CN116616873A - Preoperative positioning method, preoperative positioning system and readable storage medium for surgical robot - Google Patents
Preoperative positioning method, preoperative positioning system and readable storage medium for surgical robot Download PDFInfo
- Publication number
- CN116616873A CN116616873A CN202310580270.3A CN202310580270A CN116616873A CN 116616873 A CN116616873 A CN 116616873A CN 202310580270 A CN202310580270 A CN 202310580270A CN 116616873 A CN116616873 A CN 116616873A
- Authority
- CN
- China
- Prior art keywords
- target
- standard
- target object
- coordinate system
- bed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000003860 storage Methods 0.000 title claims abstract description 17
- 238000012937 correction Methods 0.000 claims description 20
- 238000013507 mapping Methods 0.000 claims description 8
- 208000005646 Pneumoperitoneum Diseases 0.000 claims description 6
- 238000002360 preparation method Methods 0.000 abstract description 4
- 230000036544 posture Effects 0.000 description 28
- 230000008569 process Effects 0.000 description 12
- 239000000725 suspension Substances 0.000 description 7
- 238000004080 punching Methods 0.000 description 6
- 210000003932 urinary bladder Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 210000000683 abdominal cavity Anatomy 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000003187 abdominal effect Effects 0.000 description 2
- 238000012084 abdominal surgery Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000003734 kidney Anatomy 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 210000002307 prostate Anatomy 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 210000000626 ureter Anatomy 0.000 description 2
- 210000004291 uterus Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002682 general surgery Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000002504 lithotomy Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of medical equipment, and provides a preoperative positioning method, a positioning system and a readable storage medium for a surgical robot, wherein the preoperative positioning method for the surgical robot comprises the following steps: when a target object is in a lying posture on a bed board of a bed body, a reference position on the target object is determined, the position of the reference position relative to the bed body is obtained, and a first coordinate system is established based on the reference position; acquiring a target position on a target object, and determining gesture information of a stamping card in the first coordinate system; inverting the joints of the mechanical arm on the movable equipment based on the gesture information of the poking card to obtain initial gesture information of each joint of the mechanical arm in the first coordinate system; a target pose location of the mobile device is determined. With the configuration, the invention can improve the phenomenon of repeatedly adjusting the movable equipment, reduce the preparation and adjustment time before operation, and avoid the phenomenon that the mechanical arm is limited in operation due to the stamping position.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a preoperative positioning method, a positioning system and a readable storage medium of a surgical robot.
Background
The abdominal minimally invasive surgery is commonly used in a plurality of departments such as urology surgery, general surgery and gynecology. In the existing clinical operation, an assistant doctor often performs punching planning before operation according to the punching experience of a traditional surgical or multi-hole operation robot system, a poking card is installed after punching, the poking card is inevitably touched on the operation robot system after the position is fixed, the operation robot system is difficult to adjust to a proper position, if the planning position of a slave end device such as an operation trolley is not proper, once the poking card is installed, the operation space is limited, the subsequent operation of a mechanical arm is difficult, and repeated adjustment of the slave end device is required. At present, the punching and the position planning of the operation trolley are based on higher experience judgment aiming at different indications, and the adaptability of the abdominal cavity hole relative to the single-arm operation robot system is difficult to ensure.
Therefore, there is a need for a preoperative positioning method, a positioning system and a readable storage medium for a surgical robot, so that the target placement positions of a stamping card and a slave device are matched, thereby reducing preoperative preparation and adjustment time, accelerating the surgical progress, and shortening the actual operation time.
Disclosure of Invention
The invention provides a preoperative positioning method, a positioning system and a readable storage medium of a surgical robot.
The preoperative positioning method of the surgical robot comprises the following steps:
when a target object is positioned on a bed board of a bed body, a reference position positioned on the target object is determined, the position of the reference position relative to the bed body is obtained, and a first coordinate system is established based on the reference position;
acquiring a target position on a target object, and determining gesture information of a stamping card in the first coordinate system;
inverting joints of a mechanical arm on the movable equipment based on the gesture information of the poking card to obtain initial gesture information of each joint of the mechanical arm in the first coordinate system when the execution end of the mechanical arm is matched with the gesture of the poking card;
and determining the target placement position of the movable equipment based on the initial posture information of each joint of the mechanical arm.
Optionally, the positioning method further includes adjusting a final posture of the target object lying on the bed body based on the target position, and establishing a mapping relationship between the final posture and the first coordinate system.
Optionally, the positioning method further includes obtaining three-dimensional coordinate information of a fixed point of the bed body, and establishing a second coordinate system by the fixed point;
and adjusting the posture of the bed plate of the bed body based on the target position, determining the posture of the bed plate after adjustment, and establishing a mapping relation between a second coordinate system and a first coordinate system based on the posture of the bed plate after adjustment.
Optionally, the positioning method further includes determining the final gesture of the stamping card based on the adjusted gesture of the bed board, updating gesture information of each joint of the mechanical arm in the first coordinate system when the execution end of the mechanical arm is matched with the final gesture of the stamping card based on the final gesture of the stamping card, and updating the target placement position of the movable device.
Optionally, the positioning method further includes calculating a distance a from the stamper to the target position, and determining an endoscope type for acquiring an image of the target position based on the distance a; if the distance a is greater than the deployable size of the flexible endoscope, the endoscope type is determined to be a flexible endoscope.
Optionally, the positioning method further comprises determining the endoscope type as a rigid endoscope if the distance a is smaller than the deployable size of the flexible endoscope.
Optionally, acquiring the target position on the target object includes:
determining a standard object;
determining a standard reference position of the standard object when the standard object is in a lying posture on a bed board of the bed body, obtaining a standard position of the standard reference position relative to the bed body, obtaining a standard target position corresponding to the standard object, and establishing a standard vector between the standard target position of the standard object and the standard reference position of the standard object;
and determining a correction coefficient based on the basic information of the target object, and multiplying the standard vector by the correction coefficient to obtain the position relation of the reference phase of the target object relative to the target position of the target object.
Optionally, the correction coefficient includes a height correction coefficient; and/or/; a weight correction coefficient; and/or; pneumoperitoneum pressure correction coefficient.
Optionally, the positioning method further includes, after determining the target placement position of the movable device, displaying the three-dimensional model of the bed, the three-dimensional model of the movable device at the target placement position, and an image of the three-dimensional model of the bed where the target object lies flat.
The invention also provides a positioning system, which comprises:
the positioning device is used for acquiring three-dimensional coordinate information of the bed body;
a display device for displaying the three-dimensional model of the movable equipment, the three-dimensional model of the bed body, the three-dimensional model of the target object and the target placement position of the movable equipment in the display device; the method comprises the steps of,
and the control unit is in communication connection with the positioning device and the display device and is configured to execute the preoperative positioning method of the surgical robot.
The invention also provides a readable storage medium, wherein the preoperative positioning method of the surgical robot is executed when the program is executed.
So configured, the invention determines the position of the stamping card in advance and inversely solves each joint gesture information of the mechanical arm of the movable equipment, and determines the target placement position of the movable equipment according to each joint gesture information, thereby ensuring that the mechanical arm of the movable equipment works in a proper angle range, improving the phenomenon of repeatedly adjusting the movable equipment, reducing the preparation and adjustment time before operation, and avoiding the phenomenon that the mechanical arm is limited in operation due to the stamping card position; the method ensures that the pose determination of the poking card and the position planning of the operation trolley are not dependent on higher experience judgment, so that the operation flow can be simplified on one hand, the misjudgment phenomenon can be improved on the other hand, and the adaptability of the abdominal cavity hole relative to the single-arm operation robot system can be accurately ensured.
Drawings
Fig. 1 is a schematic view of an application scenario 1 according to an embodiment of the present invention;
fig. 2 is an application scenario diagram 2 according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an interface display of a console according to an embodiment of the invention;
FIG. 4 is a schematic view of a bed adjustment structure according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of an initial zero position of an execution device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a control button structure of an execution device according to an embodiment of the present invention;
FIG. 7 is a flowchart of a positioning control according to an embodiment of the present invention;
FIG. 8 is a schematic illustration of a swing joint control of an embodiment of the present invention;
FIG. 9 is a schematic illustration of a swing joint control diagram 2 according to an embodiment of the present invention;
FIG. 10 is a flowchart of an endoscope validation process according to an embodiment of the present invention;
FIG. 11 is a schematic view of an expanded perspective view of a flexible endoscope in accordance with an embodiment of the present invention;
FIG. 12 is a schematic view of a flexible endoscope deployment plane structure in accordance with an embodiment of the present invention;
fig. 13 is a schematic view of a rigid endoscope in accordance with an embodiment of the present invention.
Detailed Description
The preoperative positioning method of the surgical robot according to the present invention is described in further detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
In the invention, the outer diameter and the inner diameter correspond to the diameter size for a circular structure, the inner diameter refers to the diameter of an inscribed circle of the circular structure for a non-circular structure, and the outer diameter refers to the diameter of an circumscribed circle of the circular structure; the axial direction corresponds to the direction in which the axis is located for cylindrical rods, and corresponds to the length direction of rods for non-cylindrical rods.
As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" are generally used in the sense of comprising "and/or" and the term "several" are generally used in the sense of comprising "at least one," the term "at least two" are generally used in the sense of comprising "two or more," and the term "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance or number of features indicated. Thus, a feature defining "a first", "a second", "a third" may include one or at least two such features, either explicitly or implicitly. Furthermore, as used in this disclosure, "mounted," "connected," and "disposed" with respect to another element should be construed broadly to mean generally only that there is a connection, coupling, mating or transmitting relationship between the two elements, and that there may be a direct connection, coupling, mating or transmitting relationship between the two elements or indirectly through intervening elements, and that no spatial relationship between the two elements is to be understood or implied, i.e., that an element may be in any orientation, such as internal, external, above, below, or to one side, of the other element unless the context clearly dictates otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, directional terms, such as above, below, upper, lower, upward, downward, left, right, etc., are used with respect to the exemplary embodiments as they are shown in the drawings, upward or upward toward the top of the corresponding drawing, downward or downward toward the bottom of the corresponding drawing.
The present embodiment provides a surgical system;
referring to fig. 1 and 2, the surgical system includes a bed 10 and a movable apparatus including an execution apparatus 20, the execution apparatus 20 being an apparatus for performing a surgery. For example, the execution device 20 is a surgical trolley for performing a surgical operation, the mechanical arm of which includes three joints of a suspension arm, a large C-arm, and a small C-arm; in other alternative embodiments, other forms of robotic arm surgical trolley may be selected.
The mobile device may further include an image dolly 30 and a control dolly 40, and image information collected by the endoscope and information for controlling the instrument are transmitted to the image dolly 30 and the control dolly 40, so that the doctor end and the assistant can observe the use condition of the surgical instrument in the target object in real time. The bed 10 may display a slave control instruction and image information through a touch screen of the image dolly 30, and the doctor side performs control input through a UI interface of the control dolly 40 to control the execution device 20 and perform image information display in the target object.
Referring to fig. 2, a target object is laid on a bed board of the bed body 10, and a position of a stamping card needs to be determined, and in a process of performing an operation, the position of the execution device 20 needs to be matched with the position of the bed body 10, so that each joint of the mechanical arm works in a proper angle range in a process of performing an operation of adapting the stamping card position to an execution end of the execution device 20.
On the basis, the invention provides a preoperative positioning method of a surgical robot, which comprises the following steps:
when a target object is positioned on a bed board of a bed body, a reference position positioned on the target object is determined, the position of the reference position relative to the bed body is obtained, and a first coordinate system is established based on the reference position; the target object can be the patient, or can be a human body model; acquiring a target position on a target object, and determining gesture information of a stamping card in the first coordinate system, wherein the gesture information determination of the stamping card is the determination of determining a punching position on the target object; inverting joints of a mechanical arm on the movable equipment based on the gesture information of the poking card to obtain initial gesture information of each joint of the mechanical arm in the first coordinate system when the execution end of the mechanical arm is matched with the gesture of the poking card; and determining the target placement position of the movable equipment based on the initial posture information of each joint of the mechanical arm.
The posture of the target object when the target object is positioned on the bed board of the bed body can be lying on the side, lying on the side or lying on the prone position, and the specific prone position can be determined based on the operation requirement. The reference position can be selected from a certain part of the human body, and a remarkable characteristic part such as a navel is generally selected. In addition, in the actual minimally invasive abdominal surgery, the post-operation scar factors are generally considered, and in the minimally invasive surgery, the navel position is also selected at the position of the poking card opening. The target location, i.e., the location of the lesion, generally includes the location of the bladder, prostate, uterus, kidneys, ureters, etc. Therefore, after the initial position of the bed body is determined, when the target object is in a lying posture on the bed board of the bed body, the sole or top of the head of the target object is calibrated, and then the position of the navel on the target object relative to the bed body is determined. A navel is used as a reference position, and a navel position is used as an origin to establish a first coordinate system; then the position of the focus is obtained to obtain the vector of the target position relative to the origin of the first coordinate system
Determining a vectorIn the process, a three-dimensional model can be established for the target object, and the measurement is directly carried out based on the three-dimensional model so as to accurately obtain the position relationship.
In another alternative embodiment, acquiring the target location on the target object includes:
determining a standard object; the standard object may be selected based on historical data, for example, the standard object may be selected from a patient or manikin having a height of 1.7m and a weight of 75 kg;
determining a standard reference position of the standard object when the standard object is in a lying posture on a bed board of the bed body, obtaining a standard position of the standard reference position relative to the bed body, obtaining a standard target position corresponding to the standard object, and establishing a standard vector between the standard target position of the standard object and the standard reference position of the standard object; the standard reference position is consistent with the position of the reference position of the target object, for example, the reference position of the target object is the navel position, and then the standard reference position is the navel position of the standard object; similarly, if the target position of the target object is the bladder position, the standard target position is also the bladder position of the standard object; if the target position is the bladder, the vector relation of the bladder relative to the navel can be obtained through historical data, and then the standard target position of the standard object is obtained;
and revising the vector relation based on the difference of basic information of the target object and the standard object, and firstly determining a correction coefficient based on the basic information of the target object and the standard object, wherein the standard vector is multiplied by the correction coefficient to obtain the position relation of the reference phase of the target object relative to the target position of the target object. Wherein the correction factor comprises a height correction factor; and/or/; a weight correction coefficient; and/or; pneumoperitoneum pressure correction coefficient.
Referring to fig. 3, focus position input of a target object may be performed on a touch screen of a console, a target position corresponding to the target may be displayed in the interface, and selection may be performed by clicking the corresponding position; then the information related to the height, weight and pneumoperitoneum pressure of the target object can be input, and the vector from the navel position to the target position Wherein->The standard vector is input by a doctor according to operation experience or the vector relation between the target position and the reference position in the standard object is selected, wherein kl and km are correction coefficients of body height and body weight, and kp is correction parameters of pneumoperitoneum pressure; obtainingAfter the vector from the navel position to the target position of the target object, a confirmation button can be clicked on the display interface to calculate the included angle between each joint of the mechanical arm at the end of the execution device 20 and the bed body 10 and the target object.
In other alternative embodiments, of course, the pose information, such as CT, may be acquired in other waysAnd modifying.
Further, the positioning method further comprises the steps of adjusting the final posture of the target object lying on the bed body based on the target position, establishing a mapping relation between the final posture and the first coordinate system based on the difference between the final posture and the lying posture, and determining the final position of the stamping card based on the final posture after the mapping relation is established.
As shown in fig. 4, a first coordinate system is established with a reference position as an origin at the navel where the target object lies, and the vector from the navel position to the target position of the target object is estimated based on the human body structure map and the height and fat/thin information of the target object asHere, the default position of the mounted card is the navel position, so +.>For the distance the card reaches the target location.
According to the conventional operation experience, different lying postures of a target object are adopted according to different target positions, and head, foot and high lithotomy positions can be adopted for operations such as bladder, prostate, uterus and the like, namely, the body position of the target object forms an included angle of-20 degrees with an X axis, and the target object rotates around a Y axis relative to a bed board at the moment; for kidney and ureter positions, head, foot, and side positions are adopted, at the moment, the target object needs to adjust the initial posture of the target object lying on the bed board of the bed body, and the target object lies on side and rotates around the Y axis.
The posture direction of the stamping card position based on the theoretical model is obtained through the posture prediction of the target object Wherein->The vector information of the target position of the target object lying on the bed plate is represented by δx, which is the rotation angle of the target object about the X axis, and δy, which is the rotation angle of the target object about the Y axis.
In other alternative embodiments, the posture adjustment of the target object may be adaptively adjusted based on the needs of the procedure.
In consideration of the position adaptation relation between the mechanical arm of the operation trolley and the target object in the actual operation process, the invention further introduces the posture adjustment of the bed plate so as to enable dynamic fine adjustment in the operation process.
Specifically, the positioning method further includes, as shown in fig. 4, acquiring three-dimensional coordinate information of a stationary point of the bed body, wherein the stationary point of the bed body is an S point, establishing a second coordinate system based on the S point, wherein a reference position of a target object when the target object lies on the bed board is a Q point, and establishing a first coordinate system based on the Q point; and adjusting the posture of the bed plate of the bed body based on the target position, determining the posture of the bed plate after adjustment, and establishing a mapping relation between a second coordinate system and a first coordinate system based on the posture of the bed plate after adjustment.
With continued reference to fig. 4, the single-arm laparoscopic surgery can implement single-incision full-abdominal surgery, and for different operations, the posture of the target object needs to be fine-tuned in the operation, at this time, the execution device 20 can track in real time according to the adjustment of the bed 10, so as to keep the position of the fixed point of the intra-operation adjustment stabber card moving along with the Q point.
Establishing a coordinate conversion relation between the target position of the target object and the bed body, and converting the coordinate system of the bed body into a coordinate system of the focus of the target object when the bed body rotatesWherein->For the position transformation relation of the bed position immobile point to the reference position of the target object, the position relation is +.>The rotation angles of the bed plate of the bed body around the x axis and the y axis of the S coordinate system are respectively represented by theta x and theta y measured by external laser. After the position of the poking card is connected with the navel of the reference position, the gesture direction of the poking card based on the position of the fixed point of the bed body can be obtained through the position prediction of the operation>When the bed body is adjusted in operation, the joint angle and the target placement position of the mechanical arm of the operation trolley can be synchronously and reversely calculated, so that the linkage of the operation trolley and the bed body is maintained, the operation procedures in different operation type adjustment are reduced, and the safety in the operation process is improved.
Further, the positioning method further comprises the steps of determining the final poking card gesture based on the adjusted gesture of the bed board, updating gesture information of each joint of the mechanical arm in the first coordinate system when the execution end of the mechanical arm is matched with the final poking card gesture based on the final poking card gesture, and further updating the target placement position of the movable equipment based on the updated gesture information of each joint of the mechanical arm.
When the bed body is adjusted in operation, the joint angle and the target placement position of the mechanical arm of the operation trolley can be synchronously and reversely calculated, so that the linkage of the operation trolley and the bed body is maintained, the operation procedures in different operation type adjustment are reduced, and the safety in the operation process is improved.
The positioning method can be applied to single-arm surgical robots, multi-arm surgical robots or other forms of abdominal minimally invasive surgical robots. Referring to fig. 5 and 6, the present embodiment will be described by taking a conventional operation trolley of a single-arm laparoscope as an example, and the initial zero position state of the conventional operation trolley is shown in fig. 5. The mechanical arm of the operation trolley comprises three joints of a suspension arm 21, a large C-arm 22 and a small C-arm 23, wherein a first button 211, a second button 221 and a third button 231 are integrated on the mechanical arm to respectively control the movements of the suspension arm 21, the large C-arm 22 and the small C-arm 23; the operation trolley also comprises a control console 24, wherein a screen of the control console 24 can be used for displaying gesture information obtained by inverting each joint; the automatic adjusting device can adjust the angle of each joint arm to reach the position according to each button on the operation trolley, can also select automatic position, and execute the automatic adjusting process of the included angle between the mechanical arm and the operation trolley as well as between the mechanical arm and the operation bed.
The central axes of the three joints of the mechanical arm of the operation trolley intersect at a point, and the origin is used as a circle center, and the central axes of the joints are used as coordinate axes to establish mechanical arm coordinates, wherein the central axis of the large C-arm 22 corresponds to an X axis (not shown in the figure) in fig. 5, the central axis of the small C-arm 23 corresponds to a Y axis in fig. 5, and the central axis of the suspension arm 21 corresponds to a Z axis in fig. 5. And when the zero position is initialized, the central axes of the three joints intersect at the position of the point which coincides with the fixed point of the stamping card. In the initial zero position, the axis of the small C-arm 23 is parallel to the ground and oriented in the direction of advancement along the centre of the trolley.
The coordinate system is established at the position of the fixed point of the stamping card, the direction of the operation trolley is firstly adjusted to enable the central axis of the small C-arm 23 to coincide with the Y-axis direction in the first coordinate system Q, the advancing direction of the operation trolley is adjusted, and the moving direction of the operation trolley is kept to be consistent with the central axis of the small C-arm 23, namely the Y-axis direction in fig. 5, so that the advancing direction of the operation trolley is kept to be consistent with the Y-axis direction in the first coordinate system Q until the origin of the coordinate system of the mechanical arm coincides with the position of the fixed point of the stamping card, and the coordinate system of the mechanical arm of the operation trolley is kept to be consistent with the initial posture of the first coordinate system Q. As shown. Then the stamp card is based on the gesture direction of the theoretical modelThe movement of the mechanical arm joint under the mechanical arm coordinate system is the poking gesture direction formed.
In the execution process, please refer to fig. 7 to 9:
basic information of a patient, i.e., a target object, is input on the console 24, and the basic information may include parameters such as grade, sex, weight, height, pneumoperitoneum pressure, a focus organ, i.e., a target position, etc., after the above information is confirmed, the surgical formula is naturally confirmed, and a first coordinate system is established;
the navel position of the patient is used as a punching position, the position of the poking card is determined, the direction between the navel and the focus organ is the installation angle of the poking card, and the rotation angle of the suspension arm 21 is q based on the angles of the execution end of the inverse solution mechanical arm and the joints of each mechanical arm after the poking card is adapted 1 The rotation angle of the large C-arm 22 is q 2 Small C-arm 23 rotates at an angle q 3 The method comprises the steps of carrying out a first treatment on the surface of the And solving the target placement position of the operation trolley based on the joint angle. In the process of determining the target placement position, the coordinates of the mechanical arm are overlapped with the first coordinate system. On the basis, the included angle between the reference axis of the operation trolley and the bed body is then determined. As shown in fig. 8 and 9, after determining the reference axis a of the operation trolley, determining the target placement position of the operation trolley according to the included angle between the reference axis a and the length direction of the initial bed of the bed body, namely, through an angle q 1 、q 2 And q 3 Solving an included angle q between a reference axis of the operation trolley and the length direction of the bed body 4 And further determining the target placement position.
The console 24 of the operation trolley can then superimpose the position of the actual operation trolley on the image corresponding to fig. 8 and can guide the placement through graphics context; if the positioning planning is selected, the operation trolley moves to the target placement position, and if the positioning planning is not selected, the whole process is ended.
According to the method, the stamping position is determined in advance, the joint gesture information of the mechanical arm of the movable equipment is reversely solved, and the target placement position of the movable equipment is determined according to the joint gesture information, so that the mechanical arm of the movable equipment works in a proper angle range, the phenomenon of repeatedly adjusting the movable equipment is improved, the pre-operation preparation time and the intra-operation adjustment time are reduced, and the phenomenon that the mechanical arm is limited in operation due to the stamping position can be avoided; the method ensures that the pose determination of the poking card and the position planning of the operation trolley are not dependent on higher experience judgment, so that the operation flow can be simplified on one hand, the misjudgment phenomenon can be improved on the other hand, and the adaptability of the abdominal cavity hole relative to the single-arm operation robot system can be accurately ensured.
Please refer to fig. 8 andin the selection positioning planning process, shown in FIG. 9, q is displayed in the image 1 、q 2 、q 3 And q 4 A value that can select a manual positioning control mode and an automatic positioning control mode, and the corresponding manual positioning mode in fig. 8 can rotate each joint of the mechanical arm to reach a positioning angle according to each button of the operation table vehicle; in the corresponding automatic positioning mode in fig. 9, after entering the automatic positioning interface, the positioning control can be performed by clicking the images of the suspension arm, the large C-arm, the small C-arm and the operation trolley to control the positioning independently, and after clicking, the joints of the mechanical arm are driven by the motor, so that each joint automatically reaches the position of the positioning joint. The current direction of the operation trolley realizes the adjustment of the included angle between the operation trolley and the patient bed body by controlling the rotation number n of the steering motor, the operation trolley performs control of 30-degree rotation angle for the bed body every time, and after the interface clicks the positioning control, the operation trolley, the suspension, the large C joint and the small C joint are sequentially operated to perform automatic positioning.
Further, the positioning method further comprises the steps of calculating the distance a from the stamping card to the target position, and determining the type of an endoscope for acquiring the image of the target position based on the distance a;
if the distance a is greater than the deployable size of the flexible endoscope, the endoscope type is determined to be a flexible endoscope.
If the distance a is smaller than the deployable size of the flexible endoscope, the endoscope type is determined to be a rigid endoscope.
Referring to fig. 10, the type selection of the endoscope can be performed after determining the pose information of the patient, and when the basic information of the patient is input, the corresponding first coordinate system is determined, and the pose of the patient is determined, the type of the endoscope can be selected, the surgical space from the position of the patient to the target position is estimated according to the target position of the patient, and the distance from the position of the patient to the target position is determined if the position of the patient is the navel position
Referring to fig. 11 and 12, the total length of the flexible endoscope 51 in fig. 12 when the central axes of the joints are collinear is the deployable value of the flexible endoscope, that is, the axial dimension of the flexible endoscope 51 when the flexible endoscope 51 is straight, at this time, the length of the flexible endoscope 51 is longest, if the distance a between the tab and the lesion is greater than the distance, the flexible endoscope 51 can extend into the body of the target object when the distance a between the tab and the target position is greater than the deployable value of the flexible endoscope, so that the flexible endoscope has a deployable condition to obtain a more sufficient visual field range, in which case, the surgical instrument with a longer rod and the flexible endoscope is preferably used for performing the operation in operation, so that the operator has a more flexible operation space.
When the instrument auto-deployment function is selected, the surgical instrument 50 deployment system automatically deploys after entering the patient, the flexible endoscope 51 and the first implement 52 are deployed in a "cobra" configuration, the endoscope head is articulated down and the endoscope parallel joint is translated up. The instruments are deployed in a "wrap around" manner, with the parallel joints of the first implement 52 moving in opposite directions toward the center, with the pose joints pointing toward the target location.
As shown in fig. 12, the parallel joints of the first implement 52 are deployed 45 ° out of the center and the attitude joints are deployed 45 ° in the center. The flexible endoscope 51 is deployed out of the center at 30 ° to parallel joints and the attitude joint is deployed toward the center at 30 °. The parallel joint and the instrument joint are driven by the power box to finally form an encircling type configuration.
As shown in fig. 13, when the value of a is not greater than the deployable value of the flexible endoscope, the rigid endoscope is selected, in which case the surgical instrument 50 with a short rod length and equipped with the rigid endoscope is preferably used for performing the operation, so as to ensure the instrument to be as within the visual field as possible, and further ensure the safety during the operation. The rigid endoscope 53 in the surgical instrument 50 is adapted to an elbow endoscope having an angle of 30 deg., and the rod length of the second effector 54 is short, so that the life-span effect of the flexible endoscope by frequent entry into and exit from the field of view can be avoided, and a sufficient range of fields of view can be provided.
The operation space can be estimated by determining the position of the stamping card and determining the target position in advance, so that the instrument specification and the type of the endoscope can be selected in advance, the operation flow is further simplified, and the actual operation time is shortened.
The invention also provides a positioning system, which comprises a positioning device, a display device and a control unit;
the positioning device is used for acquiring three-dimensional coordinate information of the bed body; specifically, the positioning device is used for acquiring target information of the bed body, and the target information is used for acquiring three-dimensional coordinate information of the corresponding equipment. The positioning device is for example a binocular vision device. Three-dimensional geometric information of the measured object can be acquired from a plurality of images based on parallax principle through the binocular vision device. In a machine vision system, binocular vision generally obtains two digital images of a measured object from different angles by a dual camera at the same time, or obtains two digital images of the measured object from different angles by a single camera at different times, and recovers three-dimensional geometric information of the measured object based on a parallax principle to obtain the position of the measured object. That is, when the binocular vision device is used to acquire three-dimensional coordinate information of the object to be measured, the target information is image information of the object to be measured.
A display device, in this embodiment, the display device may use the console 24 of the operation trolley to display the three-dimensional model of the movable device, the three-dimensional model of the bed body, the three-dimensional model of the target object, and the target placement position of the movable device in the display device, and the schematic illustration is shown in fig. 8 and 9;
and the control unit is in communication connection with the positioning device and the display device and is configured to execute the preoperative positioning method of the surgical robot.
When the second coordinate system is established, the control unit is configured to establish a mapping relation between the second coordinate system and the first coordinate system based on the second coordinate system and the posture of the bed board after adjustment.
It will be appreciated that the control unit according to the present invention may comprise a processor and that the corresponding operations may be performed by said processor. The processor may be a central processing unit (Central Processing Unit, CPU), or other general purpose processing unit, digital signal processor (DigitalSignalProcessor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center of the surgical robotic system, connecting the various parts of the overall surgical robotic system using various interfaces and lines.
The control unit may further comprise a memory operable to store the computer program, the processor implementing various functions of the surgical robotic system by running or executing the computer program stored in the memory, and invoking data stored in the memory.
The memory may include non-volatile and/or volatile memory. The non-volatile memory may include Read Only Memory (ROM), programmable (ROMPROM), electrically erasable programmable ROMEPROM, or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as static RAMSRAM, dynamic RAMDRAM, synchronous DRAMSDRAM, double data rate SDRAMDDRSDRAM, enhanced SDRAMESDRAM, synchronous link Synchlink, DRAMSLDRAM, memory bus Rambus direct RAMRDRAM, direct memory bus dynamic RAMDRDRAM, and memory bus dynamic RAMRDRAM, among others.
The control unit is configured to acquire an actual position of the movable apparatus based on the positioning means, and further to display an image of the actual position of the movable apparatus in the display means. The difference between the actual position image and the target placement position is beneficial to intuitively displaying the actual position difference, and the control of the operation trolley is convenient.
The invention also provides a surgical robot system, which comprises the positioning system, the bed body and the movable equipment, wherein the movable equipment comprises execution equipment, and the execution equipment can be the surgical trolley.
The invention also provides a readable storage medium, which when the program is executed, performs the surgical robot preoperative positioning method.
The readable storage media of embodiments of the present invention may take the form of any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium include the non-exhaustive list of: an electrical connection having one or more wires, a portable computer hard disk, a random access memory RAM, a read-only memory ROM, an erasable programmable read-only memory EPROM or flash memory, an optical fiber, a portable compact disc read-only memory CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any changes and modifications made by those skilled in the art based on the above disclosure are intended to fall within the scope of the appended claims.
Claims (10)
1. A method of preoperative positioning of a surgical robot, comprising:
when a target object is positioned on a bed board of a bed body, a reference position positioned on the target object is determined, the position of the reference position relative to the bed body is obtained, and a first coordinate system is established based on the reference position;
acquiring a target position on a target object, and determining gesture information of a stamping card in the first coordinate system;
inverting joints of a mechanical arm on the movable equipment based on the gesture information of the poking card to obtain initial gesture information of each joint of the mechanical arm in the first coordinate system when the execution end of the mechanical arm is matched with the gesture of the poking card;
and determining the target placement position of the movable equipment based on the initial posture information of each joint of the mechanical arm.
2. The preoperative robotic positioning method of claim 1, further comprising adjusting a final pose of the target object lying on a bed based on the target position, establishing a mapping relationship of the final pose and the first coordinate system.
3. The preoperative positioning method of claim 1, further comprising obtaining three-dimensional coordinate information of a stationary point of a bed body, and establishing a second coordinate system with the stationary point;
and adjusting the posture of the bed plate of the bed body based on the target position, determining the posture of the bed plate after adjustment, and establishing a mapping relation between a second coordinate system and a first coordinate system based on the posture of the bed plate after adjustment.
4. The preoperative robot positioning method according to claim 3, further comprising determining the final pose of the stabber based on the adjusted pose of the bed plate, and updating pose information of each joint of the manipulator in the first coordinate system and updating a target placement position of the movable device when the execution end of the manipulator is matched with the final pose of the stabber based on the final pose of the stabber.
5. The preoperative robotic positioning method of claim 1, further comprising calculating a distance a from the stamper to the target location and determining a type of endoscope from which to acquire an image of the target location based on the distance a;
if the distance a is larger than the deployable size of the flexible endoscope, determining the type of the endoscope as the flexible endoscope; if the distance a is smaller than the deployable size of the flexible endoscope, the endoscope type is determined to be a rigid endoscope.
6. The surgical robotic preoperative positioning method of claim 1, wherein obtaining a target location on a target object comprises:
determining a standard object;
determining a standard reference position of the standard object when the standard object is in a lying posture on a bed board of the bed body, obtaining a standard position of the standard reference position relative to the bed body, obtaining a standard target position corresponding to the standard object, and establishing a standard vector between the standard target position of the standard object and the standard reference position of the standard object;
and determining a correction coefficient based on the basic information of the target object, and multiplying the standard vector by the correction coefficient to obtain the position relation of the reference phase of the target object relative to the target position of the target object.
7. The preoperative robotic positioning method of claim 6, wherein the correction coefficients comprise height correction coefficients; and/or/; a weight correction coefficient; and/or; pneumoperitoneum pressure correction coefficient.
8. The preoperative positioning method of claim 1, further comprising, after determining the target placement position of the movable device, displaying an image of the three-dimensional model of the bed, the three-dimensional model of the movable device at the target placement position, and the three-dimensional model of the target object lying on the bed in a superimposed manner.
9. A positioning system, comprising:
the positioning device is used for acquiring three-dimensional coordinate information of the bed body;
a display device for displaying the three-dimensional model of the movable equipment, the three-dimensional model of the bed body, the three-dimensional model of the target object and the target placement position of the movable equipment in the display device; the method comprises the steps of,
a control unit communicatively connected to the positioning device and the display device and configured to perform the preoperative positioning method of the surgical robot of any one of claims 1-8.
10. A readable storage medium, characterized in that the surgical robotic preoperative positioning method according to any one of claims 1-8 is performed when the program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310580270.3A CN116616873A (en) | 2023-05-22 | 2023-05-22 | Preoperative positioning method, preoperative positioning system and readable storage medium for surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310580270.3A CN116616873A (en) | 2023-05-22 | 2023-05-22 | Preoperative positioning method, preoperative positioning system and readable storage medium for surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116616873A true CN116616873A (en) | 2023-08-22 |
Family
ID=87612752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310580270.3A Pending CN116616873A (en) | 2023-05-22 | 2023-05-22 | Preoperative positioning method, preoperative positioning system and readable storage medium for surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116616873A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117506965A (en) * | 2024-01-08 | 2024-02-06 | 武汉联影智融医疗科技有限公司 | Positioning system, method, computer device and storage medium of surgical robot |
| CN117549328A (en) * | 2024-01-08 | 2024-02-13 | 武汉联影智融医疗科技有限公司 | Positioning system and method of surgical robot and surgical robot system |
-
2023
- 2023-05-22 CN CN202310580270.3A patent/CN116616873A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117506965A (en) * | 2024-01-08 | 2024-02-06 | 武汉联影智融医疗科技有限公司 | Positioning system, method, computer device and storage medium of surgical robot |
| CN117549328A (en) * | 2024-01-08 | 2024-02-13 | 武汉联影智融医疗科技有限公司 | Positioning system and method of surgical robot and surgical robot system |
| CN117549328B (en) * | 2024-01-08 | 2024-04-02 | 武汉联影智融医疗科技有限公司 | Positioning system and method of surgical robot and surgical robot system |
| CN117506965B (en) * | 2024-01-08 | 2024-04-12 | 武汉联影智融医疗科技有限公司 | Positioning system, method, computer device and storage medium of surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116616873A (en) | Preoperative positioning method, preoperative positioning system and readable storage medium for surgical robot | |
| JP6851427B2 (en) | Systems and methods for off-screen display of instruments in remote-controlled medical systems | |
| CN111343942B (en) | Robot system with indication of the boundary of the robot arm | |
| KR102501099B1 (en) | Systems and methods for rendering on-screen identification of instruments in teleoperated medical systems | |
| KR102577474B1 (en) | System and method for master/tool matching and control for intuitive movement | |
| US20220142712A1 (en) | Training data collection for machine learning models | |
| CN107049492B (en) | Surgical robot system and method for displaying position of surgical instrument | |
| KR20220123076A (en) | Alignment Techniques for Transdermal Access | |
| KR20200071744A (en) | Detection of undesirable forces exerted on the surgical robot arm | |
| JP7469120B2 (en) | Robotic surgery support system, operation method of robotic surgery support system, and program | |
| WO2022218389A1 (en) | Ultrasonic and x-ray combined execution operation method, device and system, and computer-readable storage medium | |
| JP2023549687A (en) | Laparoscopic surgical robot system with internal joint degrees of freedom | |
| CN110868937B (en) | Integration with robotic instrument guide of acoustic probe | |
| WO2022141153A1 (en) | Ultrasonic positioning puncture system and storage medium | |
| CN115605157A (en) | Passive and active arm control schemes with sensor integration to support remote operation and direct manual interaction | |
| CN114098954B (en) | Mechanical arm, slave operation device and operation robot | |
| CN114129266B (en) | Method, mechanical arm, equipment, robot and medium for keeping RC point unchanged | |
| US11571267B2 (en) | Remote center of motion control for a surgical robot | |
| CN111278350A (en) | Positioning a camera of a surgical robotic system to capture images within a body cavity of a patient | |
| CN115361919A (en) | Target anatomical feature localization | |
| CN115105175A (en) | Puncture navigation system, method, device, storage medium, and puncture device | |
| JP2023530519A (en) | Control scheme calibration for medical instruments | |
| CN114449971A (en) | System and method for avoiding collisions using object models | |
| CN114631886A (en) | Mechanical arm positioning method, readable storage medium and surgical robot system | |
| WO2023126755A1 (en) | Positioning system registration using mechanical linkages |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |