CN113456229A - Robot system for abdominal cavity operation - Google Patents
Robot system for abdominal cavity operation Download PDFInfo
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- CN113456229A CN113456229A CN202010248572.7A CN202010248572A CN113456229A CN 113456229 A CN113456229 A CN 113456229A CN 202010248572 A CN202010248572 A CN 202010248572A CN 113456229 A CN113456229 A CN 113456229A
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- 210000000683 abdominal cavity Anatomy 0.000 title claims description 54
- 238000012084 abdominal surgery Methods 0.000 claims abstract description 57
- 230000000007 visual effect Effects 0.000 claims abstract description 37
- 238000002357 laparoscopic surgery Methods 0.000 claims abstract description 8
- 238000001356 surgical procedure Methods 0.000 claims description 37
- 238000000034 method Methods 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 230000003187 abdominal effect Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00008—Vein tendon strippers
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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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Surgery (AREA)
- Engineering & Computer Science (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The present invention relates to a robotic system for abdominal surgery, comprising: a voice recognition device configured to receive a voice and recognize the received voice; a visual navigation device configured to: identifying the collected image of the laparoscopic surgery; a controller electrically connected to the speech recognition device and the visual navigation device, respectively, and configured to: control instructions respectively generated based on a result of the voice recognition by the voice recognition device and a result of the recognition image by the visual navigation device to operate the robot system for the abdominal surgery; a robot arm device configured to operate a laparoscope for abdominal surgery connected to the robot arm device according to a control command of the controller; and an intraoperative diagnostic aid configured to: the physician is assisted in identifying anatomical details and anatomical variations of the surgical target by converting the body part corresponding to the abdominal surgery into a three-dimensional model.
Description
Technical Field
The present invention relates to the field of devices for abdominal surgery, and more particularly, to a robotic system for abdominal surgery, which is capable of being controlled by voice and controlling the system to perform a corresponding operation by recognizing an image of the abdominal surgery.
Background
The minimally invasive abdominal surgery is a major revolution on the basis of the traditional open abdominal surgery, and has the advantages of small wound surface, rapid postoperative recovery and the like. With the gradual popularization and expansion of the minimally invasive abdominal surgery, a robot system for the minimally invasive abdominal surgery is developed and applied, and the minimally invasive abdominal surgery is further perfected.
In a minimally invasive abdominal surgery process, images in the abdominal surgery process are acquired through a laparoscope, so that reference is provided for medical staff. In the process of performing the operation, the view field in the abdominal cavity to be acquired needs to be changed frequently, so that the angle of the laparoscope needs to be adjusted frequently, and at present, the operation needs to be implemented manually, so that the problems of instability or large error easily occur, the burden of medical staff is increased, and the smooth operation is affected.
In addition, in the current minimally invasive abdominal surgery, only a two-dimensional abdominal surgery image can be provided, and because the environment, the structure and the like in the human body are complex, the two-dimensional image is not convenient to identify, and even the judgment and the operation of medical staff performing the surgery can be influenced to a certain extent, the physical strength and the energy of the medical staff are unnecessarily consumed, the interference to the medical staff is caused, and certain risks can be brought to the surgery.
Disclosure of Invention
In order to solve the following technical problems: the robot system for abdominal cavity surgery of the prior art needs manual adjustment of the angle of the laparoscope, needs multiple adjustments due to possible errors, can only provide two-dimensional images, has a certain risk of misjudgment, additionally increases the burden of medical staff, and influences smooth operation.
The system may include: a voice recognition device configured to receive and recognize voice and transmit a result of the voice recognition to a controller so that the controller of the robot system for the abdominal cavity surgery operates the robot system for the abdominal cavity surgery based on the voice recognition result; a visual navigation device configured to: recognizing the acquired image of the laparoscopic surgery and transmitting a result of recognizing the acquired image of the laparoscopic surgery to a controller so that the controller operates a robot system for the laparoscopic surgery based on the image recognition result; a controller electrically connected to the speech recognition device and the visual navigation device, respectively, and configured to: control instructions respectively generated based on a result of the voice recognition by the voice recognition device and a result of the recognition image by the visual navigation device to operate the robot system for the abdominal surgery; a robot arm device electrically connected with the controller and configured to operate a laparoscope for abdominal surgery connected with the robot arm device according to a control command of the controller; an intraoperative diagnostic aid electrically connected with the controller and configured to: the physician is assisted in identifying anatomical details and anatomical variations of the surgical target by converting the body part corresponding to the abdominal surgery into a three-dimensional model.
Optionally, the visual navigation device may comprise: the image processing module is configured to perform preset processing on the acquired image of the abdominal cavity operation; an identification module configured to identify a predetermined portion in an image of a predetermined post-treatment abdominal surgery; and a follower module configured to: the identified predetermined portion in the abdominal surgery image is followed in real time so that the controller controls the robotic arm device to operate according to the follow-up of the predetermined portion.
Optionally, the speech recognition apparatus may include: a voice monitoring module configured to monitor an external voice in real time; a speech recognition module configured to: when the monitored external voice is recognized to contain preset content, sending a signal to the controller, so that the controller controls the robot system for the abdominal cavity operation to perform operation corresponding to the preset content.
Optionally, the controller may include: a communication module configured to communicate with the voice recognition device, the visual navigation device, and the robotic device; a robot arm motion control module configured to control motion of the robot arm device; and a display module configured to display an operation state of the robot system for the abdominal cavity surgery in real time.
Optionally, the robotic system for abdominal surgery may further comprise: a clamp, wherein the robotic arm device and the laparoscope are connected through the clamp.
Optionally, the robotic system for abdominal surgery may further comprise: a first display device configured to display the acquired image of the abdominal surgery.
Optionally, the display device may be further configured to: and displaying the result of identifying the acquired image of the abdominal cavity operation by the visual navigation device.
Optionally, the robotic system for abdominal surgery may further comprise: a second display device configured to display in real time a three-dimensional model of the body part corresponding to the abdominal surgery and to display in real time anatomical details and anatomical variations of the body part corresponding to the abdominal surgery.
Optionally, the robotic system for abdominal surgery may further comprise: a switching device configured to turn on or off the robotic system for abdominal surgery and configured to; and controlling the process of identifying the acquired image of the abdominal cavity operation through the visual navigation device.
Optionally, the identification module of the visual navigation module identifies a predetermined portion of the image of the abdominal surgery corresponding to a device performing the abdominal surgery.
The robot system for abdominal cavity surgery provided by the invention can control the operation of the system through voice input, and provides navigation for the movement of the mechanical arm and the laparoscope through recognizing and following the images, so that doctors do not need to perform extra limb operation in the surgery process, and the three-dimensional images of the surgery part changing along with the surgery condition can be displayed in real time, thereby saving the energy and physical strength of medical staff to a great extent, avoiding the doctor from being interfered to the greatest extent, and effectively ensuring the surgery effect.
Drawings
Some and/or other aspects of the invention will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a configuration diagram illustrating a robot system for abdominal cavity surgery according to an exemplary embodiment of the present invention;
fig. 2 is a schematic configuration diagram illustrating a voice recognition apparatus of a robot system for abdominal cavity surgery according to an exemplary embodiment of the present invention;
fig. 3 is a schematic configuration diagram illustrating a visual navigation device of a robotic system for abdominal surgery according to an exemplary embodiment of the present invention;
fig. 4 is a schematic configuration diagram illustrating a controller of the robot system for abdominal cavity surgery according to an exemplary embodiment of the present invention; and
fig. 5 is a schematic view illustrating another configuration of a robot system for abdominal cavity surgery according to an exemplary embodiment of the present invention.
Detailed Description
Like reference numerals refer to like elements throughout the specification. All elements of the exemplary embodiments of the present invention will not be described, and descriptions of what is known in the art or overlapped with each other in the embodiments will be omitted.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The principles and exemplary embodiments of the present invention will now be described with reference to fig. 1-5.
The robot system 1 for abdominal cavity surgery according to an exemplary embodiment of the present invention may include: a voice recognition device 10, a visual navigation device 20, a controller 30, a manipulator device 40, and an intraoperative diagnosis assistance device 50; the voice recognition device 10 may receive an external voice (e.g., a word or sentence spoken by a medical staff performing a surgery) and recognize the received voice, and the voice recognition device 10 may also transmit a result of the voice recognition to the controller 30 so that the controller 30 may operate the robot system for the abdominal surgery based on the voice recognition result; the vision navigation device 20 identifies the acquired image of the abdominal cavity surgery and transmits the result of identifying the acquired image of the abdominal cavity surgery to the controller 30, and the controller 30 may operate the robot system for the abdominal cavity surgery based on the image identification result; the controller 30 may be electrically connected to the voice recognition device 10 and the visual navigation device 20, respectively, and the controller 30 may generate a control command to operate the robot system 1 for the abdominal cavity surgery according to a result of the voice recognition by the voice recognition device 10, and the controller 30 may also generate another control command to operate the robot system 1 for the abdominal cavity surgery according to a result of the recognized image by the visual navigation device 20; the arm device 40 may be electrically connected with the controller 30, and may be configured to: performing corresponding movements according to one or more control commands of the controller 30 so as to be able to operate a laparoscope used in abdominal surgery connected to the robot arm device 40; the intraoperative diagnostic aid 50 can be electrically connected to the controller 30 and can assist the surgeon in identifying anatomical details and anatomical variations of the surgical target by converting the body part corresponding to the abdominal surgery into a three-dimensional model.
Specifically, in order to implement the above-described process of operating the robot system for the abdominal cavity surgery by recognizing voice, the voice recognition apparatus 10 may include: a voice monitoring module 101 and a voice recognition module 102; the voice monitoring module 101 may be configured to monitor external voice in real time; the speech recognition module 102 may be configured to: and when the external voice is recognized to contain preset content, sending a signal to the controller so that the controller controls the robot system for the abdominal cavity operation to perform operation corresponding to the preset content.
For example, when the robot system for abdominal cavity surgery according to an exemplary embodiment of the present invention is not activated, voices from the outside are received through a sound receiving device (e.g., a microphone) provided in the system and stored by the voice monitoring module 101 and transmitted to the voice recognition module 102. Thereafter, the voice recognition module 102 recognizes the received voice, and the purpose of the recognition is that if the voice contains a content related to the activation of the system (for example, the doctor speaks "prepare to start surgery" or "activate this robot system for abdominal surgery" through a microphone, etc., the present invention is not limited thereto), the voice recognition module 102 can judge that the system should be activated at this time, and can send a signal to the controller 30 so that the controller can control the activation of the system. The voice recognition module 102 may send a signal to the controller 30 when the contents of the received voice match or are the same as the contents of the language database by comparing the received voice with the language database preset in the system. The data in the language database may be a number of words, phrases, sentences, combinations thereof, and the like formed by presetting (for example, presetting a specific format and specific keywords), which is not limited by the invention.
For another example, when the robot system for abdominal cavity surgery according to the exemplary embodiment of the present invention has been started and operated, the controller may also be caused to control the system to perform a corresponding operation through voice input, similar to the above-described process. For example, the content input by a doctor or nurse to the voice monitoring module 101 may include: "the mechanical arm moves leftwards", "the laparoscope rotates rightwards for 30 degrees", "the laparoscope moves forwards", "moves backwards", "the laparoscope extends into the abdominal cavity", "the laparoscope retracts towards the outside of the abdominal cavity", and the like similar to the above. Further, the content in the voice is recognized by the voice recognition module 102 and a signal is sent to the controller, so that the controller 30 can control the robot arm to perform a corresponding operation. In addition, if the operation is finished, the system can be turned off or controlled to enter a dormant or standby state or the like through voice input.
Through the mode, the medical staff can operate the robot system for the operation without hands or feet, so that the physical energy and the energy can be saved to a great extent, various interferences to the operation are reduced, and the smooth operation is facilitated.
In abdominal cavity surgery, when surgical instruments such as an ultrasonic scalpel and a surgical clamp are operated in an abdominal cavity, a laparoscope is generally required to be matched with the surgical instruments to facilitate the operation of a doctor, and a real-time image in the abdominal cavity is required to be used as a basis for the operation, so that a basis is provided for the operation such as mechanical arm movement. Accordingly, the visual navigation device 20 of the robot system 1 for surgery according to an exemplary embodiment of the present invention may include: an image processing module 201, a recognition module 202 and a following module 203; the image processing module 201 may be configured to perform predetermined processing on the image of the abdominal cavity operation; the identification module 202 may be configured to identify a predetermined portion of the image of the abdominal surgery after performing a predetermined process; the following module 203 can be used for following the identified predetermined portion in the abdominal operation image in real time, so that the controller 30 can control the system to perform corresponding operations by following the predetermined portion in the image.
Specifically, in the robot system for abdominal surgery according to the exemplary embodiment of the present invention, the image in the abdominal cavity is generally acquired laparoscopically, and the image processing module 201 may perform predetermined processing (e.g., contrast enhancement, noise removal, conversion into a specific format, gray processing, etc., to which the present invention is not limited) on the laparoscopically acquired image so as to perform subsequent operations. Thereafter, the recognition module 202 may recognize the processed image, and in the present exemplary embodiment, the recognition module 202 may recognize a predetermined portion in the image. For example, the identification module 202 may identify whether a device performing a procedure (e.g., a blade of an ultrasonic blade, a jaw of a forceps, etc., although the invention is not limited thereto) is present in the image in the abdominal cavity. The following module 203 may then follow the predetermined portion of the image in real time after identifying the predetermined portion of the feature present in the image in the abdominal cavity.
Of course, the visual navigation device 20 may also simultaneously operate on multiple predetermined portions of the abdominal surgery image. For example, the visual navigation device 20 can simultaneously identify the device performing the operation and the organ, lesion, etc. in the abdominal cavity, thereby enabling the robot arm device to be more appropriately moved to place the laparoscope in a more appropriate position.
In an exemplary embodiment of the present invention, the controller 30 may include: a communication module 301, a mechanical arm motion control module 302 and a display module 303; the communication module 301 may communicate with the voice recognition apparatus 10, the visual navigation apparatus 20, the arm apparatus 40, and the intraoperative diagnostic aid 50 to receive or transmit signals; the robot arm motion control module 302 may be configured to control the motion of the robot arm device 40; and a display module 303 configured to display an operation state of the robot system for the abdominal cavity surgery in real time.
In addition, in order to facilitate medical staff to observe the surgical situation, the robot system for abdominal surgery of the present exemplary embodiment may further include: a first display device 60. In the present exemplary embodiment, on the one hand, the controller 30 can control the first display device 60 to display the images of the laparoscopic surgery acquired in real time, and on the other hand, the controller 30 can also control the first display device 60 to display the results of the recognition of the images by the visual navigation device 20.
Specifically, for example, in order to facilitate the operation, a predetermined portion (for example, a jaw portion of a forceps) in the image is recognized by the recognition module 202, the recognition module 202 may define a rectangular region in the image to be recognized, and the first display device 60 may display a boundary line of the rectangular region to facilitate the view of the medical staff. Then, the doctor performing the surgery may move the jaw portion of the forceps to be identified to the approximate center position of the rectangular region in the image, and the identifying module 202 may then determine that the predetermined portion in the rectangular region (i.e., the jaw portion of the forceps) needs to be followed in real time, so that the following module 203 may follow the movement of the jaw portion of the forceps in real time, and the first display device 60 may display the above process for the human being to observe in real time.
Of course, the rectangular area is set and displayed only for the convenience of medical personnel to recognize, such an area may be set to be represented by other shapes, or such a rectangular area or an area of other shapes may not be displayed, as long as the actual navigation module 20 is started, the visual navigation module 20 may also perform the above-mentioned process of recognizing images.
Specifically, for example, when the blade head of the ultrasonic blade in the image of the abdominal cavity is followed in real time, the doctor operates the ultrasonic blade to move as required, and the blade head also moves. At this time, the following module 203 can move in real time following the blade portion in the image, and the purpose of the following module is to send a signal to the controller 30, so that the robot arm control module 303 of the controller 30 can control the robot arm device 40 to perform corresponding movement, thereby guiding the laparoscope to move to cooperate with the doctor to operate the ultrasonic scalpel. That is, the visual navigation module 20 can guide the motion of the robot arm through the recognition of the image, thereby enabling the intra-operative operation to be closely and effectively matched with the work of the laparoscope. The process in which the movement of the predetermined portion in the image and the movement of the robot arm correspond to each other may be realized by converting pixel information in the image and position information of the movement of the robot arm to each other, but the present invention is not limited thereto. The robot arm device 40 may be guided by associating the position of the arm where the doctor operates the operation with the position of the robot arm. The robot arm device 40 in the exemplary embodiment of the present invention may be a six-axis robot arm having 6 rotational joints, which can be flexibly moved according to the movement of the surgical device.
In addition, the robot system for abdominal cavity surgery according to the exemplary embodiment of the present invention may further include a second display device 70, which may be electrically connected to the controller 30, and may display a three-dimensional model of an abdominal cavity portion or a three-dimensional model of the whole body of the patient, which is constructed by the intraoperative diagnosis assistance device 50 based on CT, ultrasound images, etc. of the patient, in which anatomical details of a lesion, a blood vessel, a tissue, etc. can be displayed (the present invention is not limited thereto), and anatomical variation of individual patients can be displayed, for example, a patient has one more blood vessel or nerve in a certain region of the abdomen, which is a rare example. In the process of performing the operation, according to the present exemplary embodiment, when the main surgeon moves the scalpel, the vision navigation device 20 recognizes that the scalpel in the abdominal cavity operation image can make the mechanical arm move correspondingly, so that the position or angle of the view of the laparoscope changes, and at this time, the intraoperative diagnosis assistance device 50 can also control the three-dimensional model to change correspondingly, so that the three-dimensional model corresponds to the image in the abdominal cavity acquired by the laparoscope in real time, and the process and result of the change of the three-dimensional model can be displayed through the second display device 70, thereby greatly facilitating the judgment and operation of the medical staff.
In addition, in an embodiment of the present invention, the robot arm device 40 may be connected to the laparoscope by a jig, so that the movement of the laparoscope is achieved by the movement of the robot arm device. The moving mode of the laparoscope may include: the laparoscope can move in any directions such as left, right, up and down within the range defined by the tool center point of the mechanical arm device, and the laparoscope in the embodiment can also extend towards the inside of the abdominal cavity or contract and rotate towards the outside of the abdominal cavity according to the actual situation of the operation, so that a proper image of the abdominal cavity operation can be provided.
Further, in some cases, the visual navigation device 20 may also be started by making a voice input to the voice recognition device 10. For example, after the robot system for abdominal cavity surgery is started, the doctor may speak a sentence such as "start the visual navigation device", "start the visual navigation", and the voice recognition device 10 determines that the visual navigation device needs to be started by recognizing a keyword, and sends a signal to the controller 30, so that the controller 30 controls the visual navigation device 20 to start.
In addition, in some cases, the robot system for abdominal surgery according to the exemplary embodiment of the present invention may also be provided with a switching device 80 for convenience of operation. The medical staff can operate the switch device 80 to start and stop the system, and can move the mechanical arm to move the laparoscope, and can also control the process of recognizing the image by the visual navigation device 20. That is, the systems may be operated independently by the switching device 80, independently by the voice recognition device 10, or in combination of both devices. For example, the system can be activated by voice input to the voice recognition device 10, and the visual navigation device 20 can be activated by voice input, and then the process of recognizing the image of the abdominal operation can be controlled by the switch device, and then the system can be deactivated by voice input. The manner of operation is case by case, and the exemplary embodiments of the present invention are not limited in this regard.
The robot system for abdominal cavity surgery according to the exemplary embodiment of the present invention can control the operation of the system through voice input, and guide the movement of the robot arm and the laparoscope by recognizing and following the image, does not require a doctor to perform an additional operation during the surgery, and can display a three-dimensional image of the surgical site varying with the surgical situation in real time, thereby saving the energy and physical power of medical staff to a great extent, and maximally preventing the doctor from being disturbed, thereby effectively ensuring the surgical effect.
The disclosed exemplary embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate program modules to perform the operations of the disclosed exemplary embodiments. The recording medium may be implemented as a non-transitory computer-readable recording medium.
The non-transitory computer-readable recording medium may include all kinds of recording media storing commands that can be interpreted by a computer. For example, the non-transitory computer-readable recording medium may be: such as ROM, RAM, magnetic tape, magnetic disk, flash memory, or optical data storage.
So far, embodiments of the present invention have been described with reference to the drawings. It is obvious to those skilled in the art that the present invention can be embodied in other forms than the embodiments described above without changing the technical idea or essential features of the present invention. The above embodiments are exemplary only, and should not be construed in a limiting sense.
Claims (10)
1. A robotic system for abdominal surgery, comprising:
a voice recognition device configured to receive and recognize voice and transmit a result of the voice recognition to a controller so that the controller of the robot system for the abdominal cavity surgery operates the robot system for the abdominal cavity surgery based on the voice recognition result;
a visual navigation device configured to: recognizing the acquired image of the laparoscopic surgery and transmitting a result of recognizing the acquired image of the laparoscopic surgery to a controller so that the controller operates a robot system for the laparoscopic surgery based on the image recognition result;
the controller is electrically connected with the voice recognition device and the visual navigation device respectively, and the controller is configured to: control instructions respectively generated based on a result of the voice recognition by the voice recognition device and a result of the recognition image by the visual navigation device to operate the robot system for the abdominal surgery;
a robot arm device electrically connected with the controller and configured to operate a laparoscope for abdominal surgery connected with the robot arm device and according to a control command of the controller;
an intraoperative diagnostic aid electrically connected with the controller and configured to: the physician is assisted in identifying anatomical details and anatomical variations of the surgical target by converting the body part corresponding to the abdominal surgery into a three-dimensional model.
2. A robotic system for laparoscopic procedures as claimed in claim 1, wherein said visual navigation device comprises:
the image processing module is configured to perform preset processing on the acquired image of the abdominal cavity operation;
an identification module configured to identify a predetermined portion in an image of a predetermined post-treatment abdominal surgery; and
a follower module configured to: the identified predetermined portion in the abdominal surgery image is followed in real time so that the controller controls the robotic arm device to operate according to the follow-up of the predetermined portion.
3. The robotic system for abdominal surgery of claim 1, wherein the voice recognition device comprises:
a voice monitoring module configured to monitor an external voice in real time;
a speech recognition module configured to: when the monitored external voice is recognized to contain preset content, sending a signal to the controller, so that the controller controls the robot system for the abdominal cavity operation to perform operation corresponding to the preset content.
4. The robotic system for abdominal surgery of claim 1, wherein the controller comprises:
a communication module configured to communicate with the voice recognition device, the visual navigation device, and the robotic device;
a robot arm motion control module configured to control motion of the robot arm device; and
a display module configured to display an operation state of the robot system for the abdominal cavity surgery in real time.
5. A robotic system for laparoscopic procedures as defined in claim 1, further comprising: a clamp, wherein the robotic arm device and the laparoscope are connected through the clamp.
6. A robotic system for laparoscopic procedures as claimed in claim 1 or 2, further comprising: a first display device configured to display the acquired image of the abdominal surgery.
7. The robotic system for abdominal surgery of claim 6, wherein the display device is further configured to: and displaying the result of identifying the acquired image of the abdominal cavity operation by the visual navigation device.
8. A robotic system for laparoscopic procedures as defined in claim 1, further comprising: a second display device configured to display in real time a three-dimensional model of the body part corresponding to the abdominal surgery and to display in real time anatomical details and anatomical variations of the body part corresponding to the abdominal surgery.
9. A robotic system for laparoscopic procedures as defined in claim 1, further comprising: a switching device configured to turn on or off the robotic system for abdominal surgery and configured to; and controlling the process of identifying the acquired image of the abdominal cavity operation through the visual navigation device.
10. The robotic system for abdominal surgery of claim 2, wherein the identification module of the visual navigation module identifies a predetermined portion of the image of the abdominal surgery corresponding to a device performing the abdominal surgery.
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| CN202010248572.7A CN113456229A (en) | 2020-03-31 | 2020-03-31 | Robot system for abdominal cavity operation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113081281A (en) * | 2021-04-16 | 2021-07-09 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
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