CN115363716A

CN115363716A - Puncture surgery assisting method, system, robot and storage medium

Info

Publication number: CN115363716A
Application number: CN202211066196.5A
Authority: CN
Inventors: 田旭东; 隋广玉
Original assignee: Zhejiang Shenbo Medical Technology Co ltd
Current assignee: Zhejiang Shenbo Medical Technology Co ltd
Priority date: 2022-09-01
Filing date: 2022-09-01
Publication date: 2022-11-22

Abstract

The invention discloses a puncture surgery auxiliary method, a puncture surgery auxiliary system, a robot and a storage medium, wherein the method comprises the following steps: acquiring a volume image of a focus through a volume probe arranged on a first mechanical arm, and receiving a puncture position marked on the volume image by a user; after the current pose of the first mechanical arm is locked as a first pose, calibrating a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system; calculating a second pose of the second mechanical arm and a first vector coordinate of the puncture path; after receiving a confirmation instruction of the second pose and the first vector coordinate, adjusting and locking the current pose of the second mechanical arm to be the second pose; calculating a second vector coordinate of the puncture path in a first mechanical arm coordinate system; and adjusting the posture of the first mechanical arm to be a third posture according to the second vector coordinate. The invention can avoid the error in the calculation of the puncture path in the operation process from influencing the operation effect, and improve the operation precision and controllability of the puncture operation auxiliary robot.

Description

Puncture surgery assisting method, system, robot and storage medium

Technical Field

The invention relates to the technical field of medical robots, in particular to a puncture surgery assisting method, a puncture surgery assisting system, a puncture surgery assisting robot and a storage medium.

Background

In the process of mammary gland operation and inspection, an industrial personal computer is generally adopted to plan a puncture path at present, and after a mechanical arm carrying a puncture probe is controlled to reach a fixed pose, the probe is pushed in by a doctor to complete the puncture operation, so that the influence of errors on the operation effect when the puncture position and the puncture path of the probe are determined manually is avoided.

However, the existing puncture auxiliary robot cannot check the puncture process in real time in the use process, once an error exists in the calculation of the puncture path, a doctor cannot know the actual puncture path information and the condition of an affected part, and cannot adjust the puncture path in time according to the real-time puncture condition.

Therefore, a puncture surgery assisting method is needed at present, which can be used for acquiring the insertion information of the surgical probe at an affected part in the process of assisting the puncture surgery, so that a doctor can conveniently check the puncture process to adjust in real time, and the surgery precision and controllability of the puncture surgery assisting robot are improved.

Disclosure of Invention

In order to solve the technical problem that the puncture path cannot be timely adjusted according to the real-time puncture condition when the puncture path calculation has errors in the puncture process, the invention provides a puncture operation auxiliary method, a system, a robot and a storage medium, and the specific technical scheme is as follows:

the invention provides a puncture surgery assisting method, which comprises the following steps:

acquiring a volume image of a focus through a volume probe arranged on a first mechanical arm, and receiving a puncture position marked on the volume image by a user;

after the current pose of the first mechanical arm is locked as a first pose, calibrating a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system;

calculating a second pose of a second mechanical arm according to the coordinate conversion relation and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under a second mechanical arm coordinate system;

after a first confirmation instruction of the second pose and a second confirmation instruction of the first vector coordinate are received respectively, adjusting and locking the current pose of the second mechanical arm to be the second pose;

according to the first vector coordinate and the coordinate conversion relation, calculating a second vector coordinate of the puncture path in a first mechanical arm coordinate system;

and according to the second vector coordinate, adjusting the posture of the first mechanical arm to be a third posture, wherein the volume image is parallel to the plane of the puncture path in the third posture, and the puncture path is included in the volume image.

According to the puncture surgery auxiliary method, the first mechanical arm and the second mechanical arm are controlled to realize focus volume image acquisition and puncture path planning, after the posture of the second mechanical arm for mounting the puncture needle is adjusted according to the puncture path, the posture of the first mechanical arm for carrying the volume probe is controlled to be adjusted, so that the volume probe can acquire image information in real time in the puncture surgery process, the situation that the puncture process cannot be checked in real time in the puncture surgery process is avoided, once errors exist in puncture path calculation, a user cannot know actual puncture path information and affected part conditions, the surgery effect is influenced, and the user can conveniently adjust the puncture path in time according to the real-time puncture condition.

In some embodiments, the receiving the puncture location marked by the user on the volume image specifically includes:

performing three-dimensional reconstruction according to the volume image, and generating and displaying a transverse plane image and a coronal plane image of the focus;

receiving a first position coordinate marked by the user in the cross-plane image and a second position coordinate marked by the user in the coronal plane image, respectively, and taking the first position coordinate and the second position coordinate as the puncture position.

The puncture surgery auxiliary method provided by the invention generates the cross section image and the coronal plane image of the focus in a three-dimensional reconstruction mode, so that a user can mark the puncture position intuitively according to the cross section image and the coronal plane image of the focus, the accuracy of the user in judging the puncture position is improved, and the surgery effect is further improved.

In some embodiments, the calculating a second pose of a second mechanical arm according to the coordinate transformation relation and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle mounted on the second mechanical arm under the second mechanical arm coordinate system specifically include:

respectively receiving a third position coordinate marked in the cross-section image by the user and a fourth position coordinate marked in the coronal image, and taking the third position coordinate and the fourth position coordinate as surface incising points of the focus;

and calculating the second pose and the first vector coordinate according to the first position coordinate, the second position coordinate, the third position coordinate and the fourth position coordinate.

The puncture surgery auxiliary method provided by the invention can be used for calculating the second pose of the second mechanical arm and the first vector coordinate of the puncture path by marking the surface entry point on the cross-section image and the coronal plane image of the focus, and planning the surface entry point and the puncture position on the cross-section image and the coronal plane image of the focus, so that a user can plan and check the puncture path on the cross-section image and the coronal plane image intuitively.

In some embodiments, the calculating a second pose of a second mechanical arm according to the coordinate transformation relation and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle mounted on the second mechanical arm in a second mechanical arm coordinate system further includes:

after the user moves the second mechanical arm to enable the puncture needle to click the surface entry point of the focus, receiving a third determination instruction input by the user, and acquiring a fifth position coordinate of the current position of the second mechanical arm in a second mechanical arm coordinate system;

converting the fifth position coordinate into a sixth position coordinate under the first mechanical arm coordinate system according to the coordinate conversion relation;

and calculating the second pose and the first vector coordinate according to the sixth position coordinate, the first position coordinate and the second position coordinate.

According to the puncture surgery auxiliary method provided by the invention, the puncture needle clicks the surface entry point of the focus by moving the second mechanical arm, and the second pose of the second mechanical arm and the first vector coordinate of the puncture path are calculated according to the coordinate of the surface entry point of the focus and the coordinate of the puncture position, so that a user can directly plan the puncture position and the puncture path according to the actual condition of the focus, and the effect of the puncture surgery is improved.

In some embodiments, the volumetric probe comprises an ultrasonic linear array probe, a frame, and a placement tray;

the volume image of focus is gathered through installing the volume probe on first mechanical arm, specifically include:

receiving a fourth determination instruction input by the user after the user moves the volume probe to the lesion;

and controlling the ultrasonic linear array probe to rotate around the circle center of the placing disc by a preset angle in the frame according to the fourth determination instruction, and acquiring the volume image.

The invention provides a puncture operation auxiliary method, and discloses a volume probe structure and a collection method for collecting a volume image of a focus, which improve the accuracy of collecting the volume image of the focus and further improve the effect of a puncture operation.

In some embodiments, calibrating the coordinate transformation relationship between the first robot coordinate system and the second robot coordinate system specifically includes:

and after the user adjusts the second mechanical arm to enable the puncture needle to click a preset punctuation target point on the first mechanical arm, calculating the coordinate transformation relation according to the current posture of the second mechanical arm and the first posture.

The puncture surgery auxiliary method provided by the invention discloses a calibration mode of a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system, and the calibration can be completed by adjusting the posture of the second mechanical arm, so that the simplicity of the puncture surgery is improved.

In some embodiments, the first and second robotic arms are disposed on first and second adjustment rails, respectively;

before the volume probe installed on the first mechanical arm is used for acquiring the volume image of the focus, the method further comprises the following steps:

fixing the position of the first mechanical arm on the first adjusting track;

after the current pose of the first mechanical arm is locked as the first pose, and before the second pose of the second mechanical arm is calculated according to the coordinate conversion relationship and the puncture position, the method further comprises the following steps:

after the position of the second mechanical arm on the second adjusting track is adjusted, the coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system is calibrated, and the position of the second mechanical arm on the second adjusting track is fixed.

According to the puncture surgery auxiliary method provided by the invention, the first mechanical arm and the second mechanical arm are respectively arranged on different adjusting tracks, so that the technical effect of increasing the moving range of the first mechanical arm and the second mechanical arm in the surgery process is realized, the selection of the puncture position and the puncture path in the surgery process is more flexible, and meanwhile, a scheme for fixing the mechanical arms on the corresponding adjusting tracks is disclosed, so that the problem that the accuracy of the surgery is influenced due to the change of coordinate conversion relation caused by the movement of the mechanical arms after the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm are calibrated is avoided.

In some embodiments, according to another aspect of the present invention, there is also provided a puncture procedure assistance system including:

the system comprises an acquisition module, a detection module and a control module, wherein the acquisition module is used for acquiring a volume image of a focus through a volume probe arranged on a first mechanical arm and receiving a puncture position marked on the volume image by a user;

the calibration module is used for calibrating the coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system after locking the current pose of the first mechanical arm as a first pose;

the first calculation module is connected with the calibration module and used for calculating a second pose of a second mechanical arm according to the coordinate conversion relation and the puncture position and calculating a first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under a second mechanical arm coordinate system;

the first adjusting module is connected with the first calculating module and used for adjusting and locking the current pose of the second mechanical arm to the second pose after receiving the first confirming instruction of the second pose and the second confirming instruction of the first vector coordinate respectively;

the second calculation module is respectively connected with the calibration module and the first adjustment module and is used for calculating a second vector coordinate of the puncture path under a first mechanical arm coordinate system according to the first vector coordinate and the coordinate conversion relation;

and the second adjusting module is connected with the second calculating module and used for adjusting the posture of the first mechanical arm into a third posture according to the second vector coordinate, the volume image is parallel to the plane where the puncture path is located in the third posture, and the puncture path is included in the volume image.

In some embodiments, according to another aspect of the present invention, there is also provided a puncture surgery assisting robot comprising:

the system comprises a first mechanical arm, a second mechanical arm and a control unit, wherein a volume probe is mounted on the first mechanical arm and used for controlling the volume probe to acquire a volume image of a focus;

the first mechanical arm is provided with a puncture needle for controlling the puncture to puncture the focus;

the industrial personal computer is respectively connected with the first mechanical arm and the second mechanical arm, and is used for receiving the volume image acquired by the volume probe, receiving the puncture position marked on the volume image by a user, calibrating the coordinate conversion relation between the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm after locking the current pose of the first mechanical arm as the first pose, calculating the second pose of the second mechanical arm according to the coordinate conversion relation and the puncture position, calculating the first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under the coordinate system of the second mechanical arm, respectively receiving the first confirmation instruction of the second pose and the second confirmation instruction of the first vector coordinate, adjusting and locking the current pose of the second mechanical arm as the second pose, calculating the second vector coordinate of the puncture path under the coordinate system of the first mechanical arm according to the first vector coordinate and the coordinate conversion relation, finally adjusting the pose of the first mechanical arm into the third pose according to the second vector coordinate, enabling the third pose and the volume image to be parallel to the plane of the puncture path, wherein the puncture path comprises the puncture position marked on the volume image.

In some embodiments, according to another aspect of the present invention, the present invention further provides a storage medium, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operations performed by the above-mentioned puncture surgery assisting method.

The invention provides a puncture surgery assisting method, a puncture surgery assisting system, a robot and a storage medium, which at least comprise the following technical effects:

(1) The focus volume image acquisition and puncture path planning are realized by controlling the first mechanical arm and the second mechanical arm, after the second mechanical arm for mounting the puncture needle adjusts the posture according to the puncture path, the first mechanical arm for carrying the volume probe is controlled to adjust the posture, so that the volume probe can acquire image information in real time in the puncture operation process, the situation that the puncture process cannot be checked in real time in the puncture operation process is avoided, once errors exist in the calculation of the puncture path, the user does not know the actual puncture path information and the affected part condition clearly, the operation effect is influenced, and the user can adjust the puncture path in time according to the real-time puncture condition;

(2) The cross-section image and the coronal plane image of the focus are generated in a three-dimensional reconstruction mode, so that a user can mark the puncture position intuitively according to the cross-section image and the coronal plane image of the focus, the accuracy of the user in judging the puncture position is improved, and the operation effect is further improved;

(3) Marking a surface entry point on the cross-section image and the coronal plane image of the lesion, further calculating a second pose of a second mechanical arm and a first vector coordinate of a puncture path, and planning the surface entry point and the puncture position on the cross-section image and the coronal plane image of the lesion, so that a user can plan and view the puncture path on the cross-section image and the coronal plane image intuitively;

(4) The puncture needle clicks the surface entry point of the focus by moving the second mechanical arm, and the second pose of the second mechanical arm and the first vector coordinate of the puncture path are calculated according to the coordinate of the surface entry point of the focus and the coordinate of the puncture position, so that a user can directly plan the puncture position and the puncture path according to the actual condition of the focus, and the effect of the puncture operation is improved;

(5) The first mechanical arm and the second mechanical arm are arranged on different adjusting tracks respectively, so that the technical effect of increasing the moving range of the first mechanical arm and the second mechanical arm in the operation process is achieved, the selection of a puncture position and a puncture path in the operation process is more flexible, and meanwhile, a scheme for fixing the mechanical arms on the corresponding adjusting tracks is disclosed, and the problem that the accuracy of the operation is influenced due to the fact that the coordinate conversion relation changes caused by the movement of the mechanical arms after the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm are calibrated is avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a flow chart of a method of assisting in a lancing procedure according to the present invention;

FIG. 2 is a flow chart of a method of assisting in a lancing procedure according to the present invention;

FIG. 3 is a flowchart of calculating a second pose of the second robotic arm and a first vector coordinate of the puncture path in a method of assisting a puncture procedure of the present invention;

FIG. 4 is another flow chart of the puncture assisting method of the present invention;

fig. 5 is an explanatory view of a puncture surgery assisting apparatus to which a puncture surgery assisting method of the present invention is applied;

FIG. 6 is an exemplary illustration of a puncture assistance system in accordance with the present invention;

fig. 7 is an exemplary view of a robot for assisting a puncture operation according to the present invention.

Reference numbers in the figures: the system comprises an acquisition module-10, a calibration module-20, a first calculation module-30, a first regulation module-40, a second calculation module-50, a second regulation module-60, a first mechanical arm-100, a second mechanical arm-200 and an industrial personal computer-300.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically depicted, or only one of them is labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

In one embodiment of the present invention, as shown in fig. 1, the present invention provides a puncture surgery assisting method, including the steps of:

s100, a volume probe installed on a first mechanical arm is used for acquiring a volume image of a focus and receiving a puncture position marked on the volume image by a user.

Specifically, the volume probe can adopt an ultrasonic volume probe, a depth volume probe and the like, and is used for acquiring a 3D volume image of a focus position, sending the volume image from an industrial personal computer after the volume image is acquired, displaying the volume image through a display device of the industrial personal computer, and receiving marks of a doctor on the puncture position on the volume image through the display device.

S200, after the current pose of the first mechanical arm is locked to be the first pose, calibrating a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system.

Specifically, the first mechanical arm and the second mechanical arm are both of multi-degree-of-freedom mechanical arm structures, after the volume probe acquires the volume image of the focus, the current posture of the first mechanical arm is kept unchanged, and the coordinate conversion relation between the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm is calibrated.

S300, calculating a second pose of the second mechanical arm according to the coordinate conversion relation and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle installed on the second mechanical arm under a second mechanical arm coordinate system.

Specifically, the puncture position is converted into coordinates in a second robot coordinate system according to a coordinate conversion relationship between the first robot coordinate system and the second robot coordinate system, a second pose of the second robot is calculated according to the coordinates of the puncture position in the second robot coordinate system, and the puncture path is calculated according to the puncture pose in the second coordinate system.

S400, after receiving a first confirmation instruction of a second pose and a second confirmation instruction of the first vector coordinate respectively, adjusting and locking the current pose of the second mechanical arm to be the second pose.

Specifically, a puncture position and a puncture path of the puncture needle in the volume image are displayed through a display device of the industrial personal computer and confirmed by a doctor, after the puncture position and the puncture path are confirmed by the doctor respectively, a first confirmation instruction and a second confirmation instruction are input, the industrial personal computer adjusts the current pose of the second mechanical arm to the second pose according to the first confirmation instruction and the second confirmation instruction, and locks the current pose of the second mechanical arm to the second pose.

S500, according to the first vector coordinate and the coordinate conversion relation, a second vector coordinate of the puncture path in the first mechanical arm coordinate system is calculated.

S600, according to the second vector coordinate, the posture of the first mechanical arm is adjusted to be a third posture.

Specifically, the volumetric image in the third posture is parallel to the plane of the puncture path, and the puncture path is included in the volumetric image.

The puncture surgery assisting method provided by the embodiment realizes the collection of focus volume images and the planning of puncture paths by controlling the first mechanical arm and the second mechanical arm, after the second mechanical arm for installing the puncture needle adjusts the posture according to the puncture paths, the first mechanical arm for carrying the volume probe is controlled to adjust the posture, so that the volume probe can collect image information in real time in the process of the puncture surgery, the situation that the puncture process cannot be checked in real time in the process of the puncture surgery is avoided, once errors exist in the calculation of the puncture paths, a user cannot know the actual puncture path information and the conditions of affected parts clearly, the surgery effect is influenced, and the user can conveniently adjust the puncture paths in time according to the real-time puncture conditions.

In one embodiment, as shown in fig. 2, steps S100 to S300 specifically include:

s120, a volume probe mounted on the first robot arm is used to acquire a volume image of the lesion.

S131, three-dimensional reconstruction is carried out according to the volume image, and a transverse section image and a coronal section image of the focus are generated and displayed.

Specifically, the three-dimensional reconstruction method comprises multi-level reconstruction, maximum density projection, surface shadow masking, volume roaming technology, curved surface reconstruction, virtual endoscopy technology and the like, a volume image acquired by a volume probe is converted into a transverse plane image and a coronal plane image of the focus by any one of the methods, and the transverse plane image and the coronal plane image of the focus are simultaneously displayed by a display device of an industrial personal computer.

S132 receives the first position coordinate marked by the user in the cross-plane image and the second position coordinate marked in the coronal image, respectively, and takes the first position coordinate and the second position coordinate as the puncture location.

Specifically, a first position coordinate marked by the doctor in the cross-plane image and a second position coordinate marked in the coronal-plane image respectively are received through a display device of the industrial personal computer.

S311 respectively receiving a third position coordinate marked in the transverse plane image and a fourth position coordinate marked in the coronal plane image by the user, and taking the third position coordinate and the fourth position coordinate as surface entry points of the focus.

Specifically, after planning a surface entry point of the focus according to the coronal plane image and the transverse plane image of the focus, a display device of the industrial personal computer receives a third position coordinate marked in the transverse plane image and a fourth position coordinate marked in the coronal plane image by the doctor respectively.

S312, calculating a second pose and a first vector coordinate according to the first position coordinate, the second position coordinate, the third position coordinate and the fourth position coordinate.

The method for assisting the puncture surgery generates the cross-sectional image and the coronal plane image of the lesion in a three-dimensional reconstruction mode, so that a user can mark a puncture position visually according to the cross-sectional image and the coronal plane image of the lesion, meanwhile, a surface entry point is marked on the cross-sectional image and the coronal plane image of the lesion, a second pose of the second mechanical arm and a first vector coordinate of a puncture path are calculated, the surface entry point and the puncture position are planned on the cross-sectional image and the coronal plane image of the lesion, the user can plan and check the puncture path visually, accuracy of the user in judging the puncture position is improved, and surgical effects are improved.

In one embodiment, as shown in fig. 3, the step S300 of calculating a second pose of the second robot arm according to the coordinate transformation relationship and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle mounted on the second robot arm in a second robot arm coordinate system further includes:

s321, after the user moves the second mechanical arm to enable the puncture needle to click the surface entry point of the focus, receiving a third determination instruction input by the user, and acquiring a fifth position coordinate of the current position of the second mechanical arm in a second mechanical arm coordinate system.

Specifically, after the puncture needle clicks the surface entry point of the focus, the doctor inputs a third determination instruction through the industrial personal computer, and at the moment, a fifth position coordinate is calculated according to the posture data of each joint of the second mechanical arm.

S322 converts the fifth position coordinate into a sixth position coordinate in the first robot coordinate system according to the coordinate conversion relationship.

And S323, calculating a second pose and a first vector coordinate according to the sixth position coordinate, the first position coordinate and the second position coordinate.

According to the puncture surgery assisting method provided by the embodiment, the puncture needle is enabled to click the surface entry point of the focus by moving the second mechanical arm, the second pose of the second mechanical arm and the first vector coordinate of the puncture path are calculated according to the coordinate of the surface entry point of the focus and the coordinate of the puncture position, a user can directly plan the puncture position and the puncture path according to the actual situation of the focus, and the effect of the puncture surgery is improved.

In one embodiment, as shown in fig. 4 and 5, the present invention also provides a puncture procedure assisting method, including the steps of:

s110 fixes the position of the first robot arm on the first adjustment track.

Specifically, as shown in fig. 5, the puncture-surgery assisting apparatus to which the puncture-surgery assisting method is applied is shown in fig. 5, in which a first robot arm and a second robot arm are respectively disposed on a first adjusting track and a second adjusting track, and the first adjusting track and the second adjusting track are disposed as linear tracks in fig. 5, and may be disposed as multi-directional tracks in other embodiments.

S121, after the user moves the volume probe to the lesion, receiving a fourth determination instruction input by the user.

Specifically, after the user moves the volume probe to the focus, a fourth determination instruction is input through the industrial personal computer, and the volume probe is controlled to start a volume image.

And S122, controlling the ultrasonic linear array probe to rotate by a preset angle around the circle center of the placing disc in the frame body according to the fourth determined instruction, and acquiring a volume image.

Specifically, the volume probe comprises an ultrasonic linear array probe, a frame body and a placing disc, after a fourth determination instruction is received, the ultrasonic linear array probe is placed above the focus and is pressurized to be in complete contact with the skin, the ultrasonic linear array probe is controlled to rotate around the circle center of the placing disc by a preset angle, a volume image is acquired, and the volume image is acquired by rotating by 180 degrees generally.

S132 receives the first position coordinates marked by the user in the cross-plane image and the second position coordinates marked in the coronal image, respectively, and takes the first position coordinates and the second position coordinates as the puncture location.

S210, locking the current pose of the first mechanical arm to be the first pose.

S220, after the user adjusts the second mechanical arm to enable the puncture needle to click a preset punctuation target point on the first mechanical arm, calculating a coordinate conversion relation according to the current posture and the first posture of the second mechanical arm.

Specifically, the preset mark point target point can be arranged on the volume probe, so that the accuracy of the coordinate conversion relation is further improved.

S230 fixes the position of the second robot arm on the second adjustment rail.

The puncture surgery auxiliary method provided by the embodiment discloses a volume probe structure and a collection method for collecting a volume image of a focus, the accuracy of collecting the volume image of the focus is improved, the effect of a puncture surgery is further improved, meanwhile, a first mechanical arm and a second mechanical arm are respectively arranged on different adjusting rails, the technical effect of increasing the moving range of the first mechanical arm and the second mechanical arm in the surgery process is achieved, the selection of a puncture position and a puncture path in the surgery process is more flexible, and meanwhile, the scheme for fixing the mechanical arms on the corresponding adjusting rails is disclosed, so that the problem that the accuracy of the surgery is influenced due to the fact that the coordinate conversion relation changes are caused by the movement of the mechanical arms after the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm are calibrated is avoided.

In one embodiment, as shown in fig. 6, the present invention further provides a puncture surgery assisting system, which includes an acquisition module 10, a calibration module 20, a first calculation module 30, a first adjustment module 40, a second calculation module 50, and a second adjustment module 60.

The acquisition module 10 is configured to acquire a volume image of a lesion through a volume probe mounted on the first robot arm, and receive a puncture location marked on the volume image by a user.

The calibration module 20 is configured to calibrate a coordinate transformation relationship between a first robot coordinate system and a second robot coordinate system after locking the current pose of the first robot to be the first pose.

The first calculating module 30 is connected to the calibrating module 20, and is configured to calculate a second pose of the second robot arm according to the coordinate transformation relationship and the puncturing position, and calculate a first vector coordinate of a puncturing path of a puncturing needle mounted on the second robot arm in a second robot arm coordinate system.

The first adjusting module 40 is connected to the first calculating module 30, and configured to adjust and lock the current pose of the second robot arm to the second pose after receiving the first confirmation instruction of the second pose and the second confirmation instruction of the first vector coordinate, respectively.

Specifically, the first adjusting module 40 displays the puncture position and the puncture path of the puncture needle in the volume image through a display device of the industrial personal computer and confirms the puncture position and the puncture path by a doctor, after confirming the puncture position and the puncture path respectively by the doctor, a first confirming instruction and a second confirming instruction are input, the first adjusting module 40 adjusts the current pose of the second mechanical arm to a second pose according to the first confirming instruction and the second confirming instruction, and locks the current pose of the second mechanical arm to the second pose.

The second calculating module 50 is connected to the calibrating module 20 and the first adjusting module 40, respectively, and is configured to calculate a second vector coordinate of the puncture path in the first robot coordinate system according to the first vector coordinate and the coordinate transformation relationship.

The second adjusting module 60 is connected to the second calculating module 50, and is configured to adjust the posture of the first robot to a third posture according to the second vector coordinate.

The puncture surgery auxiliary system that this embodiment provided realizes the collection of focus volume image and the planning of puncture route through controlling first arm and second arm, second arm at the installation pjncture needle adjusts the gesture according to puncture route after, the control carries on volume probe's first arm adjustment gesture, make volume probe can gather image information in real time at the puncture surgery in-process, avoid can't look over the puncture process in real time at the puncture surgery in-process, in case puncture route calculation has the error, the user is unclear actual puncture route information and the affected part condition, influence the operation effect, be convenient for the user in time adjust the puncture route according to the real-time puncture condition.

In one embodiment, as shown in fig. 7, the present invention also provides a puncture surgery assisting robot including a first robot arm 100, a second robot arm 200, and an industrial personal computer 300.

The method comprises the steps that a volume probe is installed on a first mechanical arm 100 and used for controlling the volume probe to collect a volume image of a focus, a puncture needle is installed on a second mechanical arm 200 and used for controlling the puncture to puncture the focus, an industrial personal computer 300 is respectively connected with the first mechanical arm 100 and the second mechanical arm 200 and used for receiving the volume image collected by the volume probe and receiving a puncture position marked on the volume image by a user, after the current pose of the first mechanical arm 100 is locked to be a first pose, the coordinate conversion relation between the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm is calibrated, the second pose of the second mechanical arm 200 is calculated according to the coordinate conversion relation and the puncture position, the first vector coordinate of the puncture path of the puncture needle installed on the second mechanical arm 200 under the coordinate system of the second mechanical arm is calculated, then the first vector coordinate of the second pose and the second confirmation command of the first vector coordinate are respectively received, the current pose of the second mechanical arm 200 is adjusted and locked to be a second pose of the second mechanical arm 200, then the first vector coordinate system under the coordinate system is calculated according to the first vector coordinate system, the last the volume probe is adjusted according to be a third pose, and the volume image of the third mechanical arm is parallel to the puncture plane, and the puncture position of the third mechanical arm 100 is included in the puncture plane.

In an embodiment, the present invention further provides a storage medium, where at least one instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to implement the operations performed by the corresponding embodiments of the method for assisting a puncture operation. For example, the storage medium may be a read-only memory (ROM), a Random Access Memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

They may be implemented in program code that is executable by a computing device such that it is executed by the computing device, or separately, or as individual integrated circuit modules, or as a plurality or steps of individual integrated circuit modules. Thus, the present invention is not limited to any specific combination of hardware and software.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed puncture assisting method, system, robot and storage medium may be implemented in other ways. For example, the above-described embodiments of a method, system, robot and storage medium for assisting a lancing procedure are merely illustrative, and for example, the division of the modules or units is merely a logical division, and other divisions may be realized in practice, for example, a plurality of units or modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the communication links shown or discussed may be through interfaces, devices or units, or integrated circuits, and may be electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

It should be noted that the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be regarded as the protection scope of the present invention.

Claims

1. A puncture surgery assisting method is characterized by comprising the following steps:

2. The method as claimed in claim 1, wherein said receiving the puncture position marked by the user on the volume image specifically comprises:

receiving a first position coordinate marked by the user in the cross-plane image and a second position coordinate marked by the user in the coronal image, respectively, and using the first position coordinate and the second position coordinate as the puncture location.

3. The method as claimed in claim 2, wherein said calculating a second pose of a second robot arm based on said coordinate transformation relationship and said puncturing position, and calculating a first vector coordinate of a puncturing path of a puncturing needle mounted on said second robot arm in said second robot arm coordinate system, comprises:

respectively receiving a third position coordinate marked in the cross-section image and a fourth position coordinate marked in the coronal image by the user, and taking the third position coordinate and the fourth position coordinate as surface entry points of the focus;

4. The method for assisting a puncture operation according to claim 1, wherein the calculating of the second pose of the second robot arm and the calculating of the first vector coordinate of the puncture path of the puncture needle mounted on the second robot arm in the second robot arm coordinate system according to the coordinate transformation relationship and the puncture position further comprises:

5. The puncture surgery assisting method according to claim 1,

the volume probe comprises an ultrasonic linear array probe, a frame body and a placing disc;

6. The method as claimed in claim 1, wherein the step of calibrating the coordinate transformation relationship between the coordinate system of the first robotic arm and the coordinate system of the second robotic arm comprises:

7. The method for assisting a puncture operation according to claim 1,

the first mechanical arm and the second mechanical arm are respectively arranged on the first adjusting track and the second adjusting track;

fixing the position of the first robot arm on the first adjustment track;

after the current pose of the first mechanical arm is locked as the first pose, and before the second pose of the second mechanical arm is calculated according to the coordinate transformation relation and the puncture position, the method further comprises the following steps:

8. A puncture procedure assistance system, comprising:

the acquisition module is used for acquiring a volume image of a focus through a volume probe arranged on the first mechanical arm and receiving a puncture position marked on the volume image by a user;

the first calculation module is connected with the calibration module and used for calculating a second pose of a second mechanical arm according to the coordinate conversion relation and the puncture position and calculating a first vector coordinate of a puncture path of a puncture needle mounted on the second mechanical arm under a second mechanical arm coordinate system;

and the second adjusting module is connected with the second calculating module and is used for adjusting the posture of the first mechanical arm into a third posture according to the second vector coordinate, the volume image is parallel to the plane of the puncture path in the third posture, and the puncture path is included in the volume image.

9. A robot for assisting puncture surgery, comprising:

the industrial personal computer is respectively connected with the first mechanical arm and the second mechanical arm and is used for receiving the volume image acquired by the volume probe, receiving a puncture position marked on the volume image by a user, calibrating a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system after locking the current pose of the first mechanical arm as a first pose, calculating a second pose of the second mechanical arm according to the coordinate conversion relation and the puncture position, calculating a first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under the second mechanical arm coordinate system, respectively receiving a first confirmation instruction of the second pose and a second confirmation instruction of the first vector coordinate, adjusting and locking the current pose of the second mechanical arm as the second pose, calculating a second vector coordinate of the puncture path under the first mechanical arm coordinate system according to the first vector coordinate and the coordinate conversion relation, finally adjusting the pose of the first mechanical arm as a third pose according to the second vector coordinate, wherein the third pose is parallel to the volume image in a puncture plane and comprises the puncture path in the puncture plane.

10. A storage medium having stored therein at least one instruction, the instruction being loaded and executed by a processor to perform an operation performed by the method of assisting a puncture procedure according to any one of claims 1 to 7.