the image.
The image of the target focus is obtained through calculation, but some small-area noise, namely speckle noise on the image, exists inevitably, the speckle noise is obviously not the image of the focus and needs to be filtered, and the opening calculation and the closing calculation of mathematical morphology are used for denoising, so that the image of the target focus is obtained through calculation, and the image of the target focus is obtained through the calculation
Step 4.1, constructing a binary segmentation function G'A(x, y) dividing the function G first before operationA(x, y) binarizing, wherein the binary segmentation function is as follows:
step 4.2, using open operation, firstly carrying out corrosion operation on the binary image and then carrying out expansion operation;
and 4.3, using closed operation. Firstly, performing expansion operation on the binary image and then performing corrosion operation;
step 4.4, generating the final focus objective function GF(x, y). Binary image and segmentation function G 'after opening and closing calculation'APerforming AND operation on the binary image composed of (x, y), and performing AND operation on G in the region of 1 valueAThe values of (x, y) are assigned one by one according to the coordinates to form a final focus objective function GF(x，y)；
Step 5, obtaining the central position (x) of the focuscen，ycen). Its aim at lets the position of arm ability location focus, and then realizes puncture treatment.
Obtaining maximum loudness in an image using a Gaussian filterAnd determining the central position of the target in the image according to the response value, and constructing a Gaussian response value function as follows:
wherein, δ is a scale factor and can be set according to actual conditions;
for GF(x, y) performing convolution calculation to obtain a Gaussian convolution response function:
h(x，y)＝GF(x，y)*g(x，y)，
the coordinate when the maximum value of h (x, y) is calculated, that is, the center position (x) of the lesioncen，ycen)。
The treatment bed includes the X axle component, the Y axle component, the Z axle component, upset part and rotary worktable, the Z axle component is used for bearing patient, stretch into through the treatment bed and stretch out and send patient to appointed operating position, including CT scanning position and puncture position, the X axle component is used for patient's left and right sides lateral shifting, the Y axle component is used for patient's the vertical direction of head and feet to remove, the Z axle component is used for patient's lift removal, go up and down to required high position with the treatment bed, when upset part is used for starting patient to go up the treatment bed, with the upset of treatment bed, it lays prone to the treatment bed to be convenient for patient, rotary worktable mainly used CT scans, during puncture treatment, drive treatment bed is rotatory to required position.
The above-described embodiment merely represents one embodiment of the present invention, but is not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (1)
1. A tumor treatment system with mechanical arm puncture comprises a CT machine, an ultrasonic instrument, an electromagnetic positioner, a treatment bed, an optical operation navigator, a puncture device, a mechanical arm and a console,
the mechanical arm is fixedly arranged on the treatment couch, and an ultrasonic probe and a puncture device of the ultrasonic instrument are arranged on an end effector of the mechanical arm, so that accurate treatment of a tumor part is realized;
an electromagnetic positioner and an optical operation navigator are arranged outside the treatment bed, the electromagnetic positioner combines the slice image of the ultrasonic probe and the pose image of the electromagnetic positioner to construct a three-dimensional image of the tumor, the optical operation navigator identifies and positions the accurate positioning of the tumor through the image,
the control console receives data signals from the CT machine, the ultrasonic instrument, the electromagnetic positioner and the optical operation navigator and controls the puncture device and the mechanical arm to perform corresponding actions;
the mechanical arm puncture planning method has the advantages that the movement steps and the movement functions of the mechanical arm are planned according to the characteristics of a clinical puncture operation, and the mechanical arm puncture function is realized, and the steps are as follows:
step 1, system calibration, namely, obtaining the position relation between a pixel coordinate and a space coordinate of a focus by using a coordinate calibration template to provide an information source for subsequent image processing;
step 2, the mechanical arm moves the puncture device to a skin needle insertion point planned by the operation through arm translation motion;
step 3, the wrist part adjusts the posture of the puncture device according to the needle inserting path under the condition of keeping the needle point immovable;
step 4, the mechanical arm pushes the puncture device to a focus target point position obtained by the optical operation navigator through the translational motion of the needle inserting mechanism;
step 5, after the tissue treatment is finished, the mechanical arm rapidly withdraws the needle according to the original needle insertion path through the translational motion of the needle insertion mechanism;
the mechanical arm comprises a mechanical part and an electric part, and the mechanical arm is used for adjusting the position and the posture of the puncture device according to the needle insertion path planned by the operation so that the puncture device can safely and accurately reach a focus target point;
the mechanical part comprises a base, a connecting piece, a large arm, a small arm, a wrist, an end effector and a rotary joint, wherein the rotary joint is respectively positioned between the base and the connecting piece, between the connecting piece and the large arm, between the large arm and the small arm and between the wrist and the end effector;
the external force dragging of the mechanical arm is to enable the mechanical arm to have force sensing capability in the needle inserting process, a six-dimensional force sensor is installed on an end effector of the mechanical arm, meanwhile, dragging force is utilized to drive a permanent magnet synchronous servo motor of the mechanical arm, the external force dragging function of the mechanical arm is realized, a doctor can drag the mechanical arm at will to enable a puncture device to move to a skin needle inserting point, the external force dragging function is similar to clinical manual puncture, after a puncture needle point is moved to the skin needle inserting point by the fixed-point posture adjusting movement of the wrist of the mechanical arm, in order to ensure that the needle point is kept still when the wrist of the mechanical arm performs posture adjusting movement, the fixed-point posture adjusting function of the mechanical arm is realized by using a Cartesian reverse movement needle point displacement compensation algorithm;
the base is connected with a rotary joint with the axis vertical to the ground, the joint seat is arranged on the base and used for supporting the large arm, the small arm and the connecting rod for keeping the wrist horizontal are arranged on the joint seat, the large arm, the small arm and the connecting rod mutually form a parallelogram, the rigidity of the whole arm is increased, and the controllability of the wrist is met through the superposition effect of a serial parallelogram mechanism;
the electric power part comprises an encoder, a decoding circuit, an optical coupling isolation circuit, a permanent magnet synchronous servo motor, a speed reducer and an intelligent power control module, a Hall current sensor collects U-phase and V-phase currents of the permanent magnet synchronous servo motor and feeds the U-phase and V-phase currents back to the motion controller, the encoder feeds the actual position of the permanent magnet synchronous servo motor back to the motion controller in real time through the decoding circuit, the motion controller receives target position information through a serial bus, the target position, the actual position and the actual current are subjected to single-shaft logic control in the motion controller, pulse width modulation is output through time sequence scheduling of vector control and is provided for the intelligent power control module through the optical coupling isolation circuit and converted into a power control signal, the intelligent power control module drives the permanent magnet synchronous servo motor to operate, an output shaft of the permanent magnet synchronous servo motor is connected with the speed reducer, and the speed reducer is connected with a rotary joint of the mechanical part, the speed reducer is controlled by the motion controller;
after receiving a control instruction sent by a console, a motion controller executes a corresponding program according to the control instruction to generate a speed signal, a counting signal and an acceleration and deceleration signal, sends a rotating speed signal to a permanent magnet synchronous servo motor, sends the counting signal and the acceleration and deceleration signal to a speed reducer, adjusts and amplifies a servo device of the permanent magnet synchronous servo motor after receiving the signals to generate a rotating signal, sends the rotating signal to the permanent magnet synchronous servo motor, drives a rotating joint to rotate, and returns a feedback signal of a coder of the permanent magnet synchronous servo motor arranged on each rotating joint to an industrial personal computer through a network integrated control system, wherein the feedback signal is used for monitoring the state of a mechanical arm in real time in a man-machine interaction interface on the industrial personal computer and displaying data,
the motion controller sets the zero-point poses of all joints of the mechanical arm, the zero-point poses are determined by the positions of all the permanent magnet synchronous servo motors when the mechanical arm is in an initial state, the zero-point poses are recorded by the motion controller, after the mechanical arm finishes operation, the mechanical arm returns to the zero-point poses by sending a zero-point command, so that zero return is finished,
the speed reducer is a two-stage speed reducing mechanism and comprises a central wheel, a planet wheel, a crank shaft, a cycloidal gear, a pin wheel and an output disc, wherein the power transmission path of the speed reducer is that power is input from the right end and is meshed with the planet wheel through the central wheel to enable the planet wheel to rotate; the planet gear is fixedly connected with a crankshaft, and the crankshaft is arranged on the flange plate; the cycloidal gear is arranged on the crank shaft and is meshed with the pin wheel, the cycloidal gear drives the planet wheel to rotate through the crank shaft, and power is output by an output disc connected with the planet wheel;
the console comprises an upper computer, a lower computer, a manual control box, an RS485 interface, a USB interface, a CAN conversion interface, a frequency converter, a frame enabling and brake enabling module, two data potentiometers, an A/D converter, an I/O interface, an address logic device, a logic organizer, a D/F module, an F/D module, an RAM, a differential drive, an input and output switching value level conversion and a flash memory, when the manual control box is closed, the upper computer receives data signals from the CT machine, the ultrasonic instrument, the electromagnetic positioner and the optical operation navigator, generates a control instruction and sends the control instruction to the lower computer, when the manual control box is opened, the lower computer only receives the control instruction of the manual control box, and after the lower computer receives the instruction of the upper computer or the manual control box, corresponding instructions are sent to the clutch, the puncture device, each stepping motor, the permanent magnet synchronous servo motor and the speed reducer through the RS485 conversion communication interface;
the upper computer is a computer, the lower computer is a PLC, special programming software is used for programming a control system, data and signals are transmitted through a special transmission line, a programmed computer program is transmitted to a memory storage of the PLC, and the PLC generates pulse signals and PWM signals so as to control the stepping motor, the permanent magnet synchronous servo motor and the speed reducer;
the PLC is programmed to output a pulse signal with fixed frequency to control the rotating speed of the stepping motor, the forward rotation and the reverse rotation of the stepping motor are controlled by outputting a control direction signal, a stepping motor driver is arranged between the PLC and the stepping motor to output current to drive the stepping motor, the stepping motor driver is responsible for amplifying the electric pulse output by the PLC and converting the electric pulse into the angular displacement of the stepping motor, and the stepping motor rotates a fixed set angle in a set direction after receiving the pulse signal sent by the PLC;
the stepping motor is driven and controlled by the pulse sent by the PLC, the output pulse frequency determines the output rotating speed of the stepping motor, and meanwhile, the direction signal output by the PLC determines the steering of the stepping motor;
the permanent magnet synchronous servo motor uses a PWM control system, and the functions of the PWM control system comprise: the control method comprises the steps of accelerating and decelerating the permanent magnet synchronous servo motor, controlling the forward rotation and the reverse rotation of the permanent magnet synchronous servo motor, adjusting the rotating speed of the permanent magnet synchronous servo motor, and simultaneously realizing convenient reading of the rotating speed of the permanent magnet synchronous servo motor, thereby realizing an intelligent control mode of the permanent magnet synchronous servo motor, and controlling the permanent magnet synchronous servo motor further comprises the functions of direct zero clearing, starting, suspending and continuing;
the puncture device is a radio frequency ablation device, the radio frequency ablation device comprises an input protection circuit, a rectifying filter circuit, a voltage regulating circuit, an inverter circuit, an auxiliary power supply circuit, a PWM modulator, a high-frequency transformer and a control circuit, the input protection circuit consists of a fuse and a power frequency transformer, the high-current ablation device can prevent large current caused by circuit short circuit from damaging components and can be effectively isolated from a power grid, 220V/50Hz alternating current passes through the rectifying filter circuit to filter various interferences in the power grid, the output direct current passes through the voltage regulating circuit, the voltage regulating circuit can output required direct current voltage under the control of the control circuit, the control part comprises a voltage and current feedback circuit and a pulse width modulation circuit, the control circuit regulates the pulse width in real time according to the change of sampling signals of the feedback circuit, keeps the stability of the output voltage, and inverts the direct current signal into a high-frequency alternating current signal through the inverter circuit, the output is isolated through a high-frequency transformer; when the system is in overcurrent or overvoltage, the protection circuit sends a signal to the control circuit to stop the system from working, the working voltage of the circuit of the radio frequency ablation device is provided by the auxiliary power supply, and the auxiliary power supply is independently designed for stable and reliable operation of the system;
the rectifier circuit converts sine wave voltage into single pulsating direct current voltage, the rectifier circuit adopts a full-wave rectifier circuit and consists of four diodes, the cathodes and the anodes of the two diodes are respectively connected with a first point and a second point, when the input voltage is positive half cycle, current flows out from the first point, and the second diode and the fourth diode are conducted and flow in from the second point; when the input voltage is in a negative half cycle, current flows out from the second point, the first diode and the third diode are conducted, and the current flows in from the first point, and the voltage and the current direction on the load are kept unchanged in the whole cycle of the alternating voltage;
the voltage regulating circuit realizes the voltage reducing function from direct current to direct current, the voltage regulating circuit comprises a switching tube, a fifth diode, the conducting voltage drop of the switching tube and the fifth diode is 0, the switching tube is connected with a direct current input voltage IU in series, when a PWM driving signal is applied to the switching tube, the switching tube is periodically switched on and off according to the frequency of the PWM signal, a new direct current voltage is obtained by changing the switching frequency of the switching tube, and is filtered by a LC filter consisting of a following inductor and a following capacitor, the current on the inductor cannot suddenly change during the switching-on period of the switching tube, the current can linearly rise and can store energy in the inductor in the form of magnetic energy, the follow current fifth diode is cut off due to reverse bias, when the switching tube is just cut off, the current on the inductor cannot suddenly change, so that electromotive force with opposite polarity is generated, the follow current fifth diode is switched on in the forward direction, and the energy stored on the inductor is released through the follow current fifth diode and a load resistor, the current on the inductor will decrease linearly, and when the increased current of the switch tube in the on period is equal to the decreased current of the switch tube in the off period, the energy on the inductor can reach dynamic balance;
the auxiliary power supply circuit independently branches a path of 18V/50Hz alternating current by voltage reduction through the power frequency transformer, then the alternating current is rectified and filtered, and finally the required voltage is output through the integrated voltage stabilizer;
the optical operation navigator adopts camera vision system, and the RGB camera is as image output equipment, accomplishes image acquisition and output through converting light signal into the signal of telecommunication, mainly includes three module: the optical imaging part comprises an optical lens and an imaging plane, when light projected onto a focus is reflected and refracted by the optical lens, an image of the focus is projected onto the imaging plane of the RGB camera, an optical signal is converted into an electric signal through the photoelectric conversion part, the electric signal which is amplified by the electronic circuit part and weak is uploaded to a console through a USB interface, and the console performs image processing to obtain the target position of the focus;
the specific process of obtaining the focus target point by using image processing is as follows:
step 1, acquiring original images of surrounding tissues and focuses of focuses, wherein optical axes of lenses of RGB cameras are parallel to the focuses;
step 2, image enhancement, namely filtering and denoising RGB values in the original image respectively, and filtering and denoising the original image, wherein the noise comprises equipment noise, salt and pepper noise and quantization noise;
step 3, image segmentation is carried out, and a focus target image is obtained;
step 4, denoising the image, namely denoising by using opening operation and closing operation of mathematical morphology;
and 5, acquiring the central position of the focus, wherein the aim is to enable the mechanical arm to position the focus so as to realize puncture treatment.
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