CN111202583A - Method, system and medium for tracking movement of surgical bed - Google Patents
Method, system and medium for tracking movement of surgical bed Download PDFInfo
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- CN111202583A CN111202583A CN202010065953.1A CN202010065953A CN111202583A CN 111202583 A CN111202583 A CN 111202583A CN 202010065953 A CN202010065953 A CN 202010065953A CN 111202583 A CN111202583 A CN 111202583A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
Abstract
The invention provides a method, a system and a medium for tracking the movement of an operating table, which comprises the following steps: an operating table, a medical robot, a computer, an optical sensor, an operating table marker, a robot marker, and a data line; the surgical bed markers are attached to the surgical bed; the robot marker is attached to the medical robot; the data line is connected with the optical sensor and the computer, and is connected with the computer and the medical robot; the method comprises the following steps: step 1: capturing the poses of the operating table marker and the robot marker by the optical sensor and calibrating; step 2: calibrating the relative poses of the robot and the robot marker; and step 3: when the operating bed moves, the displacement information of the operating bed marker is obtained, and the robot tracks according to the displacement information of the operating bed marker. The invention has the advantages of low cost, high precision and small time delay, and realizes the remote wireless tracking of the target object.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a method, a system and a medium for tracking the movement of an operating table. In particular to a method for synchronously moving a vascular interventional operation robot and an operation bed.
Background
Cardiovascular diseases seriously affect the health of human bodies, and the endovascular intervention operation belongs to one of minimally invasive operations and has the advantages of accuracy, rapidness and small wound. Meanwhile, in the blood vessel interventional operation, in order to obtain a real-time image in the operation process, an X-ray subtraction technology is used for guiding a doctor to push a guide wire catheter. The physician is thereby exposed to a large amount of x-ray radiation, causing great harm to the physician's body. With the continuous development of the robot technology in recent years, the problem caused by X-ray radiation to doctors can be avoided by using the robot to send the catheter guide wire to the vascular lesion. The doctor finishes the operation through handle remote control robot to avoid the injury of radiation.
In the robot operation, a doctor can adjust the position of the operating table, move the operating table and obtain a clearer X-ray developing angle. Under the condition that the robot uses the mechanical arm to hold the guide wire catheter, the bed is displaced, and if the robot does not track the displacement of the operating bed, the guide wire catheter can fall off or be displaced from a wound of a patient, so that the patient is greatly injured, and even the risk of blood vessel rupture can occur. Therefore, the robot needs to track the operating table in real time, keep the relative position of the robot and the operating table unchanged, and improve the safety of the operation.
Patent CN109938837A provides an optical tracking system that tracks the position and orientation of a marker, using a camera as an imaging device. The mark can be attached to an object, and includes a pattern surface formed inside the mark and an optical system formed in an opening so that the pattern surface is imaged by a first imaging section having an infinite focal length. The image forming apparatus includes a processor for determining a posture of a mark based on a first image formed by a first image forming unit on a part of a pattern surface viewed through an opening, and determining a position of the mark based on a second image and a third image formed by second and third image forming units having a focal length closer than an infinite focal length based on light emitted from the openings in different directions. This document uses a method of tracking a marker attached to an object body exclusively to measure the pose of the object body, and does not mention a method of tracking an object body by a robot. The pose of the object is measured by shooting graphs of the object in different directions by using an imaging device such as a camera, the accuracy of pose measurement depends on the precision of the camera, and the cost is increased.
Patent CN107817471 discloses an optical tracking method, device and system. When a preset incidence relation is established between the lasers in the transmitter and the sensors in the receiver, the transmitter is coded according to the number and the states of the lasers and the wavelength of light waves emitted by the lasers; and analyzing the scanning signal and calculating the code of the emitter. The multi-band light beam is used for coding and distinguishing the emitters, so that the simultaneous use of the multiple emitters for scanning the tracking space is supported under the condition of not reducing the data refresh rate, the use number of the emitters is expanded, and the tracking range of a tracking system is expanded. This patent describes using optical sensors with emitters and receivers to emit light waves of different wavelengths and measuring the pose of the object by analyzing the reflected light waves. There is no method of determining the relative pose change of the robot and the object, nor is there any reference to the tracking of the position of the object by the robot.
Patent CN108430373A describes a method and system for tracking the position of an endoscope within a patient during endoscopic surgery. By placing a marker on the endoscope, the positional information of the endoscope is converted from the endoscope coordinate system to the coordinate system of the optical tracking system by the optical system. Projecting a virtual image of an endoscope on a model of a patient's organ, and projecting or displaying the combined image, the position of the endoscope within the patient's body being displayed as an image on a monitor together with an image of the patient's internal organ, the pose information of the endoscope being described by transforming it to patient coordinates, provides a method of augmented reality environment clearly highlighting the position of the endoscope relative to the patient's internal organ, helping a doctor to easily operate the endoscope. This patent uses an optical tracker to track a method of attaching to a marker of an object body to measure the pose of the object body, and determines the position of an endoscope within the human body by image processing and coordinate transformation, but does not provide a method of measuring the relative pose relationship between a robot and the object body, nor a scheme in which the robot tracks the object body in real time.
The technical scheme and the solving means for tracking the target object at the present stage can analyze reflected light with different wavelengths through imaging equipment such as an optical sensor and a camera, and measure the pose of the object body, so that the means and the scheme for meeting the function are mature.
But still lack the following:
1. an algorithm for determining the relative poses of a robot and an object after capturing the pose of the object has not been proposed;
2. a scheme for enabling the robot to track the motion of the object body in real time when the object body generates displacement is lacked;
3. when the operating table is displaced in the operating room environment, a method for tracking the robot according to the movement characteristics of the operating table is lacked;
4. a completely new method for converting the displacement of the robot under the optical sensor into a displacement solution under the own coordinate system needs to be explored.
The invention incorporates optical tracking into the surgical bed displacement tracking system, and uses optical sensors to capture the pose of markers attached to the surgical bed and the robot. And solving the relative pose relation between the robot and the operating table through a matrix conversion algorithm, and calibrating a posture conversion matrix between the robot and the robot marker. In an operating room environment, when the operating bed generates displacement, the displacement of the robot under the optical sensor is solved according to the matrix conversion relation, then the displacement is converted into the displacement of the robot under a self coordinate system, and the relative position of the robot and the operating bed is kept unchanged, so that the tracking of the medical robot to the hospital bed is completed.
At present, no matter domestic or foreign, a mature method for enabling a robot to track the motion of an operating table in real time in the operating room environment exists in the field of medical instruments, and the existing scheme is huge in cost and lacks of accuracy.
Patent document CN100464720C (application number: 200510122586.X) discloses a brain surgical robot system based on optical tracking closed-loop control, which is a brain surgical robot that receives medical image information, measures and determines a lesion position, assists in surgical planning, and performs surgical guidance; the computer, the five-freedom robot, the optical tracking equipment and the passive marker form a closed-loop robot position and attitude measurement and real-time feedback control system, and the passive marker is arranged at the tail end of the five-freedom robot; the five-degree-of-freedom robot comprises a mechanical arm and a mechanical arm controller; the auxiliary operation planning and guiding software comprises a digital image input and preprocessing module, a focus extraction and three-dimensional reconstruction module, an operation planning module and an operation implementation module.
Disclosure of Invention
In view of the deficiencies in the prior art, it is an object of the present invention to provide a method, system and medium for tracking the movement of an operating table.
According to the invention, the method for tracking the movement of the operating table comprises the following steps: an operating table, a medical robot, a computer, an optical sensor, an operating table marker, a robot marker, and a data line;
the surgical bed markers are attached to the surgical bed;
the robot marker is attached to the medical robot;
the data line is connected with the optical sensor and the computer, and is connected with the computer and the medical robot;
the method comprises the following steps:
step 1: capturing the poses of the operating table marker and the robot marker by the optical sensor and calibrating;
step 2: calibrating the relative poses of the robot and the robot marker;
and step 3: when the operating bed moves, the displacement information of the operating bed marker is obtained, and the robot tracks according to the displacement information of the operating bed marker.
Preferably, the optical sensor captures the pose of the surgical bed marker and transmits the pose of the surgical bed marker to the computer through the data line.
Preferably, the optical sensor captures the pose of the robot marker and transmits the pose of the robot marker to the computer via the data line.
Preferably, when the operating table generates displacement, the optical sensor calibrates the pose of the operating table marker and transmits the first displacement information to the computer.
Preferably, the computer sends a displacement instruction to the robot according to the first displacement information;
and measuring second displacement information of the robot marker according to the optical sensor, and solving an attitude relation matrix between the robot and the robot marker by using matrix transformation according to the displacement difference of the robot and the robot marker in the optical sensor coordinate system.
Preferably, the relative pose relationship between the robot marker and the operating table marker is solved through matrix transformation according to the pose of the robot marker in the optical sensor coordinate system and the pose of the operating table marker in the optical sensor coordinate system.
Preferably, when the operating table generates displacement, in order to keep the posture of the robot relative to the operating table unchanged, the displacement of the robot marker relative to the self coordinate system is calculated.
Preferably, the displacement of the robot marker relative to the self coordinate system is converted into the displacement of the robot relative to the self coordinate system, so as to complete the tracking of the operation bed by the robot.
According to the system for tracking the movement of the operating table provided by the invention, the method comprises the following steps: an operating table, a medical robot, a computer, an optical sensor, an operating table marker, a robot marker, and a data line;
the surgical bed markers are attached to the surgical bed;
the robot marker is attached to the medical robot;
the data line is connected with the optical sensor and the computer, and is connected with the computer and the medical robot;
the system comprises:
module M1: capturing the poses of the operating table marker and the robot marker by the optical sensor and calibrating;
module M2: calibrating the relative poses of the robot and the robot marker;
module M3: when the operating bed moves, the displacement information of the operating bed marker is obtained, and the robot tracks according to the displacement information of the operating bed marker.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has lower cost, high precision and small time delay;
2. the surgical robot provided by the invention tracks the displacement of the operating table in real time, and captures the position and posture of the medical instrument by using the optical sensor, so that the error is very small, the error is only 0.1mm within the range of 5m, and the delay time is less than 1ms, thereby providing accurate information for the operation of a doctor;
3. according to the invention, the position and the posture of the operating bed attached with the marker are captured through the optical sensor, the posture matrix between the operating bed and the marker is calibrated, and the displacement of the robot under the self coordinate system for tracking the operating bed is solved through the matrix transformation relation, so that the robot can track the operating bed in real time when the operating bed moves accidentally during operation, the relative position with the operating bed is kept unchanged, the operation precision is improved, and the operation risk is reduced;
4. the invention realizes the remote wireless tracking of the target object;
5. the invention solves the problems of universality of interventional operation and specific requirements of tracking the operating table by tracking the displacement of the operating table.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a logic diagram of a robot tracking surgical bed;
fig. 2 is a composition diagram of an optical tracking system.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
According to the method for tracking the movement of the operating table provided by the invention, as shown in fig. 1, the method comprises the following steps:
step 1: calibrating the relative pose relationship between the robot marker and the robot;
step 2: the relative position relationship between the operation bed and the robot is well arranged;
and step 3: calculating the pose relationship between the operating bed and the robot;
and 4, step 4: the optical sensor measures the sickbed markers in real time;
and 5: when the operating bed moves, solving the displacement of the robot marker relative to the self coordinate system through a matrix conversion relation when the relative position relation between the operating bed and the robot is kept unchanged;
step 6: and the displacement of the robot marker is converted into the displacement of the robot under the coordinate system of the robot through the calibrated pose relation matrix of the robot and the marker, so that the tracking of the robot on the operating table is completed.
The invention discloses an interventional operation robot real-time tracking system based on an optical sensor, which can keep the relative position of a robot and an operation bed unchanged so as to improve the operation safety.
1. System components
The system is shown in fig. 2, and is divided into 7 components:
the system comprises an operating table 1, an operating table marker 2, a robot marker 3, a robot 4, an optical tracker 5, a data line 6 and a computer 7.
Wherein, the operating table marker 2 and the robot marker 3 are respectively stuck on the operating table 1 and the robot 4, and the optical tracker 5 captures the poses of the operating table marker 2 and the robot marker 3. The optical tracker 5 is connected with the computer 7 through a data line 6, and the optical tracker 5 transmits the captured pose information of the operating table marker 2 and the robot marker 3 to the computer 7 through the data line 6 for processing. The computer 7 is connected to the robot 4 through the data line 6, and transmits the calculated position change information to the robot 4, so that the robot 4 can track the operation table 1.
2. Robot and robot marker attitude relationship calibration
Capturing the position of a robot marker in an optical sensor coordinate system by an optical sensor
The computer sends a displacement instruction to the robot, the robot carries out corresponding displacement under a self coordinate system, and the displacement increment is
The robot marker is displaced with the robot. Then the position of the robot marker in the optical sensor coordinate system is captured by the optical sensor
According to the formula
Calculating the displacement increment of the robot marker in the self coordinate system
According to the formula
Calculating a posture relation matrix of a robot coordinate system and a robot marker coordinate system
And finishing the posture calibration between the robot coordinate system and the robot marker coordinate system.
3. Specific implementation of robot tracking operating table
(1) Measuring the ideal poses of a robot marker coordinate system and an operating table marker coordinate system: according to the needs of the operation, the relative position and posture between the operation bed and the robot are put, the optical sensor captures the position and posture of the robot marker and the operation bed marker in the optical coordinate system, and the position and posture are respectively recorded as
And
according to the formula
Determining the pose of the robot marker relative to the operating table marker
Keeping the position unchanged, the relative position between the robot and the operating bed can be kept unchanged.
(2) Following of the robot to the surgical bed position: when the operating table generates displacement, the optical sensor captures the pose of the operating table marker relative to the optical sensor
The robot is also moved for tracking the operating table, and the pose of the robot marker relative to the optical coordinate system after the robot is moved
Can pass through
And (4) obtaining. Passing through type
Calculating the pose variation of the robot marker
The fourth row vector is the displacement of the robot marker in its own coordinate system and is recorded as
By the calibrated attitude relation matrix between the robot and the robot marker
And calculating the displacement of the robot under the self coordinate system for tracking the operating table. The computer sends a displacement instruction to the robot, and the robot linear motor is controlled to enable the robot to generate corresponding displacement in the front-back direction, the left-right direction and the up-down direction, so that the moving operating table is tracked.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method of tracking the movement of an operating table, comprising the steps of: an operating table, a medical robot, a computer, an optical sensor, an operating table marker, a robot marker, and a data line;
the surgical bed markers are attached to the surgical bed;
the robot marker is attached to the medical robot;
the data line is connected with the optical sensor and the computer, and is connected with the computer and the medical robot;
the method comprises the following steps:
step 1: capturing the poses of the operating table marker and the robot marker by the optical sensor and calibrating;
step 2: calibrating the relative poses of the robot and the robot marker;
and step 3: when the operating bed moves, the displacement information of the operating bed marker is obtained, and the robot tracks according to the displacement information of the operating bed marker.
2. The method of tracking movement of an operating table of claim 1 wherein the optical sensor captures the pose of the operating table marker and transmits the pose of the operating table marker to the computer via a data line.
3. The method of tracking motion of a surgical bed of claim 1, wherein the optical sensor captures the pose of the robotic marker and transmits the pose of the robotic marker to the computer via a data line.
4. The method of claim 1, wherein the optical sensor calibrates the pose of the surgical bed marker when the surgical bed is displaced, and transmits the first displacement information to the computer.
5. The method of tracking movement of a surgical bed as recited in claim 4, wherein the computer sends displacement commands to the robot based on the first displacement information;
and measuring second displacement information of the robot marker according to the optical sensor, and solving an attitude relation matrix between the robot and the robot marker by using matrix transformation according to the displacement difference of the robot and the robot marker in the optical sensor coordinate system.
6. The method for tracking the movement of the surgical bed according to claim 1, wherein the relative pose relationship between the robot marker and the surgical bed marker is solved through matrix transformation according to the pose of the robot marker in the optical sensor coordinate system and the pose of the surgical bed marker in the optical sensor coordinate system.
7. The method of tracking the movement of the surgical bed according to claim 1, characterized in that when the displacement of the surgical bed occurs, the displacement of the robot marker with respect to its own coordinate system is calculated in order to keep the pose of the robot with respect to the surgical bed unchanged.
8. The method of claim 7, wherein the robotic tracking of the surgical bed is accomplished by translating the displacement of the robotic markers relative to the native coordinate system to the displacement of the robot relative to the native coordinate system.
9. A system for tracking the movement of an operating table, comprising the use of: an operating table, a medical robot, a computer, an optical sensor, an operating table marker, a robot marker, and a data line;
the surgical bed markers are attached to the surgical bed;
the robot marker is attached to the medical robot;
the data line is connected with the optical sensor and the computer, and is connected with the computer and the medical robot;
the system comprises:
module M1: capturing the poses of the operating table marker and the robot marker by the optical sensor and calibrating;
module M2: calibrating the relative poses of the robot and the robot marker;
module M3: when the operating bed moves, the displacement information of the operating bed marker is obtained, and the robot tracks according to the displacement information of the operating bed marker.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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| CN113967071A (en) * | 2020-10-23 | 2022-01-25 | 李志强 | Control method and device for mechanical arm of surgical robot to move along with surgical bed |
| CN113967071B (en) * | 2020-10-23 | 2023-09-29 | 成都博恩思医学机器人有限公司 | Control method and device for movement of mechanical arm of surgical robot along with operation bed |
| CN113229941A (en) * | 2021-03-08 | 2021-08-10 | 上海交通大学 | Interventional robot contactless teleoperation system based on augmented reality and calibration method |
| WO2022242493A1 (en) * | 2021-05-17 | 2022-11-24 | 上海微创医疗机器人（集团）股份有限公司 | Pose adjustment method, surgical robot system, and storage medium |
| CN113647972A (en) * | 2021-07-27 | 2021-11-16 | 北京工业大学 | Double-arm cooperative robot control method and system for assisting oral medical image |
| CN114129262B (en) * | 2021-11-11 | 2023-12-22 | 北京歌锐科技有限公司 | Patient operation position tracking method, equipment and device |
| CN114129262A (en) * | 2021-11-11 | 2022-03-04 | 北京歌锐科技有限公司 | Method, equipment and device for tracking surgical position of patient |
| WO2023124732A1 (en) * | 2021-12-30 | 2023-07-06 | 武汉联影智融医疗科技有限公司 | Device control method and system for image-guided interventional punctures |
| CN114074330A (en) * | 2022-01-19 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Robot control method, system, robot and storage medium |
| CN114074329A (en) * | 2022-01-19 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Verification control method and related device for telecentric motionless point of robot |
| CN114176787A (en) * | 2022-02-15 | 2022-03-15 | 江苏省人民医院（南京医科大学第一附属医院） | Control method based on effective working space of surgical robot |
| CN117243699A (en) * | 2023-11-14 | 2023-12-19 | 杭州三坛医疗科技有限公司 | Displacement detection method and device |
| CN117243699B (en) * | 2023-11-14 | 2024-03-15 | 杭州三坛医疗科技有限公司 | Displacement detection method and device |
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