CN204542390U - A kind of force feedback surgery operation robot control system based on augmented reality - Google Patents
A kind of force feedback surgery operation robot control system based on augmented reality Download PDFInfo
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- CN204542390U CN204542390U CN201520234672.9U CN201520234672U CN204542390U CN 204542390 U CN204542390 U CN 204542390U CN 201520234672 U CN201520234672 U CN 201520234672U CN 204542390 U CN204542390 U CN 204542390U
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- 230000003190 augmentative effect Effects 0.000 title claims abstract description 44
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 230000001575 pathological effect Effects 0.000 claims description 10
- 210000000056 organ Anatomy 0.000 claims description 4
- 230000003993 interaction Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 238000002432 robotic surgery Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000037361 pathway Effects 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Abstract
This utility model relates to a kind of force feedback surgery operation robot control system based on augmented reality, belongs to interaction control technology field.This system comprises operating side, 3D display, motion controller, feedback unit, augmented reality processing unit, virtual environment unit, actuating station and 3D endoscope; Operating side sends coordinate information to motion controller; Motion controller sends motion control commands to actuating station; Displacement information is sent to virtual environment unit by actuating station; Virtual environment unit sends image information to augmented reality processing unit, sends tactile data to force feedback unit; Force feedback unit sends tactile feedback to operating side; 3D endoscope sends the image video of operative site to augmented reality processing unit; Augmented reality video is sent to 3D display by augmented reality processing unit.A kind of surgery operation robot control system that this utility model provides, effectively can improve the performance accuracy of operating robot, safety and reliability.
Description
Technical field
This utility model belongs to interaction control technology field, relates to a kind of force feedback surgery operation robot control system based on augmented reality.
Background technology
Micro-wound operation robot is made up of doctor operating side and machine actuating station: doctor is by the image information of endoscopic visualisation operative region, and sending operation technique instruction by operating side, actuating station undergos surgery to operate and performs and utilize the operating theater instruments being arranged on actuating station to operate.Remote operating micro-wound operation robot significantly improves stability and the precision of surgical operation by precision optical machinery control system and three-dimensional imaging technology.When doctor completes robotic surgery, only rely on endoscopic observation organ tissue, contrast CT, MRI 2-D data judges lesions position, and three-dimensional localization and the accurate sense of touch that cannot obtain pathological tissues are intuitively located, thus increase potential risk.Simultaneously, compared with traditional operation, operating robot can eliminate trembling in doctor's operation, but the disappearance of tactile force feedback also causes huge image to doctor simultaneously, comprise the force feedback of operating theater instruments, the soft durometer of tissue, and special cutting and stitching etc. rely on the operation of tactile feedback especially.For above problem, provide a kind of auxiliary positioning reliably based on the augmented reality of image and force feedback bootstrap technique and differentiate mechanism with operation, effectively can improve performance accuracy and the safety of robotic surgery.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of force feedback surgery operation robot control system based on augmented reality, the accurate location of tissue has been guided by augmented reality and force feedback, allowing doctor obtain accurate vision and haptic force auxiliary information when implementing robotic surgery, improving robotic surgery precision and reliability.
For achieving the above object, this utility model provides following technical scheme:
Based on a force feedback surgery operation robot control system for augmented reality, this system comprises operating side, 3D display, motion controller, augmented reality processing unit, virtual environment unit, actuating station and 3D endoscope;
Described operating side sends coordinate information to motion controller; Described motion controller sends motion control commands to actuating station; Displacement information is sent to virtual environment unit by actuating station; Described virtual environment unit sends image information to augmented reality processing unit; Described 3D endoscope sends the image video of operative site to augmented reality processing unit; Augmented reality video is sent to 3D display by described augmented reality processing unit;
Described augmented reality processing unit is for receiving the image video of image information and operative site, complete that three-dimensional virtual environment organ is demarcated with operative site by image processing algorithm, registration and tracking superpose, prompting pathological tissues, is then sent to 3D display by augmented reality video.
Further, described system also comprises force feedback unit, and described virtual environment unit sends tactile data to force feedback unit, and described force feedback unit sends tactile feedback to operating side.
The beneficial effects of the utility model are: a kind of force feedback surgery operation robot control system based on augmented reality that this utility model provides, based on Medical Imaging Technology and computer image processing technology, three-dimensional reconstruction is utilized to build pathological tissues dummy model, by dummy model and corrective surgery position real-time calibration, registration and tracking superposition, the deformation completing pathological tissues is simulated and three-dimensional complex imaging, accurate Calculation surgical target and operating theater instruments spacing simultaneously, automatic planning operation technique path, operation technique sense of touch guiding is realized and normal structure mechanics is pointed out by force feedback equipment, complete particular procedure in conjunction with vision and sense of touch assist physician to operate, the performance accuracy of effective raising operating robot, safety and reliability.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, this utility model is described in further detail, wherein:
Fig. 1 is the force feedback surgery operation robot control system block diagram based on augmented reality described in the utility model;
Fig. 2 is augmented reality force feedback system schematic diagram;
Wherein, 1 be operating side, 2 be 3D display, 3 be motion controller, 4 be force feedback unit, 5 be augmented reality processing unit, 6 be virtual environment unit, 7 be actuating station, 8 for 3D endoscope, 6-1 be pathological tissues in virtual environment, 6-2 is normal structure, 6-3 is operation pathway, 7-1 and 7-2 is operating theater instruments.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail.
A kind of force feedback surgery operation robot control system based on augmented reality that this utility model provides, as shown in Figure 1, this system mainly comprises the kinetic control system of force feedback interactive system and operating robot actuating station; This system specifically comprises operating side 1,3D display 2, motion controller 3, augmented reality processing unit 5, virtual environment unit 6, actuating station 7 and 3D endoscope 8;
Described operating side 1 sends coordinate information to motion controller 3; Described motion controller 3 sends motion control commands to actuating station 7; Displacement information is sent to virtual environment unit 6 by actuating station 7; Described virtual environment unit 6 sends image information to augmented reality processing unit 5; Described 3D endoscope 8 sends the image video of operative site to augmented reality processing unit 5; Augmented reality video is sent to 3D display 2 by described augmented reality processing unit 5.
System also comprises force feedback unit 4, and described virtual environment unit 6 sends tactile data to force feedback unit 4, and described force feedback unit 4 sends tactile feedback to operating side 1.
Motion controller 3 is for receiving the motion control commands of operating side 1 and sending to actuating station 7.
Augmented reality processing unit 5 is for receiving image information and the image video information of virtual reality unit 6 and 3D endoscope 8 transmission, demarcated with the real time imaging of patient body by three-dimensional virtual environment, registration and tracking superpose, prompting pathological tissues, is then transferred to 3D display 2 by augmented reality image information.
Augmented reality force feedback system schematic diagram, as shown in Figure 2, virtual reality unit 6 is for the image (CT by patient, MRI etc.) data is converted into three dimensional virtual models, operating theater instruments (7-1 is judged according to actuating station positional information, 7-2) with the relative coordinate relation of pathological tissues 6-1 and normal structure 6-2 in virtual environment, and generate tactile data and image information, tactile data is sent to force feedback unit 4, the image information in virtual environment is passed to augmented reality processing unit 5; Described tactile data is for generate optimum operation pathway and force feedback guidance information according to anatomic model; The surgery planning path that force feedback guidance information comprises the force feedback information of normal structure and the force feedback information of pathological tissues and presets; Described image information comprises virtual organization deformation analog information.
Force feedback unit 4 judges operating theater instruments (7-1 for the three-dimensional virtual environment built according to virtual environment unit 6,7-2) with pathological tissues 6-1 in operation technique district virtual environment and the relative coordinate relation of normal structure 6-2, thus complete force feedback according to operation pathway and force feedback guidance information by operating side 1 and guide.
Doctor completes in robotic surgery process, usually directly tactile feedback information cannot be obtained, because this increasing the difficulty of operation technique, by the augmented reality force feedback surgical robot system that the utility model proposes, use visual tactile feedback, assisted a physician organ and tissue accurately location, effectively improves the safety and reliability of operating robot.
What finally illustrate is, above preferred embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail this utility model by above preferred embodiment, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from this utility model claims limited range.
Claims (2)
1. based on a force feedback surgery operation robot control system for augmented reality, it is characterized in that: this system comprises operating side (1), 3D display (2), motion controller (3), augmented reality processing unit (5), virtual environment unit (6), actuating station (7) and 3D endoscope (8);
Described operating side (1) sends coordinate information to motion controller (3); Described motion controller (3) sends motion control commands to actuating station (7); Displacement information is sent to virtual environment unit (6) by actuating station (7); Described virtual environment unit (6) sends image information to augmented reality processing unit (5); Described 3D endoscope (8) sends the image video of operative site to augmented reality processing unit (5); Augmented reality video is sent to 3D display (2) by described augmented reality processing unit (5);
Described augmented reality processing unit (5) is for receiving the image video of image information and operative site, complete that three-dimensional virtual environment organ is demarcated with operative site by image processing algorithm, registration and tracking superpose, prompting pathological tissues, is then sent to 3D display by augmented reality video.
2. a kind of force feedback surgery operation robot control system based on augmented reality according to claim 1, it is characterized in that: described system also comprises force feedback unit (4), described virtual environment unit (6) sends tactile data to force feedback unit (4), and described force feedback unit (4) sends tactile feedback to operating side (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520234672.9U CN204542390U (en) | 2015-04-17 | 2015-04-17 | A kind of force feedback surgery operation robot control system based on augmented reality |
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| CN201520234672.9U CN204542390U (en) | 2015-04-17 | 2015-04-17 | A kind of force feedback surgery operation robot control system based on augmented reality |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104739519A (en) * | 2015-04-17 | 2015-07-01 | 中国科学院重庆绿色智能技术研究院 | Force feedback surgical robot control system based on augmented reality |
| CN107049497A (en) * | 2017-05-02 | 2017-08-18 | 浙江伽奈维医疗科技有限公司 | Puncture navigation robot system |
| CN109410680A (en) * | 2018-11-19 | 2019-03-01 | 叶哲伟 | A kind of virtual operation training method and system based on mixed reality |
| CN111251305A (en) * | 2020-03-13 | 2020-06-09 | 南方科技大学 | Robot force control method, device, system, robot and storage medium |
| CN113633387A (en) * | 2021-06-21 | 2021-11-12 | 安徽理工大学 | Surgical field tracking supporting laparoscopic minimally invasive robot touch force interaction method and system |
| WO2022188352A1 (en) * | 2021-03-08 | 2022-09-15 | 上海交通大学 | Augmented-reality-based interventional robot non-contact teleoperation system, and calibration method therefor |
-
2015
- 2015-04-17 CN CN201520234672.9U patent/CN204542390U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104739519A (en) * | 2015-04-17 | 2015-07-01 | 中国科学院重庆绿色智能技术研究院 | Force feedback surgical robot control system based on augmented reality |
| CN107049497A (en) * | 2017-05-02 | 2017-08-18 | 浙江伽奈维医疗科技有限公司 | Puncture navigation robot system |
| CN109410680A (en) * | 2018-11-19 | 2019-03-01 | 叶哲伟 | A kind of virtual operation training method and system based on mixed reality |
| CN111251305A (en) * | 2020-03-13 | 2020-06-09 | 南方科技大学 | Robot force control method, device, system, robot and storage medium |
| CN111251305B (en) * | 2020-03-13 | 2023-02-07 | 南方科技大学 | Robot force control method, device, system, robot and storage medium |
| WO2022188352A1 (en) * | 2021-03-08 | 2022-09-15 | 上海交通大学 | Augmented-reality-based interventional robot non-contact teleoperation system, and calibration method therefor |
| CN113633387A (en) * | 2021-06-21 | 2021-11-12 | 安徽理工大学 | Surgical field tracking supporting laparoscopic minimally invasive robot touch force interaction method and system |
| CN113633387B (en) * | 2021-06-21 | 2024-01-26 | 安徽理工大学 | Surgical field tracking supporting laparoscopic minimally invasive robot touch interaction method and system |
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Granted publication date: 20150812 |