CN115120340A - Computer-readable storage medium, electronic device, surgical robot, and positioning system - Google Patents
Computer-readable storage medium, electronic device, surgical robot, and positioning system Download PDFInfo
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- 238000004080 punching Methods 0.000 description 19
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- 241000070928 Calligonum comosum Species 0.000 description 1
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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Abstract
The present invention relates to a computer-readable storage medium, an electronic device, a surgical robot, and a positioning system, the computer-readable storage medium having a program stored thereon, the program, when executed, performing the steps of: establishing a first feature image model according to first body form information and focus information of the operation object in a first state so as to plan a pre-hole position; establishing a second body feature image model according to second body surface information of the operation object in a second state; and registering the second volume feature image model and the first volume feature image model to obtain a target hole position corresponding to the pre-hole position on the second volume feature image model. When the computer-readable storage medium is applied to preoperative perforation planning, dependence on experience of doctors can be reduced, perforation sites on the body surface of an operation object can be accurately obtained, and operation safety is improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a computer-readable storage medium, an electronic device, a surgical robot and a positioning system
Background
The design concept of surgical robots is to perform complex surgical procedures precisely in a minimally invasive manner. The surgical robot is developed under the condition that the traditional surgical operation faces various limitations, breaks through the limitation of human eyes, and can more clearly present organs in the human body to an operator by utilizing a three-dimensional imaging technology. And to the narrow and small region that some people's hand can't stretch into, the operation robot still steerable surgical instruments accomplish to move, swing, centre gripping and 360 rotations to can avoid the shake, improve the operation accuracy, further reach the advantage that the wound is little, the bleeding is few, the postoperative resumes soon, greatly shorten the operation object postoperative time of being in hospital. Therefore, the surgical robot is very popular among doctors and patients, and is widely applied to respective clinical operations.
Like the traditional operation, before the operation is carried out by using the operation robot, the focus needs to be positioned, then a punching site is determined on the body surface of the operation object according to the position of the focus, and then the hole is punched at the punching site, so that the operation instrument can enter the operation object from the punching position to carry out the operation. In the prior art, a doctor acquires image information of a focus and a body surface of an operation object to establish a physical sign image model of the operation object, determines the position of the focus and then plans a punching site. However, the position of the focus is not necessarily completely consistent with the position in the image information under the actual punching condition, for example, when performing laparoscopic surgery, a doctor usually obtains the body surface information of the focus and the surgical object in front of pneumoperitoneum, and establishes a physical sign image model according to the focus and the body surface information, and the actual punching operation is performed after the pneumoperitoneum is established, and whether the actual position of the focus is consistent with the focus position on the physical sign image model or not needs to be judged by the doctor according to experience, and the position of the laparoscopic hole is determined according to the judgment, and then the actual position of the focus can be finally determined after the laparoscope enters the surgical object and acquires the actual image of the focus. Finally, the physician can determine the actual perforation site based on the actual location of the lesion and experience. Therefore, in the traditional operation process, the final determination of the perforation site greatly depends on the subjective experience of the doctor, and the requirement on the experience of the doctor is very high. Once the judgment of a doctor has deviation, extra punching holes are needed to meet the operation requirement, and unnecessary trauma is brought to an operation object.
Disclosure of Invention
The invention aims to provide a computer storage medium, electronic equipment, a surgical robot and a positioning system, wherein the surgical robot system can more accurately determine a punching hole position on the body surface of a surgical object, so that the surgical efficiency is improved, the surgical safety is ensured, and the pain of patients is relieved.
To achieve the above object, the present invention provides a computer-readable storage medium having a program stored thereon, which when executed, performs the steps of:
establishing a first body characterization image model according to first body characterization information and focus information of an operation object in a first state, wherein the first body characterization image model is used for planning a pre-hole position;
establishing a second body feature image model according to second body surface information of the operation object in a second state;
and registering the second volume feature image model and the first volume feature image model to obtain a target hole position corresponding to the pre-hole position on the second volume feature image model.
Optionally, the first feature image model comprises a first lesion model; the target hole sites comprise a first target hole site and a second target hole site, the second target hole site is used for being guided to the body surface of the operation object to obtain a second hole site, and the second hole site is used for enabling the image acquisition device to enter the body of the operation object to acquire actual focus image information;
the program further executes the steps of:
receiving the actual focus image information and establishing a second focus model according to the actual focus image information;
registering the second lesion model and the first lesion model;
and correcting the first target hole position on the second volume characteristic image model according to the registration result.
Optionally, the program performs the following steps to plan the pre-hole location:
planning the pre-hole position according to the operation area, the used surgical instrument and the boundary of the motion space of the surgical instrument.
Optionally, the program performs the following steps to plan the pre-hole location:
generating a plurality of schemes of the pre-hole sites according to the boundary of the operation area, the surgical instruments used and the motion space of the surgical instruments to determine the desired pre-hole sites.
Optionally, the first body form information and the lesion information are acquired by a first imaging device, where the first imaging device includes any one of an X-ray device, MRI, or B-ultrasound; and/or the second body surface information is acquired through a second imaging device, wherein the second imaging device comprises any one of a binocular vision camera or a structured light camera.
To achieve the above object, the present invention also provides an electronic device comprising a processor and a computer-readable storage medium as described in any of the preceding, the processor being configured to execute a program stored on the computer-readable storage medium.
To achieve the above object, the present invention also provides a surgical robot system comprising a control unit configured to implement the steps performed by the program according to any one of the preceding items;
the surgical robotic system further comprises a tool arm and an auxiliary device disposed on the tool arm; the tool arm is in communication connection with the control unit, moves under the control of the control unit, and enables the auxiliary device to guide the target hole site on the second body characteristic image model to the body surface of the surgical object so as to obtain a hole site on the body surface of the surgical object; or,
the surgical robot system further comprises a driving device and a guiding device, the driving device is connected with the guiding device and is in communication connection with the control unit, the driving device drives the guiding device to move under the control of the control unit, and the target hole position is guided to the body surface of the surgical object in the second state so as to obtain the hole position of the body surface of the surgical object.
Optionally, the tool arm has a stationary point; the auxiliary unit comprises at least two laser transmitters, laser beams emitted by the at least two laser transmitters intersect at the motionless point, and a preset mapping relation is formed among a coordinate system of the tool arm, a coordinate system of the control unit and a coordinate system of the surgical object in the second state;
and when the control unit controls the tool arm to move and enables the intersection point of the laser beam to be indicated on the body surface of the surgical object and form a light spot, the position of the light spot is the hole position of the body surface of the surgical object.
Optionally, the directing means comprises a base and at least one laser emitter disposed on the base; the base is connected with the driving device, and a preset mapping relation is formed among a coordinate system of the base, a coordinate system of the laser transmitter and a coordinate system of the surgical object in the second state;
when the guiding device moves to enable the laser beam emitted by the laser emitter to irradiate the body surface of the operation object and form a light spot, the position of the light spot is the hole position of the body surface of the operation object.
Optionally, the target hole sites include a first target hole site and a second target hole site, the first target hole site corresponds to a first hole site on the body surface of the surgical object, and the second target hole site corresponds to a second hole site on the body surface of the surgical object;
the surgical robot system further comprises an image arm, wherein the image arm is used for connecting an image acquisition device, and the image acquisition device is in communication connection with the control unit; the image acquisition device is used for being inserted into the body of the operation object through the second hole site, acquiring the actual focus image information of the operation object and sending the actual focus image information to the control unit to establish a second body feature image model.
Optionally, the directing means comprises a base and at least one laser emitter disposed on the base; the base is connected with the driving device, and a preset mapping relation is formed among a coordinate system of the base, a coordinate system of the laser transmitter and a coordinate system of the surgical object in the second state;
when the guiding device moves to enable the laser beam emitted by the laser emitter to irradiate the body surface of the operation object and form a light spot, the position of the light spot is a hole site on the body surface of the operation object.
In order to achieve the above object, the present invention further provides a positioning system for surgical punch, comprising a control unit, a driving device and a guiding device, wherein the driving device is in communication connection with the control unit, and the guiding device is connected with the driving device; the control unit is configured to execute the program stored on the computer-readable storage medium according to any one of the preceding items, and control the driving device to drive the directing device to move and direct the target hole site to the body surface of the surgical object in the second state, so as to obtain a hole site on the body surface of the surgical object.
Optionally, the directing means comprises a base and at least one laser emitter disposed on the base; the base is connected with the driving device, and a preset mapping relation is formed among a coordinate system of the base, a coordinate system of the laser transmitter and a coordinate system of the surgical object in the second state;
when the guiding device moves to enable the laser beam emitted by the laser emitter to irradiate the body surface of the operation object and form a light spot, the position of the light spot is the hole position of the body surface of the operation object.
Optionally, the positioning system further includes a first imaging device and a second imaging device, the first imaging device and the second imaging device are both in communication connection with the control unit, the first imaging device is configured to obtain the first body surface information and the lesion information and send the first body surface information and the lesion information to the control unit to establish the first body characterization image model, and the second imaging device is configured to obtain the second body surface information and send the second body surface information to the control unit to establish the second body characterization image model.
Compared with the prior art, the computer storage medium, the electronic equipment, the surgical robot and the positioning system have the following advantages:
a first, aforementioned computer readable storage medium has a program stored thereon, and when the program is executed, the program performs the steps of: establishing a first feature image model according to first body form information and focus information of an operation object in a first state, wherein the first feature image model is used for planning a pre-hole position; establishing a second body feature image model according to second body surface information of the operation object in a second state; and registering the second body feature image model and the first body feature image model to obtain a target hole site corresponding to the pre-hole site on the second body feature image model. The computer-readable storage medium is applied to a surgical robot system, the surgical robot system is utilized to execute the program before surgical operations such as laparoscope and thoracoscope which need to punch holes on the body surface of a surgical object are executed, the hole site planning of the body surface of the surgical object is carried out, and then the target hole site is guided to the body surface of the surgical object in any appropriate mode, so that the problem that the hole site planning is inaccurate due to the posture change of the surgical object during the preoperative hole site planning and the actual punching operation is solved, the punching hole site which is more in line with the actual punching condition can be obtained, the dependence degree of the experience of doctors in the punching process is reduced, the possibility that extra punching is needed due to the inaccurate punching position is reduced, and the injury to the surgical object is reduced.
Further, the first volumetric image model comprises a first lesion model; the target hole sites comprise a first target hole site and a second target hole site, the second target hole site is used for being guided to the body surface of the surgical object to obtain a second hole site, after punching at the second hole site is completed, an image acquisition device such as an endoscope is inserted into the body of the surgical object from the second hole site and acquires actual lesion image information of the surgical object, the program further establishes an actual lesion model according to the actual lesion image information, registers the actual lesion model and a first lesion model on the first feature image model, and corrects the first target hole site on the second feature image model according to a registration result. The corrected first target hole site is guided to the body surface of the operation object, so that a more accurate first hole site can be obtained, and the safety is further improved.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic view of an application scenario of a surgical robotic system provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a surgeon side control device, a surgical operating device and a surgical instrument connected to the surgical operating device of the surgical robotic system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the present invention illustrating the use of an endoscope to capture actual lesion image information;
FIG. 4 is a flowchart of a surgical robotic system in determining puncture locations on a body surface of a surgical object according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a first imaging device being used to obtain first body list information and lesion information of a surgical object in a first state according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a first biometric image model established by a control unit of a surgical robotic system provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic illustration of a simulated procedure using a simulator according to a planned pilot hole site in an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating a second imaging device used to acquire second volumetric table information of the surgical object in a second state according to the embodiment of the present invention, wherein the second imaging device is a binocular vision camera with a self-contained distance detection function;
fig. 9 is a schematic diagram of acquiring second volumetric table information of the surgical object in a second state by using a second imaging device according to the embodiment of the present invention, where the second imaging device is a binocular vision camera without a self-contained distance detection function;
fig. 10 is a schematic diagram illustrating a second imaging device being a structured light camera for acquiring second volume information of the surgical object in a second state according to the embodiment of the present invention;
FIG. 11 is a schematic view of a surgical robotic system according to an embodiment of the present invention directing a target hole site on a second volumetric feature image model onto a surgical object;
FIG. 12 is a schematic view of a tool arm of the surgical robotic system shown in FIG. 11;
FIG. 13 is a schematic structural view of a guiding apparatus independent of the surgical robotic system in an alternative embodiment of the present invention;
FIG. 14 is a schematic view of the directing device shown in FIG. 13 in another orientation;
FIG. 15 is a schematic view of the guiding device shown in FIG. 13 indicating a hole site on the surface of the surgical object according to the present invention;
fig. 16 is a schematic view of a surgical robotic system for intra-operative pneumoperitoneum monitoring provided in accordance with an embodiment of the present invention.
In the drawings:
1-surgical instruments;
10-doctor end control device, 20-surgical operation device, 21-image arm, 22-tool arm and 30-image display device;
100-first imaging device, 200-second imaging device, 300-endoscope;
410-base, 420-laser emitter.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Furthermore, each embodiment described below has one or more technical features, and this does not mean that all the technical features in any embodiment must be implemented simultaneously by the inventor or that only some or all the technical features in different embodiments can be implemented separately. In other words, those skilled in the art can selectively implement some or all of the features of any embodiment or combinations of some or all of the features of multiple embodiments according to the disclosure of the present invention and according to design specifications or implementation requirements, thereby increasing the flexibility in implementing the invention.
As used in this specification, the singular forms "a", "an" and "the" include plural referents, and the plural forms "a plurality" includes more than two referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "mounted," "connected," and "connected" are to be construed broadly and include, for example, either a fixed connection or a releasable connection or an integral connection. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to the appended drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is provided for the purpose of facilitating and clearly illustrating embodiments of the present invention. The same or similar reference numbers in the drawings identify the same or similar elements.
Fig. 1 is a schematic view showing an application scenario of the surgical robot system of the present invention, and fig. 2 is a schematic view showing a structure of a doctor-side control device, a surgical operation device, and a surgical instrument connected to the surgical operation device of the surgical robot system. Referring to fig. 1 and 2, the surgical robot system includes a control end and an execution end, the control end includes a doctor console and a doctor end control device 10 disposed on the doctor console. The execution end comprises a patient end control device, a surgical operation device 20, an image display device 30 and the like. The surgical operation device 20 has a robot arm, which includes an image arm 21 and a tool arm 22, mounted thereon. The tool arm 22 is used to mount a punching device for punching a hole at a first hole on the surface of a patient or a surgical instrument 1 for inserting the surgical instrument 1 into the body of a surgical object from the first hole and performing a surgical operation. The image arm 21 is used for mounting an image acquiring device for acquiring image information of a region or device of interest (for example, actual lesion image information of a surgical object in a second state as described later). Such as endoscope 300 (as labeled in fig. 3). In addition, the surgical robotic system includes a control unit communicatively coupled to the image arm 21, the tool arm 22, and the endoscope 300. The control unit may be provided at the patient-side control device, or at the physician-side control device, or partly at the patient-side control device and partly at the physician-side control device. That is, the present invention does not limit the specific arrangement of the control unit as long as it can perform the relevant function.
Before performing laparoscopic surgery or thoracoscopic surgery or other surgical operations requiring holes to be punched in the body of a surgical object by using the surgical robot system, a hole site on the body surface of the surgical object is first acquired by using a control unit of the surgical robot system. That is, the control unit is configured to establish a first feature image model S (as labeled in fig. 6) according to first body form information and lesion information of the surgical object in the first state, the first feature image model S is used for planning a pre-hole site, and the first feature image model S includes a first lesion model P; establishing a second volume characteristic image model according to second volume table information of the operation object in the second state; and registering the second volume feature image model and the first volume feature image model S to obtain a target hole position corresponding to a pre-hole position on the first volume feature image model S on the second volume feature image model.
It will be understood by those skilled in the art that the first state and the second state both refer to the state of the surgical object itself, and that the pose of at least part of the soft tissue of the surgical object is different in the first state and the second state. In the case of laparoscopic surgery, the first state may be a state in which the surgical object is in front of the pneumoperitoneum, and the second state may be a state in which the surgical object is after the pneumoperitoneum is established. In other operations, the difference between the first state and the second state may be caused by the fixation, transfer or other reasons of the operation object on the operation table, which is not limited by the present invention.
For convenience of understanding, the first state of the surgical object before pneumoperitoneum in the laparoscopic surgery and the second state of the surgical object after pneumoperitoneum is established will be described as an example.
In the embodiment of the present invention, the pre-hole site is planned according to the body surface information and the lesion information of the surgical subject displayed by the first feature image model S before pneumoperitoneum of the surgical subject, but after pneumoperitoneum, the physical sign of the surgical subject is distorted with respect to before pneumoperitoneum and is inconsistent with the body surface information (for example, the body surface information is inconsistent) on the first feature image model S. Based on the above, the control unit establishes a second voxel image model after pneumoperitoneum, registers the second voxel image model and the first voxel image model, and determines a target hole position on the second voxel image model according to a registration result and the pre-hole position. That is, the embodiment of the invention can reduce the deviation between the perforating hole site on the body surface and the planned perforating hole site caused by the distortion of the body surface of the operation object under the condition of not completely depending on the experience of the doctor, so that the accuracy of the perforating hole site on the body surface is improved, a good foundation is laid for the normal development of the operation, unnecessary perforating can be effectively reduced, the operation time is shortened, and the fatigue degree of the doctor and the injury to the operation object are reduced.
The target hole sites on the second volume feature image model include a first target hole site and a second target hole site, and in some embodiments, the first target hole site may be directly guided to the body surface of the surgical object in the second state to obtain a first hole site, and the second target hole site may be guided to the body surface of the surgical object to obtain a second hole site. Wherein the surgical instrument 1 is configured to be inserted into a body of a surgical object from the first aperture and perform a surgical operation, and the endoscope 300 is communicatively connected to the control unit and configured to be inserted into the body of the surgical object from the second aperture (as shown in fig. 3) and provide a surgical field.
Preferably, in other embodiments, the operator first directs the second target hole to the body surface of the surgical object in the second state to obtain a second hole, and punches a hole at the second hole. Then, the endoscope 300 is further configured to obtain actual lesion image information of the surgical object in the second state, where the control unit is further configured to establish a second lesion model according to the actual lesion image information, register the second lesion model with the first lesion model P on the first body characteristic image model S, and correct the first target hole site on the second body characteristic image model according to the registration result (that is, correct the first target hole site according to the mapping relationship between the coordinate system of the endoscope 300, the coordinate system of the surgical object and the actual lesion thereof in the second state, and the coordinate system of the surgical object and the lesion thereof in the first state), further provide accuracy of the first target hole site, when the corrected first target hole site is directed to the body surface of the patient in the second state, a more accurate first hole location can be obtained.
Thus, in one non-limiting embodiment, a process for determining a first hole site in a body surface of a surgical object behind a pneumoperitoneum prior to performing a laparoscopic surgery using the surgical robotic system is shown in FIG. 4. The method comprises the following specific steps:
step S1 is executed: and acquiring first chart information and focus information of the operation object before pneumoperitoneum (namely the first state) by using the first imaging equipment.
In this step, the first imaging device 100 includes an X-ray imaging device such as a CT machine, and an imaging device such as MRI or B-ultrasonic which can simultaneously acquire the body surface information and the lesion information of the surgical object. In one embodiment, as shown in fig. 5, the first imaging device 100 is a CT machine.
Before CT scanning is carried out on the operation object, pneumoperitoneum is not established on the operation object, a doctor carries out preliminary diagnosis on the etiology of the operation object, roughly determines an organ where a focus is located, and infers a possible reason and a position required to be used during operation. Then, the operation object is arranged to perform CT scanning, and the body surface information (the body surface information is the first body surface information) of the possible position of the focus of the operation object and the image information in the body are obtained. Then, the doctor identifies and confirms the focus according to the acquired image information to obtain focus information; in addition, the doctor also plans the region to be operated and the operation mode to be adopted on the image. It will be appreciated by those skilled in the art that the first imaging device 100 also preferably acquires information about organs or tissues surrounding the lesion.
Next, step S2 is executed: the control unit establishes a first body characteristic image model of the operation object in front of pneumoperitoneum according to the first body table information and the focus information.
The control unit may employ a Marching Cube surface rendering based reconstruction algorithm to build the first biometric image model. Specifically, the control unit constructs a plurality of geometric primitives in a three-dimensional volume data field formed by two-dimensional slices according to contour line information obtained by dividing the two-dimensional slices of the body surface and the focus of the surgical object, splices the geometric primitives and establishes an illumination model for the geometric primitives, and forms a three-dimensional model with reality as the first feature image model S (as shown in fig. 6). The first volume image model S displays the body surface of the surgical object in front of the pneumoperitoneum and the lesion, and preferably also displays organs or tissues (not shown in the figure) around the lesion.
Next, step S3 is executed: planning the pre-hole site on the first feature image model.
The pilot hole position can be directly planned by the control unit according to the operation area, the used surgical instrument and the boundary of the motion space of the surgical instrument in the operation process.
In some embodiments, the control unit programs only one scheme of pre-hole bits. In other embodiments, the control unit plans the pre-hole positions of multiple schemes, and the control unit may also consider factors such as collision probability, operation comfort, safety and the like in the operation when planning the pre-hole positions of different schemes. The operator then simulates the surgical procedure (as shown in fig. 7) on a simulator with the appropriate surgical instruments 1 in accordance with the pre-hole locations of the various planning scenarios to select the desired pre-hole location. In so doing, not only can the optimal position of the pre-hole site be determined, but problems that may exist during the surgical procedure can also be known in advance by simulating the surgical procedure. Those skilled in the art will appreciate that the simulator used to perform the surgical simulation has the same configuration as the surgical robotic system that actually performs the surgical procedure. Alternative simulators include, but are not limited to, SEP robot simulators.
Next, step S4 is executed: and acquiring second body surface information of the operation object behind the pneumoperitoneum (namely the second state) by using the second imaging device.
For example, referring to fig. 8, the second imaging device 200 includes a binocular vision camera with a distance detection function, and the binocular vision camera may directly acquire relative position data of the body surface of the surgical object with respect to the binocular vision camera as the second body surface information. Alternatively, as shown in fig. 9, the second imaging device 200 includes a binocular vision camera without a distance detection function, and at this time, a plurality of target points 2 are disposed on the body surface of the surgical object, and the binocular vision camera may identify a plurality of target points 1 and acquire a coordinate point cloud of the plurality of target points 1, so as to acquire second body surface information of the surgical object. Still alternatively, as shown in fig. 10, the second imaging device 200 includes a structured light camera to project structured light onto the body surface of the surgical object, and determine the size parameter of the body surface of the surgical object through the deformation or the flight time of the structured light, so as to obtain the second body surface information of the surgical object.
Next, step S5 is executed: the control unit establishes a second body characteristic image model of the surgical object behind the pneumoperitoneum according to the second body surface information, and the second body characteristic image model displays body surface information of the surgical object behind the pneumoperitoneum.
Next, step S6 is executed: the control unit registers the second volume feature image model and the first volume feature image model, and obtains target hole positions (namely the first target hole position and the second target hole position) corresponding to the pre-hole positions on the second volume feature image model according to a registration result.
After the registration operation in step S6, the body surface information of the surgical object after pneumoperitoneum can be identified and introduced into the world coordinate system F in which the surgical robot system is located 0 (as shown in fig. 11). Thereafter, step S7 may be performed: and guiding the second target hole site to the body surface of the surgical object in the pneumoperitoneum state by using a proper guiding device to obtain a second hole site.
Alternatively, the robot arm 22 and the auxiliary device mounted thereon are used as the directing device in this embodiment. Specifically, the robotic arm 22 has a fixed point about which the joints of the robotic arm 22 may swing/rotate. The auxiliary device comprises more than two laser transmitters, and laser beams emitted by the more than two laser transmitters intersect at the fixed point. After establishing the mapping relationship between the coordinate system of the robot arm 22 and the coordinate system of the body surface of the surgical object behind the pneumoperitoneum, when the control unit controls the robot arm 22 to swing so that the intersection point (i.e., the stationary point) of the laser beam is indicated on the body surface of the surgical object, the position of the intersection point is the hole position of the body surface.
Those skilled in the artAs is well known, when the control unit is disposed at the surgical operation device 20, the coordinate system of the robot arm 22 is the coordinate system F of the surgical operation device 20 1 And the coordinate system F 1 Can be in world coordinate system F 0 Coordinate system F of the second imaging device 200 2 Establishing a mapping relation, and establishing a coordinate system F of the body surface of the surgical object behind pneumoperitoneum 3 Coordinate system F with the second imaging device 200 2 The mapping relationship of the two is known (the mapping relationship can be known when the second imaging device collects the second volume table data of the operation object), so that the coordinate system F of the mechanical arm 22 can be established 1 (i.e., the coordinate system of the surgical operation device 20) and a coordinate system F of the body surface of the surgical object after pneumoperitoneum 3 The mapping relationship between them. The control unit may then actuate movement of the tool arm 22 for indexing operations.
Of course, the operator may also perform the guidance work using other guidance means than the surgical robot system. In an alternative embodiment, as shown in fig. 13 to 15, the directing means comprises a driving means (not shown), a base 410 and at least one laser emitter 420 arranged on the base 410, wherein the driving means is communicatively connected to the control unit. After establishing the coordinate system of the control unit, the coordinate system of the base 410, the coordinate system of each of the laser transmitters 420, and the coordinate system of the body surface of the surgical object in the second state, the control unit may control the driving device to operate to drive the base 410 to move, and cause the laser beam emitted by the laser transmitters 420 to irradiate the body surface of the surgical object in the second state and form a light spot, the position of the light spot being the punching site of the body surface (as shown in fig. 15).
In addition, the directing device 300 may have other forms as long as it can direct the target hole site to the body surface of the surgical object.
Next, step S8 is executed: and punching a second hole on the surface of the surgical object. This step may be performed manually by the operator or automatically by the surgical robotic system.
Next, step S9 is executed: and enabling the endoscope to enter the body of the operation object from the second hole site, and acquiring the actual focus image information of the operation object.
Next, step S10 is executed: and the control unit receives the actual focus image information and establishes a second focus model according to the actual focus image information.
Finally, step S11 is executed: and registering the second lesion model and the first lesion model on the first feature image model, and correcting a first target hole site on the second feature image model according to a registration result so as to provide accuracy of the first target hole site.
The operator may then direct the corrected first target hole site to the body surface of the surgical object in the second state to obtain a first hole site.
Those skilled in the art will understand that, in actual operation, the sequence of the steps in fig. 4 is not constant, and may be adjusted according to actual needs, for example, the step S3 may also be executed after the step S4 or the step S5, and of course, the step S3 may also be executed in synchronization with the step S4 or in synchronization with the step S5, which is not limited in the present invention.
After the first hole position is determined, the operator may punch a hole at the first hole position, and then the tool arm 22 may bring the surgical instrument 1 into the surgical object from the first hole position to perform the surgical operation. Further, the control unit can be used for monitoring the pneumoperitoneum state of the operation object during the operation. Specifically, referring to fig. 16, a monitoring area N is exposed on the body surface of the surgical object, the operator sets a plurality of monitoring identification points 3 on the monitoring area N, identifies the monitoring identification points 3 through the second imaging device 200, and determines whether the coordinate of the monitoring identification point 3 changes in the surgical process within a predetermined change range according to the second body characteristic image model of the surgical object, so as to determine whether the pneumoperitoneum state is normal and improve the surgical safety.
Further, the present invention also provides a computer-readable storage medium having a program stored thereon. When the program is executed, the program performs all operations performed by the control unit.
Further, the present invention also provides an electronic device comprising a processor and the computer-readable storage medium, wherein the processor is configured to execute the program stored on the computer-readable storage medium.
Still further, the present invention also provides a surgical punch positioning system, which comprises a control unit, a driving device and a guiding device as shown in fig. 13-15, wherein the control unit is connected with the driving device, and the driving device is connected with the guiding device, specifically, the base of the guiding device.
Furthermore, a hole site planning method is further provided in an embodiment of the present invention, including the steps executed by the control unit when planning the target hole site.
Although the present invention is disclosed above, it is not limited thereto. Various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (13)
1. A computer-readable storage medium having a program stored thereon, wherein when the program is executed, the steps of:
establishing a first feature image model according to first body form information and focus information of an operation object in a first state, wherein the first feature image model is used for planning a pre-hole position;
establishing a second body feature image model according to second body surface information of the operation object in a second state;
and registering the second volume feature image model and the first volume feature image model to obtain a target hole position corresponding to the pre-hole position on the second volume feature image model.
2. The computer-readable storage medium of claim 1, wherein the first volumetric feature image model comprises a first lesion model; the target hole sites comprise a first target hole site and a second target hole site, the second target hole site is used for being guided to the body surface of the operation object to obtain a second hole site, and an image acquisition device is used for entering the body of the operation object to acquire actual focus image information;
the program further executes the steps of:
receiving the actual focus image information and establishing a second focus model according to the actual focus image information;
registering the second lesion model and the first lesion model;
and correcting the first target hole position on the second volume characteristic image model according to the registration result.
3. The computer-readable storage medium of claim 1, wherein the program performs the following steps to plan the pre-hole locations:
planning the pre-hole position according to the operation area, the used surgical instrument and the boundary of the motion space of the surgical instrument.
4. The computer-readable storage medium of claim 1, wherein the program performs the following steps to plan the pre-hole location:
generating a plurality of schemes of the pre-hole sites according to the boundary of the operation area, the surgical instruments used and the motion space of the surgical instruments to determine the desired pre-hole sites.
5. The computer-readable storage medium of claim 1, wherein the first volume information and lesion information are obtained by a first imaging device, the first imaging device comprising any one of an X-ray device, MRI, or B-ultrasound; and/or the second body surface information is acquired through a second imaging device, wherein the second imaging device comprises any one of a binocular vision camera or a structured light camera.
6. An electronic device comprising a computer-readable storage medium of any of claims 1-5 and a processor for executing a program stored on the computer-readable storage medium.
7. A surgical robotic system comprising a control unit configured to implement the steps performed by the program of any one of claims 1-5;
the surgical robotic system further comprises a tool arm and an auxiliary device disposed on the tool arm; the tool arm is in communication connection with the control unit, moves under the control of the control unit, and enables the auxiliary device to guide the target hole site on the second body characteristic image model to the body surface of the surgical object so as to obtain a hole site on the body surface of the surgical object; or,
the surgical robot system further comprises a driving device and a guiding device, the driving device is connected with the guiding device and is in communication connection with the control unit, the driving device drives the guiding device to move under the control of the control unit, and the target hole position is guided to the body surface of the surgical object in the second state so as to obtain the hole position of the body surface of the surgical object.
8. The surgical robotic system as claimed in claim 7, wherein the tool arm has a fixed point; the auxiliary unit comprises at least two laser transmitters, laser beams emitted by the at least two laser transmitters intersect at the fixed point, and a preset mapping relation is formed among a coordinate system of the tool arm, a coordinate system of the control unit and a coordinate system of the surgical object in the second state;
and when the control unit controls the tool arm to move and enables the intersection point of the laser beam to be indicated on the body surface of the surgical object and form a light spot, the position of the light spot is the hole site of the body surface of the surgical object.
9. The surgical robotic system as claimed in claim 7, wherein the directing means comprises a base and at least one laser emitter disposed on the base; the base is connected with the driving device, and a preset mapping relation is formed among a coordinate system of the base, a coordinate system of the laser transmitter and a coordinate system of the surgical object in the second state;
when the guiding device moves to enable the laser beam emitted by the laser emitter to irradiate the body surface of the operation object and form a light spot, the position of the light spot is the hole position of the body surface of the operation object.
10. The surgical robotic system of claim 7, wherein the target hole locations include a first target hole location corresponding to a first hole location on a surface of the surgical object and a second target hole location corresponding to a second hole location on the surface of the surgical object;
the surgical robot system further comprises an image arm, wherein the image arm is used for connecting an image acquisition device, and the image acquisition device is in communication connection with the control unit; the image acquisition device is used for being inserted into the body of the operation object through the second hole site, acquiring actual focus image information of the operation object and sending the actual focus image information to the control unit to establish a second somatic feature image model.
11. The positioning system for surgical perforation is characterized by comprising a control unit, a driving device and a guiding device, wherein the driving device is in communication connection with the control unit, and the guiding device is connected with the driving device; the control unit is configured to execute the program stored on the computer-readable storage medium according to any one of claims 1 to 5, and control the driving device to drive the directing device to move and direct the target hole position to the body surface of the surgical object in the second state so as to obtain a hole position on the body surface of the surgical object.
12. The surgical punch positioning system of claim 11, wherein the directing means comprises a base and at least one laser emitter disposed on the base; the base is connected with the driving device, and a preset mapping relation is formed among a coordinate system of the base, a coordinate system of the laser transmitter and a coordinate system of the surgical object in the second state;
when the guiding device moves to enable the laser beam emitted by the laser emitter to irradiate the body surface of the operation object and form a light spot, the position of the light spot is the hole position of the body surface of the operation object.
13. The surgical punch positioning system of claim 11, further comprising a first imaging device and a second imaging device, wherein the first imaging device and the second imaging device are both in communication with the control unit, the first imaging device is configured to obtain the first volumetric table information and the lesion information and send the first volumetric table information and the lesion information to the control unit to create the first volumetric image model, and the second imaging device is configured to obtain the second volumetric table information and send the second volumetric table information to the control unit to create the second volumetric image model.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110313584.8A CN115120340A (en) | 2021-03-24 | 2021-03-24 | Computer-readable storage medium, electronic device, surgical robot, and positioning system |
| PCT/CN2022/082680 WO2022199651A1 (en) | 2021-03-24 | 2022-03-24 | Computer readable storage medium, electronic device, surgical robot, and positioning system |
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| CN202110313584.8A CN115120340A (en) | 2021-03-24 | 2021-03-24 | Computer-readable storage medium, electronic device, surgical robot, and positioning system |
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| DE102014226899A1 (en) * | 2014-12-23 | 2016-06-23 | Siemens Healthcare Gmbh | A method of operating a medical robotic device and a medical robotic device |
| CA2917654C (en) * | 2016-01-14 | 2018-09-25 | Synaptive Medical (Barbados) Inc. | System and method for configuring positions in a surgical positioning system |
| CN107811710B (en) * | 2017-10-31 | 2019-09-17 | 微创（上海）医疗机器人有限公司 | Operation aided positioning system |
| CN108492693A (en) * | 2018-03-28 | 2018-09-04 | 盛玉涛 | A kind of laparoscopic surgery simulated training system shown based on computer aided medicine |
| JP7188970B2 (en) * | 2018-10-11 | 2022-12-13 | ザイオソフト株式会社 | ROBOT SURGERY ASSISTANCE DEVICE, OPERATION METHOD OF ROBOT SURGERY ASSISTANCE DEVICE, AND PROGRAM |
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