CN113952009B

CN113952009B - Targeted drug delivery needle clamping navigation device and targeted drug delivery treatment system

Info

Publication number: CN113952009B
Application number: CN202111584376.8A
Authority: CN
Inventors: 张昊任; 陈向前; 陈小刚
Original assignee: Truehealth Beijing Medical Technology Co Ltd
Current assignee: Truehealth Beijing Medical Technology Co Ltd
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2022-03-01
Anticipated expiration: 2041-12-23
Also published as: CN113952009A

Abstract

The invention provides a targeted drug delivery needle clamping navigation device and a targeted drug delivery treatment system with the same, wherein the targeted drug delivery needle clamping navigation device comprises: the medicine feeding needle fixing sleeve is provided with a guide channel which is used for guiding the insertion of the needle cylinder of the medicine feeding needle and limiting the insertion path of the needle cylinder, and the guide channel is provided with a visual structure which can identify scales on the needle cylinder; the syringe needle stop collar, fixed connection is at the end of the fixed cover of needle of giving medicine, and the syringe needle is spacing to be equipped with along the direction of inserting of needle of giving medicine and arrange and with the first spacing hole of at least one of syringe needle size looks adaptation, and the insertion route of syringe needle is spacing to at least one first spacing hole. The doctor drives the direction and the spacing of needle of dosing of accomplishing by the fixed cover of needle of dosing to the needle of dosing in-process, accomplishes the spacing to the syringe needle by the syringe needle stop collar, and the doctor confirms the depth of insertion of syringe needle through the visual structure on the fixed cover of needle of dosing, then presses the needle of dosing and injects the medicine to the human body, has reduced the doctor and has operated the degree of difficulty.

Description

Targeted drug delivery needle clamping navigation device and targeted drug delivery treatment system

Technical Field

The invention relates to the field of medical equipment, in particular to a targeted drug delivery needle clamping navigation device and a targeted drug delivery treatment system with the same. Background

The targeted drug delivery is a commonly used tumor treatment method at present, and the targeted drug is also called a molecular cannonball, and refers to a drug or a preparation thereof endowed with Targeting capability. The purpose is to target the drug or its carrier to a specific lesion site and accumulate or release the active ingredient at the target site. The targeting preparation can enable the drug to form relatively high concentration at the target part, thereby improving the drug effect, inhibiting toxic and side effects and reducing the damage to normal tissues and cells.

Currently, targeted drug delivery treatment is performed by puncturing a tumor part of a patient through handheld drug delivery by a doctor, but due to unequal experience of the doctor, uncertainty and inaccuracy exist in the puncturing angle and the insertion depth of a handheld drug delivery needle. Disclosure of Invention

In view of the above, in a first aspect, the present invention provides a targeted drug delivery needle clamping navigation device, including:

the medicine feeding needle fixing sleeve is provided with a guide channel which is used for guiding the insertion of a needle cylinder of a medicine feeding needle and limiting the insertion path of the needle cylinder, the guide channel is attached to the outer wall of the needle cylinder, and a visual structure capable of identifying scales on the needle cylinder is arranged on the guide channel;

syringe needle stop collar, fixed connection be in the end of the fixed cover of needle of dosing, the spacing cover of syringe needle is equipped with the edge the direction of insertion of needle of dosing arrange and with at least one first spacing hole of syringe needle size looks adaptation, at least one first spacing pore pair the route of inserting of syringe needle is spacing.

Give needle degree of depth stop device, connect in give the fixed cover of needle, be used for right the depth of puncture of needle of giving medicine carries on spacingly, give needle degree of depth stop device establish including the cover give the fixed outside needle stop collar of giving medicine, give the needle stop collar can follow the axial of the fixed cover of needle of giving medicine is connected with reciprocating on the lateral wall of the fixed cover of needle of giving medicine, give the needle stop collar the needle point of needle of giving medicine reachs the focus after, follow the fixed cover rebound of needle of giving medicine supports the cylinder seat of cylinder is with right the depth of puncture of needle carries on spacingly.

Optionally, an inner thread is formed on the inner side wall of the administration needle limiting sleeve, an outer thread is formed on at least the upper portion of the outer side wall of the administration needle limiting sleeve, and the administration needle limiting sleeve moves up and down along the outer side wall of the administration needle fixing sleeve by means of threaded matching of the inner thread and the outer thread.

Optionally, the visual structure is an axial cutting groove formed along the outer side wall of the administration needle fixing sleeve, and the position of the axial cutting groove corresponds to the position of the scale of the needle cylinder.

Optionally, be equipped with first locating hole on the fixed cover terminal lateral wall of dosing needle, be equipped with on the lateral wall of syringe needle stop collar with the corresponding second locating hole of first locating hole, penetrate through the location knob first locating hole with the second locating hole is to the syringe needle stop collar carries out location locking.

Optionally, the administration needle stop collar is a structure made of transparent materials.

Optionally, the needle stop collar is a structure made of nylon material.

Optionally, syringe needle stop collar orientation one side of the fixed cover of needle of dosing has set firmly the silica gel inner liner, the silica gel inner liner be equipped with the spacing hole of the corresponding second in first spacing hole, the aperture in the spacing hole of second slightly is less than the external diameter of syringe needle.

In a second aspect, the present invention provides a targeted drug delivery therapeutic system comprising:

the tail end of the mechanical arm is connected with the targeted drug delivery needle clamping navigation device, and the mechanical arm is also provided with a tracker for positioning the spatial position of the drug delivery needle;

the navigation system is used for establishing a human body three-dimensional model comprising a focus according to a CT image of a patient, acquiring a human body space position by using a tracker on the body of the patient, registering the human body three-dimensional model so as to enable the human body space position to correspond to the human body space position, determining puncture path data aiming at the focus based on the human body three-dimensional model, wherein the puncture path data at least comprises puncture point information and needle inserting direction information, capturing the space position of a medicine feeding needle by using the tracker on the mechanical arm, and controlling the mechanical arm to aim at a quasi-puncture path for medicine feeding.

Optionally, the navigation system comprises:

a robotic arm control system, the robotic arm control system comprising:

the position module is used for determining the position information of a current positioning point and the position information of a current positioning shaft of the mechanical arm based on the current posture of the mechanical arm;

the comparison module determines the position information of the target positioning point under the target posture of the mechanical arm according to the position relation between the current positioning point and the current positioning shaft and the position information of the target positioning shaft;

and the control module controls the mechanical arm to move to the target posture according to the target positioning point and the position information of the target positioning shaft.

Optionally, determining the position information of the target positioning point in the target posture of the mechanical arm according to the position relationship between the current positioning point and the current positioning axis and the position information of the target positioning axis, including:

determining the projection point of the current positioning point on the straight line of the current positioning axis as the current circle center;

determining the distance between the current circle center and the current positioning point as a target radius;

determining a target circle center on a straight line where the target positioning shaft is located according to the position relation between the current circle center and the current positioning shaft and the position information of the target positioning shaft;

and determining a point on a circle determined by the center of the target circle and the target radius as a target positioning point of the mechanical arm in the target posture in a plane vertical to the target positioning shaft.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of a targeted drug delivery therapeutic system in an embodiment of the present invention;

FIG. 2 is an exploded view of a targeted drug delivery needle clip navigation device in an embodiment of the present invention;

FIG. 3 is an assembled view of the targeted drug delivery needle clip navigation device of FIG. 2;

FIG. 4 is a longitudinal cross-sectional view of the targeted drug delivery needle grasping navigation device of FIG. 3;

FIG. 5 is a flowchart illustrating a method for controlling a robot according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a current pose and a target pose of a robot according to an embodiment of the present invention;

FIG. 7 is a flowchart of a method for determining a target anchor point according to an embodiment of the present invention;

FIG. 8 is a flowchart illustrating another method for controlling a robotic arm according to an embodiment of the present invention.

Reference numerals:

5-a targeted drug delivery needle clamping navigation device; 51-a dosing needle stop collar; 511-fixing the internal thread of the sleeve; 52-administration needle fixing sleeve; 521-visual structure; 522-external thread of the fixing sleeve; 53-needle head stop collar; 531-first limiting hole; 532-positioning holes; 54-positioning knob;

16-a dosing needle; 161-needle; 162-cartridge holder; 163-administration needle piston; 164-administration needle piston handle.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The invention provides a targeted drug delivery treatment system, which comprises a mechanical arm 6 and a navigation system, wherein the navigation system specifically comprises a navigation binocular camera 1, a camera support 2, a navigation display 3, a navigation bearing trolley 4, a targeted drug delivery needle clamping navigation device 5, a mechanical arm 6, a multi-degree-of-freedom diagnosis bed 7, a mechanical arm bearing trolley 8, a human body positioning belt 9 and a mechanical arm control system, and is shown in figure 1.

The method executed by the system comprises the following steps:

establishing a human body three-dimensional model including a focus according to the CT image of the patient;

acquiring human body position information by using a tracker on the body of a patient, and registering the human body position information with a human body three-dimensional model so as to enable the human body position information to correspond to the human body position information;

determining puncture path data aiming at the focus based on the human body three-dimensional model, wherein the puncture path at least comprises puncture point information, needle inserting direction information and needle inserting depth information;

acquiring the position information of the drug administration needle by using a tracker on the mechanical arm 6, and controlling the mechanical arm 6 to align the drug administration needle to the skin of a human body according to the puncture point information and the needle inserting direction information based on the position information of the drug administration needle;

after the administration needle is punctured into the human body according to the needle inserting depth information, administration action is carried out on the focus.

The robotic arm 6 in the present system is used to hold the administration needle. Specifically, the mechanical arm 6 is connected to the administration needle through the targeted administration needle holding navigation device 5, and the targeted administration needle holding navigation device 5 is provided with a tracker for positioning the spatial position of the administration needle. The binocular camera 1 in the navigation system can photograph the tracker and calculate its spatial position.

The navigation system is used for establishing a human body three-dimensional model including a focus according to the CT image of the patient, acquiring the human body space position by using a tracker on the body of the patient, and registering the human body space position with the human body three-dimensional model so as to enable the human body space position to correspond to the human body space position. Specifically, a reference coordinate system is firstly set, and the height and the angle of the optical tracking system are adjusted, so that the system automatically identifies and acquires the coordinate information of the tracker in real time when the reference tracker is in a visual field range.

Then, the CT image coordinate and the real coordinate of the tracker are utilized to carry out real-time registration tracking, and the dynamic registration is completed at the minimum value of the dynamic registration error curve. The registration result can be verified after each registration, if the registration effect is not good, the registration can be re-performed, and the verification mode can be verified by selecting a patient bony verification point and selecting a body surface verification point.

The navigation system determines puncture path data for the lesion based on the three-dimensional model of the human body. The puncture path in the present application refers to a straight path from the body surface of a human body to a lesion, and the puncture path data includes at least puncture point information (a certain point on the body surface) and needle insertion direction information. Specifically, the planned path is determined by selecting a lesion and selecting a needle insertion point, for example, a doctor can complete path planning by selecting a nodule to be punctured in software and then selecting a proper puncture point and a needle insertion direction. This procedure can be completely self-planning by the physician, or one or more alternative paths can be provided by the system depending on the patient's condition.

The puncture path data also comprises needle insertion depth information used for indicating that the drug administration needle punctures into the human body according to the needle insertion depth information.

After the path planning is completed, the planned path can be subjected to simulation movement, namely, the simulation mechanical arm is aligned to the puncture path. If the mechanical arm touches the body of the patient in the simulation motion process, the target pose needs to be adjusted or a new path needs to be planned again, so that physical damage to the patient caused by the mechanical arm in the real motion process is avoided.

The navigation system captures the space position of the drug administration needle by tracking on the mechanical arm 6, controls the mechanical arm to align the drug administration needle to the skin of a human body according to puncture point information and needle insertion direction information, and at the moment, the mechanical arm 6 enables the drug administration needle to be aligned to a puncture path.

After that, the doctor can manually complete the operation of puncturing the human body, and the doctor can hold the puncture depth; or the navigation system can control the mechanical arm 6 and the targeted drug delivery needle clamping navigation device 5 to execute the action of puncturing the human body according to the needle inserting depth information.

After the medicine feeding device is pierced into a human body, the medicine feeding device can be manually started by a doctor to perform actions, and the medicine feeding device can also be automatically controlled by the navigation system to perform actions according to a predetermined treatment scheme, namely the navigation system can be connected with the medicine feeding device and control working parameters of the medicine feeding device.

Fig. 2-4 illustrate a particular embodiment in which the administration needle 16 comprises a needle 161, a barrel, a hub 162, an administration needle piston 163, and an administration needle piston handle 164. Fig. 2 to 4 show a targeted drug delivery needle holding navigation device 5, which is fixedly mounted on the end of a mechanical arm 6 for holding a drug delivery needle 16, applied to a targeted drug delivery treatment system. The targeted drug delivery needle clamping navigation device comprises a drug delivery needle fixing sleeve 52 and a needle head limiting sleeve 53.

As shown in fig. 2, the administration needle fixing sleeve 52 has a guiding channel for guiding the insertion of the needle cylinder of the administration needle and limiting the insertion path of the needle cylinder, as shown in fig. 2, in this embodiment, the administration needle fixing sleeve 52 is cylindrical, the end of the administration needle fixing sleeve is an open structure, the cavity of the administration needle fixing sleeve 52 is a guiding channel for limiting the insertion path of the needle cylinder of the administration needle, an axial cutting groove is formed on the sidewall of the administration needle fixing sleeve 52 as a visible structure 521, and the doctor can determine the insertion depth of the needle head 161 through the axial cutting groove. The inner contour of the guide channel is consistent with the outer contour of the needle cylinder, so that the outer wall of the needle cylinder is attached to the inner wall of the guide channel after the needle cylinder is inserted into the guide channel, and the guide channel is used as a first supporting part for limiting and supporting the upper end of the administration needle;

the needle head limiting sleeve 53 is fixedly installed at the tail end of the administration needle fixing sleeve 52 through an opening structure at the tail end of the administration needle fixing sleeve 52, at least one first limiting hole 531 which is arranged along the insertion direction of the administration needle and matched with the size of the needle head 161 is arranged on the needle head limiting sleeve 53, and the insertion path of the needle head 161 is limited by the at least one first limiting hole 531. In the preferred embodiment of the present invention, one first position-limiting hole 531 is formed in the middle of the needle position-limiting sleeve 53. However, it should be understood that, in other embodiments, in order to better limit and guide the insertion direction of the needle 161 and prevent the insertion direction and the insertion angle of the needle 161 from deviating, the needle position limiting sleeve 53 may be formed to have a plurality of first limiting holes 531, the plurality of first limiting holes 531 are spaced along the insertion direction of the needle 161, and the plurality of first limiting holes 531 form a multi-point limit on the insertion path of the needle 161, so that the limiting effect is better. The plurality of first limiting holes 531 are used as second supporting parts for limiting and supporting the lower end of the administration needle, and the second supporting parts and the first supporting parts jointly form a limiting supporting structure specially aiming at the targeted administration needle, so that the blank of clamping the tail end of the targeted administration needle in the prior art is made up.

According to the targeted drug delivery needle clamping navigation device 5, in the process of driving the drug delivery needle to be inserted by a doctor, the drug delivery needle fixing sleeve 52 is used for guiding and limiting the drug delivery needle, the needle head limiting sleeve 53 is used for limiting the needle head 161, the doctor determines the insertion depth of the needle head 161 through the visual structure 521 on the drug delivery needle fixing sleeve 52, and then the doctor presses the drug delivery needle to inject drugs into a human body. Compared with uncertainty and inaccuracy caused by the fact that a doctor holds the medicine feeding needle by hand to keep the puncture angle and the insertion depth of the medicine feeding needle in the prior art, the targeted medicine feeding needle clamping and navigating device 5 is used for being combined with a mechanical arm of a targeted medicine feeding treatment system puncture robot, so that automatic auxiliary positioning of an injection position is achieved, the accuracy of injection is improved, the workload and the working difficulty of the doctor are reduced, and the working efficiency of the doctor is improved.

Because the administration needle needs to accurately reach the tumor to effectively perform the tumor tissue extraction biopsy or the tumor administration operation, how to keep the accuracy of the insertion depth of the administration needle is crucial, and on the basis of the visual structure 521 for observing the insertion depth of the needle head 161, the targeted administration needle clamping navigation device 5 of the embodiment is further provided with a depth limiting device of the administration needle, which is connected to the administration needle fixing sleeve 52 and used for limiting the puncture depth of the administration needle. Specifically, as shown in fig. 2 and 3, the medicine feeding needle depth limiting device comprises a medicine feeding needle limiting sleeve 51 sleeved outside the medicine feeding needle fixing sleeve 52, the medicine feeding needle limiting sleeve 51 can be connected to the outer side wall of the medicine feeding needle fixing sleeve 52 in a vertically moving mode along the axial direction of the medicine feeding needle fixing sleeve 52, the medicine feeding needle fixing sleeve 52 moves upwards along the medicine feeding needle fixing sleeve 52 to abut against a cylinder seat 162 of a cylinder to limit the puncture depth of the medicine feeding needle after the needle point of the medicine feeding needle reaches a focus, the needle head 161 of the medicine feeding needle is kept at a tumor position, and then the medicine feeding needle is pressed to inject medicine into a human body. Further, in this embodiment, as shown in fig. 3, an inner side wall of the needle position-limiting sleeve 51 is formed with an internal thread, the needle position-limiting sleeve 52 is formed with an external thread at least at an upper portion of an outer side wall thereof, and the needle position-limiting sleeve 51 moves up and down along the outer side wall of the needle position-limiting sleeve 52 by means of the threaded engagement of the internal thread and the external thread.

In order to observe the insertion depth of the needle 161 and the scales on the administration needle, the administration needle stop collar 51 of the present embodiment is made of a transparent material.

In order to facilitate the replacement of the administration needle stopper 51, the administration needle stopper 51 of the present embodiment adopts the following fixing method:

set up first locating hole 532 on the terminal lateral wall of fixed cover 52 of needle of dosing, be equipped with on the lateral wall of syringe needle stop collar 53 with the corresponding second locating hole of first locating hole 532, penetrate through location knob 54 first locating hole 532 with the second locating hole is to syringe needle stop collar 53 carries out the location locking. After the injection of the medicine is finished, the medicine feeding needle is slowly pulled out, the positioning knob 54 is loosened after the needle head 161 is pulled out, the medicine feeding needle limiting sleeve 51 is removed and discarded, and a new limiting sleeve is replaced.

It should be understood that the present invention is not limited to any particular manner of securing the needle, and in other embodiments, other securing means such as snap-fit, adhesive, threaded connection, etc. may be used.

In this embodiment, syringe needle stop collar 53 is the structure that the nylon materials made, at syringe needle stop collar 53 orientation one side of the fixed cover 52 of dosing needle has set firmly the silica gel inner liner, the silica gel inner liner be equipped with the spacing hole of the corresponding second in first spacing hole 531, the aperture in the spacing hole of second slightly is less than the external diameter of syringe needle 161. The administration needle passes through the second limit hole and the first limit hole 531, and when the administration needle is pulled out after the medicine injection is finished, the blood stain on the needle head 161 can be filtered by the silica gel inner liner of the needle head limit sleeve 53.

The working principle of the targeted drug delivery needle clamping navigation device 5 of the present embodiment is described below with reference to the accompanying drawings:

as shown in fig. 2-4, the needle stopper 53 is first fixed to the administration needle fixing sheath 52 by the positioning knob 54, and the administration needle stopper 51 is rotated to the lowermost end, and the administration needle stopper 51 is made of transparent plastic material, so that the insertion depth of the needle 161 and the scale on the injector can be observed conveniently. The navigation binocular camera 1 constructs a three-dimensional structure of a patient organ through CT pictures of a patient, precisely and accurately fixes a needle point through a human body positioning belt 9, then a mechanical arm 6 drives an injection clamping navigation device 5 to move to the vicinity of the needle point, the distance between the needle point under the skin of the human body and a needle head limiting sleeve 53 is about 1 centimeter, at the moment, a doctor operates to insert a drug administration needle 16 into the human body along a drug administration needle fixing sleeve 52, the drug administration needle fixing sleeve 52 finishes guiding and limiting the injector in the inserting process, the needle head limiting sleeve 53 finishes limiting the needle head 161, medical staff determines the inserting depth of the needle head 161 through an axial cutting groove on the drug administration needle fixing sleeve 52, the drug administration needle limiting sleeve 51 is rotated to enable the drug administration needle limiting sleeve 51 to be abutted against a cylinder seat 162 of the drug administration needle 16 after the inserting depth is determined, then the drug administration needle is pressed to inject the drug into the human body, the drug administration needle 16 is slowly pulled out after the drug injection is finished, there is the silica gel inner liner in syringe needle stop collar 53, filters the bloodstain on the syringe needle 161 through the silica gel inside liner of syringe needle stop collar 53, and not hard up positioning knob 5413 after syringe needle 161 is pulled out demolishs syringe needle stop collar 53 and discards and change new stop collar.

The embodiment of the invention provides a mechanical arm control system and a control method suitable for a mechanical arm for puncture surgery, which can automatically adjust the mechanical arm from the current posture to the target posture. Based on the mechanical arm control mode, the drug administration needle can be automatically moved to the puncture point corresponding to the preset puncture path through the mechanical arm, and the direction of the drug administration needle is kept consistent with the direction of the drug inlet needle corresponding to the puncture path, so that the operation difficulty is reduced, and the operation error is reduced.

The robot arm control system includes:

In order to make the control method corresponding to the mechanical arm control system suitable for the mechanical arm for the puncture surgery provided by the present specification clearer, the following describes in detail the implementation process of the solution provided by the present specification with reference to the accompanying drawings and specific embodiments.

Referring to fig. 5, fig. 5 is a flowchart illustrating a control method suitable for puncturing a surgical robot arm according to an embodiment provided in the present specification. The method may be applied to a control device for controlling the robot arm. As shown in fig. 5, the process includes:

step 101, determining position information of a current positioning point of the mechanical arm and position information of a current positioning shaft based on a current posture of the mechanical arm holding the puncture needle.

The current posture of the mechanical arm is the space posture of the mechanical arm before the mechanical arm moves to the target posture. The mechanical arm for holding the puncture needle is used for controlling the spatial position and the posture of the puncture needle, so that the puncture needle is controlled to be aligned to a preset puncture path for a human body based on the control of the mechanical arm, and the automatic searching of the needle inserting position is realized. For example, fig. 6 is a schematic diagram illustrating the current pose and the target pose of the robot arm. The method of the embodiment of the invention can control the mechanical arm to move from the current posture (the mechanical arm represented by the solid line) to the target posture (the mechanical arm represented by the dotted line).

This step may determine position information of a current location point on the mechanical arm based on the current posture of the mechanical arm. The current positioning point is a reference point for positioning when the mechanical arm is in the current posture. For example, the position of the tracker may be set in advance on the robot arm. In this step, the position information of the position point of the tracker on the mechanical arm may be determined as the position information of the current positioning point. The specific manner of determining the location information of the location point of the tracker is not limited in the embodiments of the present invention. For example, the position information of the tracker may be collected by a binocular camera.

Further, this step may determine position information of a current positioning axis on the robot arm based on the current posture of the robot arm. The current positioning shaft is a reference shaft used for positioning when the mechanical arm is in the current posture. For example, the shaft may be provided in advance to be freely rotatable on the robot arm. It is understood that the current positioning point in this embodiment is rotatable about the current positioning axis. Taking fig. 6 as an example, the administration needle denoted P1P2 may be determined as the current positioning axis in this embodiment, wherein the tracker on the robotic arm may be rotated around the administration needle P1P 2.

It is to be understood that the specific manner of determining the positional information of the current positioning axis of the robot arm in the present embodiment is not limited. For example, image information of the current positioning axis may be acquired based on a monocular or binocular camera, so that corresponding position information is determined based on a preset navigation system.

And 102, determining the position information of the target positioning point under the target posture of the mechanical arm according to the position relation between the current positioning point and the current positioning shaft and the position information of the target positioning shaft, wherein the position information of the target positioning shaft is determined according to the puncture path data of the focus.

In the related tumor administration treatment technology, the needle insertion point and the needle insertion direction of the administration needle on the patient body can be predetermined based on manual or intelligent decision, so that the administration needle can be moved to the corresponding needle insertion point and needle insertion direction for further performing the puncturing operation. In the embodiment of the invention, the position information of the target positioning shaft when the mechanical arm is in the target posture can be determined based on the needle inserting point and the needle inserting direction determined by the puncture path data of the predetermined focus.

The step can be used for predetermining the position information of the target positioning shaft of the mechanical arm in the target posture. And the target positioning axis is positioned on the positioning axis of the mechanical arm in the target posture. For example, when the puncture path is determined in advance, the positional information of the administration needle T1T2 with the robot arm in the target posture may be determined as the positional information of the target positioning axis in this step based on the navigation system of the robot arm.

Furthermore, the step may determine the position information of the target positioning point according to the position relationship between the current positioning point and the current positioning axis and the position information of the target positioning axis. For example, this step may determine, as the position information of the target positioning point, the position information of the position point of the tracker of the robot arm in the target posture, based on the positional relationship between the position information of the position point of the tracker of the robot arm in the current posture and the medication needle P1P2, in combination with the position information of the medication needle T1T2 in the target posture.

103, controlling the mechanical arm to move to the target posture according to the target positioning point and the position information of the target positioning shaft, so that the puncture needle is aligned to a puncture path.

After the position information of the target positioning point and the position information of the target positioning shaft of the mechanical arm in the target posture are determined, the mechanical arm can be controlled to move from the current posture to the target posture in the step, so that the puncture needle on the mechanical arm is aligned to the puncture path, for example, the puncture needle is controlled to be aligned to the needle access point and the needle access direction.

For example, this step may control the robot arm to move from the current posture shown in fig. 6 to the target posture shown in fig. 6. Specifically, the administration needle of P1P2 may be moved to the position of T1T2, and the tracker with the mechanical arm in the current posture may be moved to the position of the tracker with the mechanical arm in the target posture.

According to the mechanical arm control method, the position information of the mechanical arm in the target posture is determined according to the position information of the mechanical arm in the current posture, so that the mechanical arm can be automatically controlled to be adjusted to the target posture from the current posture. The mechanical arm control mode does not need manual operation, the medicine feeding needle can be automatically moved to a puncture point corresponding to a preset puncture path through the mechanical arm by means of the mechanical arm control mode, the direction of the medicine feeding needle is consistent with the direction of the medicine feeding needle corresponding to the puncture path, and therefore operation difficulty is reduced, and operation errors are reduced.

In some alternative embodiments, the specific implementation of step 102, as shown in fig. 7, may include the following steps:

step 301, determining a projection point of the current positioning point on the straight line where the current positioning axis is located as a current circle center.

Step 302, determining the distance between the current circle center and the current positioning point as a target radius.

In the embodiment of the invention, the projection point of the current positioning point on the straight line of the current positioning axis can be determined as the current circle center; and determining the distance between the current circle center and the current positioning point as a target radius.

Taking the robot arm in the current posture in fig. 6 as an example, the position point P0 of the tracker on the robot arm in the current posture may be determined as the current positioning point, and the administration needle P1P2 may be determined as the current positioning axis. According to the embodiment of the invention, the projection point Pv of the P0 on the straight line where the P1P2 is located can be determined as the current circle center; the distance R between P0 and Pv is determined as the target radius.

Step 303, determining a target circle center on the straight line where the target positioning axis is located according to the position relationship between the current circle center and the current positioning axis and the position information of the target positioning axis.

The current circle center is on the straight line of the current positioning shaft, and the step can determine the position relation between the current circle center and the current positioning shaft. For example, the positional relationship between the current center Pv and the administration needle P1P2 may be determined. The specific representation manner of the position relationship between the two is not limited in this embodiment.

After the position relation between the current circle center and the current positioning shaft is determined, the step can determine the circle center of the target on the straight line where the target positioning shaft is located by combining the position information of the target positioning shaft. For example, after determining the positional relationship between the current center Pv and the administration needle P1P2, the present step may determine the target center Tv on the straight line where the administration needle T1T2 is located, in combination with the positional information of the administration needle T1T 2.

In one possible implementation, the current positioning axis includes a first axis point and a second axis point; the target positioning shaft comprises a third shaft point and a fourth shaft point; the specific implementation of step 303 may include: determining the distance between the target circle center and a third axis point and a fourth axis point on the target positioning shaft respectively according to the distance between the current circle center and a first axis point and a second axis point on the current positioning shaft respectively; and determining the position information of the center of the target circle according to the distances between the center of the target circle and a third axis point and a fourth axis point on the target positioning axis respectively and the position information of the third axis point and the fourth axis point.

In the above possible implementation, the point P1 on the administration needle P1P2 may be determined as the first axis point, and the point P2 may be determined as the second axis point; the point T1 and the point T2 on the administration needle T1T2 were determined as the third axis point and the third axis point, respectively. In a specific implementation of step 303, the distances between the target circle center Tv and the T1 point and the T2 point on the administration needle T1T2 may be determined according to the distances between the current circle center Pv and the P1 point and the P2 point on the administration needle P1P2, respectively. Since the position information of the administration needle T1T2 is available in advance, that is, the position information of the T1 point and the T2 point is known, the position information of the target center Tv may be further determined on the straight line where P1P2 is located according to the distances between the target center Tv and the T1 point and the T2 point, respectively, in the present implementation.

And 304, determining a point on a circle determined by the center of the target circle and the target radius as a target positioning point in the target posture of the mechanical arm in a plane perpendicular to the target positioning axis.

After the center of a circle of the target is determined on the straight line of the target positioning axis, the point on the circle determined by the center of the circle of the target and the radius of the target in the plane perpendicular to the target positioning axis can be determined as the target positioning point in the target posture of the mechanical arm.

In the embodiment of the invention, the target attitude is used for representing the preset target space attitude of the mechanical arm. For example, the spatial pose of the robotic arm controlling the drug delivery to the access needle point and maintaining the access needle direction may be determined as the target pose of the robotic arm. Taking fig. 6 as an example, in this step, a point on a circle defined by the target circle center Tv and the target radius R on a plane perpendicular to the administration needle T1T2 may be determined as a target positioning point T0 in the target posture of the robot arm. For example, the position point of the tracker on the robot arm in the target posture is determined to be T0.

In one possible implementation, step 304 may include: and determining the point, which is closest to the current positioning point, on a circle determined by the center of the target circle and the target radius as the target positioning point. For example, in the present implementation, the point on the circle defined by the target central point Tv and the target radius R and closest to the current anchor point P0 may be determined as the target anchor point T0.

In some optional embodiments, the puncture path data comprises needle insertion point position information and needle insertion direction information; the position information of the target positioning shaft comprises third shaft point position information and fourth shaft point position information; before determining the position information of the target positioning point under the target posture of the mechanical arm, the method comprises the following steps: taking the position information of the needle insertion point as position information of a third axis (basically coinciding); and taking the position information of the third axis as a starting point, and extending a preset length value of the puncture needle according to the direction opposite to the needle inserting direction information to obtain the position information of the fourth axis.

In some alternative embodiments, the current positioning axis includes a first axis point and a second axis point; the target positioning shaft comprises a third shaft point and a fourth shaft point; step 102 may include:

determining the distance between the current positioning point and the first axis point as a first spherical radius;

determining the distance between the current positioning point and the second axis point as a second spherical radius;

determining a first spherical surface according to the third axis point and the first spherical radius;

determining a second spherical surface according to the fourth axial point and the second spherical radius;

and determining a point on an intersecting line of the first spherical surface and the second spherical surface as a target positioning point under the target posture of the mechanical arm.

Taking fig. 6 as an example, the point P1 and the point P2 on the administration needle P1P2 can be regarded as the first axis point and the second axis point in the above embodiment; the third axis point was defined as the point T1 and the fourth axis point was defined as the point T2 on the administration needle T1T 2. In a specific step 102, the distance between the current positioning point P0 and P1 may be determined as a first sphere radius R1; the distance between the current positioning point P0 and P2 is determined as the second sphere radius R2. Further, in step 102, a first spherical surface may be determined with the third axis T1 as the center of the sphere and the first spherical radius R1 as the radius; the second spherical surface is determined by taking the fourth axis point T2 as the spherical center and the second spherical radius R2 as the radius. Still further, in step 102, a point on an intersection line of the first spherical surface and the second spherical surface may be determined as a target positioning point in the target posture of the mechanical arm.

In some optional embodiments, after step 103, as shown in fig. 8, the following steps may be further included:

step 401, determining a target state matrix of the mechanical arm according to the target posture, and determining a current state matrix of the mechanical arm according to the current posture of the mechanical arm.

In the embodiment of the invention, the target state matrix of the mechanical arm can be determined according to the target posture of the mechanical arm. The target state matrix is used for representing the space posture of the mechanical arm in the target posture. For example, a target state matrix corresponding to a target posture of the robot arm may be determined from a preset puncture path based on a navigation system that can control the robot arm.

Similarly, in this embodiment, the current state matrix of the robot arm may be determined according to the current posture of the robot arm. The current state matrix is used for representing the current spatial attitude of the mechanical arm after being adjusted in step 103.

Step 402, controlling the mechanical arm to move to the target posture according to the difference between the current state matrix and the target state matrix.

In the step, the mechanical arm is controlled to move to the target posture according to the difference between the current state matrix and the target state matrix. It is understood that step 401 and step 402 may be a closed loop feedback calculation process, and the accuracy of the final posture of the robot arm may be improved by continuously adjusting the posture of the robot arm according to the difference between the target posture and the current posture.

In a possible implementation manner, if a target state matrix corresponding to a target posture of the mechanical arm is MT and a current state matrix corresponding to a current posture is MN, an error between the current posture and the target posture of the mechanical arm, that is, a difference between the target state matrix and the current state matrix, may be represented as:

wherein, | | · | | F represents the Frobenius norm.

In one possible implementation, the state matrix includes a pose matrix; step 402 may include: determining a motion matrix according to the difference between the current attitude matrix and the target attitude matrix of the mechanical arm; and controlling the mechanical arm to move to the target posture according to the motion matrix. The attitude matrix is used for representing angle information of a coordinate system. For example, it may be a 3 × 3 attitude matrix.

For example, if a target posture matrix corresponding to the target posture of the mechanical arm is RT and a current posture matrix corresponding to the current posture is RN, an error between the target posture matrix and the current posture matrix of the mechanical arm may be represented as:

each time the calculation is finished, a matrix is obtained

M may be determined as a motion matrix of the robot arm, and the robot arm may be further controlled to move to the target pose according to the motion matrix.

It can be understood that the process of adjusting the posture of the mechanical arm based on the error between the target posture matrix and the current posture matrix can also be a closed-loop feedback process, and the final space posture of the mechanical arm can be closer to the preset target posture by continuously adjusting the space posture of the mechanical arm.

In one possible implementation, the state matrix includes a translation matrix; step 402 may include: determining a motion matrix according to the difference between the current translation matrix and the target translation matrix of the mechanical arm; and controlling the mechanical arm to move to the target posture according to the motion matrix. The translation matrix is used for representing translation information of the coordinate system.

For example, if a target translation matrix corresponding to the target pose of the mechanical arm is tT and a current translation matrix corresponding to the current pose is tN, an error between the target translation matrix of the mechanical arm and the current translation matrix may be represented as:

each time the calculation is finished, a matrix is obtained

M can be determined as a motion matrix of the mechanical arm, and the mechanical arm can be further controlled according to the motion matrixAnd moving to the target posture.

It can be understood that the process of adjusting the posture of the mechanical arm based on the error between the target translation matrix and the current translation matrix can also be a closed-loop feedback process, and the final space posture of the mechanical arm can be closer to the preset target posture by continuously adjusting the space posture of the mechanical arm.

It should be noted that the method for adjusting the posture of the mechanical arm based on the error between the target posture matrix and the current posture matrix and the method for adjusting the posture of the mechanical arm based on the error between the target translation matrix and the current translation matrix may be used in combination or separately, and the embodiments of the present invention are not limited.

The embodiment also provides a robot arm control device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the robot arm control method of any embodiment of the specification.

Other embodiments of the present description will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This specification is intended to cover any variations, uses, or adaptations of the specification following, in general, the principles of the specification and including such departures from the present disclosure as come within known or customary practice within the art to which the specification pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the specification being indicated by the following claims.

It will be understood that the present description is not limited to the precise arrangements described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present description is limited only by the appended claims.

The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A targeted drug delivery needle clamping navigation device, comprising:

the medicine feeding needle fixing sleeve (52) is provided with a guide channel which is used for guiding the insertion of a needle cylinder of a medicine feeding needle and limiting the insertion path of the needle cylinder, the guide channel is attached to the outer wall of the needle cylinder, and a visual structure (521) capable of identifying scales on the needle cylinder is arranged on the guide channel;

the needle head limiting sleeve (53) is fixedly connected to the tail end of the administration needle fixing sleeve (52), and the needle head limiting sleeve (53) is provided with at least one first limiting hole which is arranged along the insertion direction of the administration needle and is matched with the size of a needle head (161);

give the needle degree of depth stop device, connect in the fixed cover of needle (52) of dosing is used for right the depth of puncture of the needle of dosing carries on spacingly, give the needle degree of depth stop device establish including the cover give the fixed cover of needle (52) outside needle stop collar (51) of dosing, give the needle stop collar (51) can follow the axial of the fixed cover of needle (52) of dosing reciprocates ground and connects on the lateral wall of the fixed cover of needle (52) of dosing, give the needle stop collar (51) and be in after the needle point of the needle of dosing reachd the focus, follow the fixed cover of needle (52) rebound of dosing supports the cylinder seat (162) of cylinder is with right the depth of puncture of the needle of dosing carries on spacingly.

2. The targeted drug delivery needle grip navigation device of claim 1,

the inner side wall of the administration needle limiting sleeve (51) is formed with internal threads, the administration needle fixing sleeve (52) is at least formed with external threads on the upper part of the outer side wall of the administration needle fixing sleeve, and the administration needle limiting sleeve (51) moves up and down along the outer side wall of the administration needle fixing sleeve (52) by means of the threaded matching of the internal threads and the external threads.

3. The targeted drug delivery needle clip navigation device of claim 1 or 2,

the visual structure (521) is an axial cutting groove formed along the outer side wall of the administration needle fixing sleeve (52), and the position of the axial cutting groove corresponds to the position of the scale of the needle cylinder.

4. The targeted drug delivery needle clip navigation device of claim 1 or 2,

be equipped with first locating hole (532) on the terminal lateral wall of the fixed cover of needle (52) of dosing, be equipped with on the lateral wall of syringe needle stop collar (53) with the corresponding second locating hole of first locating hole (532), penetrate through location knob (54) first locating hole (532) with the second locating hole is right syringe needle stop collar (53) are fixed a position and are locked.

5. The targeted drug delivery needle clamping navigation device of claim 1, wherein the drug delivery needle stop collar (51) is of a structure made of transparent material.

6. The targeted drug delivery needle clamping navigation device of claim 1, wherein the needle head stop collar (53) is a structure made of nylon material.

7. The device for clamping and navigating the targeted drug delivery needle as claimed in claim 6, wherein a silica gel inner liner is fixedly arranged on one side of the needle head limiting sleeve (53) facing the drug delivery needle fixing sleeve (52), the silica gel inner liner is provided with a second limiting hole corresponding to the first limiting hole (531), and the diameter of the second limiting hole is slightly smaller than the outer diameter of the needle head (161).

8. A targeted drug delivery therapeutic system, comprising:

the mechanical arm, the tail end of the mechanical arm is connected with the targeted medicine feeding needle clamping navigation device according to any one of claims 1-7, and a tracker for positioning the space position of the medicine feeding needle is further arranged on the mechanical arm;

9. The targeted drug delivery therapy system of claim 8, wherein the navigation system comprises

A robotic arm control system, the robotic arm control system comprising:

10. The targeted drug delivery treatment system of claim 9, wherein determining the position information of the target positioning point in the target posture of the mechanical arm according to the position relationship between the current positioning point and the current positioning axis and the position information of the target positioning axis comprises: