WO2022199651A1

WO2022199651A1 - Computer readable storage medium, electronic device, surgical robot, and positioning system

Info

Publication number: WO2022199651A1
Application number: PCT/CN2022/082680
Authority: WO
Inventors: 袁帅; 何超; 邵辉; 王家寅
Original assignee: 上海微创医疗机器人（集团）股份有限公司
Priority date: 2021-03-24
Filing date: 2022-03-24
Publication date: 2022-09-29
Also published as: CN115120340A

Abstract

A computer readable storage medium, an electronic device, a surgical robot, and a positioning system, a program being stored on the computer readable storage medium, and the following steps being executed when the program is executed: on the basis of first body surface information and lesion information of a surgical subject in a first state, establishing a first physical sign image model (S2), in order to plan a pre-hole position (S3); on the basis of second body surface information of the surgical subject in a second state, establishing a second physical sign image model (S5); and aligning the second physical sign image model and the first physical sign image model to obtain a target hole position corresponding to the pre-hole position on the second physical sign image model (S6). When the present computer readable storage medium is applied to pre-surgery puncture planning, reliance on the experience of the physician can be reduced, and accurate puncture sites on the body surface of the surgical subject can be accurately acquired, improving the safety of surgery.

Description

Computer-readable storage medium, electronic device, surgical robot, and positioning system

technical field

The present invention relates to the technical field of medical devices, in particular to a computer-readable storage medium, an electronic device, a surgical robot and a positioning system.

Background technique

Surgical robots are designed to precisely perform complex surgical procedures in a minimally invasive manner. Surgical robots have been developed when traditional surgical operations face various limitations. Surgical robots break through the limitations of the human eye and can use stereo imaging technology to more clearly present the internal organs of the human body to the surgeon. And for the narrow area that some people's hands cannot reach, the surgical robot can still control the surgical instruments to complete the movement, swing, clamping and 360° rotation, and can avoid shaking, improve the accuracy of surgery, and further achieve smaller wounds and less bleeding. , The advantages of fast postoperative recovery and greatly shortening the postoperative hospital stay of the surgical subject. Therefore, surgical robots are favored by doctors and patients, and are widely used in their respective clinical operations.

Like traditional surgery, before using a surgical robot to perform surgery, it is necessary to locate the lesion, and then determine the perforation site on the body surface of the surgical object according to the location of the lesion, and then perforate the perforation site, so that the surgical instruments can be drilled from the perforation point. The hole enters the body of the surgical object to perform the surgical operation. In the prior art, a doctor obtains image information of the lesion and the body surface of the surgical object to establish a physical image model of the surgical object, determines the location of the lesion, and then plans the perforation site. However, in the actual drilling situation, the position of the lesion is not necessarily exactly the same as the position in the image information. For example, during laparoscopic surgery, the doctor usually obtains the body surface information of the lesion and the surgical object before pneumoperitoneum. The physical sign image model is established from the table information, and the actual punching operation is performed after the pneumoperitoneum is established. At this time, whether the actual location of the lesion is consistent with the location of the lesion on the physical sign image model requires the doctor to judge based on experience and determine the abdominal cavity accordingly. The position of the mirror hole is determined, and then the actual position of the lesion can be finally determined after the laparoscope enters the body of the surgical object and collects the real image of the lesion. Finally, the doctor can determine the actual punching site according to the actual location of the lesion and experience. It can be seen that, in the traditional operation process, the final determination of the punching site greatly depends on the subjective experience of the doctor, and the experience requirements of the doctor are very high. Once the doctor's judgment is deviated, additional multiple perforations are required to meet the surgical requirements, causing unnecessary trauma to the surgical object.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a computer storage medium, electronic equipment, a surgical robot and a positioning system, the surgical robot system can more accurately determine the perforation position on the body surface of the surgical object, thereby improving the surgical efficiency and ensuring the surgical safety, Alleviate patient suffering.

To achieve the above object, the present invention provides a computer-readable storage medium on which a program is stored, and when the program is executed, the following steps are performed:

establishing a first sign image model according to the first body surface information and the lesion information of the surgical object in the first state, where the first sign image model is used to plan the pre-hole location;

establishing a second physical sign image model according to the second body surface information of the surgical object in the second state;

The second physical sign image model and the first physical sign image model are registered to obtain a target hole position corresponding to the pre-hole position on the second physical sign image model.

Optionally, the first sign image model includes a first lesion model; the target hole position includes a first target hole position and a second target hole position, and the second target hole position is used to be guided to the surgical object a body surface to obtain a second hole position, the second hole position is used for the image acquisition device to enter the body of the surgical subject to collect actual lesion image information;

The program also performs the following steps:

receiving the actual lesion image information and establishing a second lesion model according to the actual lesion image information;

registering the second lesion model and the first lesion model;

The first target hole position on the second vital sign image model is corrected according to the registration result.

Optionally, the program performs the following steps to plan the pre-hole locations:

The pre-hole positions are planned according to the surgical area, the surgical instrument used and the boundary of the movement space of the surgical instrument.

The pre-hole positions of various schemes are generated according to the surgical field, the surgical instruments used and the boundaries of the movement space of the surgical instruments to determine the desired pre-hole positions therefrom.

Optionally, the first body surface information and lesion information are acquired by a first imaging device, and the first imaging device includes any one of X-ray device, MRI or B-ultrasound; and/or, the second imaging device The body surface information is acquired by a second imaging device, and the second imaging device includes any one of a binocular vision camera or a structured light camera.

To achieve the above object, the present invention further provides an electronic device, comprising a processor and the computer-readable storage medium according to any preceding item, where the processor is configured to execute a program stored on the computer-readable storage medium.

In order to achieve the above object, the present invention also provides a surgical robot system, comprising a control unit configured to execute the program stored on the computer-readable storage medium according to any one of the preceding items. A step of;

The surgical robot system further includes a tool arm and an auxiliary device arranged on the tool arm; the tool arm is connected in communication with the control unit, and the tool arm moves under the control of the control unit, and makes the tool arm move. The auxiliary device guides the target hole position on the second vital sign image model to the body surface of the surgical object to obtain the hole position on the body surface of the surgical object; or,

The surgical robot system further includes a driving device and a guiding device, the driving device is connected with the guiding device and in communication with the control unit, and the driving device drives the guiding device under the control of the control unit moving, and directing the target hole position to the body surface of the surgical subject in the second state to obtain the hole position of the surgical subject's body surface.

Optionally, the tool arm has a fixed point; the auxiliary unit includes at least two laser emitters, and the laser beams emitted by the at least two laser emitters intersect the fixed point, and the tool There is a predetermined mapping relationship between the coordinate system of the arm, the coordinate system of the control unit and the coordinate system of the surgical object in the second state;

When the control unit controls the movement of the tool arm and makes the intersection of the laser beams indicate the body surface of the surgical object to form a light spot, the position of the light spot is the hole position on the body surface of the surgical object.

Optionally, the guiding device includes a base and at least one laser transmitter arranged on the base; the base is connected to the driving device, and the coordinate system of the base, the laser emission There is a predetermined mapping relationship between the coordinate system of the device and the coordinate system of the surgical object in the second state;

When the guiding device moves so that the laser beam emitted by the laser transmitter irradiates the body surface of the surgical object and forms a light spot, the position of the light spot is a hole position on the body surface of the surgical object.

Optionally, the target hole position includes a first target hole position and a second target hole position, the first target hole position corresponds to the first hole position on the body surface of the surgical object, and the second target hole position corresponds to the surgery target hole position. The second hole on the body surface of the object corresponds to;

The surgical robot system further comprises an image arm, the image arm is used for connecting an image acquisition device, the image acquisition device is connected in communication with the control unit; the image acquisition device is used for inserting surgery through the second hole The actual lesion image information of the surgical subject is acquired inside the subject, and the actual lesion image information is sent to the control unit to establish a second vital sign image model.

In order to achieve the above object, the present invention also provides a positioning system for surgical drilling, comprising a control unit, a driving device and a guiding device, the driving device is connected in communication with the control unit, and the guiding device is connected to the driving device connection; the control unit is configured to execute the program stored on the computer-readable storage medium as described in any preceding item, and to control the drive device to drive the guide device to move and guide the target hole position to the The body surface of the surgical subject in the second state, so as to obtain the hole position of the surgical subject's body surface.

Optionally, the positioning system further includes a first imaging device and a second imaging device, the first imaging device and the second imaging device are both connected to the control unit in communication, and the first imaging device uses After acquiring the first body surface information and lesion information and sending them to the control unit to establish the first sign image model, the second imaging device is used to acquire the second body surface information and send it to the control unit. The control unit is used to establish the second vital sign image model.

Compared with the prior art, the computer storage medium, electronic device, surgical robot and positioning system of the present invention have the following advantages:

First, a program is stored on the aforementioned computer-readable storage medium, and when the program is executed, the following steps are performed: establishing a first sign image model according to the first body surface information and the lesion information of the surgical object in the first state , the first sign image model is used to plan the pre-hole position; a second sign image model is established according to the second body surface information of the surgical object in the second state; the second sign image model and the first sign image model are The physical sign image model is registered to obtain a target hole position corresponding to the pre-hole position on the second physical sign image model. The computer-readable storage medium is applied to a surgical robot system, and the surgical robot system can be controlled by the surgical robot system before performing surgical operations such as laparoscopy, thoracoscopy and the like that require drilling on the body surface of the surgical object The unit executes the aforementioned procedure to plan the hole position on the body surface of the surgical object, and then guides the target hole position to the body surface of the surgical object by any suitable method, so as to avoid the drilling operation due to the preoperative hole position planning and the actual operation. The problem of inaccurate hole planning caused by the change of the position of the surgical object can be obtained to obtain a punching position that is more in line with the actual punching conditions, which reduces the dependence on the doctor's experience during the punching process and reduces the occurrence of punching sites. Possibility of inaccurate situations requiring additional punching, reducing injury to surgical subjects.

Further, the first physical sign image model includes a first lesion model; the target hole position includes a first target hole position and a second target hole position, and the second target hole position is used to be guided to the operation object. body surface to obtain a second hole position, after completing the punching at the second hole position, an image acquisition device such as an endoscope is inserted into the body of the surgical subject from the second hole position and collects the actual lesion of the surgical subject image information, the program also establishes an actual lesion model according to the actual lesion image information, and performs registration on the actual lesion model and the first lesion model on the first sign image model, and according to the registration result Correcting the first target hole position on the second vital sign image model. By guiding the corrected first target hole position to the body surface of the surgical object, a more accurate first hole position can be obtained, which further improves safety.

Description of drawings

The accompanying drawings are used for better understanding of the present invention and do not constitute an improper limitation of the present invention. in:

1 is a schematic diagram of an application scenario of a surgical robot system provided by the present invention according to an embodiment;

2 is a schematic structural diagram of a doctor-side control device, a surgical operation device, and a surgical instrument connected to the surgical robot system of a surgical robot system according to an embodiment of the present invention;

FIG. 3 is a schematic diagram when an endoscope is used to collect actual lesion image information according to an embodiment of the present invention;

4 is a flowchart of the surgical robot system according to an embodiment of the present invention when determining the punching position of the body surface of the surgical object;

5 is a schematic diagram of obtaining first body surface information and lesion information of a surgical object in a first state by using a first imaging device in an embodiment of the present invention;

6 is a schematic diagram of a first physical sign image model established by a control unit of a surgical robot system according to an embodiment of the present invention;

7 is a schematic diagram of a simulated operation using a simulator according to a planned pre-hole position in an embodiment of the present invention;

8 is a schematic diagram of obtaining second body surface information of a surgical subject in a second state by using a second imaging device according to an embodiment of the present invention. The second imaging device in the illustration is a binocular vision device with its own distance detection function camera;

9 is a schematic diagram of obtaining second body surface information of a surgical subject in a second state by using a second imaging device in an embodiment of the present invention. In the illustration, the second imaging device is a binocular vision camera without a built-in distance detection function ;

10 is a schematic diagram of obtaining second body surface information of a surgical object in a second state by using a second imaging device in an embodiment of the present invention, and the second imaging device in the illustration is a structured light camera;

11 is a schematic diagram of the surgical robot system according to an embodiment of the present invention guiding the target hole position on the second physical sign image model to the body surface of the surgical object;

Fig. 12 is a schematic diagram of a tool arm of the surgical robot system shown in Fig. 11;

Fig. 13 is a schematic structural diagram of an indexing device independent of the surgical robot system in an alternative embodiment of the present invention;

Figure 14 is a schematic view of the pointing device shown in Figure 13 in another direction;

Fig. 15 is a schematic diagram of the present invention indicating hole positions on the body surface of the surgical object according to the guiding device shown in Fig. 13;

FIG. 16 is a schematic diagram of pneumoperitoneum monitoring performed by a surgical robot system according to an embodiment of the present invention.

In the attached picture:

1- Surgical instruments;

10-doctor-side control device, 20-surgical operation device, 21-image arm, 22-tool arm, 30-image display device;

100-first imaging equipment, 200-second imaging equipment, 300-endoscope;

410 - base, 420 - laser transmitter.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in this embodiment are only to illustrate the basic concept of the present invention in a schematic way, so the drawings only show the components related to the present invention rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated.

In addition, each embodiment of the following description has one or more technical features, but this does not mean that the person using the present invention must implement all the technical features in any embodiment at the same time, or can only implement different embodiments separately. One or all of the technical features of the . In other words, under the premise of possible implementation, those skilled in the art can selectively implement some or all of the technical features in any embodiment according to the disclosure of the present invention and depending on design specifications or implementation requirements, or The combination of some or all of the technical features in the multiple embodiments is selectively implemented, thereby increasing the flexibility of the implementation of the present invention.

As used in this specification, the singular forms "a," "an," and "the" include plural referents, and the plural forms "a plurality" include two or more referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "installed", "connected", "connected" shall be To be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In order to make the objects, advantages and features of the present invention clearer, the present invention will be further described in detail below according to the accompanying drawings. It should be noted that, the accompanying drawings are all in a very simplified form and in inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. The same or similar reference numbers in the drawings represent the same or similar parts.

FIG. 1 shows a schematic diagram of an application scenario of the surgical robot system of the present invention, and FIG. 2 shows a schematic structural diagram of a doctor-side control device, a surgical operation device and a surgical instrument connected to the surgical robot system of the surgical robot system. Please refer to FIG. 1 and FIG. 2 , the surgical robot system includes a control end and an execution end, and the control end includes a doctor console and a doctor end control device 10 disposed on the doctor console. The execution end includes a patient end control device, a surgical operation device 20 , an image display device 30 and other equipment. A robotic arm is mounted on the surgical operation device 20 , and the robotic arm includes an image arm 21 and a tool arm 22 . The tool arm 22 is used to mount a punching device or a surgical instrument 1, the punching device is used to punch a hole at the first hole on the patient's body surface, and the surgical instrument 1 is used to drill from the first hole. The hole is inserted into the body of the surgical subject and performs the surgical operation. The image arm 21 is used to mount an image acquisition device, and the image acquisition device is used to acquire the image information of the region or device of interest (for example, the actual lesion image information of the surgical object in the second state mentioned later). ). The image acquisition device is, for example, an endoscope 300 (labeled in FIG. 3 ). In addition, the surgical robot system further includes a control unit, and the control unit is connected in communication with the imaging arm 21, the tool arm 22 and the endoscope 300. The control unit may be arranged at the patient-side control device, or at the doctor-side control device, or partly at the patient-side control device and partly at the doctor-side control device. That is to say, the present invention does not limit the specific arrangement of the control unit, as long as it can perform related functions.

Before using the surgical robot system to perform laparoscopic surgery or thoracoscopic surgery or other surgical operations that require drilling a hole on the body of the surgical object, first use the control unit of the surgical robot system to obtain the hole position on the body surface of the surgical object. That is, the control unit is configured to establish a first sign image model S (marked in FIG. 6 ) according to the first body surface information and the lesion information of the surgical object in the first state, the first sign The image model S is used to plan the pre-hole position, and the first sign image model S includes a first lesion model P; a second sign image model is established according to the second body surface information of the surgical object in the second state; The second sign image model and the first sign image model S are registered to obtain the target corresponding to the pre-hole position on the first sign image model S on the second sign image model hole position.

Those skilled in the art can understand that the first state and the second state both refer to the state of the surgical object itself, and in the first state and the second state, the pose of at least part of the soft tissue of the surgical object different. Taking laparoscopic surgery as an example, the first state may be the state of the surgical object before pneumoperitoneum, and the second state may be the state of the surgical object after the pneumoperitoneum is established. In other operations, the difference between the first state and the second state may also be caused by the fact that the surgical object is fixed on the operating table, transported or other reasons, which are not limited in the present invention.

For ease of understanding, in the following description, the state of the operating object before pneumoperitoneum in laparoscopic surgery is the first state, and the state after pneumoperitoneum is established is the second state as an example for description.

In the embodiment of the present invention, the pre-hole location is first planned according to the body surface information and lesion information of the surgical object displayed by the first sign image model S before pneumoperitoneum, but after pneumoperitoneum, the physical signs of the surgical object are relatively Distortion occurs before pneumoperitoneum and is inconsistent with the body surface information on the first sign image model S (for example, body surface information is inconsistent). Based on this, the control unit establishes a second physical sign image model after pneumoperitoneum, and registers the second physical sign image model with the first physical sign image model, and then according to the registration result and the pre-hole The target hole position is determined on the second vital sign image model. That is, the embodiment of the present invention can reduce the deviation between the perforation position on the body surface and the planned perforation position caused by the distortion of the body surface of the surgical object without completely relying on the experience of the doctor, so that the body surface The accuracy of the punching hole position of the table is improved, which lays a good foundation for the normal operation of the operation, which can effectively reduce unnecessary punching, shorten the operation time, reduce the fatigue of the doctor and the injury to the operation object.

The target hole positions on the second sign image model include a first target hole position and a second target hole position. In some embodiments, the first target hole position can be directly directed to the surgical object in the second state to obtain the first hole position, and guide the second target hole position to the body surface of the subject undergoing surgery to obtain the second hole position. Wherein, the surgical instrument 1 is used for inserting the surgical object into the body from the first hole and performing a surgical operation, and the endoscope 300 is connected in communication with the control unit, and is used for inserting the surgical instrument from the second hole Inside the subject (as shown in Figure 3) and provide a surgical field.

Preferably, in some other embodiments, the operator first directs the second target hole position to the body surface of the surgical subject in the second state to obtain the second hole position, and at the second hole position Punch holes. Afterwards, the endoscope 300 is further configured to acquire actual lesion image information of the surgical object in the second state, and here, the control unit is further configured to establish a second lesion according to the actual lesion image information model, and register the second lesion model with the first lesion model P on the first sign image model S, and then register the first target hole on the second sign image model according to the registration result. (that is, according to the mapping relationship between the coordinate system of the endoscope 300, the coordinate system of the surgical object in the second state and its actual lesion, and the coordinate system of the surgical object and its lesion in the first state, the first A target hole position is corrected), which further provides the accuracy of the first target hole position. When the corrected first target hole position is guided to the body surface of the patient in the second state, more accurate results can be obtained. the first hole position.

In this way, in a non-limiting embodiment, the process of determining the first hole position on the body surface of the surgical subject after pneumoperitoneum before using the surgical robot system to perform laparoscopic surgery is shown in FIG. 4 . details as follows:

Step S1 is performed: acquiring the first body surface information and lesion information of the patient before pneumoperitoneum. Specifically, the first imaging device is used to acquire the first body surface information and lesion information of the surgical subject before pneumoperitoneum (ie, the first state).

In this step, the first imaging device 100 includes an X-ray imaging device such as a CT machine, an imaging device such as MRI or B-ultrasound that can simultaneously acquire body surface information and lesion information of the surgical object. In a specific embodiment, as shown in FIG. 5 , the first imaging device 100 is a CT machine.

Before performing a CT scan on the surgical subject, the surgical subject has not established a pneumoperitoneum. The doctor conducts a preliminary diagnosis of the cause of the surgical subject, roughly determines the organ where the lesion is located, and infers the possible cause and the body position to be used during the operation. Afterwards, the operation subject is arranged to perform CT scan, and the body surface information of the possible location of the lesion of the operation subject (the body surface information here is the first body surface information) and the image information in the body are obtained. Afterwards, the doctor identifies and confirms the lesion according to the acquired image information to obtain the lesion information; and the doctor also plans on the image for the area that needs to be operated on and the surgical procedure to be used. Those skilled in the art can understand that the first imaging device 100 also preferably acquires the information of the organs or tissues around the lesion.

Next, step S2 is performed: establishing a first sign image model according to the first body surface information and the lesion information. Specifically, the control unit establishes a first sign image model of the surgical subject before pneumoperitoneum according to the first body surface information and the lesion information.

The control unit may use a reconstruction algorithm based on Marching Cube surface rendering to establish the first sign image model. Specifically, the control unit constructs a plurality of geometric primitives in a three-dimensional volume data field composed of two-dimensional slices according to the contour line information obtained by dividing the body surface of the surgical object and the two-dimensional slice of the lesion, and for the plurality of geometric primitives The primitives are spliced and an illumination model is established for them to form a realistic three-dimensional model as the first sign image model S (as shown in FIG. 6 ). The first sign image model S displays the body surface and lesions of the surgical subject before pneumoperitoneum, and preferably, the first sign image model S also displays organs or tissues around the lesions (not shown in the figure). out).

Next, step S3 is performed: planning the pre-hole location on the first physical sign image model.

The pre-hole position can be directly planned by the control unit according to the surgical area, the surgical instrument used, and the boundary of the movement space of the surgical instrument during the operation.

In some embodiments, the control unit only plans pre-hole positions of one scheme. In other embodiments, the control unit plans the pre-hole positions of various schemes, and the control unit may also consider the collision probability, operation comfort, safety and other factors. The operator then simulates a surgical operation on a simulator using the appropriate surgical instrument 1 to select the desired pre-hole location according to the pre-hole locations of the various planning schemes (as shown in FIG. 7 ). In this way, not only the optimal position of the pre-hole position can be determined, but also possible problems during the operation can be known in advance by simulating the operation operation. Those skilled in the art will know that the simulator used to perform the surgical simulation has the same configuration as the surgical robotic system that actually performs the surgical operation. Optional simulators include, but are not limited to, the SEP Robot Simulator.

Next, step S4 is performed: acquiring the second body surface information of the patient after pneumoperitoneum. Specifically, the second imaging device is used to acquire the second body surface information of the surgical subject after pneumoperitoneum (ie, the second state).

The second imaging device 200 has various options. For example, please refer to FIG. 8 , the second imaging device 200 includes a binocular vision camera with a distance detection function, and the binocular vision camera can directly obtain the body surface of the surgical object. The relative position data relative to the binocular vision camera is used as the second body surface information. Alternatively, as shown in FIG. 9 , the second imaging device 200 includes a binocular vision camera without a distance detection function. At this time, a plurality of target points 2 are set on the body surface of the surgical subject, and the binocular vision camera can identify A plurality of the target points 1 are obtained, and coordinate point clouds of the plurality of the target points 1 are obtained, so as to be used for obtaining the second body surface information of the surgical object. Alternatively, as shown in FIG. 10 , the second imaging device 200 includes a structured light camera, so as to project structured light onto the body surface of the surgical object, and determine the size of the body surface of the surgical object through the deformation of the structured light or the time of flight parameter to obtain the second body surface information of the surgical object.

Next, step S5 is performed: establishing a second vital sign image model according to the second body surface information. Specifically, the control unit establishes a second sign image model of the surgical subject after pneumoperitoneum according to the second body surface information, and the second sign image model displays the body surface information of the surgical subject after pneumoperitoneum.

Next, step S6 is performed: registering the second physical sign image model and the first physical sign image model, so as to obtain a target hole position corresponding to the pre-hole position on the second physical sign image model. Specifically, the control unit registers the second vital sign image model with the first vital sign image model, and obtains a result corresponding to the pre-hole position on the second vital sign image model according to the registration result target hole positions (ie, the first target hole position and the second target hole position).

After the registration operation in step S6, the body surface information of the surgical subject after pneumoperitoneum can be identified and introduced into the world coordinate system F ₀ (as shown in FIG. 11 ) where the surgical robot system is located. Afterwards, step S7 may be performed: directing the second target hole position to the patient's body surface to obtain a second hole position on the patient's body surface. Specifically, the second target hole position is guided to the body surface of the surgical subject in the pneumoperitoneum state by using a suitable guiding device to obtain the second hole position.

Optionally, in this embodiment, the tool arm 22 (robot arm) and the auxiliary device mounted thereon are used as the guiding device. Specifically, the tool arm 22 has a fixed point, and each joint of the machine tool arm 22 can swing/rotate around the fixed point. The auxiliary device includes two or more of the laser transmitters, and the laser beams emitted by the two or more of the laser transmitters intersect at the fixed point. After establishing the mapping relationship between the coordinate system of the tool arm 22 and the coordinate system of the body surface of the surgical subject after pneumoperitoneum, when the control unit controls the tool arm 22 to swing to make the intersection of the laser beams When the fixed point (ie, the fixed point) is indicated on the body surface of the surgical subject, the position of the intersection point is the hole position of the body surface.

It is well known to those skilled in the art that when the control unit is disposed at the surgical operating device 20, the coordinate system of the tool arm 22 is the coordinate system F ₁ of the surgical operating device 20 , and the coordinate system F ₁ can be The world coordinate system F ₀ establishes a mapping relationship with the coordinate system F ₂ of the second imaging device 200 , and the coordinates between the coordinate system F ₃ of the body surface of the surgical subject after pneumoperitoneum and the second imaging device 200 The mapping relationship of the system F ₂ is known (the mapping relationship between the two can be known when the second imaging device collects the second body surface data of the surgical object), so that the coordinate system F ₁ of the tool arm 22 (that is, the The mapping relationship between the coordinate system of the surgical operating device 20 ) and the coordinate system F3 _of the body surface of the surgical subject after pneumoperitoneum. Afterwards, the control unit may drive the tool arm 22 to move for the indexing operation.

Of course, the operator can also use other guiding devices independent of the surgical robot system to complete the guiding work. In an alternative embodiment, as shown in FIGS. 13 to 15 , the guiding device includes a driving device (not shown in the figures), a base 410 and at least one laser emitter disposed on the base 410 420, wherein the drive device is communicatively connected to the control unit. After establishing the coordinate system of the control unit, the coordinate system of the base 410, the coordinate system of each of the laser transmitters 420, and the coordinate system of the body surface of the surgical subject in the second state, the The control unit can control the driving device to work to drive the base 410 to move, and make the laser beam emitted by the laser transmitter 420 irradiate the body surface of the surgical object in the second state to form a light spot, so The position of the light spot is the punching site on the body surface (as shown in FIG. 15 ).

Besides, the guiding device may also be in other forms, as long as the target hole can be guided to the body surface of the surgical object.

Next, step S8 is performed: drilling a hole at the second hole position. Specifically, a hole is punched in the second hole on the body surface of the operation object. This step may be performed manually by the operator, or may be performed automatically by the surgical robot system.

Next, step S9 is performed: an endoscope is made to enter the operation area in the patient's body from the second hole, and the actual lesion image information is collected. Specifically, the endoscope is inserted into the body of the surgical object from the second hole, and the actual lesion image information of the surgical object is collected.

Next, step S10 is performed: receiving actual lesion image information and establishing a second lesion model. Specifically, the control unit receives the actual lesion image information, and establishes a second lesion model according to the actual lesion image information.

Finally, step S11 is performed: registering the second lesion model with the first lesion model on the first sign image model, and correcting the first target hole position according to the registration result. Specifically, the second lesion model and the first lesion model on the first sign image model are registered, and the first target hole position on the second sign image model is performed according to the registration result. correction to provide the accuracy of the first target hole location.

Then, the operator can guide the corrected first target hole position to the body surface of the surgical subject in the second state to obtain the first hole position.

Those skilled in the art can understand that in actual work, the order of each step in FIG. 4 is not static, and it can be adjusted according to actual needs. For example, the step S3 can also be after the step S4 or after the step S5. Of course, the step S3 may also be performed synchronously with the step S4, or performed synchronously with the step S5, which is not limited in the present invention.

After the first hole position is determined, the operator can make a hole at the first hole position, and then the tool arm 22 can drive the surgical instrument 1 to enter the surgical object from the first hole position in vivo to perform surgical procedures. Further, during the operation, the control unit can also be used to monitor the pneumoperitoneum state of the operation object. Specifically, please refer to FIG. 16 , a monitoring area N is exposed on the body surface of the surgical subject. The operator sets a plurality of monitoring identification points 3 on the monitoring area N, and uses the second imaging device 200 to identify the Monitoring the identification point 3, and then according to the second sign image model of the surgical object to determine whether the coordinates of the monitoring identification point 3 change within a predetermined range of variation during the operation, to determine whether the pneumoperitoneum state is normal, and improve the safety of the operation sex.

Further, the present invention also provides a computer-readable storage medium on which a program is stored. When the program is executed, the program performs all operations performed by the control unit.

Further, the present invention also provides an electronic device, including a processor and the computer-readable storage medium, where the processor is configured to execute a program stored on the computer-readable storage medium.

Still further, the present invention also provides a positioning system for surgical drilling, which includes a control unit, a driving device and a guiding device as shown in FIGS. 13-15 , the control unit is connected to the driving device, and the The driving device is connected with the guiding device, specifically, is connected with the base of the guiding device.

Further, an embodiment of the present invention also provides a hole location planning method, including the steps performed by the control unit as described above when planning the target hole location.

Although the present invention is disclosed above, it is not limited thereto. Various modifications and variations can be made in the present invention by those skilled in the art without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

A computer-readable storage medium on which a program is stored, characterized in that, when the program is executed, the following steps are performed:

establishing a first sign image model according to the first body surface information and the lesion information of the surgical object in the first state, where the first sign image model is used to plan the pre-hole location;

establishing a second physical sign image model according to the second body surface information of the surgical object in the second state;

The second physical sign image model and the first physical sign image model are registered to obtain a target hole position corresponding to the pre-hole position on the second physical sign image model.
The computer-readable storage medium according to claim 1, wherein the first physical sign image model comprises a first lesion model; the target hole position comprises a first target hole position and a second target hole position, and the The second target hole position is used to be guided to the body surface of the operation object to obtain the second hole position, and the second hole position is used for an image acquisition device to enter the body of the operation object to collect actual lesion image information;

The program also performs the following steps:

receiving the actual lesion image information and establishing a second lesion model according to the actual lesion image information;

registering the second lesion model and the first lesion model;

The first target hole position on the second vital sign image model is corrected according to the registration result.
The computer-readable storage medium of claim 1, wherein the program performs the following steps to plan the pre-hole locations:

The pre-hole positions are planned according to the surgical area, the surgical instrument used and the boundary of the movement space of the surgical instrument.
The computer-readable storage medium of claim 1, wherein the program performs the following steps to plan the pre-hole locations:

The pre-hole positions of various schemes are generated according to the surgical field, the surgical instruments used and the boundaries of the movement space of the surgical instruments to determine the desired pre-hole positions therefrom.
The computer-readable storage medium according to claim 1, wherein the first body surface information and the lesion information are acquired by a first imaging device, and the first imaging device comprises an X-ray device, an MRI or a B-ultrasound. and/or, the second body surface information is acquired by a second imaging device, and the second imaging device includes any one of a binocular vision camera or a structured light camera.
An electronic device comprising a processor and a computer-readable storage medium according to any one of claims 1-5, the processor being configured to execute a program stored on the computer-readable storage medium.
A surgical robot system, characterized by comprising a control unit configured to execute the program stored on the computer-readable storage medium according to any one of claims 1 to 5. A step of;

The surgical robot system further includes a tool arm and an auxiliary device arranged on the tool arm; the tool arm is connected in communication with the control unit, and the tool arm moves under the control of the control unit, and makes the tool arm move. The auxiliary device guides the target hole position on the second vital sign image model to the body surface of the surgical object to obtain the hole position on the body surface of the surgical object; or,

The surgical robot system further includes a driving device and a guiding device, the driving device is connected with the guiding device and in communication with the control unit, and the driving device drives the guiding device under the control of the control unit moving, and directing the target hole position to the body surface of the surgical object in the second state to obtain the hole position on the body surface of the surgical object.
The surgical robot system according to claim 7, wherein the tool arm has a fixed point; the auxiliary unit comprises at least two laser emitters, and the laser beams emitted by the at least two laser emitters intersect at the fixed point, and there is a predetermined mapping relationship between the coordinate system of the tool arm, the coordinate system of the control unit, and the coordinate system of the surgical object in the second state;

When the control unit controls the movement of the tool arm and makes the intersection of the laser beams indicate the body surface of the surgical object to form a light spot, the position of the light spot is the hole position on the body surface of the surgical object.
The surgical robot system according to claim 7, wherein the guiding device comprises a base and at least one laser transmitter arranged on the base; the base is connected with the driving device, and the There is a predetermined mapping relationship between the coordinate system of the base, the coordinate system of the laser transmitter and the coordinate system of the surgical object in the second state;

When the guiding device moves so that the laser beam emitted by the laser transmitter irradiates the body surface of the operation object and forms a light spot, the position of the light spot is the hole position on the body surface of the operation object.
The surgical robot system according to claim 7, wherein the target hole position comprises a first target hole position and a second target hole position, and the first target hole position is the same as the first hole position on the body surface of the surgical object. Correspondingly, the second target hole corresponds to the second hole on the body surface of the surgical object;

The surgical robot system further comprises an image arm, the image arm is used for connecting an image acquisition device, the image acquisition device is connected in communication with the control unit; the image acquisition device is used for inserting surgery through the second hole The actual lesion image information of the surgical subject is acquired inside the subject, and the actual lesion image information is sent to the control unit to establish a second vital sign image model.
A positioning system for surgical drilling, characterized in that it includes a control unit, a driving device and a guiding device, the driving device is connected in communication with the control unit, and the guiding device is connected with the driving device; the control unit Be configured to execute the program stored on the computer-readable storage medium as claimed in any one of claims 1-5, and control the drive device to drive the guide device to move and guide the target hole position to The body surface of the surgical subject in the second state, so as to obtain the hole position of the surgical subject's body surface.
The positioning system for surgical drilling according to claim 11, wherein the guiding device comprises a base and at least one laser transmitter arranged on the base; the base is connected to the driving device , and there is a predetermined mapping relationship between the coordinate system of the base, the coordinate system of the laser transmitter and the coordinate system of the surgical object in the second state;

When the guiding device moves so that the laser beam emitted by the laser transmitter irradiates the body surface of the surgical object and forms a light spot, the position of the light spot is a hole position on the body surface of the surgical object.
The positioning system for surgical drilling according to claim 11, wherein the positioning system further comprises a first imaging device and a second imaging device, and the first imaging device and the second imaging device are both connected to the The control unit is communicatively connected, and the first imaging device is used to acquire the first body surface information and lesion information and send them to the control unit to establish the first sign image model, and the second imaging device for acquiring the second body surface information and sending it to the control unit to establish the second vital sign image model.