WO2016190575A1 - Instrument de localisation pour une intervention et système robotisé d'intervention du type guide-aiguille comprenant l'instrument - Google Patents

Instrument de localisation pour une intervention et système robotisé d'intervention du type guide-aiguille comprenant l'instrument 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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WIPO (PCT)
Prior art keywords
robot
needle
patient
interventional
posture
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Application number
PCT/KR2016/004898
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English (en)
Korean (ko)
Inventor
김홍호
임흥순
우동기
최한철
차용엽
Original Assignee
현대중공업 주식회사
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Publication of WO2016190575A1 publication Critical patent/WO2016190575A1/fr

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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

Definitions

  • 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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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

La présente invention concerne un instrument de localisation pour une intervention et un système robotisé d'intervention du type guide-aiguille comprenant l'instrument, l'instrument de localisation planifiant un site et une direction d'insertion d'une aiguille d'intervention en se basant sur l'image TDM du patient, et orientant fortement l'aiguille d'intervention en direction du site et de la direction d'insertion planifiés ; le système robotisé d'intervention du type guide-aiguille selon la présente invention comprend : un bras robotisé fixé à une base robotisé comportant une plateforme mobile ; un organe effecteur terminal situé à l'extrémité du bras robotisé de manière à guider le site et la direction de l'aiguille d'intervention ; et l'instrument de localisation permettant d'étudier les sites en trois dimensions et le positionnement d'outils prévus pour le robot et le patient.
PCT/KR2016/004898 2015-05-26 2016-05-10 Instrument de localisation pour une intervention et système robotisé d'intervention du type guide-aiguille comprenant l'instrument WO2016190575A1 (fr)

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KR1020150073077A KR20160138780A (ko) 2015-05-26 2015-05-26 바늘 가이드형 중재시술 로봇시스템
KR10-2015-0073077 2015-05-26

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111012995A (zh) * 2019-11-27 2020-04-17 南京医科大学 一种稳定性好的介入医学用治疗主推装置
CN113490464A (zh) * 2019-02-28 2021-10-08 皇家飞利浦有限公司 对末端执行器的前馈连续定位控制

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Publication number Priority date Publication date Assignee Title
KR20110030038A (ko) * 2009-09-17 2011-03-23 주식회사 이턴 수술용 로봇
KR20120099423A (ko) * 2009-10-01 2012-09-10 마코 서지컬 코포레이션 보철 부품의 위치 선정 및／또는 수술 도구의 이동 제한용 수술 시스템
KR20140062671A (ko) * 2012-11-14 2014-05-26 현대중공업 주식회사 의료 로봇의 구동 안전성 확보를 위한 다중 안전장치
KR20140129702A (ko) * 2013-04-30 2014-11-07 삼성전자주식회사 수술 로봇 시스템 및 그 제어방법
KR20150039801A (ko) * 2012-08-03 2015-04-13 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140056772A (ko) 2012-10-31 2014-05-12 현대중공업 주식회사 바늘삽입로봇의 바늘삽입 힘 제어시스템 및 제어방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110030038A (ko) * 2009-09-17 2011-03-23 주식회사 이턴 수술용 로봇
KR20120099423A (ko) * 2009-10-01 2012-09-10 마코 서지컬 코포레이션 보철 부품의 위치 선정 및／또는 수술 도구의 이동 제한용 수술 시스템
KR20150039801A (ko) * 2012-08-03 2015-04-13 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
KR20140062671A (ko) * 2012-11-14 2014-05-26 현대중공업 주식회사 의료 로봇의 구동 안전성 확보를 위한 다중 안전장치
KR20140129702A (ko) * 2013-04-30 2014-11-07 삼성전자주식회사 수술 로봇 시스템 및 그 제어방법

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113490464A (zh) * 2019-02-28 2021-10-08 皇家飞利浦有限公司 对末端执行器的前馈连续定位控制
CN111012995A (zh) * 2019-11-27 2020-04-17 南京医科大学 一种稳定性好的介入医学用治疗主推装置

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