CN111513850A - Guide device, puncture needle adjustment method, storage medium, and electronic apparatus - Google Patents
Guide device, puncture needle adjustment method, storage medium, and electronic apparatus Download PDFInfo
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- CN111513850A CN111513850A CN202010369705.6A CN202010369705A CN111513850A CN 111513850 A CN111513850 A CN 111513850A CN 202010369705 A CN202010369705 A CN 202010369705A CN 111513850 A CN111513850 A CN 111513850A
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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
- A61B34/30—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
- A61B2034/2068—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
Abstract
The utility model provides a guiding device, pjncture needle adjustment method based on arm, storage medium and electronic equipment, this disclosure combines improved guiding device, represent the influence that patient's breathing produced to the guide needle through the attitude change information of guide needle in the puncture process, as long as correspond the position of the pjncture needle of adjusting the arm centre gripping of machinery, make pjncture needle and guide needle coordinate in image equipment coordinate system accord with first predetermined transformation matrix always, can offset patient's breathing and to puncture the unfavorable influence that produces in the puncture needle location and the navigation process, avoided because of puncture position not reach the puncture many punctures that expect and lead to, the puncture precision of puncture robot has been promoted, good puncture effect has been realized, the efficiency of the operation is improved, patient's pain and radiation injury are reduced.
Description
Technical Field
The present disclosure relates to the field of surgical robots, and in particular, to a guiding apparatus, a puncture needle adjusting method based on a mechanical arm, a storage medium, and an electronic device.
Background
The percutaneous puncture operation is a minimally invasive operation which is guided by medical images to puncture medical instruments such as a puncture needle into a focus target position in a patient body and perform operations such as biopsy, ablation, radioactive particle implantation and the like so as to achieve the purpose of treatment and has the advantages of small operation wound, patient pain reduction, short recovery time, low operation cost and the like. The traditional puncture operation process needs a doctor to scan a patient for multiple times by using medical imaging equipment, the position of a puncture needle is adjusted for multiple times to reach a focus point, the puncture precision is low, the operation excessively depends on the experience of the doctor, the working intensity of the doctor is high, the number of times of radiation of the patient is large, and the operation efficiency is low.
The puncture surgery robot technology is an effective way for the traditional manual puncture problem. The doctor can utilize puncture surgical robot's operation planning system, and the focus point and the skin point of inserting of puncturing needle of selecting more accurately are under the assistance of the navigation of robot and arm location, and the doctor can accomplish more accurate puncture operation, has shortened the operation time, and the patient receives the ray radiation number of times and reduces.
However, in the navigation and positioning process of the puncture surgical robot, the robot cannot be accurately positioned because human internal organs (such as liver and kidney) move along with respiration. At present, the puncture is usually carried out when a patient holds breath temporarily, but the viscus position holding breath each time is not always the same, so that the puncture precision of the puncture surgical robot is influenced, and a good puncture effect cannot be achieved.
Disclosure of Invention
An object of the embodiments of the present disclosure is to provide a guiding device, a puncture needle adjusting method based on a mechanical arm, a storage medium, and an electronic device, so as to solve the problems in the prior art that a puncture robot cannot perform accurate positioning due to patient breathing, and has low puncture precision and poor puncture effect.
The embodiment of the disclosure adopts the following technical scheme: a guide device, comprising: a guide pin, wherein; the wireless inertial navigation module is arranged at the needle tail of the guide needle and used for acquiring the posture change information of the guide needle in the coordinate system of the imaging equipment.
Further, the wireless inertial navigation module at least comprises: a three-axis accelerometer and/or a three-axis gyroscope.
Further, still include: and the wireless communication module is used for sending the attitude change information to a preset receiver.
The embodiment of the present disclosure further provides a puncture needle adjusting method based on a mechanical arm, in which the guiding device is applied, and the method includes: acquiring attitude change information of a guide needle in a coordinate system of the imaging equipment; determining a first coordinate of the guide needle in a coordinate system of the image equipment according to the posture change information; and adjusting the position of the puncture needle in a coordinate system at the tail end of the mechanical arm based on the first coordinate to enable the coordinate of the puncture needle in the coordinate system of the image equipment to be a second coordinate, wherein the conversion relation between the first coordinate and the second coordinate conforms to a first preset conversion matrix.
Further, before acquiring the posture change information of the guiding needle in the coordinate system of the imaging device, the method further includes: inserting the guide needle into a target area of a target object, and shooting an initial image based on the imaging equipment; determining an injection point and a focus target point in the initial image; setting a virtual needle in the initial image based on the needle inserting point and the focus target point, and determining a first preset conversion matrix based on a first initial coordinate of the guide needle in the initial image and a second initial coordinate of the virtual needle in the initial image.
Further, the attitude change information includes at least a spatial translation amount and/or a spatial rotation amount.
Further, the determining a first coordinate of the guiding needle in a coordinate system of the imaging device according to the posture change information includes: and determining a first coordinate of the guide needle in a coordinate system of the imaging equipment based on the first initial coordinate and the posture change information.
Further, the adjusting the position of the puncture needle in the coordinate system of the end of the mechanical arm based on the first coordinate of the guide needle to make the coordinate of the puncture needle in the coordinate system of the imaging device be a second coordinate includes: determining a first virtual coordinate of the virtual needle in a coordinate system of the image equipment based on the first coordinate and the first preset conversion matrix; determining a second virtual coordinate of the virtual needle in a mechanical arm base coordinate system based on the first virtual coordinate and a second preset transformation matrix, wherein the second preset transformation matrix is used for transforming coordinates between the image equipment coordinate system and the mechanical arm base coordinate system; determining a third virtual coordinate of the virtual needle in a mechanical arm tail end coordinate system based on the second virtual coordinate and a third preset conversion matrix, wherein the third preset conversion matrix is used for converting the coordinate between the mechanical arm tail end coordinate system and the mechanical arm base coordinate system; and adjusting the tail end of the mechanical arm to clamp the puncture needle and move to the third virtual coordinate, so that the coordinate of the puncture needle in the coordinate system of the image equipment is the second coordinate.
The embodiment of the present disclosure further provides a storage medium storing a computer program, where the computer program is executed by a processor to implement the steps of the method in any one of the above technical solutions.
An embodiment of the present disclosure further provides an electronic device, which at least includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method in any one of the above technical solutions when executing the computer program on the memory.
The beneficial effects of this disclosed embodiment lie in: the improved guiding device is combined, the influence of the respiration of a patient on the guiding needle is represented through posture change information of the guiding needle in the puncturing process, as long as the position of the puncturing needle clamped by the mechanical arm is correspondingly adjusted, the coordinates of the puncturing needle and the guiding needle in a coordinate system of the image equipment always accord with a first preset conversion matrix, the adverse effect of the respiration of the patient on the positioning and navigation process of the puncturing needle can be counteracted, multiple times of puncturing caused by the fact that the puncturing position does not reach the expectation is avoided, the puncturing precision of the puncturing robot is improved, a good puncturing effect is realized, the operation efficiency is improved, and the pain and the radiation injury of the patient are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in 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 for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a schematic structural view of a guide device in a first embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a robotic arm based needle adjustment method according to a second embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an initial image according to a second embodiment of the present disclosure;
fig. 4 shows a system component diagram of a puncture surgical robot in a second embodiment of the present disclosure;
fig. 5 shows a schematic structural diagram of an electronic device in a fourth embodiment of the present disclosure.
Detailed Description
Various aspects and features of the disclosure are described herein with reference to the drawings.
It will be understood that various modifications may be made to the embodiments of the present application. Accordingly, the foregoing description should not be construed as limiting, but merely as exemplifications of embodiments. Other modifications will occur to those skilled in the art within the scope and spirit of the disclosure.
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.
These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of embodiment, given as non-limiting examples, with reference to the attached drawings.
It should also be understood that, although the present disclosure has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the disclosure, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the disclosure that may be embodied in various forms. Well-known and/or repeated functions and structures have not been described in detail so as not to obscure the present disclosure with unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.
The specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the disclosure.
In the navigation and positioning process of the puncture surgical robot, the robot cannot be accurately positioned due to the fact that human internal organs (such as liver and kidney) can move along with respiration. At present, the puncture is usually carried out when a patient holds breath temporarily, but the viscus position holding breath each time is not always the same, so that the puncture precision of the puncture surgical robot is influenced, and a good puncture effect cannot be achieved.
In order to solve the above problem, a first embodiment of the present disclosure provides a guiding device, a schematic structural diagram of which is shown in fig. 1, and the guiding device mainly includes: the device comprises a guide needle 1 and a wireless inertial navigation module 2; the guide needle 1 can be identified by medical imaging equipment, for example, made of a material that can be imaged under CT equipment, so that the specific position of the guide needle is reflected in a CT image taken by the CT equipment; the wireless inertial navigation module 2 is arranged at the needle tail of the guide needle 1 and is used for acquiring posture change information of the guide needle in a coordinate system of an imaging device, specifically, the posture change information at least comprises a spatial translation amount and/or a spatial rotation amount of the guide needle 1, after the guide needle 1 is inserted into a diseased viscus of a patient, the viscus moves along with respiration of the patient, so that the guide needle 1 also generates position change along with the movement of the viscus, the wireless inertial navigation module 2 is used for acquiring the influence of the change on the posture of the guide needle 1 in the space, and at least comprises a three-axis accelerometer and/or a three-axis gyroscope inside, wherein the three-axis accelerometer is used for measuring the acceleration of the guide needle 1 moving in an X, Y, Z axis, the three-axis gyroscope is used for measuring the angular velocity of the guide needle 1 moving in a X, Y, Z axis, and then the spatial translation amount is obtained by integrating the acceleration, the spatial rotation amount is obtained by integrating the angular velocity, so that the change information of the posture of the guide needle 1 can be represented, and the influence of the respiration of the patient on the guide needle is further reflected.
When the puncture surgical robot punctures, the influence of respiration on the puncture process needs to be eliminated, so the posture change condition of the guide needle 1 needs to be acquired as the basis for adjusting the mechanical arm of the puncture surgical robot, the guide needle 1 can upload the posture change information of the guide needle to a preset receiver through wired connection, such as a lancing surgical robot or a computer device controlling the operation of a lancing surgical robot, but to reduce the impact of a wired connection on the surgery, the guiding needle can be further provided with a wireless communication module (not shown in fig. 1), and the posture change information of the guiding needle 1 is sent to a preset receiving party through wireless communication modes such as Bluetooth, infrared and local area network, so that the preset receiving party can timely adjust the mechanical arm of the puncture surgical robot after receiving the posture change information, and the puncture needle clamped by the preset receiving party is guaranteed to keep unchanged in position relation with the guiding needle during puncture.
This embodiment is through improving guiding device, on the basis of current guide needle, increases the wireless posture change information of being used to the module of leading with real-time acquisition guide needle for the influence that the representation patient breathes and produces guide needle, this posture change information still as the adjustment foundation of the arm of adjustment puncture surgical robot, the pjncture needle of guaranteeing its centre gripping keeps unchangeable with the position relation of guide needle when the puncture, and then promotes the puncture precision, guarantees good puncture effect.
The second embodiment of the present disclosure provides a puncture needle adjusting method based on a mechanical arm, which is mainly applied to a puncture surgical robot or a computer device for controlling the operation of the puncture surgical robot, and uses the guiding device provided in the first embodiment of the present disclosure as a reference, and obtains the posture change information thereof as the basis for adjusting the mechanical arm and the puncture needle clamped by the end of the mechanical arm, and the flowchart is as shown in fig. 2, and mainly includes steps S1 to S3:
and S1, acquiring the posture change information of the guide needle in the coordinate system of the imaging equipment.
The posture change information of the guide needle is determined by a wireless inertial navigation module arranged at the tail part of the guide needle, and the posture change information is acquired by the puncture surgical robot or computer equipment for controlling the puncture surgical robot to run in a wired or wireless mode. Specifically, the posture change information is that, when the guiding needle moves due to the respiration of the patient during the puncturing process, the position of the guiding needle at the current time is changed from the position of the guiding needle at the first initial coordinate in the initial image, and the change at least includes a spatial translation amount and/or a spatial rotation amount, that is, the amount of translation or rotation that the guiding needle moves from the first initial coordinate to the current position is the posture change information.
It should be understood that the determination of the initial position of the guiding needle and the determination of the position conversion relationship between the guiding needle and the puncture needle should be realized by the following steps before the information of the posture change of the guiding needle in the coordinate system of the imaging device is acquired.
S11, the guide pin is inserted into the target area of the target object, and an initial image is taken based on the imaging device.
The target region of the target object mainly refers to a lesion organ of a patient, taking the lesion organ of the patient as a liver as an example, a guide needle is inserted into the liver of the patient to be used as a reference when a puncture needle punctures, and an image of the lesion organ of the patient and the guide needle is taken by an imaging device to be used as an initial image, as shown in fig. 3 (a wireless inertial navigation module arranged at the tail end of the guide needle is not shown in fig. 3).
And S12, determining the needle inserting point and the focus target point in the initial image.
The needle insertion point refers to a point where the puncture needle punctures into the diseased viscera during puncture, the focus target point refers to a diseased point in the diseased viscera of a patient, and the focus target point is a point where operations such as biopsy, ablation, radioactive particle implantation and the like are required to be performed after the point is reached through the puncture needle. In general, the image corresponding to the region of the internal organ with pathological changes is different from the image corresponding to the healthy region, so that the target point of the disease can be directly determined in the initial image; the needle insertion point is determined by combining a focus target point, a lesion internal organ shape, a needle guiding position and other factors based on a preset program, or an operator selects one point as the needle insertion point based on own experience.
S13, setting a virtual needle in the initial image based on the needle inserting point and the focus target point, and determining a first preset transformation matrix based on a first initial coordinate of the guide needle in the initial image and a second initial coordinate of the virtual needle in the initial image.
After a needle insertion point and a focus target point are determined, a straight line can be formed between the two points, based on the needle insertion point and the focus target point, an operator can preset a virtual needle, the position of the virtual needle is the optimal position reached by a puncture needle when the puncture needle punctures, the needle is inserted into a focus viscera from the needle insertion point to reach the focus target point, at the moment, the position of the guide needle in an initial image is a first initial coordinate, the position of the virtual needle in the initial image is a second initial coordinate, then, the space position conversion relation of the virtual needle relative to the guide needle is determined based on the first initial coordinate and the second initial coordinate, and the space position conversion relation is expressed in a matrix form and is recorded as a first preset conversion matrix; when puncture is carried out, the relative position between the puncture needle and the guide needle is ensured to be unchanged, the influence of respiration on the puncture effect can be reduced, and the optimal puncture effect is achieved.
It should be noted that the first initial coordinate in this embodiment refers to a coordinate in the imaging device coordinate system for representing the position of the guiding needle, and specifically may be a coordinate of any fixed point on the guiding needle in the imaging device coordinate system, that is, it is equivalent to first determining a reference point in the guiding needle's own coordinate system, then determining the coordinate of the reference point in the imaging device coordinate system, and then determining the posture change of the guiding needle due to the respiration of the patient, and also all using the reference point as a reference, preferably using the central point of the guiding needle or a point near the needle tail as a reference point; correspondingly, the second initial coordinate of the virtual needle is also the coordinate of any fixed point on the virtual needle in the coordinate system of the imaging device, i.e. a reference point is firstly determined in the coordinate system of the virtual needle itself, and then the coordinate of the reference point in the coordinate system of the imaging device is determined, the size of the virtual needle should be the same as that of the puncture needle, i.e. the selected reference point on the puncture needle should be the same as that of the virtual needle, so that the adjustment of the puncture needle based on the relationship between the virtual needle and the guide needle can be guaranteed, and the first preset transformation matrix is also equivalent to the transformation relationship between the reference point in the coordinate system of the guide needle itself and the reference point in the coordinate system of the virtual needle itself.
And S2, determining the first coordinate of the guide needle in the coordinate system of the imaging equipment according to the posture change information.
The first coordinate is the coordinate of the reference point on the guide needle at any moment along with the respiratory motion in the puncture process. Specifically, based on a first initial coordinate of the reference point on the guide needle in the initial image and the posture change information determined according to the first initial coordinate, a current coordinate of the reference point on the guide needle in the image device coordinate system can be obtained and recorded as the first coordinate. When the first coordinate is determined, corresponding translation or rotation can be performed according to the spatial translation amount and/or the spatial rotation amount on the basis of the first initial coordinate, and then a specific numerical value of the first coordinate can be obtained.
And S3, based on the first coordinate, adjusting the position of the puncture needle in the terminal coordinate system of the mechanical arm, and enabling the coordinate of the puncture needle in the coordinate system of the imaging device to be a second coordinate.
Fig. 4 shows a system configuration diagram of the puncture surgical robot, which mainly includes an operating table, an imaging device (in fig. 4, a CT device is taken as an example), a mechanical arm fixed to the operating table, and a base (not shown in fig. 4) for controlling the mechanical arm, wherein when a patient punctures, the patient lies on the operating table, a puncture needle is provided at the distal end of the mechanical arm, and the position of the puncture needle is adjusted by moving the mechanical arm to perform final puncture. In order to eliminate the influence of the respiration of the patient on the puncture precision, the position of the puncture needle is adjusted in real time in the puncture process to keep the position relationship between the puncture needle and the guide needle unchanged, so that the mechanical arm needs to be controlled to adjust in real time, the coordinate of the puncture needle is a second coordinate when the position of the puncture needle in the terminal coordinate system of the mechanical arm corresponds to the coordinate system of the image equipment, wherein the conversion relationship between the second coordinate and the first coordinate of the guide needle conforms to a first preset conversion matrix, the position of the puncture needle is equivalent to the movement generated by the respiration of the patient, the movement enables the change generated by the puncture needle to be the same as the change generated by the guide needle, the relatively unchanged position relationship between the guide needle and the puncture needle is kept, and the influence of the respiration on the puncture precision is avoided.
In particular, the puncture surgical robot or the computer device controlling the operation of the puncture surgical robot may continuously adjust and optimize the position of the mechanical arm movement through machine learning or various neural network algorithms to achieve the best puncture effect, but this approach may require a larger number of training samples and a longer training and debugging time. The embodiment provides a preferable implementation mode, namely the position of the mechanical arm can be quickly and accurately adjusted, so that the puncture needle clamped by the mechanical arm can achieve the optimal puncture effect.
First, based on the first coordinate and the first preset transformation matrix, the first virtual coordinate of the virtual needle in the coordinate system of the imaging device, that is, the coordinate to which the puncture needle should be moved to achieve the optimal puncture effect when the puncture needle is also affected by respiration, is actually the second coordinate, and in order to distinguish the virtual needle from the puncture needle, the first virtual coordinate and the second coordinate are respectively expressed in this embodiment.
And secondly, determining a second virtual coordinate of the virtual needle in the mechanical arm base coordinate system based on the first virtual coordinate and a second preset conversion matrix. The robot base coordinate system is a fixed coordinate system, which is a coordinate system established by taking the base of the robot as a reference, and is mainly used for transition conversion between the coordinate system of the imaging device and the coordinate system of the robot end in the embodiment. In this embodiment, the position between the impact device and the robot arm base is fixed, and a transformation relationship between the image device coordinate system and the robot arm base coordinate system, that is, a second predetermined transformation matrix, may be determined through registration during the puncturing process.
Subsequently, a third virtual coordinate of the virtual needle in the robot arm end coordinate system is determined based on the second virtual coordinate and a third preset transformation matrix. The mechanical arm end coordinate system is a coordinate system which is established corresponding to the mechanical arm clamping the puncture needle, namely the mechanical arm actually moves based on the coordinate system, so when the position of the puncture needle in the image equipment coordinate system needs to be adjusted, the position of the puncture needle in the mechanical arm end coordinate system is actually adjusted, and when the puncture needle moves to a certain position, the puncture needle corresponds to a second coordinate in the image equipment coordinate system. After the second virtual coordinate in the mechanical arm base coordinate system is determined, the third virtual coordinate to which the tail end of the mechanical arm needs to move can be obtained based on a third preset conversion matrix between the mechanical arm tail end coordinate system and the mechanical arm base coordinate system, and the conversion of the coordinate from the image equipment coordinate system to the mechanical arm tail end coordinate system is completed.
And finally, adjusting the tail end of the mechanical arm to clamp the puncture needle and move to a position corresponding to a third virtual coordinate, wherein the coordinate of the puncture needle in the image equipment coordinate system is a second coordinate, namely a first virtual coordinate of the virtual needle in the image equipment coordinate system, and ensuring that the conversion relation between the first coordinate and the second coordinate accords with a first preset conversion matrix. Through the mode, based on the position of the guide needle and a first predetermined conversion matrix which is predetermined, the position to which the mechanical arm should move is quickly and simply determined by taking the virtual needle as a medium from the coordinate system of the imaging equipment to the coordinate system of the mechanical arm base and then to the coordinate system of the tail end of the mechanical arm by reverse derivation, and the breathing condition of the patient reflected by the guide needle is combined, so that the quick adjustment of the position of the puncture needle is realized, the influence of breathing on the puncture precision is eliminated, and a good puncture effect is achieved.
The embodiment of the disclosure combines with an improved guiding device, the posture change information of the guiding needle in the puncturing process is used for representing the influence of the respiration of a patient on the guiding needle, as long as the position of the puncturing needle clamped by the mechanical arm is correspondingly adjusted, the coordinates of the puncturing needle and the guiding needle in the coordinate system of the image equipment always conform to a first preset conversion matrix, the adverse effect of the respiration of the patient on the positioning and navigation processes of the puncturing needle can be counteracted, multiple times of puncturing caused by the fact that the puncturing position is not expected is avoided, the puncturing precision of a puncturing robot is improved, a good puncturing effect is realized, the operation efficiency is improved, and the pain and radiation injury of the patient are reduced.
A third embodiment of the present disclosure provides a storage medium, which is a computer-readable medium storing a computer program that, when executed by a processor, implements the method provided by the second embodiment of the present disclosure based on the boot apparatus provided in the first embodiment of the present disclosure, including the following steps S31 to S33:
s31, acquiring the posture change information of the guide needle in the coordinate system of the imaging equipment;
s32, determining a first coordinate of the guide needle in the coordinate system of the image equipment according to the posture change information;
and S33, adjusting the position of the puncture needle in the terminal coordinate system of the mechanical arm based on the first coordinate, so that the coordinate of the puncture needle in the coordinate system of the imaging device is a second coordinate, wherein the conversion relation between the first coordinate and the second coordinate conforms to a first preset conversion matrix.
Before the computer program is executed by the processor to acquire the posture change information of the guide needle in the coordinate system of the imaging device, the processor further executes the following steps: inserting a guide needle into a target area of a target object, and shooting an initial image based on an imaging device; determining an injection point and a focus target point in the initial image; a virtual needle is arranged in the initial image based on the needle inserting point and the focus target point, and a first preset transformation matrix is determined based on a first initial coordinate of the guide needle in the initial image and a second initial coordinate of the virtual needle in the initial image.
Specifically, the attitude change information includes at least a spatial translation amount and/or a spatial rotation amount.
When the computer program is executed by the processor to determine a first coordinate of the guiding pin in the coordinate system of the imaging device according to the posture change information, the processor specifically executes the following steps: and determining a first coordinate of the guide needle in the coordinate system of the imaging device based on the first initial coordinate and the posture change information.
The computer program is executed by the processor to adjust the position of the puncture needle in the terminal coordinate system of the mechanical arm based on the first coordinate of the guide needle, so that when the coordinate of the puncture needle in the coordinate system of the imaging device is a second coordinate, the following steps are executed by the processor: determining a first virtual coordinate of the virtual needle in a coordinate system of the image equipment based on the first coordinate and a first preset conversion matrix; determining a second virtual coordinate of the virtual needle in a mechanical arm base coordinate system based on the first virtual coordinate and a second preset transformation matrix, wherein the second preset transformation matrix is used for transforming the coordinate between the image equipment coordinate system and the mechanical arm base coordinate system; determining a third virtual coordinate of the virtual needle in a mechanical arm tail end coordinate system based on the second virtual coordinate and a third preset conversion matrix, wherein the third preset conversion matrix is used for converting coordinates between the mechanical arm tail end coordinate system and a mechanical arm base coordinate system; and adjusting the tail end of the mechanical arm to clamp the puncture needle and move to a third virtual coordinate, so that the coordinate of the puncture needle in the coordinate system of the imaging equipment is a second coordinate.
The embodiment of the disclosure combines with an improved guiding device, the posture change information of the guiding needle in the puncturing process is used for representing the influence of the respiration of a patient on the guiding needle, as long as the position of the puncturing needle clamped by the mechanical arm is correspondingly adjusted, the coordinates of the puncturing needle and the guiding needle in the coordinate system of the image equipment always conform to a first preset conversion matrix, the adverse effect of the respiration of the patient on the positioning and navigation processes of the puncturing needle can be counteracted, multiple times of puncturing caused by the fact that the puncturing position is not expected is avoided, the puncturing precision of a puncturing robot is improved, a good puncturing effect is realized, the operation efficiency is improved, and the pain and radiation injury of the patient are reduced.
A fourth embodiment of the present disclosure provides an electronic device, a schematic structural diagram of which may be as shown in fig. 5, and the electronic device at least includes a memory 100 and a processor 200, where the memory 100 stores a computer program, and the processor 200 implements the method provided by the second embodiment of the present disclosure when executing the computer program on the memory 100. Illustratively, the electronic device computer program steps are as follows S41 and S43:
s41, acquiring the posture change information of the guide needle in the coordinate system of the imaging equipment;
s42, determining a first coordinate of the guide needle in the coordinate system of the image equipment according to the posture change information;
and S43, adjusting the position of the puncture needle in the terminal coordinate system of the mechanical arm based on the first coordinate, so that the coordinate of the puncture needle in the coordinate system of the imaging device is a second coordinate, wherein the conversion relation between the first coordinate and the second coordinate conforms to a first preset conversion matrix.
The processor further executes the following computer program before executing the computer program stored in the memory for acquiring the posture change information of the guiding needle in the coordinate system of the imaging device: inserting a guide needle into a target area of a target object, and shooting an initial image based on an imaging device; determining an injection point and a focus target point in the initial image; a virtual needle is arranged in the initial image based on the needle inserting point and the focus target point, and a first preset transformation matrix is determined based on a first initial coordinate of the guide needle in the initial image and a second initial coordinate of the virtual needle in the initial image.
Specifically, the attitude change information includes at least a spatial translation amount and/or a spatial rotation amount.
When the processor determines the first coordinate of the guiding needle in the coordinate system of the imaging device according to the posture change information stored in the memory, the following computer program is specifically executed: and determining a first coordinate of the guide needle in the coordinate system of the imaging device based on the first initial coordinate and the posture change information.
The processor executes the following computer program when the processor adjusts the position of the puncture needle in the terminal coordinate system of the mechanical arm based on the first coordinate of the guide needle stored in the execution memory and the coordinate of the puncture needle in the coordinate system of the imaging device is a second coordinate: determining a first virtual coordinate of the virtual needle in a coordinate system of the image equipment based on the first coordinate and a first preset conversion matrix; determining a second virtual coordinate of the virtual needle in a mechanical arm base coordinate system based on the first virtual coordinate and a second preset transformation matrix, wherein the second preset transformation matrix is used for transforming the coordinate between the image equipment coordinate system and the mechanical arm base coordinate system; determining a third virtual coordinate of the virtual needle in a mechanical arm tail end coordinate system based on the second virtual coordinate and a third preset conversion matrix, wherein the third preset conversion matrix is used for converting coordinates between the mechanical arm tail end coordinate system and a mechanical arm base coordinate system; and adjusting the tail end of the mechanical arm to clamp the puncture needle and move to a third virtual coordinate, so that the coordinate of the puncture needle in the coordinate system of the imaging equipment is a second coordinate.
The embodiment of the disclosure combines with an improved guiding device, the posture change information of the guiding needle in the puncturing process is used for representing the influence of the respiration of a patient on the guiding needle, as long as the position of the puncturing needle clamped by the mechanical arm is correspondingly adjusted, the coordinates of the puncturing needle and the guiding needle in the coordinate system of the image equipment always conform to a first preset conversion matrix, the adverse effect of the respiration of the patient on the positioning and navigation processes of the puncturing needle can be counteracted, multiple times of puncturing caused by the fact that the puncturing position is not expected is avoided, the puncturing precision of a puncturing robot is improved, a good puncturing effect is realized, the operation efficiency is improved, and the pain and radiation injury of the patient are reduced.
In some embodiments, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (Hyper Text transfer protocol), and may be interconnected 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 the embodiments of the present 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 (10)
1. A guide device, comprising:
a guide pin;
the wireless inertial navigation module is arranged at the needle tail of the guide needle and used for acquiring the posture change information of the guide needle in the coordinate system of the imaging equipment.
2. The guidance device of claim 1, wherein the wireless inertial navigation module comprises at least: a three-axis accelerometer and/or a three-axis gyroscope.
3. The guiding device according to claim 1 or 2, further comprising:
and the wireless communication module is used for sending the attitude change information to a preset receiver.
4. A puncture needle adjusting method based on a robot arm, using the guide device according to any one of claims 1 to 3, comprising:
acquiring attitude change information of a guide needle in a coordinate system of the imaging equipment;
determining a first coordinate of the guide needle in a coordinate system of the image equipment according to the posture change information;
and adjusting the position of the puncture needle in a coordinate system at the tail end of the mechanical arm based on the first coordinate to enable the coordinate of the puncture needle in the coordinate system of the image equipment to be a second coordinate, wherein the conversion relation between the first coordinate and the second coordinate conforms to a first preset conversion matrix.
5. The needle adjustment method of claim 4, wherein prior to obtaining the information about the change in the orientation of the introducer needle within the imaging device coordinate system, further comprising:
inserting the guide needle into a target area of a target object, and shooting an initial image based on the imaging equipment;
determining an injection point and a focus target point in the initial image;
setting a virtual needle in the initial image based on the needle inserting point and the focus target point, and determining a first preset conversion matrix based on a first initial coordinate of the guide needle in the initial image and a second initial coordinate of the virtual needle in the initial image.
6. The puncture needle adjustment method according to claim 5, wherein the posture change information includes at least a spatial translation amount and/or a spatial rotation amount.
7. The needle adjustment method of claim 6, wherein said determining a first coordinate of said introducer needle within an imaging device coordinate system based on said pose change information comprises:
and determining a first coordinate of the guide needle in a coordinate system of the imaging equipment based on the first initial coordinate and the posture change information.
8. The puncture needle adjusting method according to any one of claims 4 to 7, wherein adjusting the position of the puncture needle in the robot arm end coordinate system based on the first coordinate of the guide needle so that the coordinate of the puncture needle in the imaging apparatus coordinate system is the second coordinate comprises:
determining a first virtual coordinate of the virtual needle in a coordinate system of the image equipment based on the first coordinate and the first preset conversion matrix;
determining a second virtual coordinate of the virtual needle in a mechanical arm base coordinate system based on the first virtual coordinate and a second preset transformation matrix, wherein the second preset transformation matrix is used for transforming coordinates between the image equipment coordinate system and the mechanical arm base coordinate system;
determining a third virtual coordinate of the virtual needle in a mechanical arm tail end coordinate system based on the second virtual coordinate and a third preset conversion matrix, wherein the third preset conversion matrix is used for converting the coordinate between the mechanical arm tail end coordinate system and the mechanical arm base coordinate system;
and adjusting the tail end of the mechanical arm to clamp the puncture needle and move to the third virtual coordinate, so that the coordinate of the puncture needle in the coordinate system of the image equipment is the second coordinate.
9. A storage medium storing a computer program, wherein the computer program when executed by a processor implements the steps of the robotic arm-based needle adjustment method of any of claims 4 to 8.
10. An electronic device comprising at least a memory having a computer program stored thereon, and a processor, wherein the processor implements the method for adjusting a manipulator-based needle according to any one of claims 4 to 8 when executing the computer program on the memory.
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