CN114310910B - Control method, control equipment and auxiliary system suitable for mechanical arm for puncture operation - Google Patents
Control method, control equipment and auxiliary system suitable for mechanical arm for puncture operation Download PDFInfo
- Publication number
- CN114310910B CN114310910B CN202210118435.0A CN202210118435A CN114310910B CN 114310910 B CN114310910 B CN 114310910B CN 202210118435 A CN202210118435 A CN 202210118435A CN 114310910 B CN114310910 B CN 114310910B
- Authority
- CN
- China
- Prior art keywords
- target
- mechanical arm
- point
- current
- position information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000002679 ablation Methods 0.000 claims abstract description 50
- 239000011159 matrix material Substances 0.000 claims description 72
- 238000003780 insertion Methods 0.000 claims description 16
- 230000037431 insertion Effects 0.000 claims description 16
- 230000003902 lesion Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 description 17
- 230000001276 controlling effect Effects 0.000 description 11
- 206010028980 Neoplasm Diseases 0.000 description 5
- 238000011298 ablation treatment Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
-
- 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
- A61B34/32—Surgical robots operating autonomously
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- A61B2034/2051—Electromagnetic tracking systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application provides a control method, a mechanical arm control device and an ablation auxiliary system suitable for a puncture operation mechanical arm, wherein the method comprises the following steps: determining the position information of a current positioning point and the position information of a current positioning shaft of a mechanical arm based on the current gesture of the mechanical arm holding the puncture needle; determining the position information of a 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; and controlling the mechanical arm to move to the target gesture according to the position information of the target positioning point and the target positioning shaft, so that the puncture needle aims at a puncture path.
Description
The application is a divisional application of an application application with the application number of 202111584355.6 and the application name of a control method, control equipment and auxiliary system applicable to a puncture operation mechanical arm, which is filed in 2021, 12 and 23.
Technical Field
The application relates to the field of intelligent medical treatment, in particular to a control method, control equipment and an ablation auxiliary system suitable for a puncture operation mechanical arm.
Background
Tumor ablation treatment refers to a local interventional therapy technique for directly destroying tumors by various physical methods. In the related tumor ablation treatment technology, the puncture path of the ablation needle can be determined according to the position of a focus in a patient, and a doctor can puncture the ablation needle into the human body according to the puncture path to control the ablation equipment to execute corresponding actions. The puncture operation is operated by doctors and the like, so that the accuracy of positioning the puncture point and the needle inserting direction on the skin of the human body is difficult to ensure, and the puncture operation has great difficulty.
Disclosure of Invention
At least one embodiment of the application provides a mechanical arm control method, mechanical arm control equipment and an ablation auxiliary system.
According to a first aspect of an embodiment of the present application, there is provided a control method suitable for a puncture operation mechanical arm, including: determining the position information of a current positioning point and the position information of a current positioning shaft of a mechanical arm based on the current gesture of the mechanical arm holding the puncture needle; determining the position information of a 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; and controlling the mechanical arm to move to the target gesture according to the position information of the target positioning point and the target positioning shaft, so that the puncture needle aims at a puncture path.
According to a second aspect of an embodiment of the present application, there is provided a robot arm control device including a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the program.
According to a third aspect of embodiments of the present application, there is provided a lesion ablation assistance system comprising: the mechanical arm is used for holding the ablation needle and is provided with a tracker used for positioning the spatial position of the ablation 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 three-dimensional model 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 insertion direction information, capturing an ablation needle space position by using the tracker on the mechanical arm, and controlling the mechanical arm to aim the ablation needle at a puncture path according to the method of the first aspect.
In the embodiment of the application, the position information of the mechanical arm under the target gesture is determined according to the position information of the mechanical arm under the current gesture, so that the mechanical arm can be automatically controlled to be adjusted from the current gesture to the target gesture. According to the mechanical arm control mode, manual operation is not needed, the ablation needle can be automatically moved to a puncture point corresponding to a preset puncture path through the mechanical arm in the mode, the direction of the ablation needle is kept consistent with the needle inserting direction corresponding to the puncture path, and therefore operation difficulty and operation error are reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
FIG. 1 is a flowchart illustrating a method for controlling a robotic arm according to an exemplary embodiment;
FIG. 2 is a schematic illustration of a current pose and a target pose of a robotic arm, according to an example embodiment;
FIG. 3 is a flowchart illustrating a method of determining a target anchor point according to an exemplary embodiment;
FIG. 4 is a flowchart illustrating another method of controlling a robotic arm according to an example embodiment;
fig. 5 is a diagram illustrating a lesion ablation assistance system according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The detailed description of the exemplary embodiments that follows does not represent all aspects consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
In the related tumor ablation treatment technology, a doctor is required to manually operate an ablation needle to a puncture point corresponding to a preset puncture path, and adjust the direction of the ablation needle to keep the same with the needle insertion direction corresponding to the puncture path.
The embodiment of the application provides a control method suitable for a mechanical arm for a puncture operation, which can automatically adjust the mechanical arm from a current posture to a target posture. Based on the mechanical arm control mode, the ablation needle can be automatically moved to a puncture point corresponding to a preset puncture path through the mechanical arm, and the direction of the ablation needle is kept consistent with the needle entering direction corresponding to the puncture path, so that the operation difficulty is reduced, and the operation error is reduced.
In order to make the control method suitable for the mechanical arm for the puncture operation more clear, the scheme execution process provided by the application is described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, fig. 1 is a flowchart of a control method suitable for a puncture operation mechanical arm according to an embodiment of the present application. The method may be applied to a control device that controls the robot arm. As shown in fig. 1, the process includes:
step 101, determining the position information of the current positioning point and the position information of the current positioning shaft of the mechanical arm based on the current gesture of the mechanical arm holding the puncture needle.
The current gesture of the mechanical arm is the spatial gesture of the mechanical arm before moving to the target gesture. The mechanical arm holding the puncture needle is used for controlling the space position and the gesture of the puncture needle so as to control the puncture needle to aim at a preset puncture path of a human body based on the control of the mechanical arm and realize the searching of an automatic needle insertion position. By way of example, fig. 2 is a schematic diagram illustrating a current pose and a target pose of a manipulator. The method of the embodiment of the application can control the mechanical arm to move from the current gesture (the mechanical arm represented by the solid line) to the target gesture (the mechanical arm represented by the dotted line).
The step can determine the position information of the current positioning point on the mechanical arm based on the current gesture of the mechanical arm. The current positioning point is a reference point for positioning when the mechanical arm is in the current gesture. For example, the position point of the tracker may be set in advance on the robot arm. The step can determine the position information of the position point of the tracker on the mechanical arm as the position information of the current positioning point. The specific manner of determining the position information of the position point of the tracker is not limited in the embodiment of the present application. For example, the position information of the tracker may be acquired by a binocular camera.
Further, the step may determine the positional information of the current positioning axis on the mechanical arm based on the current posture of the mechanical arm. The current positioning shaft is a reference shaft used for positioning when the mechanical arm is in the current posture. It will be appreciated that the specific manner of determining the position information of the current positioning axis of the mechanical arm in this embodiment is not limited, and the surgical navigation system may identify the position information of the positioning axis by acquiring an image.
Step 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 ablation treatment technology, the needle insertion point and the needle insertion direction of the ablation needle on a patient can be predetermined in a manner generally based on an artificial or intelligent decision, so that the ablation needle can be moved to the corresponding needle insertion point and the needle insertion direction so as to further perform the puncturing operation. In the embodiment of the application, the position information of the target positioning shaft when the mechanical arm is in the target posture can be determined based on the needle insertion point and the needle insertion direction determined by the puncture path data of the preset focus.
The step can be to pre-determine the position information of the target positioning shaft of the mechanical arm in the target posture. The target positioning shaft position mechanical arm is positioned on a positioning shaft under a target posture. For example, in the case where the puncture path is determined in advance, the positional information of the ablation needle T1T2 of the robot arm in the target posture may be determined based on the navigation system of the robot arm as the positional information of the target positioning shaft in this step.
Further, the step can determine the position information of the target positioning point according to the position relation between the current positioning point and the current positioning shaft and the position information of the target positioning shaft. For example, in this step, the position information of the position point of the tracker of the mechanical arm in the target posture can be determined as the position information of the target positioning point according to the position relation between the position information of the position point of the tracker of the mechanical arm in the current posture and the position information of the ablation needle in combination with the position information of the ablation needle of the mechanical arm in the target posture.
And step 103, controlling the mechanical arm to move to the target gesture according to the position information of the target positioning point and the target positioning shaft, so that the puncture needle aims at a puncture path.
After determining 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, the step can control the mechanical arm to move from the current posture to the target posture, so that the puncture needle on the mechanical arm aims at the puncture path, for example, the puncture needle is controlled to aim at the access needle point and the needle inserting direction.
For example, as shown in fig. 2, the solid line portion indicates the current posture of the mechanical arm, and the dotted line portion indicates the target posture of the mechanical arm, in order to complete this posture conversion process, the tracker 51 of the mechanical arm in the current posture may be moved to the position of the tracker 51 of 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 from the current posture to the target posture. According to the mechanical arm control mode, manual operation is not needed, the ablation needle can be automatically moved to a puncture point corresponding to a preset puncture path through the mechanical arm in the mode, the direction of the ablation needle is kept consistent with the needle inserting direction corresponding to the puncture path, and therefore operation difficulty and operation error are reduced.
In some alternative embodiments, the specific implementation of step 102, as shown in fig. 3, may include the steps of:
and 301, determining a projection point of the current positioning point on a straight line where the current positioning axis is located as a current circle center.
And 302, determining the distance between the current circle center and the current positioning point as a target radius.
In the embodiment of the application, the projection point of the current positioning point on the straight line of the current positioning shaft 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 mechanical arm in the current posture as an example in fig. 2, a position point P0 of a tracker on the mechanical arm in the current posture (specifically, a virtual point calculated according to a plurality of bulbs of the tracker 51, not shown in the drawing) may be determined as a current positioning point, and a straight line where the ablation needle 52 is located may be determined as a current positioning axis. According to the embodiment of the application, the projection point Pv of P0 on the straight line where the current positioning shaft is located can be determined as the current circle center; the distance R between P0 and Pv is determined as the target radius.
And step 303, 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.
The current circle center is positioned on a straight line where the current positioning shaft is positioned, and the step can determine the position relation between the current circle center and the current positioning shaft. For example, a positional relationship between the current center Pv and the ablation needle 52 may be determined. The specific expression of the positional relationship between the two is not limited in this embodiment.
After determining the position relationship between the current circle center and the current positioning shaft, the step can combine the position information of the target positioning shaft to determine the target circle center on the straight line where the target positioning shaft is located. For example, after determining the positional relationship between the current center Pv and the ablation needle 52, this step may combine the positional information of the ablation needle 52 to determine the target center Tv on the straight line where the ablation needle 52 is located.
In one possible implementation, the current positioning axis includes a first axis point and a second axis point thereon; the target positioning shaft comprises a third shaft point and a fourth shaft point; the specific implementation of step 303 may include: according to the distances between the current circle center and a first axis point and a second axis point on the current positioning axis respectively, determining the distances between the target circle center and a third axis point and a fourth axis point on the target positioning axis respectively; and determining the position information of the target center according to the distances between the target center and a third axial point and a fourth axial point on the target positioning shaft and the position information of the third axial point and the fourth axial point.
In the above possible implementation, the point P1 when the ablation needle 52 is in the current posture may be determined as a first axis point, and the point P2 may be determined as a second axis point; the point T1 when the ablation needle 52 is in the target posture is determined as the third axis point, and the point T2 is determined as the third axis point. In a specific implementation of step 303, the distances between the target circle center Tv and the point T1 and the point T2 on the ablation needle 52 may be determined according to the distances between the current circle center Pv and the point P1 and the point P2 on the ablation needle 52, respectively. Since the position information of the ablation needle 52 is available in advance, that is, the position information of the point T1 and the point T2 are known, in this implementation manner, the position information of the target center Tv may be further determined on the straight line where the point P1 and the point P2 are located according to the distances between the target center Tv and the point T1 and the point T2, respectively.
And 304, determining a point on a circle determined by the circle center of the target and the radius of the target as a target positioning point in the target posture of the mechanical arm in a plane perpendicular to the target positioning axis.
After the target circle center is determined on the straight line where the target positioning shaft is located, the step can determine the point on the circle determined by the target circle center and the target radius as the target positioning point in the target posture of the mechanical arm in the plane perpendicular to the target positioning shaft.
In the embodiment of the application, the target gesture is used for representing the preset target space gesture of the mechanical arm. For example, the spatial pose of the mechanical arm controlling ablation needle 52 to be aligned with the needle insertion point and maintained in the needle insertion direction may be determined as the target pose of the mechanical arm. Taking fig. 2 as an example, this step may determine, as a target positioning point T0 in the target pose of the mechanical arm, a point on a circle determined by the target center Tv and the target radius R on a plane perpendicular to the ablation needle 52 (in the target pose). For example, the position point of the tracker on the robot arm in the target pose is determined to be T0.
In one possible implementation, step 304 may include: and determining the point on the circle determined by the target circle center and the target radius, which is closest to the current positioning point, as the target positioning point. For example, in the present implementation, a point on a circle determined by the target center point Tv and the target radius R, which is closest to the current positioning point P0, may be determined as the target positioning point T0.
In some optional embodiments, the puncture path data includes needle insertion point position information, 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 a target positioning point in the target gesture of the mechanical arm, the method comprises the following steps: taking the needle insertion point position information as third axis point position information (basically overlapping); and extending a preset puncture needle length value according to the opposite direction of the needle inserting direction information by taking the third axial point position information as a starting point to obtain fourth axial point position information.
In some alternative embodiments, the current positioning axis includes a first axis point and a second axis point thereon; 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 axial point as a first sphere radius;
determining the distance between the current positioning point and the second axial point as a second spherical radius;
determining a first spherical surface according to the third axial point and the first spherical radius;
determining a second spherical surface according to the fourth axis point and the second spherical radius;
and determining a point on the intersection line of the first spherical surface and the second spherical surface as a target positioning point in the target gesture of the mechanical arm.
Taking fig. 2 as an example, in the above embodiment, the point P1 may be taken as a first axis point, and the point P2 may be taken as a second axis point; point T1 is taken as the third axis point and point T2 is taken as the fourth axis point. In a specific step 102, the distance between the current positioning point P0 and the point P1 may be determined as a first spherical radius R1; the distance between the current positioning point P0 and the point P2 is determined as the second spherical radius R2. Further, in step 102, the third axis T1 may be the center of the sphere, and the first sphere radius R1 may be the radius, so as to determine the first sphere; and determining a second spherical surface by taking the fourth axis point as a spherical center and taking the second spherical radius R2 as a 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 alternative embodiments, following step 103, the following steps may also be included as shown in FIG. 4:
step 401, determining a target state matrix of the mechanical arm according to the target gesture, and determining a current state matrix of the mechanical arm according to the current gesture of the mechanical arm.
In the embodiment of the application, the target state matrix of the mechanical arm can be determined according to the target gesture of the mechanical arm. The target state matrix is used for representing the spatial gesture of the mechanical arm under the target gesture. For example, a target state matrix corresponding to a target posture of the mechanical arm may be determined according to a preset puncture path based on a navigation system of the controllable mechanical arm.
Likewise, in this embodiment, the current state matrix of the mechanical arm may be determined according to the current pose of the mechanical arm. The current state matrix is used for representing the current spatial gesture of the mechanical arm after being adjusted in step 103.
And step 402, controlling the mechanical arm to move to the target gesture according to the difference between the current state matrix and the target state matrix.
The step can control the mechanical arm to move to the target gesture according to the difference between the current state matrix and the target state matrix. It can be appreciated that, in the embodiment of the present application, step 401 and step 402 may be a closed loop feedback calculation process, and the accuracy of the final posture of the mechanical arm may be improved by continuously adjusting the posture of the mechanical arm according to the difference between the target posture and the current posture.
In one possible implementation manner, a target state matrix corresponding to the target gesture of the mechanical arm is set as M T The current state matrix corresponding to the current gesture is M N The error between the current pose of the mechanical arm and the target pose, i.e. the difference between the target state matrix and the current state matrix, can be expressed as:
E＝min||M T -M N || F
wherein, the liquid crystal display device comprises a liquid crystal display device, I.I F represents Frobenius norm.
In one possible implementation, the state matrix includes a gesture matrix; step 402 may include: determining a motion matrix according to the difference between the current gesture matrix of the mechanical arm and the target gesture matrix; and controlling the mechanical arm to move to the target gesture according to the motion matrix. The gesture matrix is used for representing angle information of the coordinate system. For example, a 3×3 pose matrix is possible.
For example, a target gesture matrix corresponding to the target gesture of the mechanical arm may be set as R T The current gesture matrix corresponding to the current gesture is R N The error between the target pose matrix of the mechanical arm and the current pose matrix can be expressed as:
E R ＝min||R T -R N || F
each time the calculation is completed, a matrix is obtainedM can be determined as a motion matrix of the mechanical arm, and further the mechanical arm can be controlled to move to the target gesture 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 spatial posture of the mechanical arm can be more approximate to the preset target posture by continuously adjusting the spatial 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 of the mechanical arm and the target translation matrix; and controlling the mechanical arm to move to the target gesture according to the motion matrix. The translation matrix is used for representing translation information of the coordinate system.
For example, a target translation matrix corresponding to the target gesture of the mechanical arm may be set as t T The current translation matrix corresponding to the current gesture is t N The error between the manipulator target translation matrix and the current translation matrix can be expressed as:
E t ＝min||t T -t N || F
each time the calculation is completed, a matrix is obtainedM can be determined as a motion matrix of the mechanical arm, and further the mechanical arm can be controlled to move to the target gesture 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 translation matrix and the current translation matrix can also be a closed loop feedback process, and the final spatial posture of the mechanical arm can be more approximate to the preset target posture by continuously adjusting the spatial posture of the mechanical arm.
It should be noted that, the gesture mode of the mechanical arm is adjusted based on the error between the target gesture matrix and the current gesture matrix and the gesture mode of the mechanical arm is adjusted based on the error between the target translation matrix and the current translation matrix, and the two gesture adjustment modes can be used in combination or independently, and the embodiment of the application is not limited.
The application also provides a mechanical 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 realizes the mechanical arm control method of any embodiment of the application when executing the program.
The application also provides a focus ablation auxiliary system, comprising:
the mechanical arm is used for holding the ablation needle and is provided with a tracker used for positioning the spatial position of the ablation 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 utilizing a tracker on the body of the patient, registering the human body three-dimensional model so as to enable the human body three-dimensional model 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 insertion direction information, capturing an ablation needle space position by utilizing the tracker on the mechanical arm, and controlling the mechanical arm to aim at an ablation needle to a puncture path according to the mechanical arm control method of any embodiment of the application.
An exemplary lesion ablation auxiliary system provided by the application is shown in fig. 5, and the system 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, an ablation needle holding unit 5, a multi-degree-of-freedom diagnosis bed 7, a mechanical arm bearing trolley 8 and a human body positioning belt 9.
The method executed by the system comprises the following steps:
establishing a human body three-dimensional model comprising a focus according to a CT image of a patient;
acquiring human body position information by using a tracker on the body of a patient, and registering with the human body three-dimensional model to enable the human body three-dimensional model to correspond to the human body position information;
determining puncture path data aiming at a focus based on a human body three-dimensional model, wherein the puncture path at least comprises puncture point information, needle inserting direction information and needle inserting depth information;
the position information of the ablation needle is acquired by using a tracker on the mechanical arm 6, and the mechanical arm 6 is controlled to aim the ablation needle at the skin of the human body according to the puncture point information and the needle inserting direction information based on the position information of the ablation needle;
after the ablation needle is punctured into the human body according to the needle depth information, the ablation action is performed on the focus.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.
Claims (7)
1. A control method suitable for a puncture operation mechanical arm, comprising:
determining the position information of a current positioning point of a mechanical arm and the position information of a current positioning shaft based on the current gesture of the mechanical arm holding a puncture needle, wherein the current positioning point is the position point of a tracker on the mechanical arm, and the current positioning shaft is a straight line where the puncture needle is located;
determining the position information of a 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 a focus, and the puncture path data comprises needle-in point position information and needle-in direction information;
the current positioning shaft comprises a first shaft point and a second shaft point; the target positioning shaft comprises a third shaft point and a fourth shaft point; determining the position information of a target positioning point under the target gesture of the mechanical arm comprises determining the distance between the current positioning point and the first axial point as a first spherical radius; determining the distance between the current positioning point and the second axial point as a second spherical radius; determining a first spherical surface according to the third axial point and the first spherical radius; determining a second spherical surface according to the fourth axis point and the second spherical radius; determining a point on the intersection line of the first spherical surface and the second spherical surface as a target positioning point in the target posture of the mechanical arm;
and controlling the mechanical arm to move to the target gesture according to the position information of the target positioning point and the target positioning shaft, so that the puncture needle aims at a puncture path.
2. The method according to claim 1, characterized in that before determining the position information of a target positioning point in the target pose of the robot arm, the method comprises:
taking the needle insertion point position information as third axis point position information;
and extending a preset puncture needle length value according to the opposite direction of the needle inserting direction information by taking the third axial point position information as a starting point to obtain fourth axial point position information.
3. The method according to claim 1, further comprising, after said controlling the movement of the robot arm to the target pose based on the positional information of the target positioning point and the target positioning axis:
determining a target state matrix of the mechanical arm according to the target gesture, and determining a current state matrix of the mechanical arm according to the current gesture of the mechanical arm;
and controlling the mechanical arm to move to the target gesture according to the difference between the current state matrix and the target state matrix.
4. A method according to claim 3, wherein the state matrix comprises a pose matrix;
and controlling the mechanical arm to move to the target gesture according to the difference between the current state matrix and the target state matrix, including:
determining a motion matrix according to the difference between the current gesture matrix of the mechanical arm and the target gesture matrix;
and controlling the mechanical arm to move to the target gesture according to the motion matrix.
5. The method of claim 3 or 4, wherein the state matrix comprises a translation matrix; and controlling the mechanical arm to move to the target gesture according to the difference between the current state matrix and the target state matrix, including:
determining a motion matrix according to the difference between the current translation matrix of the mechanical arm and the target translation matrix;
and controlling the mechanical arm to move to the target gesture according to the motion matrix.
6. A robot arm control device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any one of claims 1 to 5 when executing the program.
7. A lesion ablation assistance system, comprising:
the mechanical arm is used for holding the puncture needle and is provided with a tracker used for positioning the space position of the puncture 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 utilizing a tracker on the body of the patient, registering the human body three-dimensional model so as to enable the human body three-dimensional model and the human body space position to correspond to each other, 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 puncture needle space position by utilizing the tracker on the mechanical arm, and controlling the mechanical arm to aim the puncture needle at a puncture path according to the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210118435.0A CN114310910B (en) | 2021-12-23 | 2021-12-23 | Control method, control equipment and auxiliary system suitable for mechanical arm for puncture operation |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111584355.6A CN113954082B (en) | 2021-12-23 | 2021-12-23 | Control method, control equipment and auxiliary system suitable for puncture surgical mechanical arm |
| CN202210118435.0A CN114310910B (en) | 2021-12-23 | 2021-12-23 | Control method, control equipment and auxiliary system suitable for mechanical arm for puncture operation |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111584355.6A Division CN113954082B (en) | 2021-12-23 | 2021-12-23 | Control method, control equipment and auxiliary system suitable for puncture surgical mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114310910A CN114310910A (en) | 2022-04-12 |
| CN114310910B true CN114310910B (en) | 2023-09-05 |
Family
ID=79473592
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210118435.0A Active CN114310910B (en) | 2021-12-23 | 2021-12-23 | Control method, control equipment and auxiliary system suitable for mechanical arm for puncture operation |
| CN202111584355.6A Active CN113954082B (en) | 2021-12-23 | 2021-12-23 | Control method, control equipment and auxiliary system suitable for puncture surgical mechanical arm |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111584355.6A Active CN113954082B (en) | 2021-12-23 | 2021-12-23 | Control method, control equipment and auxiliary system suitable for puncture surgical mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN114310910B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117323015A (en) * | 2023-10-30 | 2024-01-02 | 赛诺威盛医疗科技(扬州)有限公司 | Miniaturized multi-degree-of-freedom robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101448468A (en) * | 2006-05-19 | 2009-06-03 | 马科外科公司 | System and method for verifying calibration of a surgical device |
| CN106725852A (en) * | 2016-12-02 | 2017-05-31 | 上海精劢医疗科技有限公司 | The operation guiding system of lung puncture |
| CN110353774A (en) * | 2018-12-15 | 2019-10-22 | 深圳铭杰医疗科技有限公司 | Assist Needle-driven Robot and its control method, computer equipment, storage medium |
| CN112168352A (en) * | 2020-09-25 | 2021-01-05 | 武汉联影智融医疗科技有限公司 | Surgical robot control method, computer equipment and surgical robot system |
| CN112402020A (en) * | 2020-12-01 | 2021-02-26 | 北京天智航医疗科技股份有限公司 | Control method and device for surgical robot mechanical arm, medium and equipment |
| CN113499138A (en) * | 2021-07-07 | 2021-10-15 | 南开大学 | Active navigation system for surgical operation and control method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014140913A (en) * | 2013-01-22 | 2014-08-07 | Jtekt Corp | Robot control device, robot control system, and robot control method |
| BR112015023547B8 (en) * | 2013-03-15 | 2022-09-27 | Synaptive Medical Inc | AUTOMATED ARM ASSEMBLY FOR USE USED DURING A MEDICAL PROCEDURE ON AN ANATOMICAL PART |
| CN109805991B (en) * | 2019-03-14 | 2022-02-01 | 北京理工大学 | Blood vessel puncture auxiliary control method and device |
| WO2020243507A1 (en) * | 2019-05-31 | 2020-12-03 | Intuitive Surgical Operations, Inc. | Systems and methods for bifurcated navigation control of a manipulator cart included within a computer-assisted medical system |
| CN111513850B (en) * | 2020-04-30 | 2022-05-06 | 京东方科技集团股份有限公司 | Guide device, puncture needle adjustment method, storage medium, and electronic apparatus |
| CN112621743B (en) * | 2020-11-19 | 2022-11-25 | 深圳众为兴技术股份有限公司 | Robot, hand-eye calibration method for fixing camera at tail end of robot and storage medium |
| CN113263498B (en) * | 2021-04-12 | 2022-06-10 | 万勋科技(深圳)有限公司 | Mechanical arm movement control method and device, terminal equipment and storage medium |
| CN113476141B (en) * | 2021-06-30 | 2023-02-10 | 苏州微创畅行机器人有限公司 | Pose control method, optical navigation system applicable to pose control method and surgical robot system |
-
2021
- 2021-12-23 CN CN202210118435.0A patent/CN114310910B/en active Active
- 2021-12-23 CN CN202111584355.6A patent/CN113954082B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101448468A (en) * | 2006-05-19 | 2009-06-03 | 马科外科公司 | System and method for verifying calibration of a surgical device |
| CN106725852A (en) * | 2016-12-02 | 2017-05-31 | 上海精劢医疗科技有限公司 | The operation guiding system of lung puncture |
| CN110353774A (en) * | 2018-12-15 | 2019-10-22 | 深圳铭杰医疗科技有限公司 | Assist Needle-driven Robot and its control method, computer equipment, storage medium |
| CN112168352A (en) * | 2020-09-25 | 2021-01-05 | 武汉联影智融医疗科技有限公司 | Surgical robot control method, computer equipment and surgical robot system |
| CN113768626A (en) * | 2020-09-25 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | Surgical robot control method, computer equipment and surgical robot system |
| CN112402020A (en) * | 2020-12-01 | 2021-02-26 | 北京天智航医疗科技股份有限公司 | Control method and device for surgical robot mechanical arm, medium and equipment |
| CN113499138A (en) * | 2021-07-07 | 2021-10-15 | 南开大学 | Active navigation system for surgical operation and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113954082A (en) | 2022-01-21 |
| CN113954082B (en) | 2022-03-08 |
| CN114310910A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7094727B2 (en) | Automatic tracking and adjustment of viewing angle during catheter ablation treatment | |
| US20210059762A1 (en) | Motion compensation platform for image guided percutaneous access to bodily organs and structures | |
| CN110584784B (en) | Robot-assisted surgery system | |
| CN112107363B (en) | Ultrasonic fat dissolving robot system based on depth camera and auxiliary operation method | |
| JP2021166593A (en) | Robot surgery support system, robot surgery support method, and program | |
| CN114310910B (en) | Control method, control equipment and auxiliary system suitable for mechanical arm for puncture operation | |
| Ferraguti et al. | Augmented reality and robotic-assistance for percutaneous nephrolithotomy | |
| CN113952009B (en) | Targeted drug delivery needle clamping navigation device and targeted drug delivery treatment system | |
| EP3355822A1 (en) | Optical registration of a remote center of motion robot | |
| Coste-Manière et al. | Optimal planning of robotically assisted heart surgery: First results on the transfer precision in the operating room | |
| CN114159160B (en) | Surgical navigation method, device, electronic equipment and storage medium | |
| CN113856067A (en) | Multi-mode data fusion radiotherapy position determination method and auxiliary robot system | |
| CN110772320A (en) | Registration method, registration device and computer readable storage medium | |
| CN109938835B (en) | Method and robot system for registration when adjusting instrument orientation | |
| Zhou et al. | Validation of a surgical navigation system for hypertensive intracerebral hemorrhage based on mixed reality using an automatic registration method | |
| US11596567B2 (en) | Systems and methods for determining and maintaining a center of rotation | |
| CN110772319A (en) | Registration method, registration device and computer readable storage medium | |
| US10832422B2 (en) | Alignment system for liver surgery | |
| CN117084798B (en) | Puncture control method, puncture control device, computer equipment and storage medium | |
| CN117084790B (en) | Puncture azimuth control method and device, computer equipment and storage medium | |
| CN115281802B (en) | Control method, equipment and system of puncture device | |
| CN117695026A (en) | Pose adjustment system, medical instrument, control method thereof, and medical system | |
| Wang et al. | AutoSurg-Research and Implementation of Automatic Target Resection Key Technologies Via Toumai Surgical Robot System | |
| JP2024509749A (en) | Collaborative medical robots to reliably guide instruments | |
| CN116725675A (en) | Control method of robot system based on composite identification and robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 806, Research Headquarters Building, Guangdong Macao Cooperative Traditional Chinese Medicine Technology Industrial Park, No. 1 Doukou Road, Hengqin New District, Zhuhai City, Guangdong Province, 519000 Patentee after: True Health (Guangdong Hengqin) Medical Technology Co.,Ltd. Address before: 100192 Room 308, floor 3, building 2, Tiandi Linfeng, No. 1, yongtaizhuang North Road, Haidian District, Beijing Patentee before: ZHENJIANKANG (BEIJING) MEDICAL TECHNOLOGY Co.,Ltd. |