CN110575253B - Robot-assisted puncture system based on positioning plate and puncture track acquisition method - Google Patents

Robot-assisted puncture system based on positioning plate and puncture track acquisition method Download PDF

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CN110575253B
CN110575253B CN201910927672.XA CN201910927672A CN110575253B CN 110575253 B CN110575253 B CN 110575253B CN 201910927672 A CN201910927672 A CN 201910927672A CN 110575253 B CN110575253 B CN 110575253B
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robot
positioning plate
coordinate system
puncture
marker
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CN110575253A (en
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夏鹏
张惟帆
李小虎
牛刚
刘世杰
黄晓玮
赵欣惠
刘昭
党慧
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First Affiliated Hospital of Medical College of Xian Jiaotong University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Abstract

The invention discloses a positioning plate-based robot-assisted puncture system and a puncture track acquisition method, wherein the positioning plate-based robot-assisted puncture system comprises a CT scanner, a robot controller and a positioning plate; a groove is formed in the center line of a long shaft of the positioning plate, a steel wire is placed in the groove, and the steel wire is arranged at the top end of the positioning plate and used as a marker; the positioning plate is placed at the correct position of the CT scanner machine tool; the system is used for assisting the CT scanner to acquire space coordinates of a scanned object; simultaneously establishing a positioning plate and a scanning image coordinate system; the robot end effector is connected with the puncture needle, and the puncture track of the puncture needle in the end effector can be obtained through the conversion of a positioning plate coordinate system and a robot base coordinate system; then the robot can move and puncture according to the track coordinate instruction; the invention can assist medical personnel in puncturing, greatly reduce the dependence of the puncturing operation on the experience of the medical personnel, accurately and simply obtain the space coordinate of the target, quickly form the puncturing track and avoid repeatedly adjusting the puncturing angle and the puncturing depth.

Description

Robot-assisted puncture system based on positioning plate and puncture track acquisition method
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a positioning plate-based robot-assisted puncture system and a puncture track acquisition method.
Background
With the continuous development of radiology and interventional techniques, CT guided interventional puncture has been widely used in clinical applications. Computed Tomography (CT) has high spatial resolution and density resolution, and can rapidly and clearly display the anatomical position and structure of lesions in various parts of the body. However, with conventional CT guided penetration methods, repeated CT scan verification is required to ensure the accuracy of the penetration, thereby increasing the radiation dose and complications to the patient.
In recent years, a robot puncturing technique has been gradually applied to clinical use, and the core of the technique is to improve accuracy of puncturing without increasing damage to a patient. Therefore, the technology relates to the positioning precision of pathological changes, the rationality of puncture path design and the accuracy of robot motion. At present, most puncture robots in the market comprise iSIS Medizintechnik, MAXIO and Zerobot, but the robots do not have the function of coordinate positioning and cannot convert target areas and target points into actual space coordinates. In actual operation, the defects of inaccurate positioning, complex operation and the like still exist; therefore, it is important to develop a simple and feasible puncture system for assisting clinical puncture.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a robot-assisted puncture system based on a positioning plate, which solves the problems that the focus position is inaccurately positioned clinically and the puncture depends on experience excessively.
In order to achieve the aim, the invention adopts the technical scheme that the positioning plate-based robot-assisted puncture system comprises a CT scanner, a robot controller and a positioning plate; the CT scanner is used for acquiring a scanning image of a target area in the puncture process; the robot controller is connected with the robot through an I/O interface and used for controlling the output end of the robot to move to a target area along a preset path;
the positioning plate is arranged on the CT scanner, and the CT scanner can scan to obtain an image vertical to the positioning plate; the scanning surface is vertical to the length direction of the positioning plate, a groove is formed along the center line of the positioning plate, a steel wire is arranged in the groove, and a marker is arranged on the positioning plate; the positioning plate is arranged on a machine tool of the CT scanner; the positioning plate is used for assisting the scanning surface of the CT scanner and establishing a positioning plate and a scanning image coordinate system;
the free end of the robot mechanical arm is provided with a robot end effector, the robot end effector is connected with a puncture needle, and the robot end effector drives the puncture needle to perform puncture action to a target area.
The depth of the groove is 2mm, the length of the steel wire is 75-85 cm, and the diameter of the steel wire is 2 mm.
The positioning plate is made of organic glass.
The robot sets up in CT scanner's one side, and the robot bottom is provided with the slide rail, and the robot adopts KR 5sixx R65, Viper 650 or Vision robot VR 6.
The free end of the robot is provided with a robot end effector, the end effector comprises a flange plate and a connecting rod, the flange plate is connected with the free end of a robot mechanical arm, a connecting threaded hole is formed in the center of the flange plate, the connecting rod is in threaded connection with the flange plate, a puncture needle hole is formed in the end portion of the connecting rod and vertically penetrates through the central axis of the connecting rod, a fastening screw is arranged at the puncture needle hole, and a puncture needle is installed in the puncture needle hole and is pressed by the fastening.
The marker is made of metal; the marker is arranged at one corner of the edge of the positioning plate close to the robot, and the arrangement depth of the marker is the same as the depth of the steel wire on the positioning plate.
The robot controller is a computer.
The invention discloses a puncture track establishing method based on a robot-assisted puncture system, which comprises the following steps of:
step 1, mounting a positioning plate on a CT scanner;
step 2, superposing a tracing signal emitted by the CT scanner with a marker on the positioning plate; the long edge of the positioning plate is parallel to the longitudinal axis of the CT scanner, and the marker is taken as the origin of the positioning plate;
step 3, establishing a coordinate system of the movement track of the puncture needle with the marker in the step 2 as an original point, acquiring the space coordinate of the movement track of the target puncture needle, and respectively obtaining the distance Y between the marker and the puncture target point in the Y-axis direction according to the section where the marker is located and the section of the puncture target point, wherein the puncture target point comprises a puncture needle starting point and a puncture needle end point;
determining a starting point and an end point of the puncture needle according to a scanning image of the CT scanner;
and 4, converting the coordinate system of the positioning plate and the scanning image and the coordinate system of the robot base, and obtaining the coincidence track of the puncture needle and the points A and B according to the conversion relation between the coordinate system of the robot base and the coordinate system of the positioning plate.
In step 3, the distance x from the marker to the metal wire in the section where the marker is located1Distance x between the marker and the target point in the target point section2And obtaining the distance X between the marker and the X-axis direction of the target point as X1-x2(ii) a Similarly, the Z-axis distances between the point A and the point B and the marker are obtained, and the coordinates of the target point in the positioning plate and the scanning image coordinate system are (x, y, Z); further obtaining the space coordinates of the point A and the point B relative to the marker: (x)a,ya,za) And (x)b,yb,zb)。
The step 4 is as follows:
s1, establishing a Cartesian coordinate system for the robot, and acquiring geometric parameters, joint variables and D-H parameters of a rod piece of the robot;
s2, according to the cartesian coordinate system regarding the robot established in S1, with the base coordinate system and the first joint coordinate system of the robot: the relationship between the base coordinate system and the first joint coordinate system of the robot may be transformed by: first winding Z0Axis of rotation theta1Angle, second edge Z0Axial translation d1Unit distance, then along X0Axial translation l1Unit distance, last winding X0Rotation of the shaft alpha1Angle, obtaining a base coordinate system and a first joint of the robotCoordinate transformation relation of the standard system:
Figure BDA0002219361550000031
in the formula, s θ1＝sinθ1，sa1＝sinα1，cθ1＝cosθ1，cα1＝cosα1(ii) a The coordinate transformation relation between the first joint coordinate system and the second joint coordinate system can be obtained in the same way1A2Coordinate transformation relation among the second joint coordinate system and the third joint coordinate system2A3Coordinate transformation relation among the third joint coordinate system and the fourth joint coordinate system3A4Coordinate transformation relation between the fourth joint coordinate system and the fifth joint coordinate system4A5And the coordinate transformation relation between the fifth joint coordinate system and the second joint coordinate system5A6(ii) a The conversion relation between the robot end effector coordinate system and the base coordinate system is as follows:
0T6＝0A1 1A2 2A3 3A4 4A5 5A6；
s3, the conversion relation between the positioning plate and the scanning image coordinate system is specifically as follows: the positioning plate rotates by an angle theta around the Z axis and then translates by d along the X axis, the Y axis and the Z axis respectivelyx，dyAnd dzThe base coordinate system of the robot is superposed, and the relationship between the base coordinate system and the positioning plate coordinate system can be obtained according to the coordinate transformation as follows:
Figure BDA0002219361550000041
and S4, combining the conversion relation between the positioning plate and the scanning image coordinate system obtained in S3 and the conversion relation between the robot end effector coordinate system and the base coordinate system obtained in S2 to obtain the conversion relation between the robot end effector 7 and the positioning plate and the scanning image coordinate system: t ═0T6*T'。
Compared with the prior art, the invention has at least the following beneficial effects: the robot-assisted puncture system based on the positioning plate can fix a puncture target on the positioning plate, the positioning plate is provided with a steel wire and a marker, the marker and the steel wire are clearly displayed in a scanned image in the scanning process, the positioning plate and a region to be scanned are positioned in the horizontal direction, a coordinate system of the region to be punctured can be established by combining a CT scanner and a self-made positioning plate, accurate space positioning of the region to be punctured can be realized, puncture tracks can be designed on a plurality of scanning layers, and the defect that the traditional CT navigation can only design puncture on a single-layer is overcome; the system can realize the positioning of the positioning plate and the auxiliary coordinate positioning of the scanning image, and can analyze the final error of the puncture from a plurality of dimensions; the puncture process is carried out by adopting the robot, so that no visual blind area exists, no artificial contribution is made to improving the accuracy, the working strength of doctors can be reduced, and the dependency of the puncture process on high-level clinicians can be reduced
Based on the system, a space coordinate system based on the positioning plate is established by combining the positioning plate and a scanning image obtained by a CT scanner, and the skin puncture point and the target puncture point can be quickly and conveniently obtained relative to the original point space coordinate of the positioning plate; coordinate transformation is adopted to unify a coordinate system of a region to be punctured and a puncture needle coordinate system at the tail end of the robot, a moving track of the puncture needle is obtained, and the puncture is positioned and punctured by matching a positioning plate and a scanning image with the robot, so that the accuracy of a puncture path is improved, the puncture angle and the puncture depth do not need to be adjusted repeatedly, CT scanning times are reduced, and the radiation dose born by a patient is reduced; in case an accurate positioning and a puncture trajectory are obtained, the puncture process is performed by the robot.
Drawings
Fig. 1 is a schematic structural diagram of a positioning plate according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a lancing system according to an embodiment of the present invention;
FIG. 3 is a schematic view of a piercing tip fixture provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a coordinate reading method according to an embodiment of the present invention;
FIG. 5 is a Cartesian coordinate system diagram of a robot according to an embodiment of the invention;
fig. 6 is a schematic diagram illustrating a relationship between a base coordinate system and a positioning plate coordinate system of a robot according to an embodiment of the present invention;
fig. 7 is a flowchart of a puncturing method according to an embodiment of the present invention.
Wherein the reference numbers in the drawings of the specification are as follows: 1-positioning plate, 2-steel wire, 3-CT scanner, 4-CT scanner machine tool; 5-robot, 6-robot controller; 7-robot end effector, 8-robot end gripper, 12-marker.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings of the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
A robot-assisted puncture system based on a positioning plate comprises a CT scanner 3, a robot 5, a robot controller 6 and a positioning plate 1; the CT scanner 3 is used for acquiring a scanning image of a target area in the puncture process; the robot controller 6 is connected with the robot 5 through an I/O interface, and the robot controller 6 is used for controlling the output end of the robot 5 to move to a target area along a preset path;
the positioning plate 1 is arranged on the CT scanner 3, and the CT scanner 3 can scan to obtain an image vertical to the positioning plate 1; the scanning surface is vertical to the length direction of the positioning plate 1, a groove is formed along the center line of the positioning plate 1, a steel wire 2 is arranged in the groove, and a marker 12 is arranged on the positioning plate 1; the positioning plate 1 is arranged on a CT scanner machine tool 4; the positioning plate 1 is used for assisting the scanning surface of the CT scanner 3 to establish a positioning plate and a scanning image coordinate system;
the free end of the mechanical arm of the robot 5 is provided with a robot end effector 7, the robot end effector 7 is connected with a puncture needle 8, and the robot end effector 7 drives the puncture needle 8 to perform puncture action on a target area.
The depth of the groove is 2mm, the length of the steel wire 2 is 75-85 cm, and the diameter of the steel wire 2 mm.
The robot 5 is provided with a robot end effector 7, the end effector 7 comprises a flange plate and a connecting rod, the flange plate is connected with the free end of the robot mechanical arm, a plurality of bolt holes with the diameter of 0.4-0.8 cm are formed in the flange plate along the circumferential direction, and threaded holes in one-to-one correspondence with the bolt holes in the flange plate are formed in the free end face of the robot mechanical arm.
The connecting threaded hole is formed in the center of the flange plate, the connecting rod is in threaded connection with the flange plate, the length of the connecting rod is 10-15 cm, so that a sufficient moving range is formed after the puncture needle 8 is fixed, a puncture needle hole is formed in the end portion of the connecting rod and vertically penetrates through the central axis of the connecting rod, a fastening screw is arranged at the puncture needle hole, the puncture needle 8 is installed in the puncture needle hole and is tightly pressed by the fastening screw, and the puncture needle 8 is perpendicular to the connecting.
The positioning plate is made of organic glass, the organic glass is a high-molecular transparent material and is named as polymethyl methacrylate (PMMA) by a chemical name; the glass has the advantages that the glass has the characteristics which are not possessed by common glass, the impact resistance of the organic glass is more than 200 times that of the common glass, the safety is high, and the organic glass can bear certain weight after being placed on a CT machine tool. The organic glass material has no seam and no fold, can not deform under different temperatures and humidities, and has small auxiliary positioning error; the positioning plate presents a low-density image after CT scanning, the length and the width of the positioning plate are 75-80 cm and 50cm respectively, and the thickness of the positioning plate is 1 cm; after cutting with the depth of 2cm by using a milling cutter in the middle of the positioning plate, embedding a steel wire 2 with the length of 75-85 cm and the diameter of 2mm in the middle along the long side direction of the positioning plate, and then fixing the positioning plate and the steel wire 2; a steel wire strip with the length of 1mm is placed on the right upper side of the positioning plate and serves as a marker 12, the marker indicates the origin of coordinates of the positioning plate 1, the steel wire 2 presents a high-density shadow in a CT scanner, and after CT scanning, high-density bright spots presented by the steel wire 2 and the marker 12 can assist in coordinate positioning of a puncture target; in the implementation process, the sizes of the positioning plate and the steel wire can be changed according to the requirements of clinical cases, and the position of the origin of the steel wire can be changed.
Step 1, a positioning plate 1 is arranged on a CT scanner 3,
step 2, the markers 12 of the positioning plate 1 are superposed with the tracing signals emitted by the CT scanner 3; the long edge of the positioning plate 1 is parallel to the longitudinal axis of the CT scanner 3, and the tracing signal is a cross infrared tracing line emitted by the CT scanner 3;
step 3, obtaining the space coordinate of the motion track of the target puncture needle;
determining a starting point and an end point of the puncture needle according to a scanning image of the CT scanner 3, wherein the starting point is a skin puncture point A, and the end point is a target region puncture point B;
respectively obtaining the distance Y between the marker 12 and a puncture target point in the Y-axis direction according to the section where the marker 12 is located and the section of the puncture target point, wherein the puncture target point comprises a puncture needle starting point and a puncture needle end point;
the distance x between the marker and the metal wire in the section where the marker is located1Distance x between marker 12 and target point in target point section2The distance X between the marker 12 and the target point X-axis direction is found to be X1-x2(ii) a Similarly, the Z-axis distances between the point A and the point B and the marker are obtained, and the coordinates of the target point in the positioning plate and the scanning image coordinate system are (x, y, Z); further obtaining the space coordinates of the point A and the point B relative to the origin of coordinates O (namely the marker 12) of the positioning plate: (x)a,ya,za) And (x)b,yb,zb)；
And 4, converting the coordinate system of the positioning plate and the scanning image and the coordinate system of the robot base, and combining the space coordinates of the starting point and the end point of the puncture needle relative to the marker (12) obtained in the step 3 according to the conversion relation between the coordinate system of the robot base and the coordinate system of the positioning plate: (x)a,ya,za) And (x)b,yb,zb) And coinciding the moving track of the puncture needle with the starting point and the end point of the puncture needle to obtain the final moving track of the puncture needle.
The puncture operation is implemented by adopting the system and the method of the invention, which comprises the following steps:
step 1, manufacturing a positioning plate 1 according to the scheme
Step 2, as shown in fig. 3, the positioning plate 1 is fixed on a CT scanning bed 4, and the CT scanning bed 4 adopts a sliding guide rail form, and can be controlled on a CT machine to move back and forth and up and down to enter the CT scanner according to the requirement; after the positioning plate 1 is placed in a scanning ring of a CT machine, the positioning plate is fixed at the correct position of a CT scanning bed 4, a cross infrared tracking line is emitted by the CT machine 3, and the cross infrared tracking line is superposed with a marker on the positioning plate, so that the longitudinal axis of the positioning plate 1 is parallel to the longitudinal axis of the CT scanning bed 4; the robot 5 is fixed on the base and is placed beside the CT machine tool 4, and a space is arranged between the robot 5 and the CT scanning bed 4, so that the robot 5 has enough movement space; the material of the clamp at the execution end of the robot 5 is metal, the end effector 7 of the robot is fixedly connected with a flange plate at the tail end of the robot, and the fixed end clamp can move along with the arm of the robot; the robot end clamp 8 can be used for fixing puncture needles of different specifications; the connection between the robot and the puncture needle is realized with a robot end effector 7. In actual operation, the puncture needle can be replaced according to actual conditions, and the robot controller 6 can control the robot to move according to coordinate instructions.
Step 3, obtaining the spatial coordinates of the puncture target
The examinee is fixed on the positioning plate, the upper part of the scanning bed enters the CT machine for scanning, and parameters of 5mm layer thickness and 1mm layer spacing are set. In other embodiments, the parameter setting may be changed according to the puncture surgery condition, or may be changed as needed, after CT scanning, the three-dimensional spatial range of the lesion is determined according to the CT scanning result image, and the target region puncture point B is determined, clinically, for the safety of puncture, the puncture direction and route need to avoid important tissues such as blood vessels, organs, bones, and the like, and in this embodiment, it can be found that the skin puncture point is a, and the puncture route is a → B. According to the method of figure 4, determining the section of the original point of the positioning plate and the section of the puncture focus, and simultaneously determining the origin of coordinates O (0,0,0) of the positioning plate; according to the distance between the section of the marker (12) and the section of the puncture target point, the origin of coordinates O and the point A can be obtainedY-axis distance Y of point B; in the section of the marker, the distance from the marker to the wire is known as x1(ii) a In the target point section, only the distance x between the marker 12 and the target point can be obtained2The distance X between the target point a and the point B and the X axis of the origin cannot be directly displayed, and at this time, the distance X between the origin of coordinates and the X axis of the target point is obtained as X with the aid of the marker 12 on the positioning plate1-x2. Similarly, the Z-axis distance Z between the point a or B and the origin O can be obtained according to fig. 4, and the coordinates of the target point in the coordinate system of the positioning board are (x, y, Z).
By the method, the spatial coordinates of the skin puncture point A and the target puncture point B relative to the origin of coordinates O of the positioning plate can be respectively obtained: (x)a,ya,za) And (x)b,yb,zb)。
Step 4, converting the coordinate system of the positioning plate and the base coordinate system of the robot
The movement of the robot arm is controlled in the user coordinate system, i.e. the coordinate system of the spacer 1, which is more convenient for the user to operate, wherein a series of coordinate transformations are involved, transforming the coordinates from the robot (puncture needle) coordinate system into a first coordinate transformation relationship of a base coordinate system, using said first coordinate transformation relationship and the position and attitude relationship between the base coordinate system and the spacer coordinate system, for generating a second coordinate transformation relationship for transforming the coordinates from said first coordinate transformation to said spacer coordinate system.
The specific conversion process is as follows:
s1, establishing a Cartesian coordinate system for the robot, and acquiring geometric parameters, joint variables and D-H parameters of a rod piece of the robot, as shown in FIG. 5;
s2, according to the cartesian coordinate system with respect to the robot established in S1, referring to fig. 5, with the base coordinate system and the first joint coordinate system of the robot: the relationship between the base coordinate system and the first joint coordinate system of the robot may be transformed by: first winding Z0Axis of rotation theta1Angle, second edge Z0Axial translation d1Unit distance, then along X0Axial translation l1Unit distance, last winding X0Shaft rotationMoving alpha1And (3) angle, obtaining a coordinate transformation relation:
Figure BDA0002219361550000091
in the formula, s θ1＝sinθ1，sa1＝sinα1，cθ1＝cosθ1，cα1＝cosα1(ii) a Wherein c is the abbreviation of cos () function, s is the abbreviation of sin () function, and the coordinate transformation relation between the first joint coordinate system and the second joint coordinate system can be obtained in the same way1A2Coordinate transformation relation among the second joint coordinate system and the third joint coordinate system2A3Coordinate transformation relation among the third joint coordinate system and the fourth joint coordinate system3A4Coordinate transformation relation between the fourth joint coordinate system and the fifth joint coordinate system4A5And the coordinate transformation relation between the fifth joint coordinate system and the second joint coordinate system5A6(ii) a The conversion relation between the robot end effector coordinate system and the base coordinate system is as follows:
0T6＝0A1 1A2 2A3 3A4 4A5 5A6；
s3, establishing a conversion relation between the robot base coordinate system and the positioning plate coordinate system, taking the relation between the robot base and the positioning plate in FIG. 6 as an example, the positioning plate rotates around the Z axis by an angle theta and translates d along the X, Y and Z axes respectivelyx，dyAnd dzThe base coordinate system of the robot is superposed, and the relationship between the base coordinate system and the positioning plate coordinate system can be obtained according to the coordinate transformation as follows:
Figure BDA0002219361550000101
s4, combining the transformation relationship between the positioning plate obtained in S3 and the coordinate system of the scanned image and the end effector of the robot obtained in S2And (3) obtaining a conversion relation between the robot end effector 7, the position plate and the scanning image coordinate system through the conversion relation between the line former coordinate system and the base coordinate system: t ═0T6T'; as shown in figure 6 of the drawings,
the relation between the two coordinate systems can be obtained according to the transformation matrix T, and the robot arm can be controlled to move in the positioning plate coordinate system, namely the user coordinate system according to the relation between the two coordinate systems.
Step 5, executing puncture action according to the coordinate instruction
And (3) converting the space coordinates of the skin entry point A and the target area puncture target point B under the positioning plate coordinate system obtained in the step (3) into coordinates of a robot coordinate system, inputting the coordinates of the point A and the point B after conversion into a robot controller, generating a puncture path instruction by a robot system according to the coordinates, transmitting the instruction to a robot arm, and puncturing by the robot arm according to the instruction.
Specifically, the puncture action can be performed once, the command is divided into two steps, the first step is an input puncture command, the robot arm is controlled to move, the puncture needle tip moves along with the input puncture command, the puncture needle tip can reach a skin entry point A after moving, the robot movement is stopped at the moment, the second step is adjusting the direction of the puncture needle, the puncture depth can be known according to the coordinates of the two points, and therefore the second step can be used for puncturing directly according to the planned angle and depth of the robot. The medical staff can set the puncture speed on the puncture system to prevent the safety problem caused by too fast puncture speed. After the puncture needle tip moves to the surface of the skin, the speed is changed into the puncture speed so as to prevent puncture errors caused by the movement of a puncture object, after the puncture is successfully performed, the puncture needle is separated from the tail end of the needle holder, and then the puncture effect is confirmed after CT scanning.
Those skilled in the art will further appreciate that the exemplary methods of operation described in connection with the embodiments disclosed herein may be implemented by changing different positioning board materials and by changing different software and hardware, but such implementation should not be considered as beyond the scope of the present invention.
The robot puncturing method based on the positioning plate and the CT navigation-assisted positioning provided by the present invention is described in detail above, and the principle and implementation of the present invention are explained in the present document by applying specific embodiments, and the description of the above embodiments is only used to help understanding the method of the present invention and its core idea. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (7)

1. A robot-assisted puncture system based on a positioning plate is characterized by comprising a CT scanner (3), a robot (5), a robot controller (6) and a positioning plate (1); the CT scanner (3) is used for acquiring a scanning image of a target area in the puncture process; the robot controller (6) is connected with the robot (5) through an I/O interface, and the robot controller (6) is used for controlling the output end of the robot (5) to move to a target area along a preset path;
the positioning plate (1) is arranged on the CT scanner (3), and the CT scanner (3) can scan to obtain an image vertical to the positioning plate (1); the scanning surface of the CT scanner (3) is vertical to the length direction of the positioning plate (1), a groove is formed along the center line of the positioning plate (1), a steel wire (2) is arranged in the groove, and a marker (12) is arranged on the positioning plate (1); the positioning plate (1) is arranged on a CT scanner machine tool (4); the positioning plate (1) is used for assisting the scanning surface of the CT scanner (3) to establish a positioning plate and a scanning image coordinate system;
a free end of a mechanical arm of the robot (5) is provided with a robot end effector (7), the robot end effector (7) is connected with a puncture needle (8), and the robot end effector (7) drives the puncture needle (8) to perform puncture action to a target area; the marker (12) is made of metal; the marker (12) is arranged at one corner of the edge of the positioning plate close to the robot, and the arrangement depth of the marker (12) is the same as the depth of the steel wire (2) on the positioning plate (1); a robot end effector (7) is arranged at the free end of the robot (5), the end effector (7) comprises a flange plate and a connecting rod, the flange plate is connected with the free end of a robot mechanical arm, a connecting threaded hole is formed in the center of the flange plate, the connecting rod is in threaded connection with the flange plate, a puncture needle hole is formed in the end portion of the connecting rod and vertically penetrates through the central axis of the connecting rod, a fastening screw is arranged at the puncture needle hole, and a puncture needle (8) is installed in the puncture needle hole and is tightly pressed by the;
the method comprises the following steps of: step 1, mounting a positioning plate (1) on a CT scanner (3);
step 2, superposing a tracing signal emitted by the CT scanner (3) with a marker (12) on the positioning plate (1); the long edge of the positioning plate (1) is parallel to the longitudinal axis of the CT scanner (3), and the marker (12) is taken as the origin of the positioning plate;
step 3, establishing a coordinate system of the movement track of the puncture needle with the marker (12) in the step 2 as an original point, obtaining the space coordinate of the movement track of the target puncture needle, and respectively obtaining the distance Y between the marker (12) and the puncture target point in the Y-axis direction according to the section of the marker (12) and the section of the puncture target point, wherein the puncture target point comprises a puncture needle starting point and a puncture needle end point;
determining the starting point and the end point of the puncture needle according to the scanning image of the CT scanner (3);
and 4, converting the coordinate system of the positioning plate and the scanning image and the coordinate system of the robot base, and obtaining a track of the puncture needle coinciding with the starting point and the end point according to the conversion relation between the coordinate system of the robot base and the coordinate system of the positioning plate.
2. The robot-assisted puncture system based on a positioning plate according to claim 1, characterized in that the depth of the groove is 2mm, the length of the steel wire (2) is 75-85 cm, and the diameter is 2 mm.
3. The positioning plate-based robot-assisted puncture system according to claim 1, wherein the positioning plate (1) is made of plexiglass.
4. The positioning plate-based robot-assisted puncture system according to claim 1, wherein the robot is disposed at one side of the CT scanner (3), the bottom of the robot is provided with a slide rail, and the robot adopts KR 5sixx R65, Viper 650 or Vision robot VR 6.
5. The positioning plate-based robot-assisted lancing system according to claim 1, wherein the robot controller (6) employs a computer.
6. The robot-assisted puncture system based on positioning plate according to claim 1, characterized in that in step 3, the distance x from the marker (12) to the steel wire (2) is determined by the position of the marker (12) in the section where the marker is located1In the target point section, the distance x between the marker (12) and the target point2The distance between the marker (12) and the target point in the X-axis direction is X ═ X1-x2(ii) a Similarly, the Z-axis distances between the point A and the point B and the marker are obtained, and the coordinates of the target point in the positioning plate and the scanning image coordinate system are (x, y, Z); further obtaining the spatial coordinates of the point A and the point B relative to the marker (12): (x)a,ya,za) And (x)b,yb,zb)。
7. The positioning plate-based robot-assisted puncture system according to claim 1, wherein step 4 is as follows:
s1, establishing a Cartesian coordinate system for the robot, and acquiring geometric parameters, joint variables and D-H parameters of a rod piece of the robot;
s2, according to the cartesian coordinate system regarding the robot established in S1, with the base coordinate system and the first joint coordinate system of the robot: the relationship between the base coordinate system and the first joint coordinate system of the robot may be transformed by: first winding Z0Axis of rotation theta1Angle, second edge Z0Axial translation d1Unit distance, then along X0Axial translation l1Unit distance, last winding X0Rotation of the shaft alpha1And angle, obtaining a coordinate transformation relation between the base coordinate system and the first joint coordinate system of the robot:
Figure FDA0002665126230000031
in the formula, s θ1＝sinθ1，sa1＝sinα1，cθ1＝cosθ1，cα1＝cosα1(ii) a The coordinate transformation relation between the first joint coordinate system and the second joint coordinate system can be obtained in the same way1A2Coordinate transformation relation among the second joint coordinate system and the third joint coordinate system2A3Coordinate transformation relation among the third joint coordinate system and the fourth joint coordinate system3A4Coordinate transformation relation between the fourth joint coordinate system and the fifth joint coordinate system4A5And the coordinate transformation relation between the fifth joint coordinate system and the second joint coordinate system5A6(ii) a The conversion relation between the robot end effector coordinate system and the base coordinate system is as follows:
0T6＝0A1 1A2 2A3 3A4 4A5 5A6；
s3, the conversion relation between the positioning plate and the scanning image coordinate system is specifically as follows: the positioning plate (1) rotates by an angle theta around a Z axis and then translates by d along the X axis, the Y axis and the Z axis respectivelyx，dyAnd dzThe base coordinate system of the robot is superposed, and the relationship between the base coordinate system and the positioning plate coordinate system can be obtained according to the coordinate transformation as follows:
Figure FDA0002665126230000032
and S4, combining the conversion relation between the positioning plate and the scanning image coordinate system obtained in S3 and the conversion relation between the robot end effector coordinate system and the base coordinate system obtained in S2 to obtain the conversion relation between the robot end effector 7 and the positioning plate and the scanning image coordinate system: t ═0T6*T'。
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