WO2016190575A1 - Location instrument for intervention and needle guide type intervention robot system including same - Google Patents

Location instrument for intervention and needle guide type intervention robot system including same Download PDF

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Publication number
WO2016190575A1
WO2016190575A1 PCT/KR2016/004898 KR2016004898W WO2016190575A1 WO 2016190575 A1 WO2016190575 A1 WO 2016190575A1 KR 2016004898 W KR2016004898 W KR 2016004898W WO 2016190575 A1 WO2016190575 A1 WO 2016190575A1
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robot
needle
patient
interventional
posture
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PCT/KR2016/004898
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French (fr)
Korean (ko)
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김홍호
임흥순
우동기
최한철
차용엽
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현대중공업 주식회사
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    • 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
    • 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
    • A61B34/30—Surgical robots

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  • the present invention relates to an interventional position measuring instrument and a needle guided interventional robot technology including the same, and more particularly, to plan the insertion position and the orientation of the interventional needle based on the CT image of the patient, and to plan the needle insertion position. And it relates to an interventional position measuring instrument for guiding the interventional needle in the direction and a needle guided interventional robot system comprising the same.
  • interventional procedures are performed by inserting a medical device into the body while observing the inside of a human body through an imaging device, and means a medical technique that is generally used for both medical and surgical procedures such as tissue biopsy, dilation, and drug injection. do.
  • Such interventions are being developed in various forms, including inserting a needle into the human body, performing biopsy of the chest, abdomen and various organ lesions, radiofrequency, alcohol, freezing, and radiotherapy of the lesion site.
  • a needle insertion intervention is used as an approach to lesions when installing various stents and conduits.
  • the needle insertion-based interventional procedure examines medical needles through the skin using images from ultrasound, computerized tomography (CCT), bone beam computed tomography (CBCT), magnetic resonance imager (MRI), etc. Is inserted directly into the desired site or the desired lesion for diagnosis or treatment.
  • CCT computerized tomography
  • CBCT bone beam computed tomography
  • MRI magnetic resonance imager
  • the CT staff plan the needle insertion path by determining the location of the affected part and the insertion point of the needle, and then insert the needle by hand to perform an interventional procedure for biopsy or treatment. Marking the insertion point of the needle or marking the insertion point using a marker, and the needle insertion process is performed manually by communication between medical staff.
  • the position or posture of the needle insertion determined at the interventional planning stage is not maintained firmly, and thus, it is difficult to secure the accuracy of the interventional procedure.
  • the conventional interventional robot system can be divided into two types of needle insertion type and needle guide type.
  • the robot In the case of needle insertion type interventional robot system, the robot is inserted into the actual CT imaging space and inserts the needle directly into the affected part. Is a method of controlling the robot drive from the outside.
  • the actual needle insertion is performed by the medical staff, but the robot arm is driven according to the needle insertion position and posture determined during the intervention planning stage, so that the position and posture of the needle is robust even during the needle insertion. This is how you keep it.
  • the present invention has been proposed to solve the above conventional problems, the objective of the interventional position measuring instrument according to the present invention and the needle guided interventional robot system including the same is based on the CT image of the patient
  • the present invention provides a system for planning the insertion position and orientation of a guiding device and guiding the interventional needle in a planned needle insertion position and orientation.
  • the needle guided interventional robot system includes a robot base composed of a mobile platform, a robot arm fixed on an upper portion of the robot base, an end effector for a needle guide located at an end of the robot arm, and a robot and a patient. It is characterized by including a position measuring device for measuring the three-dimensional position and attitude of the tool.
  • the robot arm uses the relative position and posture of the robot-side tool and the patient-side tool measured by the position measuring device so that the end effector guides the interventional needle. It is characterized by adjusting the position of the end effector.
  • the robot base is connected to the intervention planning section, the intervention planning plan to plan the insertion path of the intervention needle using the CT image of the patient, Computing the target position and posture of the robot arm according to the insertion path, and connected to the operation unit and the operation unit for transmitting the robot control signal according to the calculated value, generating a motor drive signal according to the robot control signal It characterized in that it comprises a robot control unit.
  • the robot base is characterized in that it further comprises a monitoring device for monitoring the output signal of the robot control device unit to determine whether or not the normal operation of the robot control unit.
  • the robot base is connected to the robot control unit, a digital input / output unit for processing a digital input / output signal and the digital input / output unit, abnormal driving of the robot And a first emergency stop switch for transmitting a signal for stopping the robot operation to the robot control apparatus.
  • the end effector is located in the needle guide for guiding the position and direction of the interventional needle and adjacent to the needle guide to position an anesthetic site or a needle insertion point of the patient. It is characterized by including a laser to display.
  • the end effector further comprises a second emergency stop switch for transmitting a signal for stopping the robot operation to the robot base when the robot abnormally driven. do.
  • a position measuring device is mounted on the robot base and attached to the robot side tool and the patient's surgical site to estimate the position and posture of the robot reference coordinate system.
  • a position / posture measuring instrument that simultaneously tracks the patient side tool that displays the position and posture of the robot and identifies the relative position and posture of the robot side tool and the patient side tool, and enables spatial matching between the CT image and the robot. It is done.
  • the position measuring instrument for interventional procedure is mounted on a robot base composed of an interventional robot including an interventional needle and a mobile platform for measuring the three-dimensional position and posture of a tool provided in a patient, and the position of the robot reference coordinate system.
  • Robot side tool for displaying a posture
  • a patient side tool attached near a patient's surgical site to display a patient's position and posture
  • the robot to adjust the position and posture of the interventional needle according to the movement of the patient
  • a position / posture meter for measuring the relative position and posture of the robot side tool and the patient side tool by spatially matching the side tool and the patient side tool.
  • the interventional position measuring instrument according to the present invention and the needle guided interventional robot system including the same plan the insertion position and direction of the interventional needle based on the CT image of the patient, and the interventional needle with the planned needle insertion position and direction.
  • the insertion position and posture of the interventional needle can be maintained firmly, thereby improving the accuracy of the interventional procedure.
  • the anesthesia site of the patient can be displayed through the laser mounted on the end effector, and the needle insertion point can be confirmed in advance.
  • FIG. 1 is an overall configuration diagram of a position guide for interventional procedure and a needle guided interventional robot system including the same according to the present invention.
  • Figure 2 is a detailed configuration of the robot base in the needle guided interventional robot system according to the present invention.
  • Figure 3 is a detailed configuration of the end effector in the needle guided interventional robot system according to the present invention.
  • Figure 4 is a detailed configuration of the position measuring instrument for interventional procedure according to the present invention.
  • Figure 1 is a block diagram showing the overall configuration of the interventional position measuring instrument and the needle guided interventional robot system including the same, the robot base 10, the robot arm 20, the end effector 30 and the position The meter 40 is included.
  • the position measuring device may be a position measuring device for interventional procedure according to the present invention to be described later.
  • the robot base 10 is configured as a mobile platform, and as shown in FIG. 2, the interventional treatment planning unit 11, the calculation unit 12, the user input / output device 13, and the robot control unit 14. And a monitoring unit 15, a digital input / output unit 16 and a first emergency stop switch 17.
  • the interventional planning unit 11 receives the CT image of the patient from the PACS-Picture Archiving and Communication System to plan the insertion path of the interventional needle.
  • the interventional needle The insertion path may be defined as a planned path according to the designation of the needle insertion point and the affected part, and the needle insertion path data planned by the interventional planning part 11 is transmitted to the computing device unit 12.
  • the operation unit 12 is connected to the interventional planning section 11, connected to the position / posture measuring unit 43 of Figure 4 calculates the target position and posture of the robot arm according to the planned insertion path, The robot control signal according to the calculated value is transmitted to the robot control device unit 14.
  • the user input / output device 13 is connected to the arithmetic unit 12 to input information to be considered when planning an interventional procedure, and the CT image, needle insertion point, affected part, planned needle insertion path, etc. of the patient. Through the user input and output device 13, various variables related to the intervention may be considered, and the intervention plan and the intervention procedure may be displayed so that the medical staff may monitor the intervention plan and the situation in real time.
  • the robot control unit 14 is connected to the operation unit 12 to generate a motor driving signal according to the robot control signal, in the embodiment of the present invention, the robot control unit 14 is the robot
  • the arm 20 and the end effector 30 are configured to be configured as a motor driver for controlling the target position and attitude.
  • the insertion path of the needle is planned based on the CT image of the patient through the configuration of the interventional planning unit 11, the operation unit 12, and the robot control unit 14, and the end effector is arranged according to the planned needle insertion path.
  • the monitoring unit 15 monitors the output signal of the robot control unit 14 to check whether the robot control unit 14 is operating normally.
  • the monitoring unit 15 The controller periodically transmits a monitoring signal to the robot control unit 14, determines whether the operation is normal by the magnitude or response time of the output signal according to the transmitted monitoring signal, and outputs the signal from the robot control unit 14. If is out of the normal range, to transmit a signal to stop the driving of the robot arm (20).
  • the driving of the robot arm 20 is immediately performed. By stopping, the stability of the interventional procedure can be ensured, and the robot control drive error situation can be responded quickly.
  • the robot base 10 is connected to the robot control unit, and transmits a digital input / output unit 16 for processing a digital input / output signal and a signal to stop the robot operation to the robot control unit 14.
  • a first emergency stop switch 17 is included.
  • the robot control unit 14 sends a robot to the robot. It is desirable to deliver a signal to stop the operation.
  • the robot arm 20 is mounted to the robot base 10 formed as a mobile platform, and an end effector 30 for guiding the interventional needle is mounted at the end of the robot arm 20. Accordingly, the robot arm 20 may adjust the position of the end effector 30 by controlling the position and posture by the robot control unit 14.
  • the end effector 30 includes a needle guide 31, a laser 32 and a second emergency stop switch 33, as shown in FIG. 3.
  • the needle guide 31 is a means for guiding the position and direction of the interventional needle so that the position and direction values of the needle correspond to the information calculated by the operation unit 12.
  • the laser 32 is positioned adjacent to the needle guide 31 to mark an anesthetic site or a needle insertion point of the patient.
  • the position of the end effector 30 is adjusted to correspond to the calculated position and direction of the needle.
  • the laser 32 according to the present invention is used for displaying an anesthetic site.
  • the medical staff can visually confirm the needle insertion point in advance.
  • the second emergency stop switch 33 stops the robot operation when the user drives the emergency stop switch in the same way as the first emergency stop switch 17 when the robot abnormally drives or an emergency situation occurs during the interventional procedure. Delivers a signal to the robot base.
  • the first emergency stop switch 17 and the second emergency stop switch 33 are mounted on the robot base 10 and the end effector 30, respectively.
  • the emergency stop switch can be driven in an easily accessible position.
  • the position measuring instrument is substantially the same as the position measuring instrument for interventional procedure according to the present invention to be described later, a detailed description thereof will be omitted.
  • Interventional position measuring device 40 measures the three-dimensional position and posture of the tool provided in the robot and the patient, as shown in Figure 4, the robot side tool 41, the patient side tool 42 And position / posture meter 43.
  • the robot side tool 41 is attached to a robot base composed of a mobile platform, and the patient side tool 42 is attached to a position proximate to a patient's procedure.
  • the robot side tool 41 and The patient-side tool 42 is formed in a form including a high-reflection ball marker capable of three-dimensional position and posture tracking with a stereo infrared camera.
  • the position / posture measuring unit 43 detects the robot side tool 41 and the patient side tool 42, and then measures relative positions and postures between the two through spatial matching, in the embodiment of the present invention.
  • the position / posture meter 43 is implemented with a stereo infrared camera and monitors the movement and breathing state of the patient during the interventional procedure through the calculated three-dimensional position and posture of the robot side tool 41 and the patient side tool 42. It is possible to do that.
  • the intervention planning section 11 is CT of the patient
  • the insertion position and posture of the needle are planned based on the image, and at this time, the insertion point or the affected part of the needle can be specified from the outside through the user input / output device 13, and the needle insertion path can be planned through this.
  • the needle insertion path information planned by the interventional surgery planning unit 11 is transmitted to the operation unit 12, and the operation unit 12 receives the robot-side tool and the patient-side tool received from the position / posture meter 43.
  • the target position and attitude of the robot arm 20 is calculated and transmitted to the robot control unit 14.
  • the robot control unit 14 transmits a motor control signal of the robot arm 20 according to the target position and posture calculated by the operation unit 12, and the end effector 30 plans an interventional procedure. Guide the needle according to the insertion position and posture of the needle.
  • the anesthesia point or the needle insertion point can be identified through the laser 32 mounted to the end effector 30.
  • the robot side tool 41 and the patient side tool according to the space registration of the position measuring instrument 40 are performed.
  • the position guide for interventional procedure according to the present invention and the needle guide type interventional robot system including the same by grasping the movement of the patient by using the interventional position detector 40 according to the present invention, according to the intervention plan
  • the interventional needle can be guided more accurately according to the insertion position and posture of the needle.
  • the first emergency stop switch 17 and the second emergency stop switch respectively mounted on the robot base 10 and the end effector 30 ( 33) to stop the operation of the robot arm 20.
  • the interventional needle is automatically guided to the needle insertion position and direction based on the CT image of the patient. It is possible to maintain a robust position and posture of the interventional needle, thereby improving the accuracy of the interventional procedure.
  • the time required for the interventional procedure can be shortened and the radiation dose of the patient can be reduced.
  • the technical idea of the present invention is not limited to the above-described embodiments, and the position guide for interventional procedures according to various embodiments of the present invention and a needle guide including the same in a range that does not depart from the technical idea of the present invention. It can be implemented by the type intervention robot system.

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Abstract

The present invention relates to a location instrument for an intervention and a needle guide type intervention robot system including the same, the location instrument planning an insertion location and direction of an intervention needle on the basis of a patient's CT image, and strongly guiding the intervention needle toward the planned needle insertion location and direction, and the needle guide type intervention robot system according to the present invention comprises: a robot arm fixed to a robot base having a mobile platform; an end effector located at an end part of the robot arm so as to guide a location and a direction of the intervention needle; and the location instrument for surveying three-dimensional locations and the positioning of tools provided to the robot and the patient.

Description

중재시술용 위치 계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템Position measuring instrument for interventional procedure and needle guided interventional robot system including the same
본 발명은 중재시술용 위치 계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇 기술에 관한 것으로, 더 상세하게는 환자의 CT 영상을 기반으로 중재시술 바늘의 삽입 위치 및 방향을 계획하고, 계획된 바늘 삽입 위치 및 방향으로 중재시술 바늘을 강건하게 가이드하는 중재시술용 위치 계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템에 관한 것이다.The present invention relates to an interventional position measuring instrument and a needle guided interventional robot technology including the same, and more particularly, to plan the insertion position and the orientation of the interventional needle based on the CT image of the patient, and to plan the needle insertion position. And it relates to an interventional position measuring instrument for guiding the interventional needle in the direction and a needle guided interventional robot system comprising the same.
일반적으로 중재시술은 영상장치를 통하여 인체 내부를 관찰하면서 의료기구를 체내에 삽입하여 수행하는 것으로, 조직생검, 확장술, 약물주입 등 내과적 시술 및 외과적 시술 모두에 전반적으로 이용되는 의학기술을 의미한다.In general, interventional procedures are performed by inserting a medical device into the body while observing the inside of a human body through an imaging device, and means a medical technique that is generally used for both medical and surgical procedures such as tissue biopsy, dilation, and drug injection. do.
이러한 중재시술은 다양한 형태로 개발되고 있는데, 그 중 바늘을 인체 내부에 삽입하여, 흉부, 복부 및 다양한 장기 병소에 대한 조직생검, 병소 부위의 고주파, 알코올, 냉동, 방사선 국소치료술을 수행하는 방식이 대표적이며, 이러한 바늘 삽입 방식의 중재시술은 각종스텐트(Stent) 설치 및 도관 설치시 병소에 대한 접근방법으로 이용되고 있다.Such interventions are being developed in various forms, including inserting a needle into the human body, performing biopsy of the chest, abdomen and various organ lesions, radiofrequency, alcohol, freezing, and radiotherapy of the lesion site. Representative, such a needle insertion intervention is used as an approach to lesions when installing various stents and conduits.
이러한 바늘 삽입 방식의 중재시술은 방사선과에서 사용하는 영상장비인 초음파, CT(Computerized Tomography), CBCT(Cone Beam Computed Tomography), MRI(MagneticResonance Imager) 등으로부터 얻은 영상을 이용하여 피부를 통해 의료용 바늘을 검사를 원하는 부위 또는 치료를 원하는 병변에 직접 삽입하여 진단이나 치료를 하는데 그 중재시술 과정을 살펴보면 다음과 같다. The needle insertion-based interventional procedure examines medical needles through the skin using images from ultrasound, computerized tomography (CCT), bone beam computed tomography (CBCT), magnetic resonance imager (MRI), etc. Is inserted directly into the desired site or the desired lesion for diagnosis or treatment. The interventional procedure is as follows.
먼저 CT촬영을 통해 획득된 영상으로 의료진이 환부의 위치와 바늘의 삽입점을 결정함으로써 바늘 삽입 경로를 계획한 후, 수작업에 의해 바늘을 삽입하여 조직검사 또는 치료를 위한 중재시술을 하게 되는데 이 경우, 바늘 삽입 위치를 마킹하거나 마커를 이용하여 삽입점을 표시하며, 바늘 삽입 과정에도 의료진 간의 의사소통을 통해 수작업으로 진행된다.First, the CT staff plan the needle insertion path by determining the location of the affected part and the insertion point of the needle, and then insert the needle by hand to perform an interventional procedure for biopsy or treatment. Marking the insertion point of the needle or marking the insertion point using a marker, and the needle insertion process is performed manually by communication between medical staff.
따라서, 중재시술 과정에서 바늘과 환부의 상대적인 위치를 확인하기 위해 반복적인 CT촬영이 수행되며, 이로 인해 중재시술에 소요되는 시간이 길어지며, 반복된 CT촬영에 의해 환자의 방사선 피폭량이 증가하는 문제점이 발생한다.Therefore, repeated CT imaging is performed to confirm the relative position of the needle and the lesion during the interventional procedure, which increases the time required for the intervention and increases the radiation exposure of the patient by repeated CT imaging. This happens.
또한 바늘 삽입 작업이 수작업으로 이루어짐에 따라 중재시술 계획 단계에서 확정된 바늘 삽입 위치나 자세가 강건하게 유지되지 못하여, 중재시술의 정확성을 확보하기 어려운 문제점이 발생한다. In addition, since the needle insertion operation is performed manually, the position or posture of the needle insertion determined at the interventional planning stage is not maintained firmly, and thus, it is difficult to secure the accuracy of the interventional procedure.
최근, 이러한 종래 바늘 삽입형 중재시술의 단점을 보완하고자 대한민국 공개특허 공보 제10-2014-0056772호(2012. 10. 13)에 개시된 바와 같이, 중재시술에 로봇시스템을 적용한 기술이 다양하게 개발되고 있다.Recently, as disclosed in Korean Patent Laid-Open Publication No. 10-2014-0056772 (October 13, 2012) in order to make up for the shortcomings of the conventional needle insertion intervention, various techniques for applying a robotic system to interventions have been developed. .
종래 중재시술 로봇시스템은 크게 바늘 삽입형과 바늘 가이드형으로 나눌 수 있으며, 바늘 삽입형 중재시술 로봇시스템의 경우, 로봇이 실제 CT 촬영 공간에 투입되어 환부에 직접적으로 바늘을 삽입하는 동작을 수행하며, 의료진은 외부에서 로봇 구동을 제어하는 방식이다.The conventional interventional robot system can be divided into two types of needle insertion type and needle guide type. In the case of needle insertion type interventional robot system, the robot is inserted into the actual CT imaging space and inserts the needle directly into the affected part. Is a method of controlling the robot drive from the outside.
또한, 바늘 가이드형 중재시술 로봇시스템의 경우, 실제 바늘 삽입은 의료진이 수행하지만 중재시술 계획 단계에서 확정된 바늘 삽입 위치 및 자세에 따라 로봇 암이 구동하여, 바늘 삽입 중에도 바늘의 위치와 자세를 강건하게 유지하도록 하는 방식이다.In addition, in the case of the needle guided interventional robot system, the actual needle insertion is performed by the medical staff, but the robot arm is driven according to the needle insertion position and posture determined during the intervention planning stage, so that the position and posture of the needle is robust even during the needle insertion. This is how you keep it.
본 발명은 상기와 같은 종래의 문제점을 해결하기 위하여 제안된 것으로, 본 발명에 따른 중재시술용 위치 계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템의 목적은 환자의 CT 영상을 기반으로 중재시술 바늘의 삽입 위치 및 방향을 계획하고, 계획된 바늘 삽입 위치 및 방향으로 중재시술 바늘을 가이드하는 시스템을 제공하는데 있다.The present invention has been proposed to solve the above conventional problems, the objective of the interventional position measuring instrument according to the present invention and the needle guided interventional robot system including the same is based on the CT image of the patient The present invention provides a system for planning the insertion position and orientation of a guiding device and guiding the interventional needle in a planned needle insertion position and orientation.
본 발명에 따른 바늘 가이드형 중재시술 로봇시스템은 이동형 플랫폼으로 구성된 로봇 베이스, 상기 로봇 베이스의 상부에 고정된 로봇 암, 상기 로봇 암의 단부에 위치하는 바늘 가이드용 엔드이펙터, 로봇과 환자에 구비된 툴의 3차원 위치 및 자세를 계측하는 위치 계측기를 포함하는 것을 특징으로 한다.The needle guided interventional robot system according to the present invention includes a robot base composed of a mobile platform, a robot arm fixed on an upper portion of the robot base, an end effector for a needle guide located at an end of the robot arm, and a robot and a patient. It is characterized by including a position measuring device for measuring the three-dimensional position and attitude of the tool.
또한, 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 로봇 암은 상기 위치 계측기가 계측한 로봇측 툴과 환자측 툴의 상대적 위치와 자세를 이용하여 상기 엔드이펙터가 중재시술 바늘을 가이드하도록 상기 엔드이펙터의 위치를 조정하는 것을 특징으로 한다.In addition, in the needle guided interventional robot system according to the present invention, the robot arm uses the relative position and posture of the robot-side tool and the patient-side tool measured by the position measuring device so that the end effector guides the interventional needle. It is characterized by adjusting the position of the end effector.
또한, 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 로봇 베이스는 환자의 CT 영상을 이용하여 중재시술 바늘의 삽입 경로를 계획하는 중재시술 계획부, 상기 중재시술 계획부와 연결되어, 계획된 삽입 경로에 따른 로봇 암의 목표 위치 및 자세를 연산하고, 연산된 값에 따른 로봇 제어 신호를 전달하는 연산장치부 및 상기 연산장치부와 연결되어, 상기 로봇 제어 신호에 따른 모터 구동 신호를 생성하는 로봇 제어 장치부를 포함하는 것을 특징으로 한다.In addition, in the needle guided interventional robot system according to the present invention, the robot base is connected to the intervention planning section, the intervention planning plan to plan the insertion path of the intervention needle using the CT image of the patient, Computing the target position and posture of the robot arm according to the insertion path, and connected to the operation unit and the operation unit for transmitting the robot control signal according to the calculated value, generating a motor drive signal according to the robot control signal It characterized in that it comprises a robot control unit.
또한, 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 로봇 베이스는 상기 로봇 제어 장치부의 출력 신호를 감시하여 로봇 제어 장치부의 정상 동작 여부를 확인하는 감시 장치부를 더 포함하는 것을 특징으로 한다.In addition, in the needle guided interventional robot system according to the present invention, the robot base is characterized in that it further comprises a monitoring device for monitoring the output signal of the robot control device unit to determine whether or not the normal operation of the robot control unit.
또한, 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 로봇 베이스는 상기 로봇 제어 장치부와 연결되어, 디지털 입출력 신호를 처리하는 디지털 입출력부 및 상기 디지털 입출력부와 연결되어, 로봇의 비정상 구동 시, 로봇 동작을 중지시키는 신호를 상기 로봇 제어 장치부에 전달하는 제1비상정지 스위치를 더 포함하는 것을 특징으로 한다.In addition, in the needle guided interventional robot system according to the present invention, the robot base is connected to the robot control unit, a digital input / output unit for processing a digital input / output signal and the digital input / output unit, abnormal driving of the robot And a first emergency stop switch for transmitting a signal for stopping the robot operation to the robot control apparatus.
또한, 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 엔드이펙터는 중재시술 바늘의 위치 및 방향을 가이드 하기 위한 바늘 가이드 및 상기 바늘 가이드와 인접한 곳에 위치하여 환자의 마취 부위 또는 바늘 삽입 지점을 표시하는 레이저를 포함하는 것을 특징으로 한다.In addition, in the needle guide interventional robot system according to the present invention, the end effector is located in the needle guide for guiding the position and direction of the interventional needle and adjacent to the needle guide to position an anesthetic site or a needle insertion point of the patient. It is characterized by including a laser to display.
또한, 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 엔드이펙터는 로봇의 비정상 구동 시, 로봇 동작을 중지시키는 신호를 상기 로봇 베이스에 전달하는 제2비상정지 스위치를 더 포함하는 것을 특징으로 한다.In addition, in the needle guided interventional robot system according to the present invention, the end effector further comprises a second emergency stop switch for transmitting a signal for stopping the robot operation to the robot base when the robot abnormally driven. do.
또한, 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 위치 계측기는 상기 로봇 베이스에 장착되어 로봇 기준 좌표계의 위치와 자세를 추정 가능하게 하는 로봇측 툴과 환자의 시술부위 근처에 부착되어 환자의 위치와 자세를 표시하는 환자측 툴을 동시에 추적하여 상기 로봇측 툴과 상기 환자측 툴의 상대적 위치 및 자세를 파악하고, CT 영상과 로봇 간의 공간정합을 가능하게 하는 위치/자세 계측기를 포함하는 것을 특징으로 한다.In addition, in the needle guided interventional robot system according to the present invention, a position measuring device is mounted on the robot base and attached to the robot side tool and the patient's surgical site to estimate the position and posture of the robot reference coordinate system. And a position / posture measuring instrument that simultaneously tracks the patient side tool that displays the position and posture of the robot and identifies the relative position and posture of the robot side tool and the patient side tool, and enables spatial matching between the CT image and the robot. It is done.
본 발명에 따른 중재시술용 위치계측기는 중재시술 바늘을 포함하는 중재시술 로봇과 환자에 구비된 툴의 3차원 위치 및 자세를 계측하기 위해 이동형 플랫폼으로 구성된 로봇 베이스에 장착되어 로봇 기준 좌표계의 위치와 자세를 표시하는 로봇측 툴, 환자의 시술부위 근처에 부착되어 환자의 위치와 자세를 표시하는 환자측 툴, 및 상기 중재시술 로봇이 환자의 움직임에 따라 중재시술 바늘의 위치 및 자세를 조정하도록 상기 로봇측 툴과 상기 환자측 툴을 공간정합하여 상기 로봇측 툴과 상기 환자측 툴의 상대적 위치 및 자세를 계측하는 위치/자세 계측기를 포함하는 것을 특징으로 한다.The position measuring instrument for interventional procedure according to the present invention is mounted on a robot base composed of an interventional robot including an interventional needle and a mobile platform for measuring the three-dimensional position and posture of a tool provided in a patient, and the position of the robot reference coordinate system. Robot side tool for displaying a posture, a patient side tool attached near a patient's surgical site to display a patient's position and posture, and the robot to adjust the position and posture of the interventional needle according to the movement of the patient And a position / posture meter for measuring the relative position and posture of the robot side tool and the patient side tool by spatially matching the side tool and the patient side tool.
본 발명에 따른 중재시술용 위치계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템은 환자의 CT 영상을 기반으로 중재시술 바늘의 삽입 위치 및 방향을 계획하고, 계획된 바늘 삽입 위치 및 방향으로 중재시술 바늘을 자동 가이드함으로써, 중재시술 바늘의 삽입 위치 및 자세를 강건하게 유지할 수 있으며, 이를 통해 중재시술의 정확성을 향상시킬 수 있는 효과가 있다.The interventional position measuring instrument according to the present invention and the needle guided interventional robot system including the same plan the insertion position and direction of the interventional needle based on the CT image of the patient, and the interventional needle with the planned needle insertion position and direction. By automatically guiding, the insertion position and posture of the interventional needle can be maintained firmly, thereby improving the accuracy of the interventional procedure.
또한, 바늘을 삽입하는 과정에서 바늘과 환부의 위치를 확인하기 위한 CT 촬영 횟수를 줄임으로써, 중재시술에 소요되는 시간을 단축할 수 있으며, 환자의 방사선 피폭량을 줄일 수 있는 효과가 있다.In addition, by reducing the number of CT scans to check the position of the needle and the affected area in the process of inserting the needle, it is possible to shorten the time required for the interventional procedure, it is possible to reduce the radiation exposure of the patient.
또한, 엔드이펙터에 장착된 레이저를 통해 환자의 마취 부위를 표시할 수 있으며, 바늘 삽입 지점을 사전에 확인할 수 있는 효과가 있다.In addition, the anesthesia site of the patient can be displayed through the laser mounted on the end effector, and the needle insertion point can be confirmed in advance.
또한, 환자측 툴과 로봇측 툴의 상대적 위치와 자세를 실시간으로 계산하여 환자의 움직임과 호흡 상태를 모니터링할 수 있는 효과가 있다.In addition, by calculating the relative position and posture of the patient-side tool and the robot-side tool in real time, there is an effect that can monitor the movement and breathing state of the patient.
도 1은 본 발명에 따른 중재시술용 위치계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템의 전체 구성도.1 is an overall configuration diagram of a position guide for interventional procedure and a needle guided interventional robot system including the same according to the present invention.
도 2는 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 로봇 베이스의 상세 구성도.Figure 2 is a detailed configuration of the robot base in the needle guided interventional robot system according to the present invention.
도 3은 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템에 있어서, 엔드이펙터의 상세 구성도.Figure 3 is a detailed configuration of the end effector in the needle guided interventional robot system according to the present invention.
도 4는 본 발명에 따른 중재시술용 위치계측기의 상세 구성도.Figure 4 is a detailed configuration of the position measuring instrument for interventional procedure according to the present invention.
이하, 본 발명에 따른 바늘 가이드형 중재시술 로봇시스템을 실시하기 위한 구체적인 내용을 설명하면 다음과 같다.Hereinafter, specific details for implementing the needle guided interventional robot system according to the present invention will be described.
도 1은 본 발명에 따른 중재시술용 위치계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템의 전체 구성을 나타내는 구성도로, 로봇 베이스(10), 로봇암(20), 엔드이펙터(30) 및 위치 계측기(40)를 포함한다. 여기서, 상기 위치계측기는 후술할 본 발명에 따른 중재시술용 위치계측기일 수 있다.Figure 1 is a block diagram showing the overall configuration of the interventional position measuring instrument and the needle guided interventional robot system including the same, the robot base 10, the robot arm 20, the end effector 30 and the position The meter 40 is included. Here, the position measuring device may be a position measuring device for interventional procedure according to the present invention to be described later.
상기 로봇 베이스(10)는 이동형 플랫폼으로 구성되며, 도 2에 도시된 바와 같이, 중재시술 계획부(11), 연산장치부(12), 사용자 입출력장치(13), 로봇 제어 장치부(14), 감시장치부(15), 디지털 입출력부(16) 및 제1비상정지 스위치(17)를 포함한다.The robot base 10 is configured as a mobile platform, and as shown in FIG. 2, the interventional treatment planning unit 11, the calculation unit 12, the user input / output device 13, and the robot control unit 14. And a monitoring unit 15, a digital input / output unit 16 and a first emergency stop switch 17.
상기 중재시술 계획부(11)는 의료영상저장전송시스템(PACS-Picture Archiving and Communication System)으로부터 환자의 CT 영상을 전달받아 중재시술 바늘의 삽입 경로를 계획하며, 본 발명에 있어서, 중재시술 바늘의 삽입 경로는 바늘 삽입점과 환부의 지정에 따라 계획된 경로로 정의할 수 있으며, 상기 중재시술 계획부(11)에서 계획된 바늘 삽입 경로 데이터는 상기 연산장치부(12)에 전달된다.The interventional planning unit 11 receives the CT image of the patient from the PACS-Picture Archiving and Communication System to plan the insertion path of the interventional needle. In the present invention, the interventional needle The insertion path may be defined as a planned path according to the designation of the needle insertion point and the affected part, and the needle insertion path data planned by the interventional planning part 11 is transmitted to the computing device unit 12.
상기 연산장치부(12)는 상기 중재시술 계획부(11)와 연결되고, 도 4의 위치/자세 계측기(43)와 연결되어 계획된 바늘삽입 경로에 따른 로봇 암의 목표 위치 및 자세를 연산하고, 연산된 값에 따른 로봇 제어 신호를 상기 로봇 제어 장치부(14)에 전달한다. The operation unit 12 is connected to the interventional planning section 11, connected to the position / posture measuring unit 43 of Figure 4 calculates the target position and posture of the robot arm according to the planned insertion path, The robot control signal according to the calculated value is transmitted to the robot control device unit 14.
상기 사용자 입출력장치(13)는 상기 연산장치부(12)와 연결되어, 중재시술을 계획 시, 고려되어야 할 정보를 입력하고, 환자의 CT 영상, 바늘 삽입점, 환부, 계획된 바늘 삽입 경로 등을 표시하며, 이러한 사용자 입출력장치(13)를 통해 중재시술과 관련된 다양한 변수를 고려할 수 있으며, 중재시술 계획 및 중재시술 과정을 표시하여, 의료진이 중재시술 계획 및 상황을 실시간으로 모니터링할 수 있는 것이다.The user input / output device 13 is connected to the arithmetic unit 12 to input information to be considered when planning an interventional procedure, and the CT image, needle insertion point, affected part, planned needle insertion path, etc. of the patient. Through the user input and output device 13, various variables related to the intervention may be considered, and the intervention plan and the intervention procedure may be displayed so that the medical staff may monitor the intervention plan and the situation in real time.
상기 로봇 제어 장치부(14)는 상기 연산장치부(12)와 연결되어, 상기 로봇 제어 신호에 따른 모터 구동 신호를 생성하며, 본 발명의 실시예에서 상기 로봇 제어 장치부(14)는 상기 로봇 암(20) 및 엔드이펙터(30)의 목표 위치와 자세 제어를 위한 모터 드라이버로 구성되도록 하였다.The robot control unit 14 is connected to the operation unit 12 to generate a motor driving signal according to the robot control signal, in the embodiment of the present invention, the robot control unit 14 is the robot The arm 20 and the end effector 30 are configured to be configured as a motor driver for controlling the target position and attitude.
이러한 상기 중재시술 계획부(11), 연산장치부(12), 로봇 제어 장치부(14)의 구성을 통해 환자의 CT 영상을 기반으로 바늘의 삽입 경로를 계획하고, 계획된 바늘 삽입 경로대로 엔드이펙터(30)가 바늘을 가이드할 수 있도록 로봇 암(20)의 위치와 자세를 제어함으로써, 실제 중재시술 시, 바늘을 계획한 위치와 자세대로 삽입할 수 있고, 삽입 시 바늘의 위치와 자세가 강건하게 유지될 수 있는 것이다.The insertion path of the needle is planned based on the CT image of the patient through the configuration of the interventional planning unit 11, the operation unit 12, and the robot control unit 14, and the end effector is arranged according to the planned needle insertion path. By controlling the position and posture of the robot arm 20 so that the 30 can guide the needle, the needle can be inserted in the planned position and posture during actual intervention, and the position and posture of the needle are robust during insertion. It can be maintained.
상기 감시장치부(15)는 상기 로봇 제어 장치부(14)의 출력 신호를 감시하여 로봇 제어 장치부(14)의 정상 동작 여부를 확인하며, 본 발명의 실시예에서 상기 감시장치부(15)는 상기 로봇 제어 장치부(14)에 주기적으로 감시 신호를 전달하며, 전달된 감시 신호에 따른 출력 신호의 크기나 반응 시간으로 정상 동작 여부를 판단하며, 상기 로봇 제어 장치부(14)의 출력 신호가 정상 범위를 벗어나는 경우, 상기 로봇 암(20)의 구동을 중지시키는 신호를 전달하도록 한다.The monitoring unit 15 monitors the output signal of the robot control unit 14 to check whether the robot control unit 14 is operating normally. In the embodiment of the present invention, the monitoring unit 15 The controller periodically transmits a monitoring signal to the robot control unit 14, determines whether the operation is normal by the magnitude or response time of the output signal according to the transmitted monitoring signal, and outputs the signal from the robot control unit 14. If is out of the normal range, to transmit a signal to stop the driving of the robot arm (20).
이러한 본 발명에 따른 감시장치부(15)를 통해 중재시술을 계획하는 과정 또는 실제 중재시술 과정에서 로봇 제어 장치부(14)의 동작이 정상적으로 이루어지지 않을 경우, 로봇 암(20)의 구동을 즉시 중지시킴으로써, 중재시술의 안정성을 확보할 수 있으며, 로봇 제어 구동 오류 상황에 신속하게 대응이 가능한 것이다.When the operation of the robot control unit 14 is not normally performed in the process of planning the intervention or the actual interventional procedure through the monitoring device unit 15 according to the present invention, the driving of the robot arm 20 is immediately performed. By stopping, the stability of the interventional procedure can be ensured, and the robot control drive error situation can be responded quickly.
더불어 본 발명에 따른 로봇 베이스(10)는 상기 로봇 제어 장치부와 연결되어, 디지털 입출력 신호를 처리하는 디지털 입출력부(16)와 로봇 동작을 중지시키는 신호를 상기 로봇 제어 장치부(14)에 전달하는 제1비상정지 스위치(17)를 포함한다.In addition, the robot base 10 according to the present invention is connected to the robot control unit, and transmits a digital input / output unit 16 for processing a digital input / output signal and a signal to stop the robot operation to the robot control unit 14. A first emergency stop switch 17 is included.
이러한 디지털 입출력부(16) 및 제1비상정지 스위치(17)를 통해 중재시술 과정에서 비상상황이 발생하거나 상기 로봇 암(20)이 비정상적 구동을 할 경우, 상기 로봇 제어 장치부(14)에 로봇 동작을 중지시키는 신호를 전달하는 것이 바람직하다.When an emergency situation occurs during the interventional procedure or the robot arm 20 is abnormally driven through the digital input / output unit 16 and the first emergency stop switch 17, the robot control unit 14 sends a robot to the robot. It is desirable to deliver a signal to stop the operation.
상기 로봇암(20)은 이동형 플랫폼으로 형성된 상기 로봇 베이스(10)에 장착되고, 상기 로봇 암(20)의 단부에는 중재시술 바늘을 가이드 하는 엔드이펙터(30)가 장착된다. 이에 따라, 상기 로봇암(20)은 상기 로봇 제어 장치부(14)에 의해 위치와 자세가 제어됨으로써, 상기 엔드이펙터(30)의 위치를 조정할 수 있다.The robot arm 20 is mounted to the robot base 10 formed as a mobile platform, and an end effector 30 for guiding the interventional needle is mounted at the end of the robot arm 20. Accordingly, the robot arm 20 may adjust the position of the end effector 30 by controlling the position and posture by the robot control unit 14.
본 발명에 따른 상기 엔드이펙터(30)는 도 3에 도시된 바와 같이, 바늘 가이드(31), 레이저(32) 및 제2비상정지 스위치(33)를 포함한다.The end effector 30 according to the present invention includes a needle guide 31, a laser 32 and a second emergency stop switch 33, as shown in FIG. 3.
상기 바늘 가이드(31)는 중재시술 바늘의 위치 및 방향을 가이드 하기 위한 수단으로 상기 바늘의 위치 및 방향 값은 상기 연산장치부(12)에서 산출된 정보와 대응되도록 한다.The needle guide 31 is a means for guiding the position and direction of the interventional needle so that the position and direction values of the needle correspond to the information calculated by the operation unit 12.
상기 레이저(32)는 상기 바늘 가이드(31)와 인접한 곳에 위치하여 환자의 마취 부위 또는 바늘 삽입 지점을 표시한다.The laser 32 is positioned adjacent to the needle guide 31 to mark an anesthetic site or a needle insertion point of the patient.
즉, 중재시술 계획 시, 산출된 바늘의 위치 및 방향과 대응되도록 상기 엔드이펙터(30)의 위치를 조정하게 되는데 이때 본 발명에 따른 상기 레이저(32)는 마취 부위를 표시하는 용도로 이용되면, 계획된 바늘 삽입 지점을 고려한 최적의 위치에 마취가 가능하고, 상기 레이저(32)가 바늘의 삽입점을 표시하는 용도로 이용되는 경우, 의료진이 사전에 바늘 삽입점을 육안으로 확인할 수 있는 것이다.That is, when planning the interventional procedure, the position of the end effector 30 is adjusted to correspond to the calculated position and direction of the needle. In this case, when the laser 32 according to the present invention is used for displaying an anesthetic site, When anesthesia is possible at an optimal position in consideration of the planned needle insertion point, and the laser 32 is used to mark the insertion point of the needle, the medical staff can visually confirm the needle insertion point in advance.
상기 제2비상정지 스위치(33)는 상기 제1비상정지 스위치(17)와 동일하게 로봇이 비정상 구동을 하거나 중재시술 중에 비상상황이 발생 시, 사용자가 비상정지 스위치를 구동하면 로봇 동작을 중지시키는 신호를 상기 로봇 베이스에 전달한다.The second emergency stop switch 33 stops the robot operation when the user drives the emergency stop switch in the same way as the first emergency stop switch 17 when the robot abnormally drives or an emergency situation occurs during the interventional procedure. Delivers a signal to the robot base.
본 발명에 따른 바늘 가이드형 중재시술 로봇시스템은 로봇 베이스(10)와 엔드이펙터(30)에 각각 제1비상정지 스위치(17) 및 제2비상정지 스위치(33)를 장착함에 따라 중재시술 중에 의료진의 접근이 용이한 위치의 비상정지 스위치를 구동할 수 있다.In the needle guided interventional robot system according to the present invention, the first emergency stop switch 17 and the second emergency stop switch 33 are mounted on the robot base 10 and the end effector 30, respectively. The emergency stop switch can be driven in an easily accessible position.
상기 위치계측기는 후술할 본 발명에 따른 중재시술용 위치계측기와 대략 일치하므로, 이에 대한 구체적인 설명은 생략한다.Since the position measuring instrument is substantially the same as the position measuring instrument for interventional procedure according to the present invention to be described later, a detailed description thereof will be omitted.
이하에서는, 본 발명에 따른 중재시술용 위치계측기에 관해 첨부된 도면을 참조하여 구체적으로 설명한다.Hereinafter, with reference to the accompanying drawings with respect to the position measuring instrument for the interventional procedure according to the present invention will be described in detail.
본 발명에 따른 중재시술용 위치계측기(40)는 로봇과 환자에 구비된 툴의 3차원 위치 및 자세를 계측하며, 도 4에 도시된 와 같이, 로봇측 툴(41), 환자측 툴(42) 및 위치/자세 계측기(43)를 포함한다.Interventional position measuring device 40 according to the present invention measures the three-dimensional position and posture of the tool provided in the robot and the patient, as shown in Figure 4, the robot side tool 41, the patient side tool 42 And position / posture meter 43.
상기 로봇측 툴(41)은 이동형 플랫폼으로 구성된 로봇 베이스에 부착되고, 상기 환자측 툴(42)은 환자의 시술부위에 근접한 위치에 부착되며, 본 발명의 실시예에서 상기 로봇측 툴(41) 및 상기 환자측 툴(42)은 스테레오 적외선 카메라로 3차원 위치 및 자세 추적이 가능한 고반사의 볼마커를 포함한 형태로 형성된다.The robot side tool 41 is attached to a robot base composed of a mobile platform, and the patient side tool 42 is attached to a position proximate to a patient's procedure. In the embodiment of the present invention, the robot side tool 41 and The patient-side tool 42 is formed in a form including a high-reflection ball marker capable of three-dimensional position and posture tracking with a stereo infrared camera.
상기 위치/자세 계측기(43)는 상기 로봇측 툴(41) 및 상기 환자측 툴(42)을 감지한 후, 공간정합을 통해 둘 사이의 상대적 위치와 자세를 계측하며, 본 발명의 실시예에서 상기 위치/자세 계측기(43)는 스테레오 적외선 카메라로 구현되었으며, 산출된 상기 로봇측 툴(41) 및 상기 환자측 툴(42)의 3차원 위치 및 자세를 통해 중재시술 중에 환자의 움직임과 호흡 상태를 모니터링하는 것이 가능한 것이다.The position / posture measuring unit 43 detects the robot side tool 41 and the patient side tool 42, and then measures relative positions and postures between the two through spatial matching, in the embodiment of the present invention. The position / posture meter 43 is implemented with a stereo infrared camera and monitors the movement and breathing state of the patient during the interventional procedure through the calculated three-dimensional position and posture of the robot side tool 41 and the patient side tool 42. It is possible to do that.
본 발명에 따른 중재시술용 위치계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템의 전체 구동 동작을 살펴보면 PACS(50)로부터 환자의 CT영상을 수신하면 상기 중재시술 계획부(11)가 환자의 CT 영상을 기반으로 바늘의 삽입 위치 및 자세를 계획하며, 이때 사용자 입출력 장치(13)를 통해 외부에서 바늘의 삽입점 또는 환부를 지정할 수 있으며, 이를 통해 바늘 삽입 경로를 계획할 수 있다. Looking at the overall operation of the interventional position measuring instrument according to the present invention and the needle guided interventional robot system including the same when receiving the CT image of the patient from the PACS (50) the intervention planning section 11 is CT of the patient The insertion position and posture of the needle are planned based on the image, and at this time, the insertion point or the affected part of the needle can be specified from the outside through the user input / output device 13, and the needle insertion path can be planned through this.
상기 중재시술 계획부(11)에서 계획된 바늘 삽입 경로 정보는 상기 연산장치부(12)에 전달되고 상기 연산 장치부(12)는 위치/자세 계측기(43)로부터 전달 받은 로봇측 툴과 환자측 툴의 3차원 위치 및 자세 정보를 이용하여, 상기 로봇 암(20)의 목표 위치 및 자세를 산출하여 로봇 제어 장치부(14)에 전달한다. 또한 상기 로봇 제어 장치부(14)는 상기 연산 장치부(12)에서 산출된 목표 위치 및 자세에 따른 로봇 암(20)의 모터 제어 신호를 전달하게 되고, 상기 엔드이펙터(30)는 중재시술 계획에 따른 바늘의 삽입 위치 및 자세에 따라 바늘을 가이드하게 된다.The needle insertion path information planned by the interventional surgery planning unit 11 is transmitted to the operation unit 12, and the operation unit 12 receives the robot-side tool and the patient-side tool received from the position / posture meter 43. Using the three-dimensional position and attitude information, the target position and attitude of the robot arm 20 is calculated and transmitted to the robot control unit 14. In addition, the robot control unit 14 transmits a motor control signal of the robot arm 20 according to the target position and posture calculated by the operation unit 12, and the end effector 30 plans an interventional procedure. Guide the needle according to the insertion position and posture of the needle.
또한 상기 엔드이펙터(30)에 장착된 레이저(32)를 통해 마취 지점 또는 바늘 삽입 지점을 확인할 수 있으며, 중재시술 중에는 상기 위치계측기(40)의 공간정합에 따른 로봇측 툴(41)과 환자측 툴(42)의 상대적 위치 및 자세를 산출함으로써, 환자의 움직임 및 호흡상태를 모니터링 할 수 있다. 따라서, 본 발명에 따른 중재시술용 위치계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템은 본 발명에 따른 중재시술용 위치계측기(40)를 이용하여 환자의 움직임을 파악함으로써, 중재시술 계획에 따른 바늘의 삽입 위치 및 자세에 따라 더욱 정확하게 중재시술 바늘을 가이드할 수 있다.In addition, the anesthesia point or the needle insertion point can be identified through the laser 32 mounted to the end effector 30. During the interventional procedure, the robot side tool 41 and the patient side tool according to the space registration of the position measuring instrument 40 are performed. By calculating the relative position and posture of 42, the patient's movement and breathing state can be monitored. Therefore, the position guide for interventional procedure according to the present invention and the needle guide type interventional robot system including the same by grasping the movement of the patient by using the interventional position detector 40 according to the present invention, according to the intervention plan The interventional needle can be guided more accurately according to the insertion position and posture of the needle.
더불어, 중재시술 중에 상기 로봇 암(20)의 비정상 동작 또는 비상 상황 발생 시, 로봇 베이스(10)와 엔드이펙터(30)에 각각 장착된 제1비상정지 스위치(17) 및 제2비상정지 스위치(33) 중 어느 하나를 구동하여 상기 로봇 암(20)의 동작을 중지시킨다.In addition, in case of abnormal operation or emergency of the robot arm 20 during the interventional procedure, the first emergency stop switch 17 and the second emergency stop switch respectively mounted on the robot base 10 and the end effector 30 ( 33) to stop the operation of the robot arm 20.
이상에서 설명한 바와 같이, 본 발명에 따른 중재시술용 위치계측기 및 이를포함하는 바늘 가이드형 중재시술 로봇시스템을 적용 시, 환자의 CT 영상을 기반으로 계획된 바늘 삽입 위치 및 방향으로 중재시술 바늘을 자동 가이드할 수 있고, 중재시술 바늘의 삽입 위치 및 자세를 강건하게 유지할 수 있으며, 이를 통해 중재시술의 정확성을 향상시킬 수 있다.As described above, when applying the interventional position measuring device according to the present invention and the needle guide type interventional robot system including the same, the interventional needle is automatically guided to the needle insertion position and direction based on the CT image of the patient. It is possible to maintain a robust position and posture of the interventional needle, thereby improving the accuracy of the interventional procedure.
더불어, 중재시술 중에 바늘 삽입 상황을 확인을 위해 CT촬영 횟수를 줄임으로써, 중재시술에 소요되는 시간을 단축할 수 있으며, 환자의 방사선 피폭량을 줄일 수 있는 것이다.In addition, by reducing the number of CT scans to confirm the insertion of the needle during the interventional procedure, the time required for the interventional procedure can be shortened and the radiation dose of the patient can be reduced.
이상 본 발명의 실시예로 설명하였으나 본 발명의 기술적 사상이 상기 실시예로 한정되는 것은 아니며, 본 발명의 기술적 사상을 벗어나지 않는 범주에서 다양한 본 발명에 따른 중재시술용 위치계측기 및 이를 포함하는 바늘 가이드형 중재시술 로봇시스템으로 구현할 수 있다.Although the embodiments of the present invention have been described above, the technical idea of the present invention is not limited to the above-described embodiments, and the position guide for interventional procedures according to various embodiments of the present invention and a needle guide including the same in a range that does not depart from the technical idea of the present invention. It can be implemented by the type intervention robot system.

Claims (9)

  1. 이동형 플랫폼으로 구성된 로봇 베이스에 고정된 로봇 암;A robot arm fixed to a robot base composed of a movable platform;
    상기 로봇 암의 단부에 위치하여, 중재시술 바늘을 가이드하는 엔드이펙터; 및An end effector positioned at an end of the robot arm to guide the interventional needle; And
    로봇과 환자에 구비된 툴의 3차원 위치 및 자세를 계측하는 위치 계측기를 포함하는 것을 특징으로 하는 바늘 가이드형 중재시술 로봇시스템.Needle guided interventional robot system, characterized in that it comprises a position measuring instrument for measuring the three-dimensional position and posture of the tool provided in the robot and the patient.
  2. 제1항에 있어서,The method of claim 1,
    상기 로봇 암은 상기 위치 계측기가 계측한 로봇측 툴과 환자측 툴의 상대적 위치와 자세를 이용하여 상기 엔드이펙터가 중재시술 바늘을 가이드하도록 상기 엔드이펙터의 위치를 조정하는 것을 특징으로 하는 바늘 가이드형 중재시술 로봇시스템.The robot arm adjusts the position of the end effector such that the end effector guides the interventional needle using the relative position and posture of the robot side tool and the patient side tool measured by the position measuring instrument. Surgical Robot System.
  3. 제1항에 있어서,The method of claim 1,
    상기 로봇 베이스는, The robot base is,
    환자의 CT 영상을 이용하여 중재시술 바늘의 삽입 경로를 계획하는 중재시술 계획부;Intervention planning unit for planning the insertion path of the interventional needle using the CT image of the patient;
    상기 중재시술 계획부와 연결되어, 계획된 삽입 경로에 따른 로봇 암의 목표 위치 및 자세를 연산하고, 연산된 값에 따른 로봇 제어 신호를 전달하는 연산장치부; 및An operation unit connected to the interventional treatment planning unit, configured to calculate a target position and posture of the robot arm according to a planned insertion path, and transmit a robot control signal according to the calculated value; And
    상기 연산장치부와 연결되어, 상기 로봇 제어 신호에 따른 모터 구동 신호를 생성하는 로봇 제어 장치부를 포함하는 것을 특징으로 하는 바늘 가이드형 중재시술 로봇시스템.And a robot control unit connected to the arithmetic unit to generate a motor driving signal according to the robot control signal.
  4. 제3항에 있어서,The method of claim 3,
    상기 로봇 베이스는, The robot base is,
    상기 로봇 제어 장치부의 출력 신호를 감시하여 로봇 제어 장치부의 정상 동작 여부를 확인하는 감시 장치부를 더 포함하는 것을 특징으로 하는 바늘 가이드형 중재시술 로봇시스템.And a monitoring device unit for monitoring an output signal of the robot control device unit to check whether the robot control device unit is normally operated.
  5. 제3항에 있어서,The method of claim 3,
    상기 로봇 베이스는The robot base is
    상기 로봇 제어 장치부와 연결되어, 디지털 입출력 신호를 처리하는 디지털 입출력부; 및A digital input / output unit connected to the robot control unit to process a digital input / output signal; And
    상기 디지털 입출력부와 연결되어, 로봇의 비정상 구동 시, 로봇 동작을 중지시키는 신호를 상기 로봇 제어 장치부에 전달하는 제1비상정지 스위치를 더 포함하는 것을 특징으로 하는 바늘 가이드형 중재시술 로봇시스템.And a first emergency stop switch connected to the digital input / output unit and transferring a signal to stop the robot operation when the robot abnormally drives, to the robot control unit.
  6. 제1항에 있어서,The method of claim 1,
    상기 엔드이펙터는,The end effector,
    중재시술 바늘의 위치 및 방향을 가이드 하기 위한 바늘 가이드; 및A needle guide for guiding the position and direction of the interventional needle; And
    상기 바늘 가이드와 인접한 곳에 위치하여 환자의 마취 부위 또는 바늘 삽입 지점을 표시하는 레이저를 포함하는 것을 특징으로 하는 바늘 가이드형 중재시술 로봇시스템.And a laser positioned near the needle guide to mark an anesthetic site or a needle insertion point of the patient.
  7. 제6항에 있어서,The method of claim 6,
    상기 엔드이펙터는,The end effector,
    로봇의 비정상 구동 시, 로봇 동작을 중지시키는 신호를 상기 로봇 베이스에 전달하는 제2비상정지 스위치를 더 포함하는 것을 특징으로 하는 바늘 가이드형 중재시술 로봇시스템.And a second emergency stop switch which transmits a signal to stop the robot operation to the robot base when the robot abnormally drives.
  8. 제1항에 있어서,The method of claim 1,
    상기 위치 계측기는,The position measuring instrument,
    상기 로봇 베이스에 장착되어 로봇 기준 좌표계의 위치와 자세를 표시하는 로봇측 툴;A robot side tool mounted on the robot base to display a position and attitude of a robot reference coordinate system;
    환자의 시술부위 근처에 부착되어 환자의 위치와 자세를 표시하는 환자측 툴; 및A patient side tool attached near the surgical site of the patient to display the position and posture of the patient; And
    상기 로봇측 툴과 상기 환자측 툴을 공간정합하여 상기 로봇측 툴과 상기 환자측 툴의 위치 및 자세를 계측하는 위치/자세 계측기를 포함하는 것을 특징으로 하는 바늘 가이드형 중재시술 로봇시스템.And a position / posture measuring instrument for spatially matching the robot side tool and the patient side tool to measure the position and posture of the robot side tool and the patient side tool.
  9. 중재시술 바늘을 포함하는 중재시술 로봇과 환자에 구비된 툴의 3차원 위치 및 자세를 계측하는 위치계측기에 있어서,In the position measuring instrument for measuring the three-dimensional position and posture of the interventional robot including the interventional needle and the tool provided in the patient,
    이동형 플랫폼으로 구성된 로봇 베이스에 장착되어 로봇 기준 좌표계의 위치와 자세를 표시하는 로봇측 툴;A robot side tool mounted on a robot base configured as a mobile platform to display a position and a posture of a robot reference coordinate system;
    환자의 시술부위 근처에 부착되어 환자의 위치와 자세를 표시하는 환자측 툴; 및A patient side tool attached near the surgical site of the patient to display the position and posture of the patient; And
    상기 중재시술 로봇이 환자의 움직임에 따라 중재시술 바늘의 위치 및 자세를 조정하도록 상기 로봇측 툴과 상기 환자측 툴을 공간정합하여 상기 로봇측 툴과 상기 환자측 툴의 상대적 위치 및 자세를 계측하는 위치/자세 계측기를 포함하는 것을 특징으로 하는 중재시술용 위치계측기.A position for measuring the relative position and posture of the robot-side tool and the patient-side tool by spatially matching the robot-side tool and the patient-side tool so that the interventional robot adjusts the position and posture of the interventional needle according to the movement of the patient / Position measuring instrument for interventional procedure comprising a posture measuring instrument.
PCT/KR2016/004898 2015-05-26 2016-05-10 Location instrument for intervention and needle guide type intervention robot system including same WO2016190575A1 (en)

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