CN116350319A - Navigation robot system for high-precision neurosurgery minimally invasive puncture operation - Google Patents
Navigation robot system for high-precision neurosurgery minimally invasive puncture operation Download PDFInfo
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- A61B17/34—Trocars; Puncturing needles
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The invention belongs to the technical field of medical treatment, and particularly relates to a navigation robot system for neurosurgery puncture operation. The system of the invention comprises: the surgical manipulator module, the manipulator control module, the endoscope system, the surgical instrument and the navigation and intraoperative display system; the mechanical arm is used for fixing the endoscope and accurately adjusting the space position of the endoscope and controlling the surgical instrument. The mechanical arm control module consists of a mechanical arm control cabinet and a voice recognition module, wherein the endoscope system and the surgical instrument fix the reflective ball at the tail ends of the endoscope and the surgical instrument, and the space positions of the endoscope and the surgical instrument are tracked in real time by adopting an optical tracker; the navigation and intraoperative display system is transformed into an image guiding space according to the space positions of the surgical instrument and the endoscope tracked in real time, so that the real-time display and registration of the endoscopic image and the intraoperative instrument in the image guiding space are realized. The invention can efficiently, conveniently and accurately calibrate the endoscope, positions and tracks the endoscope and surgical instruments in real time, and is beneficial to improving the accuracy and stability of neurosurgery puncture operation.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a navigation robot system for neurosurgery puncture operation.
Background
Clinical practice shows that minimally invasive, accurate and time-saving is a continuously pursuing goal of modern surgery. The achievement of the aim can obviously improve the operation quality, reduce the injury and pain of patients and shorten the recovery time.
Cerebral hemorrhage is a common and multiple cerebrovascular disease, and has the characteristics of rapid disease development, high mortality rate and the like. There are various modes of clinically treating cerebral hemorrhage at present, and minimally invasive puncture treatment has become a mainstream method. The key of the method is hematoma positioning and puncture, the puncture needle body is small (about 3 mm), the brain tissue is minimally wounded, absolute contraindications are avoided, and the method is not limited by the age and the organ state of a patient.
At present, research and application of neurosurgery robots at home and abroad are still insufficient, a closed-loop control is not formed by an operation system, and real-time monitoring of the pose of an end effector of the robot is not realized; registration is generally realized based on a method for manually setting mark points outside the cranium of a patient, and has long registration time and limited registration precision. The cerebral hemorrhage puncture drainage operation needs to accurately position cerebral hematoma, and navigation is needed during puncture drainage so as to avoid brain lobe functional areas, blood vessels and the like, and the safety requirement is high.
To achieve accurate positioning of the surgical instrument and real-time tracking on the display, it is necessary to relate the pre-operative image of the patient to the spatial position of the patient, a process called registration. In order to solve the limitation of the registration method based on the mark points, the method can be realized by using a face matching registration technology, namely, surface point clouds with rich anatomical marks are selected from an image guiding space, then, the point clouds of the same part are acquired in a patient space by using a laser scanner and other equipment, and the coordinate transformation relation between the two point clouds is obtained by taking the minimum corresponding point distance between the two point clouds as a criterion, thereby completing the space registration task. The intelligent surgical navigation technology can automatically divide the focus based on the image data, plan the optimal biopsy position, assist doctors to accurately and efficiently biopsy by using robots, enable the doctors to master the position and the direction of surgical instruments relative to focus areas in real time, be beneficial to improving focus positioning precision, reduce surgical wounds and improve surgical efficiency and success rate.
In clinical practice, a surgical robot for realizing closed-loop control of the pose of a robot end effector by fusing a robot technology, a rapid and accurate pre-operation registration technology and an active and passive safety control strategy of a surgical robot system are needed, so that the improvement of surgical quality and safety is a technical problem to be solved by the person skilled in the art.
Based on the current state of the art, the inventor of the application intends to provide a navigation robot system for minimally invasive puncture operation in neurosurgery with high precision, so as to alleviate the technical problems of accurate positioning, accurate control, operation safety and the like of surgical instruments for puncture operation in clinical intervention.
Disclosure of Invention
The invention aims to provide a high-precision neurosurgery minimally invasive puncture operation navigation robot system based on the current state of the art, so as to solve the technical problems of accurate positioning, accurate control, operation safety and the like of the surgical instruments in the existing neurosurgery puncture operation, enable the operation navigation robot to be more accurate, practical and convenient in clinical application, and solve the problems of insufficient doctors and the like.
The invention provides a navigation robot system for neurosurgery puncture operation, which comprises: a robotic arm module, a modular arm control module, an endoscope system and surgical instruments and a navigation and intraoperative display system, wherein:
the mechanical arm module comprises a first movable clamping jaw, a second movable clamping jaw, a first mechanical arm, a second mechanical arm and a drilling tool; the first movable clamping jaw is arranged at the tail end of the first mechanical arm and used for clamping an endoscope, and the second movable clamping jaw is arranged at the tail end of the second mechanical arm and used for clamping a surgical instrument; a drilling tool is fixed on the first mechanical arm for controlling the surgical instrument; the mechanical arm module clamps and controls the space positions and the rotation directions of the endoscope and the surgical instrument through the first mechanical arm and the second mechanical arm so as to realize positioning and tracking;
the mechanical arm control module comprises a control cabinet and a voice recognition module; the control cabinet is respectively connected with the first mechanical arm and the second mechanical arm and is used for transmitting instructions to control the movement of the degree of freedom of each first mechanical arm used for operation, the first mechanical arm and the coordination operation of the second mechanical arm; the voice recognition module is used for recognizing a voice control command and finely adjusting the positions of the surgical instrument and the endoscope in the operation;
the endoscope system and the surgical instrument comprise an endoscope, the surgical instrument, a first reflecting ball, a second reflecting ball and a puncture needle, wherein the endoscope is fixed on a first mechanical arm, and a plurality of first reflecting balls which are not on the same straight line are fixed at the tail end of the endoscope; acquiring position information of the front end of the endoscope by using a probe with a first reflecting ball, and acquiring a coordinate transformation relation in a coordinate space of an optical tracker according to the position information of the first reflecting ball at the tail end and the position information of the front end; real-time tracking is realized through an operation navigation system and an optical tracker; the surgical instrument is fixed on the second mechanical arm, and a plurality of second reflecting balls which are not on the same straight line are fixed at the tail end of the surgical instrument; acquiring the position information of the front end of the surgical instrument by using a probe with a second reflecting ball, and acquiring a coordinate transformation relation in a coordinate space of an optical tracker according to the position information of the second reflecting ball at the tail end and the position information of the front end; real-time tracking is realized through an operation navigation system and an optical tracker;
the navigation and intraoperative display system comprises an optical tracker and an image guiding space, wherein the optical tracker is used for emitting infrared light rays and receiving reflected light rays, is used for tracking the spatial positions of the surgical instrument and the endoscope in real time, and transforms the spatial positions into the image guiding space, so that the real-time display and registration of the endoscopic image and the intraoperative instrument in the image guiding space are realized.
In the invention, the first mechanical arm and the second mechanical arm are multiaxial mechanical arms and are used for generating the motion of the first mechanical arm and the second mechanical arm; the mechanical arm module clamps and controls the space positions and the rotation directions of the endoscope and the surgical instrument through the first mechanical arm and the second mechanical arm, so that the positioning and the tracking are realized.
In the invention, the control cabinet is used for transmitting instructions to control the movement of each degree of freedom of the operation mechanical arm and the coordination operation of the two mechanical arms; the voice recognition module recognizes a voice control command and fine adjusts the positions of the surgical instrument and the endoscope in the operation.
In the invention, the optical tracker tracks the endoscope in real time, and specifically calculates a transformation matrix T of an endoscope front end coordinate system S and an endoscope tail end reflecting sphere reference space coordinate system R SR The relative coordinate transformation relation is specifically expressed as follows:
In the invention, the optical tracker tracks the surgical instrument in real time, and specifically calculates a transformation matrix T of a coordinate system S1 at the front end of the surgical instrument and a reference space coordinate system R1 of a reflecting sphere at the tail end of the endoscope S1R1 The relative coordinate transformation relationship thereof can be specifically expressed as:
In the invention, the mechanical arm module clamps and controls the space position and the rotation direction of the endoscope and the surgical instrument through the first mechanical arm and the second mechanical arm to realize positioning and tracking, and specifically calculates a transformation matrix T of a reference coordinate system S2 of a reflecting sphere of the endoscope or the surgical instrument and a reference space coordinate system R2 of a movable clamping jaw S2R2 The relative coordinate transformation relation is specifically expressed as follows:
In the invention, the navigation system calculates and obtains a transformation matrix T of an endoscope front end coordinate system S or a surgical instrument front end coordinate system S1 and a mechanical arm coordinate system C by utilizing transformation relations among matrices SC The specific transformation relation is as follows:
the invention has the beneficial effects that:
according to the surgical navigation robot system, the endoscope and the surgical instruments are stably clamped by the double mechanical arms, meanwhile, a high-precision endoscope and surgical instrument calibrating and tracking method is adopted, real-time puncture surgical navigation can be completed through registration of preoperative images, the spatial positions of patients and the mechanical arm space, and visual surgical path planning is provided; the endoscope can be held by a doctor, and the hands of the doctor are liberated, so that the problem of instability of the endoscope is solved, and a clear real-time operation field of view is provided for the doctor; the hand shake correction device can assist doctors in performing surgical puncture and solve the problems of hand shake and the like; the voice recognition technology is used for realizing the problem of fine guard operation in operation and assisting doctors in completing the operation with high quality.
Drawings
FIG. 1 is a schematic illustration of the structure of a navigational robot system for a penetrating procedure of the present invention;
FIG. 2 is a flowchart of the operation of the puncture surgical navigational robot system of the present invention;
reference numerals in the drawings: the surgical instrument comprises a mechanical arm control module 1, a mechanical arm module 2, an endoscope system and a surgical instrument 3, a navigation and intraoperative display system 4, a control cabinet 5, a voice recognition module 6, a first movable clamping jaw 7, a first mechanical arm 8, a drilling tool 9, a second movable clamping jaw 10, a second mechanical arm 11, an endoscope 12, a first reflecting ball 13, a puncture needle 14, a second reflecting ball 15, an optical tracker 16 and an image guiding space 17.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, by way of example, for cerebral hemorrhage puncture.
Example 1
As shown in fig. 1, the present invention provides a navigation robot system for minimally invasive puncture surgery, comprising: a robotic arm module 2, an endoscope system and surgical instrument 3, a robotic arm control module 1, and a navigation and intraoperative display system 4.
The robot arm module 2 includes: a first movable jaw 7, a second movable jaw 10, a first mechanical arm 8 and a second mechanical arm 11, and a drilling tool 9; the first movable clamping jaw 7 is arranged at the tail end of the first mechanical arm 8 and used for clamping an endoscope 12, and the second movable clamping jaw 10 is arranged at the tail end of the second mechanical arm 11 and used for clamping a surgical instrument; the first mechanical arm 8 for controlling the surgical instrument is used for fixing the drilling tool 9; the first mechanical arm 8 and the second mechanical arm 11 are 7-axis mechanical arms and are used for generating movement of the mechanical arms; the mechanical arm module 2 clamps and controls the space position and the rotation direction of the endoscope 12 and the surgical instrument through the first mechanical arm 8 and the second mechanical arm 11, so as to realize positioning and tracking.
The mechanical arm control module 1 includes: a control cabinet 5 and a voice recognition module 6; the control cabinet 5 is used for transmitting instructions to control the motion of each degree of freedom of the first mechanical arm 8 used for operation, and the coordination operation of the first mechanical arm 7 and the second mechanical arm 11; the voice recognition module 6 recognizes voice control commands and fine adjusts the position of the surgical instrument and the endoscope in the operation.
The endoscope 12 is fixed on the first mechanical arm 8, and 3 first reflecting balls 13 which are not on the same straight line are fixed at the tail end of the endoscope 12; the optical tracker 16 is used for emitting infrared light and receiving reflected light; acquiring the position information of the front end of the endoscope 12 by using a probe with a first reflecting ball 13, and acquiring a coordinate transformation relation in a coordinate space of an optical tracker according to the position information of the first reflecting ball 13 at the tail end and the position information of the front end; real-time tracking is achieved through a surgical navigation system and an optical tracker.
The surgical instrument is fixed on the second mechanical arm 11, and the tail end of the surgical instrument is fixed with 3 second reflecting balls 15 which are not on a straight line; the optical tracker 16 is used for emitting infrared light and receiving reflected light; acquiring the position information of the front end of the surgical instrument by using a probe with a second reflecting ball 13, and acquiring a coordinate transformation relation in a coordinate space of the optical tracker according to the position information of the second reflecting ball 15 at the tail end and the position information of the front end; real-time tracking is achieved through a surgical navigation system and an optical tracker.
The navigation and intraoperative display system 4 is used for tracking the spatial positions of the surgical instrument and the endoscope in real time and transforming the spatial positions into the image guiding space 17 so as to realize real-time display and registration of the endoscopic image and the intraoperative instrument in the image guiding space.
As shown in fig. 2, the specific workflow of the navigation robot system based on the minimally invasive puncture surgery of the invention is as follows:
first, the first mechanical arm 8 and the second mechanical arm 11 are started, the endoscope 12 is clamped by the first movable clamping jaw 7 at the tail end of the first mechanical arm 8, the surgical instrument is clamped by the second movable clamping jaw 10 at the tail end of the second mechanical arm 11, then the optical tracker 16 emits infrared light and receives the infrared light, and then the infrared light enters the endoscope 12 for calibration and tracking and the surgical instrument for calibration and tracking.
The control cabinet 5 is used for transmitting instructions to control the movement of the degree of freedom of each surgical mechanical arm and the coordination operation of the two mechanical arms; the voice recognition module recognizes a voice control command and fine adjusts the positions of the surgical instrument and the endoscope in the operation.
In the endoscope calibration process, 2 coordinate spaces are included, namely a coordinate system S of an optical tracker and a reference space coordinate system R of a reflecting ball. Wherein, the transformation matrix of the coordinate system S of the optical tracker and the reference space coordinate system R of the reflective ball is T SR The position information of the endoscope front end is obtained by a probe with a light reflecting sphere, and the transformation matrix comprises a rotation matrix and a translation matrix.
In the process of calibrating the surgical instrument, the coordinate system comprises 2 coordinate spaces, namely a coordinate system of an optical tracker and a reference space coordinate system R1 of a reflecting ball. Wherein, the transformation matrix of the coordinate S1 of the surgical instrument in the optical tracker coordinate system and the reflective ball reference space coordinate system R1 is T S1R1 The position information of the front end of the surgical instrument is obtained by a probe with a light reflecting sphere, and the transformation matrix comprises a rotation matrix and a translation matrix.
The optical tracker tracks the endoscope in real time, and specifically calculates a transformation matrix T of an endoscope front end coordinate system S and an endoscope tail end reflecting sphere reference space coordinate system R SR The relative coordinate transformation relationship thereof can be specifically expressed as:
The optical tracker tracks the surgical instrument in real time, and specifically calculates a transformation matrix T of a coordinate system S1 at the front end of the surgical instrument and a reference space coordinate system R1 of a reflecting sphere at the tail end of the endoscope S1R1 The relative coordinate transformation relationship thereof can be specifically expressed as:
The mechanical arm module clamps and controls the space positions and the rotation directions of the endoscope and the surgical instrument through two mechanical arms, so that the positioning and the tracking are realized. Specifically, a transformation matrix T of an endoscope or surgical instrument reflectoscope reference frame S2 and a movable jaw reference space frame R2 is calculated S2R2 The relative coordinate transformation relationship thereof can be specifically expressed as:
The navigation system calculates a transformation matrix T of an endoscope front end coordinate system S or a surgical instrument front end coordinate system S1 and a mechanical arm coordinate system C by utilizing transformation relations among the matrixes SC And T S1C The specific transformation relation is as follows:
the calibration of the endoscope and the surgical instrument is completed, and the coordinate position information is tracked by the optical tracker in the surgical navigation process to obtain a coordinate transformation matrix T SC And T S1C The invention can efficiently, quickly and accurately obtain the coordinate position information of the endoscope and the surgical instrument in the space between the optical tracker and the mechanical arm, and further can accurately adjust the mechanical arm to obtain a clear real-time surgical field.
According to the invention, the mechanical arm is used for clamping the endoscope and the surgical instrument, the spatial positions of the endoscope and the surgical instrument are accurately and flexibly adjusted through the mechanical arm system, the calibration of the endoscope and the surgical instrument is completed by combining the navigation system, and the fine adjustment of the positions of the endoscope and the surgical instrument is performed by using the voice recognition technology, so that the focus positioning precision is improved, the surgical wound is reduced, and the puncture efficiency and the success rate are improved. The endoscope system and the surgical instrument are used for completing the calibration, tracking and image acquisition of an endoscope, and comprise: an endoscope module and a tripod with a reflecting ball. A surgical instrument, comprising: the puncture needle and the tripod with the reflecting ball are arranged, wherein the tripod with the reflecting ball is fixed at the tail end of the endoscope and the tail end of the puncture needle.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art who is skilled in the art to which the present invention pertains should cover the scope of the present invention by equally replacing or changing the technical scheme and the inventive concept thereof.
Claims (7)
1. A neurosurgical penetration surgical navigation robotic system, comprising: a robotic arm module, a modular arm control module, an endoscope system and surgical instruments and a navigation and intraoperative display system, wherein:
the mechanical arm module comprises a first movable clamping jaw, a second movable clamping jaw, a first mechanical arm, a second mechanical arm and a drilling tool; the first movable clamping jaw is arranged at the tail end of the first mechanical arm and used for clamping an endoscope, and the second movable clamping jaw is arranged at the tail end of the second mechanical arm and used for clamping a surgical instrument; a drilling tool is fixed on the first mechanical arm for controlling the surgical instrument; the mechanical arm module clamps and controls the space positions and the rotation directions of the endoscope and the surgical instrument through the first mechanical arm and the second mechanical arm so as to realize positioning and tracking;
the mechanical arm control module comprises a control cabinet and a voice recognition module; the control cabinet is respectively connected with the first mechanical arm and the second mechanical arm and is used for transmitting instructions to control the movement of the degree of freedom of each first mechanical arm used for operation, the first mechanical arm and the coordination operation of the second mechanical arm; the voice recognition module is used for recognizing a voice control command and finely adjusting the positions of the surgical instrument and the endoscope in the operation;
the endoscope system and the surgical instrument comprise an endoscope, the surgical instrument, a first reflecting ball, a second reflecting ball and a puncture needle, wherein the endoscope is fixed on a first mechanical arm, and a plurality of first reflecting balls which are not on the same straight line are fixed at the tail end of the endoscope; acquiring position information of the front end of the endoscope by using a probe with a first reflecting ball, and acquiring a coordinate transformation relation in a coordinate space of an optical tracker according to the position information of the first reflecting ball at the tail end and the position information of the front end; real-time tracking is realized through an operation navigation system and an optical tracker; the surgical instrument is fixed on the second mechanical arm, and a plurality of second reflecting balls which are not on the same straight line are fixed at the tail end of the surgical instrument; acquiring the position information of the front end of the surgical instrument by using a probe with a second reflecting ball, and acquiring a coordinate transformation relation in a coordinate space of an optical tracker according to the position information of the second reflecting ball at the tail end and the position information of the front end; real-time tracking is realized through an operation navigation system and an optical tracker;
the navigation and intraoperative display system comprises an optical tracker and an image guiding space, wherein the optical tracker is used for emitting infrared light rays and receiving reflected light rays, is used for tracking the spatial positions of the surgical instrument and the endoscope in real time, and transforms the spatial positions into the image guiding space, so that the real-time display and registration of the endoscopic image and the intraoperative instrument in the image guiding space are realized.
2. The neurosurgical penetration surgical navigation robot system of claim 1, wherein the first and second robotic arms are multi-axis robotic arms for producing movement of the first and second robotic arms; the mechanical arm module clamps and controls the space positions and the rotation directions of the endoscope and the surgical instrument through the first mechanical arm and the second mechanical arm, so that the positioning and the tracking are realized.
3. The neurosurgical penetration surgical navigation robot system of claim 1, wherein the control cabinet is configured to transmit instructions to control the movement of the surgical robotic arms by degrees in coordination with the two robotic arms; the voice recognition module recognizes a voice control command and fine adjusts the positions of the surgical instrument and the endoscope in the operation.
4. The neurosurgical penetration surgical navigation robot system according to claim 1, wherein the optical tracker tracks the endoscope in real time, comprising calculating an endoscope front end coordinate system S andtransformation matrix T of endoscope tail end reflecting sphere reference space coordinate system R SR The relative coordinate transformation relation is specifically expressed as follows:
5. The neurosurgical penetration surgical navigation robot system according to claim 1, wherein the optical tracker performs real-time tracking of the surgical instrument, comprising calculating a transformation matrix T of the surgical instrument front end coordinate system S1 and the endoscope distal reflecting sphere reference space coordinate system R1 S1R1 The relative coordinate transformation relationship thereof can be specifically expressed as:
6. The neurosurgical penetration surgical navigation robot system of claim 1, wherein the robotic armThe module clamps and controls the space position and the rotation direction of the endoscope and the surgical instrument through the first mechanical arm and the second mechanical arm to realize positioning and tracking, and comprises the steps of calculating a transformation matrix T of a reference coordinate system S2 of a reflecting sphere of the endoscope or the surgical instrument and a reference space coordinate system R2 of a movable clamping jaw S2R2 The relative coordinate transformation relation is specifically expressed as follows:
7. The navigation robot system for neurosurgical puncture operation according to claim 1, wherein the navigation system calculates a transformation matrix T of the endoscope front end coordinate system S or the surgical instrument front end coordinate system S1 and the robot arm coordinate system C using a transformation relation between the matrices SC The transformation relation is as follows:
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