CN115068113A - Master-slave teleoperation orthopedic robot system - Google Patents

Master-slave teleoperation orthopedic robot system Download PDF

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Publication number
CN115068113A
CN115068113A CN202211002925.0A CN202211002925A CN115068113A CN 115068113 A CN115068113 A CN 115068113A CN 202211002925 A CN202211002925 A CN 202211002925A CN 115068113 A CN115068113 A CN 115068113A
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China
Prior art keywords
mechanical arm
doctor
navigation
control system
image
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Pending
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CN202211002925.0A
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Chinese (zh)
Inventor
史文勇
何达
高恒瑞
刘学锋
王玉渊
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Kochi Medical Technology Beijing Co ltd
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Kochi Medical Technology Beijing Co ltd
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Priority to CN202211002925.0A priority Critical patent/CN115068113A/en
Publication of CN115068113A publication Critical patent/CN115068113A/en
Priority to CN202222885211.0U priority patent/CN219021534U/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • 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 invention provides a master-slave teleoperation orthopedic robot system, which comprises a doctor control system (100), a bedside mechanical arm system (200), a navigation system (300), an image instrument platform (400), wherein the doctor control system (100) is operated by the doctor, and the doctor control system (100) controls the bedside mechanical arm system (100) to perform an operation; the doctor control system (100) is a local control system or a remote control system.

Description

Master-slave teleoperation orthopedic robot system
Technical Field
The invention relates to an orthopedic robot system, in particular to a master-slave teleoperation orthopedic robot system.
Background
In the orthopedic surgery, the accuracy and stability of the surgery control are very important, and the key of the success of the surgery lies in whether the positioning operation can be accurately carried out according to the preset plan of the surgery without damaging the nerve tissues of the human body, so that the purpose of the surgery treatment is achieved. At present, the existing orthopedic electric grinder or ultrasonic osteotome is mainly used by a doctor and operated by bare hands, and once the grinding amount or the incision amount of the ultrasonic osteotome is not controlled well, nerve damage is easily caused.
The existing bone surgery robots are generally divided into two types: a pure positioning robot for orthopedic surgery and a positioning and error correcting robot for orthopedic surgery. The pure positioning robot for the orthopedic surgery is used in the spinal surgery, and only tells a doctor about the direction of implanting the spinal titanium nail, and all the actions of implanting the titanium nail are completed by the doctor; the orthopedic surgery positioning and correcting robot is used in joint replacement surgery, tells doctors of the direction of cutting knee joints and hip joints of patients, and specific cutting actions are still finished by the doctors, and if the doctors exceed the planned range before surgery during cutting, the robot corrects the deviation in time. Some tools are mounted at the tool end of a mechanical arm of an orthopedic surgery robot, a follow-up mode is adopted in the surgery, a binocular vision navigation system is matched, a doctor still needs to hold the tools to operate, the stability of the tools in space is improved, the doctor needs to control the tools in real time, and in the process, the doctor still needs to constantly observe a nearby CT image or other auxiliary images with navigation positioning to assist the surgery operation and judge whether the current operation is proper or in place.
For master-slave remote control type surgical robot products, the master-slave remote control type surgical robot products are only used in common surgical operations at present, and no master-slave remote control type orthopaedic surgical robot products exist.
The problems existing in the prior art are as follows: (1) in the process of the common follow-up navigation orthopedic surgery, a doctor still needs to hold a tool with a hand to operate, although the stability of the tool in space is increased, the doctor needs to control the tool in real time, and in the process, the doctor still needs to constantly observe a side CT image or other auxiliary images with navigation positioning to assist the surgical operation and judge whether the current operation is proper or in place. The process needs the vision of the doctor to be switched between the display screen at one side and the operation part continuously, so that the distraction of the doctor is easily caused, and the operation effect and efficiency are influenced; (2) the precision of the follow-up operation is limited by the precision of a human hand, and the following operation has the problems of low precision and difficult control of the human hand.
Therefore, it is desirable to provide a robotic surgical system that is convenient and accurate, efficient, and accurate, and that can be operated in a master-slave or even a remote manner, and that can reduce surgical injuries, to avoid the above-mentioned problems.
Disclosure of Invention
The invention provides a master-slave teleoperation orthopedic robot system, which comprises a doctor control system, a bedside mechanical arm system, a navigation system and an image instrument platform, wherein the doctor control system is operated by a doctor and controls the bedside mechanical arm system to perform an operation; the doctor control system is a local control system or a remote control system.
Preferably, the doctor control system comprises two teleoperation main hands, a plurality of foot switches and a display device; the teleoperation master hand comprises a plurality of rotating or swinging joints, each rotating or swinging joint comprises an encoder and a joint driving module, the encoder synchronously transmits joint motion signals to the bedside mechanical arm system, the bedside mechanical arm system comprises a multi-degree-of-freedom mechanical arm, and the bedside mechanical arm system receives the joint motion signals and drives the mechanical arm to perform an operation.
Preferably, the display device comprises a first display screen and a second display screen, the first display screen and the second display screen display polarized images, and a doctor views images with 3D effects through polarized glasses; the first display screen displays a real-time operation image, and the second display screen displays one or more of a real-time virtual operation tool, a CT or nuclear magnetic resonance image of a bone of an operation part, and an organ and tissue image of the operation part.
Preferably, the bedside robotic arm system comprises a hospital bed, one or more robotic trolleys; a multi-degree-of-freedom mechanical arm and a calibration target A are arranged on the robot trolley; the tail end of the mechanical arm is provided with a mechanical arm bayonet, the mechanical arm bayonet is provided with a calibration target B, and the mechanical arm bayonet is used for mounting various surgical instruments or cameras; during operation, a calibration target C is further arranged on the skeleton, a plurality of small balls are respectively arranged on the calibration targets, and the navigation system carries out positioning and navigation according to the calibration targets.
Preferably, the navigation system comprises a navigation module and a navigation support vehicle, and the navigation module is a device for surgical navigation and positioning based on the binocular vision distance measurement principle.
Preferably, the image instrument platform comprises a plurality of display screens, an image processing module and an instrument central control module.
Preferably, the system further comprises an AR head display device, wherein the AR head display device is used for displaying a three-dimensional virtual image of the surgical site and correspondingly superposing the virtual image and a real scene seen by human eyes.
The invention has the following technical effects: (1) the doctor observes the operation image through the screen and controls the motion of the operation mechanical arm through remotely operating the master hand, the influence of distraction caused by the switching of the vision of the doctor between the operation part and a plurality of screens is avoided, the safety is better, and the effect is higher; (2) the master-slave operation mode is adopted in the orthopedic surgery, so that the operation of people can be scaled proportionally, and the operation precision of the surgery is improved; in addition, the jitter of human operation is filtered by a jitter filtering algorithm, so that the operation safety is enhanced; (3) the teleoperation master hand can be accessed to the network through 5G or broadband, so that the remote control of the mechanical arm system beside the bed is realized, and a doctor can perform an operation on a remote area beyond thousands of kilometers, so that high-quality medical resources are more easily obtained.
Drawings
FIG. 1 is a diagram of the master-slave teleoperation orthopedic robot system of the present invention;
FIG. 2 is a main body structure diagram of the master-slave teleoperation orthopedic robot system of the present invention;
FIG. 3 is a first structural diagram of a bedside arm system according to the present invention;
FIG. 4 is a second structural view of a bedside arm system according to the present invention;
FIG. 5 is a structural view of a first embodiment of the robot carriage of the present invention;
FIG. 6 is a structural view of a second embodiment of the robot carriage of the present invention;
FIG. 7 is a block diagram of the imaging apparatus platform according to the present invention.
Detailed Description
Referring to fig. 1-2, the master-slave teleoperation orthopedic robot system comprises a doctor control system 100, a bedside mechanical arm system 200, a navigation system 300 and an image instrument platform 400, wherein a doctor operates the doctor control system 100, and the doctor control system 100 controls the bedside mechanical arm system 100 to perform a surgery. When local surgery is performed, the doctor control system 100 is a local doctor control system, and when remote surgery is performed, the doctor control system 100 is a remote doctor control system, and the remote doctor control system is connected to the imaging instrument platform 400 through a 5G wireless network or a broadband. The imaging instrument platform 400 includes an instrument central control module, and realizes the associated operation of the doctor control system and the bedside arm system.
Referring to fig. 2, the doctor control system 100 includes two teleoperation master hands 101, a plurality of foot switches 102, and a display device; the teleoperation master hand 101 comprises a plurality of rotation or swing joints, preferably more than 7, each rotation or swing joint comprises an encoder and a joint driving module, and the joint driving module has the functions of measuring the rotation angle of the joint in real time, compensating the gravity of the joint and realizing zero-force dragging; and thirdly, force feedback can be provided. Due to gravity compensation, the operator can easily drag the operator hand 101 to move during normal operation, the joint driving module does not apply extra force, and the encoder synchronously transmits joint movement signals to the bedside mechanical arm system 200.
Referring to fig. 3-5, a bedside robotic arm system 200 includes a patient bed 220, a plurality of robotic trolleys 210; each robot trolley 210 is provided with a multi-degree-of-freedom mechanical arm 211 and a calibration target A (201), the tail end of the mechanical arm 211 is provided with a mechanical arm bayonet 212, the mechanical arm bayonet is provided with a calibration target B (213), and the mechanical arm bayonet 212 is used for mounting various surgical instruments (221, 222, 223) or a camera 230; during operation, the skeleton 202 is further provided with a calibration target C (203), the calibration target is respectively provided with a plurality of small balls, the navigation system 300 can accurately position the spatial positions of the small balls on the calibration target, and the posture and the position of the calibration target can be obtained through calculation, so that the calibration function is achieved. The bedside arm system 200 receives a joint movement signal and drives the arm 211 to perform a surgery, and the multi-degree-of-freedom arm 211 preferably has 7 or more degrees of freedom.
Referring to fig. 6, which is a structural view of a second embodiment of the robot carriage of the present invention, the robot carriage is mainly different from fig. 5 in that a plurality of multi-degree-of-freedom robot arms 211 are provided to save an operation space; the bedside robotic arm system 200 may also include a plurality of such robotic dollies to perform more complex procedures.
Referring to fig. 1, the display device includes a first display screen 103 and a second display screen 104, the first display screen and the second display screen display polarized images, and a doctor views images with 3D effect through polarized glasses; the first display screen displays a real-time operation image, and the second display screen displays one or more of a real-time virtual operation tool, a CT or nuclear magnetic resonance image of a bone of an operation part, and an organ and tissue image of the operation part. For example, CT or mri images of the bones of the virtual surgical tool and the surgical site, and overlay images of organ tissues such as blood vessels and muscles of the surgical site are displayed.
The navigation system 300 comprises a navigation module 301 and a navigation support vehicle 302, wherein the navigation module assists in surgical navigation and positioning based on a binocular vision ranging principle. The navigation system determines the space position of a target object by transmitting and receiving optical or electromagnetic signals, and can position, track and guide a surgical instrument to go to a lesion destination in the operation by using preoperative or intraoperative image data of a patient as a map and accurately corresponding to the anatomical structure of the patient on an operation bed, and update and display the image data of the patient in the form of a virtual probe in real time, so that the planning of an operation path and the identification of important anatomical structures around the lesion are facilitated. For the bone surgery, the navigation system is adopted, so that the accuracy and stability of the surgery control are effectively improved, the surgery risk and postoperative complications are greatly reduced, the surgery time is shortened, and the surgery effect is improved.
Referring to fig. 7, the imaging instrument platform 400 includes a plurality of display screens (401, 402), an image processing module 403, and an instrument center control module 404.
Referring to fig. 1, as a preferred embodiment, the system further includes an AR head display device 500, which is configured to display a three-dimensional virtual image of the surgical site, and correspondingly superimpose the virtual image and a real scene seen by human eyes, so as to provide the virtual image to a doctor or assist a surgical staff, reduce communication links, and enhance safety of the surgical procedure.
According to the master-slave teleoperation orthopedic robot system, a doctor observes an operation image through the screen and controls the motion of the operation mechanical arm through teleoperation of the master hand, the influence of distraction caused by switching of the vision of the doctor between an operation part and a plurality of screens is avoided, the safety is better, and the effect is higher; secondly, the master-slave operation mode is adopted, so that the operation of people can be scaled proportionally, and the operation precision of the operation is improved; in addition, the jitter of human operation is filtered by a jitter filtering algorithm, so that the operation safety is enhanced. And thirdly, the teleoperation master hand can be accessed to the network through 5G or broadband, so that the remote control of the mechanical arm system beside the bed is realized, and a doctor can perform an operation on a remote area beyond thousands of kilometers, so that high-quality medical resources are more easily obtained.
In addition, all modules in the teleoperation orthopedic robot system can be freely combined to form different types of robots, for example, a minimally invasive surgery robot is formed only by using a doctor control system, a bedside mechanical arm system and an image instrument platform and after mechanical arm tail end instruments are replaced; a common follow-up navigation robot is formed by only using a bedside mechanical arm system, a navigation system and an image instrument platform.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (7)

1. A master-slave teleoperation orthopedic robot system comprises a doctor control system (100), a bedside mechanical arm system (200), a navigation system (300) and an image instrument platform (400), and is characterized in that a doctor operates the doctor control system (100), and the doctor control system (100) controls the bedside mechanical arm system (100) to perform surgery; the doctor control system (100) is a local control system or a remote control system.
2. The system according to claim 1, characterized in that the physician control system (100) comprises two teleoperated master hands (101), several foot switches (102), a display device; the teleoperation master hand (101) comprises a plurality of rotating or swinging joints, each rotating or swinging joint comprises an encoder and a joint driving module, the encoders synchronously transmit joint motion signals to the bedside mechanical arm system (200), the bedside mechanical arm system (200) comprises a multi-degree-of-freedom mechanical arm (211), and the bedside mechanical arm system (200) receives the joint motion signals and drives the mechanical arm (211) to perform surgery.
3. The system according to claim 2, wherein the display device comprises a first display screen (103) and a second display screen (104), the first display screen and the second display screen displaying polarized images, and the doctor viewing the images of the 3D effect through polarized glasses; the first display screen displays a real-time operation image, and the second display screen displays one or more of a real-time virtual operation tool, a CT or nuclear magnetic resonance image of a bone of an operation part, and an organ and tissue image of the operation part.
4. The system according to one of claims 1 to 3, wherein the bedside robotic arm system (200) comprises a patient bed (220), one or more robotic trolleys (210); a multi-degree-of-freedom mechanical arm (211) and a calibration target A (201) are arranged on the robot trolley (210); the tail end of the mechanical arm (211) is provided with a mechanical arm bayonet (212), the mechanical arm bayonet is provided with a calibration target B (213), and the mechanical arm bayonet (212) is used for mounting various surgical instruments or cameras; during operation, a calibration target C (203) is further arranged on the bone, a plurality of small balls are respectively arranged on the calibration targets, and the navigation system (300) performs positioning and navigation according to the calibration targets.
5. The system according to claim 4, characterized in that the navigation system (300) comprises a navigation module (301) and a navigation carriage (302), the navigation module being a device for surgical navigation and positioning based on the principle of binocular vision ranging.
6. The system according to claim 5, wherein the image instrument platform (400) comprises a plurality of display screens (401, 402), an image processing module (403), and a plurality of instrument central control modules (404).
7. The system according to claim 4, further comprising an AR head display device (500) for displaying a three-dimensional virtual image of the surgical site and correspondingly superimposing the virtual image and the real scene seen by the human eye.
CN202211002925.0A 2022-08-22 2022-08-22 Master-slave teleoperation orthopedic robot system Pending CN115068113A (en)

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Publication number Priority date Publication date Assignee Title
CN106510847A (en) * 2016-11-22 2017-03-22 哈尔滨工业大学 Minimally invasive spine surgery robot main terminal work station
US20200315723A1 (en) * 2019-04-08 2020-10-08 Auris Health, Inc. Systems, methods, and workflows for concomitant procedures
CN111035454A (en) * 2019-12-26 2020-04-21 苏州微创畅行机器人有限公司 Readable storage medium and surgical robot
CN111839740A (en) * 2020-07-07 2020-10-30 天津大学 Master-slave isomorphic teleoperation force feedback master hand of minimally invasive surgery robot
CN112618018A (en) * 2020-12-16 2021-04-09 苏州微创畅行机器人有限公司 Navigation operation system, registration method thereof and computer readable storage medium
CN112618017A (en) * 2020-12-16 2021-04-09 苏州微创畅行机器人有限公司 Navigation surgery system, computer-readable storage medium, and electronic device
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CN114795495A (en) * 2022-04-25 2022-07-29 北京肿瘤医院(北京大学肿瘤医院) Master-slave operation minimally invasive surgery robot system

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