CN111513849B - Surgical system for puncture, control method and control device - Google Patents
Surgical system for puncture, control method and control device Download PDFInfo
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- CN111513849B CN111513849B CN202010367516.5A CN202010367516A CN111513849B CN 111513849 B CN111513849 B CN 111513849B CN 202010367516 A CN202010367516 A CN 202010367516A CN 111513849 B CN111513849 B CN 111513849B
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The present disclosure provides a puncture surgical system, a control method and a control device, wherein the puncture surgical system comprises an imaging device, a mechanical arm and a control device, wherein the imaging device is used for acquiring a focus image of a focus organ, and a puncture part is arranged at the distal end of the mechanical arm; the control device controls the puncture part to move according to a preset puncture track through the mechanical arm and adjusts the preset puncture track through state information of the guide part. The puncture track is preset in the adjustment of the state information of the guiding part, so that the situation that the puncture surgical robot cannot accurately puncture a focus point due to displacement of a patient or a certain part of the patient is avoided, and the puncture accuracy and efficiency are improved.
Description
Technical Field
The disclosure relates to the technical field of medical treatment, in particular to a surgical system for puncture, a control method and a control device.
Background
The puncture operation refers to a minimally invasive operation that is guided by medical images to insert medical instruments such as a puncture needle into the position of a focus point in a patient body so as to perform operations such as biopsy, ablation, radioactive particle implantation and the like, thereby achieving the purpose of treatment; it has the advantages of small operation wound, less pain of patients, short recovery time, low operation cost, etc.
At present, a doctor selects a focus point by using an operation planning system of a puncture operation robot, and calculates a skin puncture needle insertion point, thereby planning a puncture track of a puncture needle. However, during the operation, once a patient or a certain part of the patient is displaced, even the patient breathes, the position of a focus organ, that is, the position of a focus point, can be changed; the puncture operation robot cannot accurately measure the position change, and still performs the puncture operation according to a pre-planned puncture track, so that the puncture accuracy and efficiency are low.
Disclosure of Invention
In view of the above, an object of the present disclosure is to provide a surgical system, a control method and a control device for puncturing, so as to solve the problem in the prior art that accurate puncturing cannot be performed due to deviation of a focal organ.
In a first aspect, the present disclosure provides a surgical system for puncture, including an imaging device, a mechanical arm and a control device, wherein the imaging device is configured to acquire a lesion image of a lesion organ, and a puncture portion is disposed at a distal end of the mechanical arm; the control device controls the puncture part to move according to a preset puncture track through the mechanical arm and adjusts the preset puncture track through state information of the guide part.
In one possible embodiment, the guide portion includes a guide needle disposed on the lesion organ and a navigation device configured to acquire status information of the guide needle.
In one possible embodiment, the imaging device is one of the following:
x-ray imaging device, CT imaging device, magnetic resonance imaging device.
In a possible embodiment, the control device comprises a display unit for displaying at least one of:
the focus image, the preset puncture track, the state information of the puncture part and the state information of the guide part.
In one possible embodiment, the control device comprises a wireless communication unit for receiving status information of the guidance.
In a second aspect, the present disclosure also provides a control method for a puncture surgery, wherein the method comprises the following steps:
determining a first puncture track based on a preset puncture point and a preset position relation between an initial position of a guide part and a position of the preset puncture point;
controlling the puncture part to move according to the first puncture track;
acquiring state information of the guide part;
and determining a second puncture track based on the preset position relation and the state information, and controlling the puncture part to move according to the second puncture track.
In one possible embodiment, the determining a first puncture trajectory based on a preset puncture point includes:
acquiring a focus image;
determining position information of the preset puncture point based on the focus image;
and determining the first puncture track based on the initial state of the puncture part and the position information of the preset puncture point.
In one possible embodiment, the guide portion includes a guide needle and a navigation device, and the acquiring the state information of the guide portion includes:
and acquiring the state information of the guide needle by using the navigation device.
In one possible embodiment, the control method further includes:
and displaying the state information of the puncture unit and/or the state information of the guide unit in real time based on the first puncture trajectory or the second puncture trajectory.
In a third aspect, the present disclosure also provides a control device for a puncture surgery, including:
the determination module is used for determining a first puncture track based on a preset puncture point and a preset position relation between the initial position of the guide part and the position of the preset puncture point;
the first control module is used for controlling the puncture part to move according to the first puncture track;
an acquisition module for acquiring state information of the guide part;
and the second control module is used for determining a second puncture track based on the preset position relation and the state information and controlling the puncture part to move according to the second puncture track.
In one possible embodiment, the determining module includes:
an acquisition unit for acquiring a focus image;
a first determination unit, configured to determine position information of the preset puncture point based on the lesion image;
and a second determination unit configured to determine the first puncture trajectory based on an initial state of the puncture unit and the position information of the preset puncture point.
In a possible embodiment, the guiding portion comprises a guiding needle and a navigation device, and the acquiring module is specifically configured to acquire the state information of the guiding needle by using the navigation device.
In one possible embodiment, the method further comprises:
and a display module for displaying the state information of the puncture part and/or the state information of the guide part in real time based on the first puncture trajectory or the second puncture trajectory.
In a fourth aspect, the present disclosure also provides a computer-readable storage medium, wherein the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, performs the steps of the control method as described.
In a fifth aspect, the present disclosure further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the control method as described.
The puncture track is preset in the adjustment of the state information of the guiding part, so that the situation that the puncture operation robot cannot accurately measure the position change of a focus point due to the displacement of a patient or a certain part of the patient is avoided, the puncture operation is still performed according to the pre-planned puncture track, the puncture accuracy and efficiency are low, and the puncture accuracy and efficiency are improved.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the present disclosure or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and other drawings can be obtained by those skilled in the art without inventive exercise.
Fig. 1 shows a schematic structural view of a surgical system for puncture provided by the present disclosure;
FIG. 2 illustrates a schematic layout of a surgical system for lancing provided by the present disclosure;
FIG. 3 illustrates a flow chart of a control method for a lancing procedure provided by the present disclosure;
fig. 4 shows a flowchart for determining a first puncture trajectory based on a preset puncture point in a control method for a puncture surgery provided by the present disclosure;
FIG. 5 is a schematic structural diagram of a control device provided by the present disclosure;
fig. 6 shows a schematic structural diagram of an electronic device provided by the present disclosure.
Reference numerals:
10-an imaging device; 20-a mechanical arm; 30-a control device; 40-a puncturing part; 50-a guide; 301-a wireless communication unit; 302-a display unit; 501-a guide needle; 502-navigation device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be described clearly and completely below with reference to the accompanying drawings of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
To maintain the following description of the present disclosure clear and concise, detailed descriptions of known functions and known components are omitted from the present disclosure.
In a first aspect, a surgical system for lancing as provided by the present disclosure is first described in detail to facilitate an understanding of the present disclosure.
In the process of performing a puncture operation, puncture is generally performed through two puncture methods, the first puncture method is that a doctor punctures a focus point on a focus organ of a patient only by depending on an imaging device and own experience; the second puncture mode is to puncture the focus organ by means of a preset puncture track planned before the operation of the puncture operation robot so that the puncture needle reaches the focus point of the patient to perform operations such as biopsy, ablation, radioactive particle implantation and the like, and finally to complete minimally invasive surgery for treatment. The puncture performed by the first puncture method often requires a doctor to perform multiple scans and perform multiple adjustments based on the scanning results, i.e., the puncture needle can be accurately punctured to a focus point by multiple punctures, the puncture accuracy is low, the operation efficiency is low, and the number of times of radiation of rays emitted by an imaging device to a patient is large; in the process of moving the puncture needle according to the preset puncture track by the second puncture method, once the patient moves, even the patient simply breathes, the focus organ may move, so that the position of the focus point deviates, the puncture needle cannot accurately puncture the focus point, and the puncture accuracy is low. In view of the above problems, the present disclosure provides a surgical system for puncturing, which is particularly adaptable to a case where a focal point is shifted due to movement of a focal organ, so as to improve accuracy and efficiency of puncturing.
Specifically, as shown in fig. 1 and 2, fig. 1 is a schematic structural view of a surgical system for puncturing in the present disclosure, and fig. 2 shows a schematic arrangement of the surgical system for puncturing, but those skilled in the art should understand that the present invention is not limited to the specific structure shown in fig. 2. The surgical system comprises an imaging device 10, a mechanical arm 20 and a control device 30, wherein the mechanical arm 20 is generally fixedly arranged on an operating table so as to be convenient for operating a patient, and a puncture part 40 is arranged at the distal end of the mechanical arm 20; in a specific implementation, for example, for convenience of replacement, sterilization and the like of the puncturing part 40, the distal end of the mechanical arm 20 may be connected to the puncturing part 40 in a clamping manner, so as to achieve the purpose of controlling the mechanical arm 20 to drive the puncturing part 40 to move and perform puncturing operation; the relative position and relative posture between the distal end of the robot arm 20 and the puncturing part 40 can be adjusted at any time based on a control command from the control device 30. Of course, the puncturing part 40 may be fixed to the distal end of the mechanical arm 20 by other fixing members, that is, the relative position and relative posture between the distal end of the mechanical arm 20 and the puncturing part 40 are kept unchanged.
With continued reference to fig. 2, the imaging apparatus 10 is used for imaging a lesion organ of a patient on, for example, an operating table, and in particular, the imaging apparatus 10 acquires a lesion image of the patient in a situation where the patient is within an acquisition range corresponding to the imaging apparatus 10, for example, after the patient lies on the operating table corresponding to the imaging apparatus 10; specifically, in the process of performing a puncture operation, a patient lies on an operating table, the imaging device 10 is located at one end of the operating table, and the operating table is located in a corresponding acquisition range, that is, the imaging device 10 can acquire a focus image of the patient on the operating table. Of course, the relative positional relationship between the imaging apparatus 10 and the operating table is not limited to the one shown in fig. 2, and in actual use, the relative positional relationship between the imaging apparatus 10 and the operating table may be adjusted in real time according to a use scene, the size, the shape, and the like of the imaging apparatus 10 and the operating table. The lesion image includes image information of a lesion organ and a lesion point. The imaging device 10 may employ one of the following depending on the type of procedure and imaging requirements, etc.: x-ray imaging device, CT imaging device, magnetic resonance imaging device. The X-ray imaging device, the CT imaging device, and the magnetic resonance imaging device may be respectively suitable for the treatment requirements of different lesions, that is, the surgical system provided by the embodiment of the present disclosure may be used in a variety of surgical scenes.
With reference to fig. 2, after acquiring the focus image, the mechanical arm 20 is fixed on the operating table, so that the mechanical arm 20 controls the puncturing part 40 to puncture the patient on the operating table, wherein the position of the mechanical arm 20 fixed on the operating table can be adjusted at any time according to actual requirements, for example, when the length of the mechanical arm 20 cannot meet the surgical requirements, that is, when the mechanical arm 20 controls the puncturing part 40 to not reach the focus point of the patient, the position of the mechanical arm 20 on the operating table can be adjusted, so that the mechanical arm 20 can control the puncturing part 40 to reach the focus point of the patient, so as to complete the puncturing operation. Of course, the robotic arm 20 may also be secured to the imaging device 10.
The control device 30 is used for acquiring a focus image acquired by the imaging device 10 and controlling the mechanical arm 20, the control device 30 is in communication connection with the imaging device 10 and the mechanical arm 20, and the connection mode can be set according to actual requirements, and can be wireless connection or wired connection. In a specific implementation, after acquiring a lesion image of a patient by using the imaging device 10, the imaging device 10 transmits the lesion image to the control device 30, wherein the control device 30 includes a processing unit, such as a computer, a display unit, and the like; here, the imaging apparatus 10 may acquire the lesion image of the patient based on a doctor performing a preset operation, for example, the doctor presses a start button corresponding to the imaging apparatus 10; the focus image of the patient may be acquired based on an activation instruction of the control device 30, for example, when the control device 30 determines that the patient is present on the operating table and is in a still state, the activation instruction is generated and transmitted to the control device 30, and the like.
The control device 30 analyzes and processes the lesion image after receiving the lesion image, acquires position information of a preset lesion point of the patient based on the lesion image, and determines a movement trajectory of the puncturing part 40 based on the position of the preset lesion point on the lesion organ of the patient. Specifically, when the control device 30 obtains the initial state information, i.e., the initial position and/or posture information, of the puncturing part 40 in advance, the preset puncturing trajectory of the puncturing part 40 is further determined according to the initial state information of the puncturing part 40 and the position information of the preset focal point of the patient, so that the mechanical arm 20 controls the puncturing part 40 to move according to the preset puncturing trajectory, and the puncturing part 40 is inserted into the focal point of the patient, where the preset puncturing trajectory includes the preset needle insertion position and direction of the puncturing part 40 for inserting the puncturing part 40 into the patient, so as to perform operations such as biopsy, ablation, radioactive particle implantation, and the like, thereby achieving the purpose of completing the puncturing operation. Of course, the lesion image and the preset puncture trajectory may also be displayed by a display unit in the control device 30, which will be described in detail later.
Preferably, the mechanical arm 20 is a six-degree-of-freedom mechanical arm, that is, a serial mechanical arm capable of moving in multiple directions, and not only can move in multiple directions by motors and encoders at multiple joints, but also can drive the puncturing part 40 to move in multiple directions, so that the puncturing part 40 can puncture a lesion site accurately; the encoder may calculate initial position and/or posture information, which is initial state information of the puncturing part 40, in real time, and transmit the initial state information of the puncturing part to the control device 30. Of course, in the case where no encoder is provided on the robot arm, a sensor such as a gyroscope capable of acquiring state information such as position and/or posture information may be provided on the distal end of the robot arm 20 or the puncturing part 40, and initial state information of the puncturing part 40 may be acquired by the sensor and transmitted to the control device 30.
Considering that, in the process that the mechanical arm 20 controls the puncturing part 40 to move according to the preset puncturing trajectory, the position of the focal organ or the focal point may change due to the unintentional displacement or respiration of the patient, so that the puncturing part 40 can accurately enter the body of the patient and reach the position of the preset focal point, the surgical system provided in the embodiment of the present disclosure further includes a guiding part 50, the guiding part 50 is used for positioning the focal organ of the patient so as to obtain the actual position information of the focal organ in real time, and the control device 30 can adjust the preset puncturing trajectory in real time through the state information transmitted by the guiding part 50, that is, the position information of the focal organ, in the process that the mechanical arm 20 controls the puncturing part 40 to move according to the preset puncturing trajectory, so that the puncturing part 40 accurately reaches the position of the puncturing point, here, the state information of the guide unit 50 may be position information, posture information, or the like.
Specifically, in order to facilitate the determination of the position of the lesion organ of the patient, the guide unit 50 may be disposed on the lesion organ, and include a guide needle 501 and a navigation unit 502, the guide needle 501 may be inserted into the lesion organ, and the navigation unit 502 is connected to the guide needle 501, and is configured to acquire the state information of the guide needle 501 in real time, for example, including the position and/or posture information, so as to acquire the real-time position and/or state information of the lesion organ, and transmit the information to the control unit 30. Specifically, after the introducer needle 501 is inserted into the lesion, the navigation device 502 collects the position and/or posture information of the introducer needle 501 in real time, and transmits the position and/or posture information of the introducer needle 501 to the control device 30 through a communication component in the navigation device 502 by means of wired or wireless connection.
In fig. 2, the imaging device 10, the guide unit 50, and the robot arm 20 are all communicatively connected to the control device 30, that is, the control device 30 receives a lesion image to be acquired by the imaging device 10 via the wireless communication unit 301, receives the state information of the guide needle 501 acquired by the guide unit 50 via the wireless communication unit 301, receives the state information of the puncture unit 40 acquired by the robot arm 20 via the wireless communication unit 301, and controls the robot arm 20 to control the puncture unit 40 to move. In practical applications, the imaging device 10, the robot arm 20 and the control device 30 may be connected by a connecting line to receive and transmit information.
Further, in order to facilitate the communication connection between the guiding portion 50 and the control device 30, a wireless communication connection manner is adopted between the guiding portion 50 and the control device 30, and the control device 30 includes a wireless communication unit 301, where the wireless communication unit 301 is configured to receive the state information of the guiding needle 501, that is, the position and/or posture information of the guiding needle 501, collected and transmitted by the navigation device 502.
In consideration of the position deviation of the lesion organ of the patient, after receiving the state information of the introducer needle 501, setting a virtual puncturing part simulating the insertion of a preset lesion point on the lesion image, and determining a preset positional relationship between the virtual puncturing part and the introducer needle 501 based on the position information of the virtual puncturing part and the initial position information of the introducer needle 501, wherein the position information of the virtual puncturing part represents the position information of the preset puncturing point, the initial position information of the introducer needle 501 represents the position information of the lesion organ, and the preset positional relationship represents the relationship between the initial position information of the lesion organ after the insertion of the introducer needle 502 and the position information of the preset puncturing point, that is, a fixed relationship is maintained between the position of a certain point on the lesion organ into which the introducer needle 501 is inserted and the actual position of the lesion point, even if the focus organ is displaced, the position of the actual focus point can be found based on the preset position relation.
In a specific implementation, after acquiring a lesion image of a patient with respect to a lesion organ and displaying the lesion image, the control device 30 may insert the guide needle 501 onto the lesion organ corresponding to the lesion organ of the patient or an edge portion of the lesion organ based on the lesion image. Preferably, the guide needle 501 is inserted into the lesion organ, and the accuracy of penetration can be ensured to some extent.
In this way, in the process of controlling the puncturing part 40 to move according to the preset puncturing track through the mechanical arm 20, since the focal point may be displaced along with the movement of the focal organ along with the respiration, the movement and other factors of the patient, the control device 30 acquires the state information, i.e., the position and/or posture information, of the guide needle 501 in real time, i.e., the real-time position and/or posture information of the focal organ; after the state information of the guide needle 501 is received, the preset puncture trajectory is adjusted based on the received position and/or posture information and the preset position relationship.
Specifically, there may be two adjustment manners, a first adjustment manner, in which after receiving the state information, i.e., the position and/or posture information, of the introducer needle 501, the position information and the puncture trajectory of the puncture point are re-determined directly based on the state information of the introducer needle 501 received at the current receiving time and the preset position relationship; for example, after a first puncture trajectory including a first needle insertion position and direction is determined based on the initial position information of the puncture section 40 and the position information of a preset puncture point for a lesion point, after receiving the real-time state information of the guidance needle 501, a second puncture trajectory may be newly determined based on the current state information of the guidance needle 501 and the preset positional relationship, and if the puncture section 40 has not been inserted into the patient at present, the second puncture trajectory may include a second needle insertion position and direction. A second adjustment manner, after receiving the state information of the guide needle 501, comparing the state information received at the current receiving time with the state information received at the previous receiving time, and if the state information received at the current receiving time is different from the state information received at the previous receiving time, re-determining a second puncture trajectory according to the current state information of the guide needle 501 and the preset position relationship; if the state information received at the current receiving time is the same as the state information received at the previous receiving time, the mechanical arm 20 is controlled to control the puncturing part 40 to move according to the first puncturing track, that is, when the state information received at the current receiving time is the same as the state information received at the previous receiving time, the preset puncturing track is not adjusted, that is, the second puncturing track is not determined again based on the state information received at the current receiving time, so that the problem of resource waste is avoided.
In the process of controlling the puncturing part 40 to move according to the preset puncturing track by the mechanical arm 20, the state information of the guide needle 501 and the preset position relation can be adapted according to the change of the position of the focus point, the preset puncturing track can be adjusted in real time, the puncturing accuracy is improved, and the puncturing efficiency is further improved.
Further, as shown in fig. 2, the control device 30 includes a display unit 302, and the display unit 302 is configured to display the lesion image, the preset puncture trajectory, the state information of the guide portion, and the state information of the puncture portion 40 of the patient in real time; specifically, a virtual puncture needle may be generated based on a position of a preset puncture point, a virtual guide needle may be generated based on initial state information of the guide needle 501, the virtual puncture needle and the virtual guide needle may be simultaneously displayed on the lesion image according to the real-time state information of the puncture part 40, the real-time state information of the guide needle 501, and the spatial relationship between the collection ranges, and may be updated in real time according to the state information of the puncture part 40 and the state information of the guide needle 501, so that a doctor may observe and understand the progress of an operation in real time. The display unit 302 may be a display screen, and certainly, the display unit 302 may further include a plurality of display screens or display devices, so as to control the plurality of display screens or display devices to display the position and/or posture information of the puncture needle, the position and/or posture information of the guide needle, and the lesion image from a plurality of different angles, so that a doctor can more comprehensively know the accuracy and progress of the puncture operation.
Of course, the preset puncture track may also be displayed, so that a doctor can determine whether the mechanical arm 20 controls the puncture part 40 to move according to the preset puncture track, and under the condition that the mechanical arm 20 controls the puncture part 40 not to move according to the preset puncture track, that is, when the actual puncture track generated by the movement of the mechanical arm 20 and the preset puncture track have a deviation, the movement of the mechanical arm 20 can be manually stopped in time, so as to prevent the puncture part 40 from being inserted into other position points except for a focus point.
According to the puncture method and the puncture device, the preset puncture track is adjusted by utilizing the state information of the guide needle, so that the problems that the puncture operation robot cannot accurately measure the position change of a focus point due to the displacement of a patient or a certain part of the patient and still performs the puncture operation according to the pre-planned puncture track, and the puncture accuracy and efficiency are low are solved, and the puncture accuracy and efficiency are improved; in addition, in the process of acquiring a focus image and puncturing, a patient does not need to hold his breath, and the experience of the patient in the operation process is improved.
Based on the same inventive concept, the second aspect of the present disclosure also provides a control method corresponding to the surgical system for puncturing, which can be stored in a machine-readable medium for implementation, and since the principle of solving the problem of the remote operation control method in the present disclosure is similar to that of the control device in the surgical system of the present disclosure, the implementation of the control method can be referred to the implementation of the system, and repeated details are omitted.
As shown in fig. 3, it is a flow chart of a control method for puncture surgery, wherein the specific steps are as follows:
s301, determining a first puncture track based on a preset puncture point and a preset position relation between an initial position of a guide part and a position of the preset puncture point;
s302, controlling the puncture part to move according to the first puncture track;
s303, acquiring the state information of the guiding part;
s304, determining a second puncture track based on the preset position relation and the state information, and controlling the puncture part to move according to the second puncture track.
As shown in fig. 4, a flowchart of determining a first puncture trajectory based on a preset puncture point in the control method is provided, wherein the specific steps are as follows:
s401, acquiring a focus image;
s402, determining the position information of the preset puncture point based on the focus image;
and S403, determining the first puncture track based on the initial state of the puncture part and the position information of the preset puncture point.
In the control method provided by the embodiment of the present disclosure, the guide portion includes a guide needle and a navigation device, and the acquiring the state information of the guide portion includes: and acquiring the state information of the guide needle by using the navigation device.
The control method provided by the embodiment of the disclosure further includes: and displaying the state information of the puncture unit and/or the state information of the guide unit in real time based on the first puncture trajectory or the second puncture trajectory.
According to the control method, the imaging device, the mechanical arm and the guide part are operated, so that the problem that the puncture operation robot cannot accurately measure the position change of a focus point due to the displacement of a patient or a certain part of the patient, the puncture operation is still performed according to a pre-planned puncture track, the puncture accuracy and efficiency are low is solved, and the puncture accuracy and efficiency are improved.
Based on the same inventive concept, the third aspect of the present disclosure further provides a control device corresponding to the control method, and since the principle of solving the problem of the device in the present disclosure is similar to that of the control method in the present disclosure, the implementation of the device may refer to the implementation of the method, and repeated details are not repeated.
Referring to fig. 5, the control device for the puncture surgery includes:
a determining module 510, configured to determine a first puncture trajectory based on a preset puncture point and a preset position relationship between an initial position of a guide and a position of the preset puncture point;
a first control module 520 for controlling the puncturing part to move according to the first puncturing track;
an obtaining module 530, configured to obtain state information of the guiding portion;
and a second control module 540, configured to determine a second puncture trajectory based on the preset position relationship and the state information, and control the puncturing part to move according to the second puncture trajectory.
In one embodiment, the determining module 510 includes:
an acquisition unit for acquiring a focus image;
a first determination unit, configured to determine position information of the preset puncture point based on the lesion image;
and a second determination unit configured to determine the first puncture trajectory based on an initial state of the puncture unit and the position information of the preset puncture point.
In one embodiment, the guiding portion includes a guiding needle and a navigation device, and the obtaining module 530 is specifically configured to obtain the state information of the guiding needle by using the navigation device.
In one embodiment, the control device further includes:
a display module 550, configured to display the state information of the puncture unit and/or the state information of the guide unit in real time based on the first puncture trajectory or the second puncture trajectory.
This openly state information adjustment that utilizes guide portion predetermines puncture orbit, can avoid leading to puncture operation robot can't carry out accurate measurement to the position change of focus point because of the displacement that patient or patient's certain position produced, still carries out the puncture operation according to the puncture orbit of planning in advance, and then leads to the problem that the accuracy and the efficiency of puncture are all lower, has improved the accuracy and the efficiency of puncture.
A fourth aspect of the present disclosure also provides a storage medium, which is a computer-readable medium storing a computer program, where the computer program, when executed by a processor, implements the method provided in any embodiment of the present disclosure, including the following steps:
s11, determining a first puncture track based on a preset puncture point and a preset position relation between the initial position of the guide part and the position of the preset puncture point;
s12, controlling the puncture unit to move according to the first puncture trajectory;
s13, acquiring state information of the guide part;
and S14, determining a second puncture track based on the preset position relation and the state information, and controlling the puncture part to move according to the second puncture track.
When the computer program is executed by the processor to determine a first puncture trajectory based on a preset puncture point, the processor specifically executes the following steps: acquiring a focus image; determining position information of the preset puncture point based on the focus image; and determining the first puncture track based on the initial state of the puncture part and the position information of the preset puncture point.
The guiding part comprises a guiding needle and a navigation device, and when the computer program is executed by a processor to acquire the state information of the guiding part, the processor specifically executes the following steps: and acquiring the state information of the guide needle by using the navigation device.
When the computer program is executed by the processor to execute the control method, the processor further executes the following steps: and displaying the state information of the puncture unit and/or the state information of the guide unit in real time based on the first puncture trajectory or the second puncture trajectory.
Before the computer program is executed by the processor to determine the first puncture trajectory based on the preset puncture point, the processor further executes the following steps: acquiring a focus image of a focus organ.
This openly state information adjustment that utilizes guide portion predetermines puncture orbit, can avoid leading to puncture operation robot can't carry out accurate measurement to the position change of focus point because of the displacement that patient or patient's certain position produced, still carries out the puncture operation according to the puncture orbit of planning in advance, and then leads to the problem that the accuracy and the efficiency of puncture are all lower, has improved the accuracy and the efficiency of puncture.
The fourth aspect of the present disclosure also provides an electronic device, as shown in fig. 6, the electronic device at least includes a memory 601 and a processor 602, a computer program is stored on the memory 601, and the processor 602 implements the method provided by any embodiment of the present disclosure when executing the computer program on the memory 601. Illustratively, the method performed by the electronic device computer program is as follows:
s21, determining a first puncture track based on a preset puncture point and a preset position relation between the initial position of the guide part and the position of the preset puncture point;
s22, controlling the puncture unit to move according to the first puncture trajectory;
s23, acquiring state information of the guide part;
and S24, determining a second puncture track based on the preset position relation and the state information, and controlling the puncture part to move according to the second puncture track.
When the processor executes the first puncture trajectory stored in the memory and determined to be based on the preset puncture point, the following computer program is specifically executed: acquiring a focus image; determining position information of the preset puncture point based on the focus image; and determining the first puncture track based on the initial state of the puncture part and the position information of the preset puncture point.
The guiding part comprises a guiding needle and a navigation device, and the processor executes the following computer program when executing the state information of the guiding part stored in the memory: and acquiring the state information of the guide needle by using the navigation device.
The processor, when executing the control method stored on the memory, further executes the following computer program: and displaying the state information of the puncture unit and/or the state information of the guide unit in real time based on the first puncture trajectory or the second puncture trajectory.
The processor, before executing the first puncture trajectory stored on the memory that determines that it is based on a preset puncture point, further executes the computer program of: acquiring a focus image of a focus organ.
This openly state information adjustment that utilizes guide portion predetermines puncture orbit, can avoid leading to puncture operation robot can't carry out accurate measurement to the position change of focus point because of the displacement that patient or patient's certain position produced, still carries out the puncture operation according to the puncture orbit of planning in advance, and then leads to the problem that the accuracy and the efficiency of puncture are all lower, has improved the accuracy and the efficiency of puncture.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The storage medium may be included in the electronic device; or may exist separately without being assembled into the electronic device.
The storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects the internet protocol addresses from the at least two internet protocol addresses and returns the internet protocol addresses; receiving an internet protocol address returned by the node evaluation equipment; wherein the obtained internet protocol address indicates an edge node in the content distribution network.
Alternatively, the storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.
Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be noted that the storage media described above in this disclosure can be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any storage medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in this disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.
Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.
Claims (9)
1. A surgical system for puncture comprises an imaging device, a mechanical arm and a control device, wherein the imaging device is used for acquiring a focus image of a focus organ, and a puncture part is arranged at the far end of the mechanical arm; the puncture device is characterized by further comprising a guide part, wherein the guide part is arranged on the lesion organ, the control device controls the puncture part to move according to a preset puncture track through the mechanical arm, and adjusts the preset puncture track through state information of the guide part and a preset position relation between an initial position of the guide part and a position of a preset puncture point, wherein the preset position relation is a fixed relation kept between a position of a certain point on the lesion organ into which the guide part is inserted and an actual position of the lesion point.
2. The surgical system of claim 1, wherein the guide includes a guide needle disposed on the focal organ and a navigation device configured to collect status information of the guide needle.
3. The surgical system of claim 1, wherein the imaging device is one of:
x-ray imaging device, CT imaging device, magnetic resonance imaging device.
4. The surgical system of claim 1, wherein the control device includes a display unit for displaying at least one of:
the focus image, the preset puncture track, the state information of the puncture part and the state information of the guide part.
5. The surgical system according to claim 1, wherein the control device includes a wireless communication unit for receiving status information of the guide.
6. A control device for a lancing procedure, comprising:
the determination module is used for determining a first puncture track based on a preset puncture point and a preset position relation between the initial position of the guide part and the position of the preset puncture point;
the first control module is used for controlling the puncture part to move according to the first puncture track;
an acquisition module for acquiring state information of the guide part;
the second control module is used for determining a second puncture track based on the preset position relation and the state information and controlling the puncture part to move according to the second puncture track;
wherein the preset position relationship is a fixed relationship between the position of a certain point on the lesion organ inserted by the guiding part and the actual position of the lesion point.
7. The control apparatus of claim 6, wherein the determining module comprises:
an acquisition unit for acquiring a focus image;
a first determination unit, configured to determine position information of the preset puncture point based on the lesion image;
and a second determination unit configured to determine the first puncture trajectory based on an initial state of the puncture unit and the position information of the preset puncture point.
8. The control device according to claim 6, wherein the guiding portion comprises a guiding needle and a navigation device, and the obtaining module is specifically configured to obtain the state information of the guiding needle by using the navigation device.
9. The control device according to claim 6, characterized by further comprising:
and a display module for displaying the state information of the puncture part and/or the state information of the guide part in real time based on the first puncture trajectory or the second puncture trajectory.
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| CN112192566B (en) * | 2020-09-25 | 2022-03-01 | 武汉联影智融医疗科技有限公司 | Control method for end adapter of mechanical arm |
| CN112674873A (en) * | 2020-12-24 | 2021-04-20 | 宁波市第六医院 | Method, device and system for simulating puncture surgery |
| CN113768589A (en) * | 2021-08-11 | 2021-12-10 | 郑州郅隆智能科技有限公司 | Puncture surgery system and puncture surgery method |
| CN113729939A (en) * | 2021-09-23 | 2021-12-03 | 上海卓昕医疗科技有限公司 | Remote control positioning system and control method thereof |
| CN114305613B (en) * | 2021-12-30 | 2024-01-30 | 武汉联影智融医疗科技有限公司 | Image-guided interventional puncture system |
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