CN115252074A - Puncture surgery system and positioning navigation method - Google Patents

Abstract

The invention relates to a puncture surgery system and a positioning navigation method, wherein a surgery unit is provided with a first marking unit, the first marking unit comprises at least three first markings which are not collinear, the surgery unit is used for moving to a target position of a target object, an image acquisition unit is used for acquiring an image containing the surgery unit and the target object, a control unit is in communication connection with the surgery unit, the control unit is used for acquiring the image, generating a first conversion relation between a target position coordinate system and a first marking unit coordinate system according to the image, and controlling the surgery unit to move to the target position according to the first conversion relation. The method comprises the steps of obtaining a first conversion relation between a target position coordinate system and a first marking unit coordinate system, namely directly establishing a relative position relation between a target position and a first marking unit under the same standard, and if the first conversion relation is obtained by utilizing a mode that risk factors exist in CT equipment and the like, only needing a patient to carry out CT imaging once, and reducing risks by reducing the CT imaging times of a target object.

Description

Puncture surgery system and positioning navigation method

Technical Field

The invention relates to the technical field of medical equipment, in particular to a puncture surgery system and a positioning navigation method.

Background

Percutaneous lung aspiration biopsy is mainly based on preoperative Computed Tomography (CT) to judge the position of a focus at present, then a doctor determines an aspiration path based on clinical experience, the doctor needs to judge the position of the focus by means of CT images for many times in the aspiration process, and then the aspiration angle is manually adjusted to avoid important tissues until the focus is hit. Therefore, because the position of the focus is judged completely by the CT image in the whole puncture process, if the experience of a doctor is insufficient, the adjustment times of the puncture angle are generally required to be increased, which means that the times of exposure of a patient to CT radiation are required to be increased, the patient is greatly injured, and the patient needs to exit from a rack hole of a CT device when the puncture angle is adjusted after the position of the focus is judged by adopting the CT image every time, so that the operation time and the operation risk are caused due to the increase.

Disclosure of Invention

In view of the above, it is necessary to provide a puncture surgery system and a positioning navigation method for addressing the above mentioned technical problems.

The present invention provides a puncture surgery system, including:

a surgical unit having a first marker unit comprising at least three non-collinear first markers for movement to a target position of a target object;

an image acquisition unit for acquiring an image containing the surgical unit and the target object;

the control unit is in communication connection with the surgical unit and is used for acquiring the image, generating a first conversion relation between the target position coordinate system and the first marking unit coordinate system according to the image and controlling the surgical unit to move to the target position according to the first conversion relation.

In one embodiment, the first marker is a titanium ball and the first marker is disposed at a distal end of the surgical unit.

In one embodiment, the surgical unit is a mechanical arm, the end of the mechanical arm comprises a needle holder, and the at least three non-collinear first marks are arranged on one side surface of the needle holder.

In one embodiment, a second marking unit is disposed on the target object, the second marking unit includes at least three second markings, the second marking unit is included in the image acquired by the image acquisition unit, and the puncture surgical system further includes:

the puncture component is arranged at the tail end of the surgical unit, and is provided with a third marking unit which comprises at least two third marks;

the control unit is in communication connection with the navigation unit, the navigation unit is used for identifying the second marking unit, the control unit is further used for generating a second conversion relation between the target position coordinate system and the navigation unit coordinate system, the navigation unit is used for identifying the third marking unit, and the control unit is further used for displaying the puncture component in the image in real time according to the second conversion relation;

wherein the second conversion relationship is a conversion relationship from the navigation unit coordinate system to the target position coordinate system.

In one embodiment, the at least three first indicia are disposed about the piercing member.

In one embodiment, the control unit is further configured to identify the third marking unit in real time, and display a real-time movement path of the puncturing part on the image in real time based on the second conversion relationship.

In one embodiment, the control unit is further configured to determine whether the real-time motion path is consistent with a planned motion path, and generate a reminding signal to remind when the real-time motion path deviates from the planned motion path;

and the planned motion path is obtained according to the planning of the target position in the image.

In one embodiment, the puncture surgery system further comprises:

and the early warning unit is in communication connection with the control unit and is used for outputting the reminding signal.

In one embodiment, the navigation unit is a magnetic generator, and the second marker and the third marker are magnetic tags, respectively.

In one embodiment, the puncture needle tip of the puncture component is provided with a fourth marking unit, the navigation unit is further used for identifying the fourth marking unit, and the control unit displays the puncture needle tip in the image in real time according to the second conversion relation.

The invention provides a positioning and navigation method, which comprises the following steps:

defining a first marking unit on the surgical unit;

acquiring an image containing the surgical unit and a target object;

generating a first conversion relation between a target position coordinate system of the target object and the first marking unit coordinate system according to the image; and the number of the first and second groups,

and controlling the surgical unit to move to the target position according to the first conversion relation.

In one embodiment, the positioning navigation method comprises the following steps:

defining a second marking unit on the target object, the second marking unit being contained in the image;

defining a third marking unit on a piercing member of a tip of the surgical unit;

identifying the second marking unit by using a navigation unit, and generating a second conversion relation between the target position coordinate system and the navigation unit coordinate system;

identifying the third marking unit by using a navigation unit, and displaying a puncture part in the image in real time according to the second conversion relation; wherein the second conversion relationship is a conversion relationship from the navigation unit coordinate system to the target position coordinate system.

In one embodiment, the method further comprises the following steps:

and identifying the third marking unit in real time according to the second conversion relation, and displaying the real-time motion path of the puncture part on the image.

In one embodiment, the method further comprises the following steps:

judging whether the real-time motion path is consistent with a planned motion path or not;

if the real-time motion path deviates from the planned motion path, generating a reminding signal for reminding;

and the planned motion path is planned according to the target position in the image.

In one embodiment, the positioning and navigation method comprises the following steps:

defining a fourth marking unit at the puncture needle tip of the puncture member;

and the navigation unit identifies the fourth marking unit and displays the tail end of the puncture needle in the image in real time according to the second conversion relation.

In one of the embodiments, further comprising,

and calculating the relative position between the tail end of the puncture needle and the target position, and judging the needle inserting depth of the puncture needle.

The present invention provides a readable storage medium having stored thereon a program which, when executed, performs the steps of the positioning and navigation method.

In the puncture surgery system and the positioning navigation method, the image acquisition unit can acquire a first conversion relation between the target position coordinate system and the first marking unit coordinate system, namely, the relative position relation between the target position and the first marking unit is directly established under the same standard, the first conversion relation only needs to be acquired once, if the first conversion relation is acquired by utilizing a mode with risk factors such as CT equipment, the patient only needs to perform CT imaging once, the operation frequency of the CT imaging is greatly reduced, and the risk is obviously reduced by reducing the CT imaging frequency of the target object.

Drawings

FIG. 1 is a schematic view of a surgical state of a paracentesis system provided in one embodiment of the present invention;

FIG. 2 is an exploded view of a second marker provided in an embodiment of the present invention;

FIG. 3 is a schematic view of a surgical unit provided in one embodiment of the present invention;

fig. 4 is a schematic view 1 of an arrangement structure of a first marking unit provided in one embodiment of the present invention;

fig. 5 is a schematic view 2 of an arrangement structure of a first marking unit provided in one embodiment of the present invention;

FIG. 6 is a schematic structural view of a puncturing member provided in an embodiment of the present invention;

FIG. 7 is a schematic view of the movement of a surgical unit provided in one embodiment of the present invention;

FIG. 8 is a schematic view of a surgical site of a surgical unit provided in an embodiment of the present invention;

FIG. 9 is a three-dimensional view of a surgical unit and platform unit assembly provided in one embodiment of the present invention;

FIG. 10 is a schematic diagram of an end effector provided in one embodiment of the present invention;

FIG. 11 is a flow chart of the registration of a surgical unit with a target location provided in one embodiment of the present invention;

FIG. 12 is a flow chart for manual planning of a puncture path provided in an embodiment of the present invention;

FIG. 13 is a flow chart of an automated puncture path planning process provided in an embodiment of the present invention;

FIG. 14 is a flow chart of the registration of the spike with the magnetic tag provided in one embodiment of the present invention;

fig. 15 is a puncturing flowchart of a puncturing surgical system provided in an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly on or obliquely above the second feature, or that the first feature is merely at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 and 15, an embodiment of the present invention provides a puncture surgery system, which includes a surgery unit 2000, an image acquisition unit 4000, wherein the surgery unit 2000 has a first marker 2200 unit 2100, the first marker 2200 unit 2100 includes at least three non-collinear first markers 2200, the surgery unit 2000 is configured to move to a target position 1100 of a target object 1000, the image acquisition unit 4000 is configured to acquire an image including the surgery unit 2000 and the target object 1000, the control unit is communicatively connected to the surgery unit 2000, and the control unit is configured to acquire the image, generate a first conversion relationship between a coordinate system of the target position 1100 and a coordinate system of the first marker 2200 unit 2100 according to the image, and control the surgery unit 2000 to move to the target position 1100 according to the first conversion relationship.

Wherein the first transformation relation is understood as the transformation relation from the target position coordinate system to the first marking unit coordinate system, and the movement of the operation unit in the real space is controlled by transforming the target position coordinate system in the virtual image into the coordinate system of the operation unit in the real space.

The first mark 2200 may be a titanium ball, and the first mark 2200 is disposed at the end of the surgical unit 2000, specifically, if the surgical unit 2000 is a mechanical arm, the end of the mechanical arm may include a needle holder 2820 clamp, and the at least three non-collinear first marks 2200 are disposed on a side surface of the needle holder 2820 clamp, and a coordinate system is constructed on the same side surface of the needle holder 2820 clamp by the three non-collinear first marks 2200. As shown in fig. 3 to 5, when three first markers 2200 are titanium balls, three titanium balls which are not collinear may be arranged in the structural form as shown in fig. 4 and 5, thereby constructing the puncture needle 2830 of the puncture member 2800 in the Z-axis direction as shown in fig. 4.

The target object 1000 is a living object, and may be a human body or an animal, the target location 1100 is a lesion location of the target object 1000, and the surgical unit 2000 includes various medical devices that can perform a surgical operation on a lesion, such as an abdominal cavity surgical device, a puncture surgical device, and the like.

The image acquiring unit 4000 may acquire the first conversion relationship in a plurality of different manners by using a plurality of different means, and further, the first conversion relationship may be presented or expressed in a plurality of different manners, for example, in one embodiment, the image acquiring unit 4000 may be configured to acquire medical image data of the first marker 2200 and the target position 1100, the first conversion relationship is acquired according to the medical image data, for example, the image acquiring unit 4000 may employ a means capable of acquiring medical image data such as Computed Tomography (CT) or Magnetic Resonance Imaging (NMRI), when the image acquiring unit 4000 is a Tomography apparatus, the image acquired by the image acquiring unit 4000 is a Tomography image generated by the Tomography apparatus, when the image acquiring unit 4000 is a Magnetic Resonance Imaging apparatus, the image acquired by the image acquiring unit 4000 is a Magnetic Resonance image generated by the Magnetic Resonance Imaging apparatus, and besides, a technician may acquire the medical image data in other manners.

The image acquisition unit 4000 may acquire a first conversion relationship between the coordinate system of the target position 1100 and the coordinate system of the first mark 2200 unit 2100, that is, a relative position relationship between the target position 1100 and the first mark 2200 unit 2100 is directly established under the same standard, the first conversion relationship only needs to be acquired once, and if the first conversion relationship is acquired by using a mode that risk factors exist such as a CT apparatus, the patient only needs to perform CT imaging once, so that risk can be significantly reduced.

Referring to fig. 11, the process of obtaining the first transformation relationship between the coordinate system of the target position 1100 and the coordinate system of the first marking unit 2100 includes:

firstly, segmenting a first mark 2200 and a target position from an image acquired by an image acquisition unit 4000, and acquiring coordinates of the first mark 2200 and the target position in an image coordinate system; for example:

acquiring coordinates of the first marker 2200 in an image coordinate system

And coordinates of the target location (lesion)

Secondly, calculating the coordinates of the target position under a first mark coordinate system; for example:

coordinates of the first mark

Inversion

And solve the coordinates of the target location (lesion)

Position in the coordinate system of the first marker 2200:

finally, the coordinates of the target position in the first marker coordinate system are converted into the coordinates of the mechanical arm (surgical unit)

Knowing the position of the first marker 2200 in the robot coordinate system:

and solving the position of the focus under the mechanical arm coordinate system:

in the invention, a first marking unit is introduced into a medical image, the position of a target position (focus) under a CT image coordinate system is converted into a robot coordinate system, and the robot calculates the position and the posture of each axis of the robot through inverse kinematics solution. And controlling the mechanical arm to place the needle channel at a specified position. Wherein scanning the robotic arm with the patient reduces errors introduced by multiple registrations of existing images and robotic arms.

The control unit may be a processing unit in the image trolley, and may perform preoperative planning by using the image, the preoperative planning may include, but is not limited to, segmenting the organ of the target object 1000 under the image, avoiding important organs and the like, and then planning a puncture path, the region when the organ of the target object 1000 is segmented, avoiding important organs and the like includes skin, bone, blood vessel, lung parenchyma, lobar fissure, septa and the like, the puncture path is planned to avoid important tissues and organs of the human body as much as possible in the puncture process, so as to reduce the injury of the puncture operation on the human body and improve the success rate of the puncture operation.

Referring to fig. 12, in the manual planning mode, the blood vessels, organs, trachea, lung parenchyma, and skin may be segmented according to the three-dimensional reconstruction of the image acquired by the image acquisition unit 4000, the needle insertion position and the target position 1100 on the skin are manually selected, the posture of the operation unit 2000 is calculated according to a kinematic inverse solution in the coordinate system of the operation unit 2000, the needle insertion position controls the operation unit 2000 to move to the needle insertion position within the movement range, and otherwise, the needle insertion position and the target position 1100 on the skin are manually selected again. Referring to fig. 13, in the automatic planning method, the blood vessel, the organ, the trachea, and the lung parenchyma skin are segmented according to the three-dimensional reconstruction of the image acquired by the image acquisition unit 4000, the needle insertion position and the puncture path are automatically planned, the doctor confirms the planned needle insertion position and the puncture path, the unit posture of the operation is calculated according to the inverse kinematics in the coordinate system of the operation unit 2000, the needle insertion position controls the operation unit 2000 to move to the needle insertion position within the movement range, and otherwise, the doctor confirms the planned needle insertion position and the puncture path again.

The target object 1000 is provided with a second marking unit comprising at least three second marks 1200, wherein the second marking unit is included in the image acquired by the image acquisition unit 4000, and the puncture surgical system further comprises a puncture part 2800 and a navigation unit 3000, wherein the puncture part 2800 is mounted at the end of the surgical unit 2000, and the puncture part 2800 is provided with a third mark 2810 unit, and the third mark 2810 unit comprises at least two third marks 2810, for example, the third mark 2810 can be arranged on a needle holder 2820 of the puncture part 2800, so that the puncture part 2800 and the target position 1100 (lesion) are in a relative position relationship.

The control unit is communicatively connected to the navigation unit 3000, the navigation unit 3000 is configured to identify the second marker unit, the control unit is further configured to generate a second transformation relationship between the target position 1100 coordinate system and the navigation unit 3000 coordinate system, and the navigation unit 3000 is configured to identify the third marker 2810 unit, the control unit is further configured to generate a third transformation relationship between the navigation unit 3000 coordinate system and the puncturing element 2800 coordinate system, wherein the control unit is further configured to display the puncturing element 2800 in real time in the image according to the second transformation relationship and the third transformation relationship, and display in real time that the puncturing element 2800 can be used to calibrate the puncturing movement of the puncturing element 2800, and once a deviation of the movement occurs, the adjustment can be timely discovered and made.

It should be noted that, in the process of using the image capturing unit 4000 to capture the images of the target object and the surgical unit 2000, since the second marking unit 1200 is pre-disposed in the area near the target position 1100, the image captured by the image capturing unit 4000 includes the target position 1100 and the second marking unit 1200, that is, the respective position information and relative position information of the target position 1100 and the second marking unit 1200 in the image coordinate system can be known.

Since the navigation unit 3000 can recognize the second marker unit 1200, the position of the second marker unit 1200 under the navigation unit 3000 can be obtained, the position information of the second marker unit 1200 in the image coordinate system and the position information of the second marker unit 1200 in the navigation unit 3000 coordinate system can be registered, a second conversion relationship can be obtained, and the registration of the image (target position 1100 coordinate system) and the navigation unit (second marker unit 1200 coordinate system) can be realized.

Further, the navigation unit 3000 may also recognize the third marker unit, and thus, it is possible to obtain position information of the third marker unit (the puncture member coordinate system) under the navigation unit 3000, convert the position information of the third marker unit into the image coordinate system based on the second conversion relationship between the navigation apparatus coordinate system and the image coordinate system, and display the puncture member in the image in real time.

The second conversion relationship may be understood as a conversion relationship for converting the position information of the second marker unit in the real space into the virtual image, that is, converting the puncture unit in the real space into the virtual image through the second conversion relationship, and realizing the display of the movement of the real puncture unit in the virtual image.

The navigation unit 3000 may identify the second marker unit by using a magnetic navigation or optical navigation manner and generate position information, and the control unit registers the position information of the second marker unit with the position information of the second marker unit in the image to form a second transformation relation, which is used to transform the position information of the real space acquired by the navigation unit 3000 into the virtual image and then display the virtual image.

The at least three first indicia 2200 may be disposed about the piercing member 2800, for example, when the piercing member 2800 is integrally mounted to a needle holder 2820 clip, the at least three first indicia 2200 may be disposed about the piercing member 2800 due to the at least three first indicia 2200 being disposed on the needle holder 2820 clip.

The second marker 1200 and the third marker 2810 may be the same kind or different kinds of components, for example, the second marker 1200 may be at least one of a magnetic marker component, an optical marker component and a non-optical marker component, and the third marker 2810 may also be at least one of a magnetic marker component, an optical marker component and a non-optical marker component, in one embodiment, the navigation unit 3000 is a magnetic generator, and the second marker 1200 and the third marker 2810 are magnetic tags.

The second mark 1200 may include a protective case 1210 and a component body 1220, as shown in fig. 2, the protective case 1210 may include an upper case and a lower case, the upper case and the lower case are assembled to form the protective case 1210, the upper case and the lower case are relatively separated to assemble the component body 1220 in an inner cavity of the protective case 1210, the protective case 1210 includes a connection portion 1230, and the connection portion 1230 may be in a snap-fit manner, an adhesive manner, or the like, for example, an outer wall of the protective case 1210 includes an adhesive layer, and the entire second mark 1200 is adhered to the target object 1000 by the adhesive layer. When the protective case 1210 is used, only the protective case 1210 is wiped with alcohol, the part body 1220 of the second marker 1200 is not damaged, the service life can be effectively prolonged, and the cost is low.

The control unit is further configured to obtain position information of a third mark in real time, calculate in real time according to the second conversion relationship, and display a real-time motion path of the puncturing part 2800 on the image, where as can be seen from the foregoing, the planned motion path is planned according to the target position 1100 in the image, and at this time, both the real-time motion path and the planned motion path are displayed on the image at the same time, so that the control unit may be used to determine whether the real-time motion path is consistent with the planned motion path, and if the real-time motion path is consistent with the planned motion path, it is verified that the puncturing operation is in expectation, and once it is determined that the real-time motion path deviates from the planned motion path, a warning signal may be generated to warn. Specifically, the puncture surgery system may include an early warning unit, the early warning unit is in communication connection with the control unit, and then the early warning unit is utilized to output the reminding signal, which may be sound information or image information.

Referring to fig. 14, in a specific embodiment, when the alert signal is generated, the image acquisition unit 4000 may be registered with the magnetic tag, the position of the target position 1100 in the magnetic navigation coordinate system is calculated, the puncture needle 2830 is calibrated, the coordinate system of the puncture needle 2830 is registered to the magnetic navigation coordinate, the puncture needle 2830 and the three-dimensional image are registered in real time under the magnetic navigation, the registration puncture needle 2830 and the three-dimensional image are displayed in real time, the puncture path deviates from the real-time inspection, the alert signal is generated for alerting when the puncture path deviates, and the alert signal may be sound, an image, or the like.

In one embodiment, the puncture needle 2830 of the puncture device 2800 further has a fourth marker 2831 unit, the fourth marker 2831 unit includes at least two fourth markers 2831, the navigation unit 3000 is further configured to identify the fourth marker 2831 unit, and the control unit converts the position information corresponding to the fourth marker 2731 into an image according to a second conversion relationship to display the distal end of the puncture needle 2830 in real time. The puncture means 2800 actually performs an actual puncture operation using the puncture needle 2830, and the puncture needle 2830 can be attached to the needle holder 2820 of the puncture means 2800, so that the tip of the puncture needle 2830 represents the actual puncture depth of the puncture needle 2830, and the actual positional relationship between the tip of the puncture needle 2830 and a lesion (target position) can be observed in real time in an image, thereby obtaining the puncture depth and assisting a doctor in performing a puncture operation.

Referring to fig. 8 to 15, in one embodiment, at the same time, the navigation unit 3000 can be configured to obtain a positioning relationship between the coordinate system of the fifth marker 1300 and the coordinate system of the second marker 1200, the navigation unit 3000 can generate an installation range of the surgical unit 2000 relative to the target object 1000 according to the movement range information and the positioning relationship, where the installation range is an installation range of the surgical unit 2000 relative to the target object 1000, and the surgical unit 2000 is installed in the installation range, so that the movable range of the surgical unit 2000 can be ensured to sufficiently cover the target area of the target object 1000, so as to achieve the surgical purpose.

Referring to fig. 10, at least two fifth markers 1300 may be determined at the end effector, etc. position of the surgical unit 2000, at least two of the fifth markers 1300 may be a columnar member, and the axes of the two fifth markers 1300 are parallel to each other, the axial direction of the two fifth markers 1300 is defined as a Y-axis, the direction in which the midpoints of the two fifth markers 1300 are connected is defined as a Z-axis, and then the X-axis in the three-dimensional space may be defined based on the Y-axis and the Z-axis.

After the mountable range of the surgical unit 2000 is calculated under the positioning relationship, the mountable range of the surgical unit 2000 can be displayed by using the display unit 7000, and meanwhile, the mountable range of the surgical unit 2000 can be labeled on the display unit 7000 by different colors, for example, green can represent the mountable range, red can prompt an area outside the mountable range, the position of the surgical unit 2000 is displayed in real time in the placing process of the surgical unit 2000, and the prompt is placed to the position which can meet the requirement. The movement range information of the surgical unit 2000 indicates a movable range in which an operation can be performed when the surgical unit 2000 performs a surgical operation, for example, when the surgical unit 2000 is a robot arm, the movable range of the robot arm may be indicated.

The puncture surgery system may include a medical trolley, and thus the surgery unit 2000 may be assembled in a medical trolley or the like, and the medical trolley is used to move and adjust the surgery unit 2000, or in one embodiment, the puncture surgery system may also directly assemble the surgery unit 2000 by using the platform unit 5000 for a patient to lie down during a surgery process without using the trolley, and the platform unit 5000 may include a surgery platform capable of being matched with a CT apparatus, and the surgery unit 2000 may be disposed on the platform unit 5000 according to factors such as a position where the patient lies down and a movable range of the surgery unit 2000, so that the surgery unit 2000 may complete a surgery operation on the patient.

With continued reference to fig. 8, the surgical unit 2000 may be mounted directly on the platform unit 5000 or indirectly on the platform unit 5000 using the supporting device 6000, in one embodiment, the platform unit 5000 may be detachably provided with the supporting device 6000, the supporting device 6000 is adjusted to a proper position, and then the surgical unit 2000 is disposed on the supporting device 6000, and the surgical unit 2000 may be assembled with respect to the supporting device 6000 in any structure, such as a plug-in type, a snap-in type, an adhesive type, a screw type, etc., without limitation. The platform unit 5000 may be provided with a carbon fiber plate, and then the supporting device 6000 may be adhered to the carbon fiber plate by using a hook and loop fastener.

When the surgical unit 2000 is assembled on the platform unit 5000, an installable range of the surgical unit 2000 may be constructed on the platform unit 5000, for example, in one embodiment, the control unit may divide the platform unit 5000 into an installable region and a non-installable region according to the positioning relationship and the movement range information by using the surgical unit 2000 having movement range information, and the installable region may be configured to construct an installable range of the surgical unit 2000 with respect to the target object 1000. When the display unit 7000 is used for displaying, the mountable area can be represented by green on the display unit 7000, and the non-mounting area can be prompted by red, so that the position of the surgical unit 2000 is displayed in real time in the placing process of the surgical unit 2000, and the surgical unit 2000 is prompted to be placed in the mountable area.

The surgical unit 2000 can be selected to have a suitable structure according to the surgical requirements, and includes enough degrees of freedom to perform the corresponding surgical operation, as shown in fig. 7, in one embodiment, the surgical unit 2000 includes a primary motion portion 2300, a secondary motion portion 2400, a tertiary motion portion 2500, a quaternary motion portion 2600, and a quinary motion portion 2700.

The primary motion part 2300 is movably arranged on the platform unit 5000, the platform unit 5000 is provided with a primary rotation reference axis, and the primary motion part 2300 is configured to be capable of being fixed-axis rotation along the primary rotation reference axis; the secondary motion part 2400 is movably disposed on the primary motion part 2300, the primary motion part 2300 has a secondary rotation reference axis, and the secondary motion part 2400 is configured to be capable of being fixed-axis rotation along the secondary rotation reference axis; the three-stage moving part 2500 is movably disposed on the two-stage moving part 2400, the two-stage moving part 2400 has a three-stage rotation reference axis, and the three-stage moving part 2500 is configured to be capable of rotating around the three-stage rotation reference axis; the four-stage motion part 2600 is movably disposed on the three-stage motion part 2500, the three-stage motion part 2500 has a four-stage linear guide track, and the four-stage motion part 2600 is configured to be linearly reciprocated along the four-stage linear guide track; the five-stage exercising portion 2700 is movably disposed on the four-stage exercising portion 2600, the four-stage exercising portion 2600 has a five-stage rotation reference axis, and the five-stage exercising portion 2700 is configured to be capable of being rotated around the five-stage rotation reference axis.

For the interrelationship between each of the revolution reference axes and the linear guide tracks, the primary revolution reference axis is perpendicular to the secondary revolution reference axis, the secondary revolution reference axis is perpendicular to the tertiary revolution reference axis, the primary revolution reference axis is perpendicular to the tertiary revolution reference axis, the tertiary revolution reference axis is parallel to the fourth-stage linear guide track, and the secondary revolution reference axis is parallel to the fifth-stage revolution reference axis.

According to the kind of operation performed by the surgical unit 2000, the tip of the surgical unit 2000 may be assembled with different types of surgical instruments, including but not limited to laparoscope, a puncture needle 2830, etc., in one embodiment, the surgical unit 2000 includes a puncture part 2800, the puncture part 2800 is disposed on the fifth stage moving part 2700, the puncture part 2800 may be assembled directly on the tip of the fifth stage moving part 2700, or may be assembled indirectly on the tip of the fifth stage moving part 2700 through a needle holder 2820, etc., for example, the tip of the fifth stage moving part 2700 has an end effector, and the needle holder 2820 is assembled on the end effector.

Referring to fig. 15, in a specific embodiment, the robot navigation mark and the patient may be scanned together by CT, a D model may be reconstructed, that is, the human body and the robot may be reconstructed, the robot navigation mark and the lesion may be segmented, the angle and distance between the robot and the lesion may be calculated, the planned path of the bone, the organ and the important blood vessel may be avoided, the robot may move to the needle insertion point, during this process, the position of the magnetic label and the lesion may be registered, the length of the puncture needle 2830 may be calibrated, the position relationship between the puncture needle 2830 and the lesion may be displayed in real time, and after all is prepared, the puncture operation may be performed, and finally, the scan may be confirmed.

The invention provides a positioning and navigation method, which comprises the following steps: defining a first landmark 2200 unit 2100 on the surgical unit 2000, acquiring an image comprising the surgical unit 2000 and a target object 1000, generating a first transformation relation between the target position 1100 coordinate system and the first landmark 2200 unit 2100 coordinate system from the image, and controlling the surgical unit 2000 to move to the target position 1100 according to the first transformation relation. A first conversion relationship between the coordinate system of the target position 1100 and the coordinate system of the first mark 2200 unit 2100 is obtained, that is, a relative positional relationship between the target position 1100 and the first mark 2200 unit 2100 is directly established under the same standard, the first conversion relationship only needs to be obtained once, and if the first conversion relationship is obtained by using a mode of a CT device or the like having risk factors, only a patient needs to be subjected to CT imaging once, so that the risk can be significantly reduced.

In one embodiment, the positioning and navigation method comprises the following steps: defining a second marking unit on the target object 1000, the second marking unit being included in the image, defining a third marking 2810 unit on the puncture part 2800 at the tip of the surgical unit 2000, generating a second conversion relationship according to the positional relationship of the second marking unit in the image and the positional relationship under the navigation device, and identifying the positional relationship of a third inter-marker unit, and displaying the puncture part 2800 in the image in real time according to the second conversion relationship such that the puncture part 2800 establishes a relative positional relationship with the target position 1100 (lesion).

In one embodiment, the positioning navigation method comprises the following steps: a fourth marker 2831 unit is defined at the end of the puncture needle 2830 of the puncture part 2800, the end of the puncture needle 2830 is displayed in real time in the image according to the second conversion relation, the end of the puncture needle 2830 represents the actual puncture depth of the puncture needle 2830, and the actual position relation between the end of the puncture needle 2830 and the lesion can be observed in real time in the image, so that the puncture operation of a doctor is assisted.

The present invention provides a readable storage medium having stored thereon a program which, when executed, implements the steps of the positioning navigation method. There is also provided in one embodiment a computer device comprising a processor and a readable storage medium as described above, the processor being configured to execute the program stored on the readable storage medium.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (17)

1. A puncture surgical system, comprising:

a surgical unit having a first marker unit comprising at least three non-collinear first markers for movement to a target position of a target object;

an image acquisition unit for acquiring an image containing the surgical unit and the target object;

the control unit is in communication connection with the operation unit and is used for acquiring the image, generating a first conversion relation between the target position coordinate system and the first marking unit coordinate system according to the image and controlling the operation unit to move to the target position according to the first conversion relation.

2. The puncture surgical system of claim 1, wherein the first marker is a titanium ball and the first marker is disposed at a distal end of the surgical unit.

3. The puncture surgical system of claim 1, wherein the surgical unit is a robotic arm, a tip of the robotic arm including a needle holder clip, the at least three non-collinear first indicia being disposed on a side surface of the needle holder clip.

4. The puncture surgical system according to claim 1, wherein a second marker unit is disposed on the target object, the second marker unit including at least three second markers, the second marker unit being included in the image acquired by the image acquisition unit, the puncture surgical system further including:

the puncture component is arranged at the tail end of the operation unit and is provided with a third marking unit, and the third marking unit comprises at least two third marks;

the control unit is in communication connection with the navigation unit, the navigation unit is used for identifying the second marking unit, the control unit is further used for generating a second conversion relation between the target position coordinate system and the navigation unit coordinate system, the navigation unit is used for identifying the third marking unit, and the control unit is further used for displaying the puncture component in the image in real time according to the second conversion relation;

wherein the second conversion relationship is a conversion relationship from the navigation unit coordinate system to the target position coordinate system.

5. The puncture surgical system of claim 4, wherein the at least three first indicia are disposed about the puncture member.

6. The puncture surgical system of claim 4, wherein the control unit is further configured to identify the third marking unit in real time and display a real-time movement path of the puncture member on the image in real time based on the second conversion relationship.

7. The puncture surgery system of claim 6, wherein the control unit is further configured to determine whether the real-time motion path is consistent with a planned motion path, and generate a reminder signal to remind when the real-time motion path deviates from the planned motion path;

and the planned motion path is obtained according to the planning of the target position in the image.

8. The puncture surgical system of claim 7, further comprising:

and the early warning unit is in communication connection with the control unit and is used for outputting the reminding signal.

9. The puncture surgical system according to claim 4, wherein the navigation unit is a magnetic generator, and the second marker and the third marker are magnetic tags, respectively.

10. The puncture surgical system according to claim 4, wherein the puncture needle tip of the puncture device has a fourth marking unit, the navigation unit is further configured to identify the fourth marking unit, and the control unit displays the puncture needle tip in the image in real time according to the second conversion relationship.

11. A positioning and navigation method is characterized by comprising the following steps:

defining a first marking unit on the surgical unit;

acquiring an image containing the surgical unit and a target object;

generating a first conversion relation between a target position coordinate system of the target object and the first marking unit coordinate system according to the image; and (c) a second step of,

and controlling the surgical unit to move to the target position according to the first conversion relation.

12. The positioning and navigation method according to claim 11, wherein the positioning and navigation method comprises:

defining a second marking unit on the target object, the second marking unit being contained in the image;

defining a third marking unit on a piercing member of a tip of the surgical unit;

identifying the second marking unit by using a navigation unit, and generating a second conversion relation between the target position coordinate system and the navigation unit coordinate system;

identifying the third marking unit by using a navigation unit, and displaying a puncture part in the image in real time according to the second conversion relation; wherein the second conversion relationship is a conversion relationship from the navigation unit coordinate system to the target position coordinate system.

13. The positioning and navigation method according to claim 12, further comprising:

and identifying the third marking unit in real time according to the second conversion relation, and displaying the real-time motion path of the puncture part on the image.

14. The position location and navigation method of claim 13, further comprising:

judging whether the real-time motion path is consistent with a planned motion path or not;

if the real-time motion path deviates from the planned motion path, generating a reminding signal for reminding;

and the planned motion path is planned according to the target position in the image.

15. The positioning and navigation method according to claim 12, wherein the positioning and navigation method comprises:

defining a fourth marking unit at the puncture needle tip of the puncture member;

and the navigation unit identifies the fourth marking unit and displays the tail end of the puncture needle in the image in real time according to the second conversion relation.

16. The position location navigation method of claim 15, further comprising,

and calculating the relative position between the tail end of the puncture needle and the target position, and judging the needle inserting depth of the puncture needle.

17. A readable storage medium, on which a program is stored, characterized in that said program, when executed, implements the steps of the positioning and navigation method according to any one of claims 11-16.

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