WO2022242493A1 - Procédé de réglage de position, système de robot chirurgical et support de stockage - Google Patents

Procédé de réglage de position, système de robot chirurgical et support de stockage Download PDF

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Publication number
WO2022242493A1
WO2022242493A1 PCT/CN2022/091745 CN2022091745W WO2022242493A1 WO 2022242493 A1 WO2022242493 A1 WO 2022242493A1 CN 2022091745 W CN2022091745 W CN 2022091745W WO 2022242493 A1 WO2022242493 A1 WO 2022242493A1
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WIPO (PCT)
Prior art keywords
robot
pose
information
maintaining device
patient
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PCT/CN2022/091745
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English (en)
Chinese (zh)
Inventor
鲍仕龙
何超
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上海微创医疗机器人（集团）股份有限公司
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Publication of WO2022242493A1 publication Critical patent/WO2022242493A1/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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • A61B34/70—Manipulators 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient

Definitions

  • the invention relates to the technical field of robots, in particular to a posture adjustment method, a surgical robot system and a storage medium.
  • Robot technology has not only brought huge technological changes in the aspects of precise surgical positioning, minimally invasive surgery, and non-destructive diagnosis and treatment, but also is changing many concepts of conventional medical surgery.
  • Rehabilitation engineering is of great significance.
  • the purpose of the present invention is to provide a pose adjustment method, a surgical robot system and a storage medium, which can automatically complete the positioning of the robot and/or the patient's posture maintaining device before surgery, and effectively improve the overall surgical efficiency.
  • the present invention provides a pose adjustment method, which is applied to the surgical robot scene, and the pose adjustment method includes:
  • the target pose information of the patient posture maintaining device in the scene and the current pose information of the patient posture maintaining device adjust the pose of the patient posture maintaining device, and/or, according to the The target pose information of the robot in the scene and the current pose information of the robot are used to adjust the pose of the robot.
  • the acquisition of lesion information of the patient includes:
  • Focus identification is performed on the organ tissue model to obtain focus information.
  • the current posture information of the patient posture maintaining device is obtained through the following steps:
  • the current pose information of the robot is obtained through the following steps:
  • the current pose information of the robot is acquired according to the spatial mapping relationship between the robot coordinate system and the world coordinate system, and the current position information of each joint of each mechanical arm of the robot.
  • the spatial mapping relationship between the patient posture maintaining device coordinate system and the world coordinate system, and/or the robot coordinate system and the world coordinate system are obtained based on visual pose measurement or laser tracking pose measurement
  • the acquisition of the spatial mapping relationship between the patient posture maintaining device coordinate system and the world coordinate system and/or the spatial mapping relationship between the robot coordinate system and the world coordinate system based on the visual pose measurement method includes:
  • the acquisition of the spatial mapping relationship between the coordinate system of the patient posture maintaining device and the world coordinate system and/or the spatial mapping relationship between the robot coordinate system and the world coordinate system based on the laser tracking pose measurement method includes:
  • a laser tracker is used to obtain the spatial mapping relationship between the coordinate system of the patient posture maintaining device and the world coordinate system and/or the spatial mapping relationship between the robot coordinate system and the world coordinate system.
  • the acquisition of the target pose information of the patient pose maintaining device and/or the target pose information of the robot in the scene according to the lesion information includes:
  • the lesion and the patient posture maintaining device According to the pre-stored correspondence between the lesion and the patient posture maintaining device and/or the correspondence between the lesion and the robot pose and the lesion information, acquire the target pose information and/or of the patient posture maintaining device in the scene Or the target pose information of the robot.
  • the acquiring the target pose information of the patient pose maintaining device in the scene according to the lesion information includes:
  • the lesion information acquire the posture information of the patient posture maintaining device in the scene under the condition of satisfying the artificial condition
  • the pose information of the patient posture maintaining device satisfying the artificial condition is used as the target posture information of the patient posture maintaining device in the scene.
  • the acquiring target pose information of the robot in the scene according to the lesion information includes:
  • the objective function is solved to obtain the target pose information of the robot in the scene.
  • the objective function is solved to obtain the target pose information of the robot in the scene, including:
  • the objective function is solved to obtain the target pose information of the robot in the scene.
  • solving the objective function according to the target pose information of the lesion to obtain the target pose information of the robot in the scene includes:
  • the pose of the robot when the objective function value satisfies the preset condition is used as the target pose of the robot in the scene.
  • the objective function is:
  • ⁇ is the weight of w 1 (q)
  • ⁇ is the weight of w 2 (q)
  • ⁇ + ⁇ 1
  • N is the number of joints of a single mechanical arm of the robot
  • q i is the number of joints of the i-th joint Location
  • q imax is the maximum position of the i th joint traversing the lesion sphere space
  • q imin is the minimum position of the i th joint traversing the lesion sphere space position
  • n is the number of mechanical arms of the robot
  • h i is the distance between two adjacent mechanical arms
  • adjusting the pose of the patient posture maintaining device according to the target pose information of the patient posture maintaining device in the scene and the current pose information of the patient posture maintaining device include:
  • the adjusting the pose of the robot according to the target pose information of the robot in the scene and the current pose information of the robot includes:
  • the pose of the robot is adjusted.
  • the determining the trajectory of the patient posture maintaining device based on the current pose information and target pose information of the patient posture maintaining device in the scene includes:
  • the adjusting the posture of the patient posture maintaining device according to the movement trajectory of the patient posture maintaining device includes:
  • the determining the trajectory of the robot based on the current pose information and target pose information of the robot in the scene includes:
  • the adjusting the pose of the robot according to the trajectory of the robot includes:
  • the pose of the robot is adjusted according to the motion trajectory of each joint of each mechanical arm of the robot.
  • the adjustment method further includes:
  • the adjustment method also includes:
  • the unexpected movement includes: movement range exceeding limit, movement speed exceeding limit and/or movement space interference.
  • the adjustment method further includes:
  • the adjustment method also includes:
  • the pose adjustment state of the robot is displayed.
  • the adjustment method further includes:
  • the adjustment method After stopping to adjust the pose of the robot, the adjustment method also includes:
  • the adjusted pose of the robot is saved.
  • the present invention also provides a surgical robot system, including a robot, a patient posture maintaining device, and a controller, the controller includes a processor and a memory, and a computer program is stored on the memory, and the computer program When executed by the processor, the pose adjustment method described above is realized.
  • the surgical robot system further includes a binocular camera communicatively connected to the controller, the patient posture maintaining device is provided with multiple first targets, and/or the robot is provided with multiple For the second target, the binocular camera is used to acquire the image information of the plurality of first targets and/or the image information of the plurality of second targets, and the controller is configured to obtain the image information of the plurality of first targets according to the The image information acquires the spatial mapping relationship between the coordinate system of the patient posture maintaining device and the world coordinate system, and/or acquires the spatial mapping relationship between the robot coordinate system and the world coordinate system according to the image information of the plurality of second targets .
  • a binocular camera communicatively connected to the controller
  • the patient posture maintaining device is provided with multiple first targets
  • the robot is provided with multiple
  • the binocular camera is used to acquire the image information of the plurality of first targets and/or the image information of the plurality of second targets
  • the controller is configured to obtain the image information of the plurality of first targets according to the The image information acquire
  • the surgical robot system further includes a laser tracker communicatively connected to the controller, the patient posture maintaining device is provided with multiple first reflectors, and/or the robot is provided with multiple a second reflector, the laser tracker is used to emit laser light to the plurality of first reflectors and/or the plurality of second reflectors, and receive laser light from the plurality of first reflectors and/or The reflected light reflected back by the plurality of second reflectors; the controller is used to obtain the coordinate system between the patient posture maintaining device coordinate system and the world coordinate system according to the reflected light information reflected by the plurality of first reflector plates The spatial mapping relationship, and/or the spatial mapping relationship between the robot coordinate system and the world coordinate system is acquired according to the reflected light information reflected back by the plurality of second reflectors.
  • a laser tracker communicatively connected to the controller
  • the patient posture maintaining device is provided with multiple first reflectors
  • the robot is provided with multiple a second reflector
  • the laser tracker is used to emit laser light to the
  • the present invention also provides a readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the pose adjustment method described above is realized.
  • the posture adjustment method, surgical robot system and storage medium provided by the present invention have the following advantages: the present invention obtains the patient's focus information first, and then obtains the patient's posture according to the focus information. maintaining the target pose information of the device and/or the target pose information of the robot, and finally according to the target pose information of the patient posture maintaining device and the current pose information of the patient posture maintaining device, the The pose of the patient posture maintaining device is adjusted, and/or the pose of the robot is adjusted according to the target pose information of the robot and the current pose information of the robot.
  • the present invention plans a suitable body position for the patient according to the lesion information of the patient, and automatically completes the posture adjustment of the patient's posture maintaining device and/or robot before operation, and completes the preoperative posture preparation in advance, thereby effectively reducing the The operating time is improved, and the efficiency of the overall operation is improved.
  • FIG. 1 is a schematic diagram of an application scene of a pose adjustment method in an embodiment of the present invention
  • Fig. 2 is a flowchart of a pose adjustment method in an embodiment of the present invention
  • Fig. 3 is a schematic flow chart of acquiring lesion information in an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of labeling of lesion areas in an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of the target pose acquisition process in an embodiment of the present invention.
  • Fig. 6 is a schematic flow chart of obtaining the target pose according to the correspondence between the lesion and the pose in an embodiment of the present invention
  • Fig. 7 is a schematic flow chart of solving the target pose according to the optimal method in one embodiment of the present invention.
  • Fig. 8 is a schematic diagram of the measurement principle of the patient's posture maintaining device and the robot's current posture in the first embodiment of the present invention
  • Fig. 9 is a schematic diagram of the measurement principle of the patient's posture maintaining device and the robot's current posture in the second embodiment of the present invention.
  • Fig. 10 is a schematic diagram of a pose adjustment process in an embodiment of the present invention.
  • Fig. 11 is a block diagram of a controller in an embodiment of the present invention.
  • the purpose of the present invention is to provide a pose adjustment method, a surgical robot system and a storage medium, which can automatically complete the positioning of the robot and the patient's posture maintaining device before surgery, and effectively improve the overall surgical efficiency.
  • the posture of the patient posture maintaining device such as a hospital bed
  • the pose of the robot refers to the pose of the robot in the world coordinate system (X0, Y0, Z0).
  • the present invention provides a pose adjustment method.
  • FIG. 1 schematically shows an application scenario of a pose adjustment method provided by an embodiment of the present invention.
  • the pose adjustment method provided by the present invention is applied to a surgical robot system, which includes a robot 200 and a patient posture maintaining device 100, wherein the patient posture maintaining device 100 includes a first base 110 and a bed surface 120 installed on the first base 110 .
  • the robot 200 includes a second base 210 and at least one mechanical arm 220 installed on the second base 210 .
  • the patient can lie on the bed surface 120 of the lesion posture maintaining device 100 , and by controlling the mechanical arm 220 , the lesion in the patient's body can be removed.
  • FIG. 2 schematically shows a flow diagram of a pose adjustment method provided by an embodiment of the present invention.
  • the pose adjustment method includes the following steps:
  • Step S1. Obtaining the lesion information of the patient
  • Step S2 according to the lesion information, acquire the target pose information of the patient pose maintaining device in the surgical robot scene and/or the target pose information of the robot.
  • Step S3 adjusting the pose of the patient posture maintaining device according to the target pose information of the patient posture maintaining device in the scene and the current pose information of the patient posture maintaining device, and/or , adjusting the pose of the robot according to the target pose information of the robot in the scene and the current pose information of the robot.
  • the present invention plans a suitable body position for the patient according to the lesion information of the patient, and automatically completes the posture adjustment of the patient's posture maintaining device and/or robot before operation, and completes the preoperative posture preparation in advance, thereby effectively reducing the The operating time is improved, and the efficiency of the overall operation is improved.
  • the acquired lesion information includes, but is not limited to, the area where the lesion 310 is located, the shape of the lesion 310, the position of the lesion 310, and the type of operation selected by the medical staff.
  • FIG. 3 schematically shows a flow chart of acquiring lesion information provided by an embodiment of the present invention.
  • the lesion information is obtained through the following process:
  • the lesion 310 is identified on the organ tissue model to obtain lesion information.
  • the image information of the diseased organ tissue 320 of the patient can be acquired through the existing medical image acquisition device, and modeling can be performed according to the acquired image information to obtain a human body model including the organ tissue model, and the modeling information It can be displayed by a display device.
  • the medical personnel can identify the area where the lesion 310 is located in the organ tissue model, and mark the area where the lesion 310 is located to obtain Lesion information.
  • FIG. 4 schematically shows a schematic diagram of labeling the lesion area provided by an embodiment of the present invention. As shown in FIG. 4 , the area where the lesion 310 is located can be marked by frame selection, circle selection or other methods.
  • the area where the selected lesion 310 is located is characterized based on color, shape, or other features.
  • the medical staff can select the corresponding operation type to obtain complete lesion information.
  • the labeling of the region where the lesion 310 is located includes, but is not limited to, labeling by plane envelope method and three-dimensional envelope method; including but not limited to organ tissue model
  • the area where the lesion 310 is located is generated by overlapping or subtracting from the marked area.
  • step S2 the acquired lesion information will be displayed on the supporting display device for medical staff to further confirm the acquired lesion information. If the information is correct, the above step S2 is executed, that is, according to the lesion information, the target pose information of the patient pose maintaining device and/or the target pose information of the robot are acquired.
  • step S2 according to the pre-stored correspondence between the lesion 310 and the pose of the patient posture maintaining device 100 and/or the lesion and the pose of the robot 200 and the lesion information, the information in the scene can be obtained.
  • FIG. 5 schematically shows a flowchart of acquiring target pose information of the patient pose maintaining device and/or target pose information of the robot in an embodiment of the present invention.
  • the medical staff chooses whether to enter the target pose selection mode. If the medical staff chooses yes, the system will maintain the pose and posture of the device 100 according to the pre-stored lesion 310 and patient posture.
  • the specified pose as the target pose that is, select the pose of the patient posture maintaining device 100 corresponding to the acquired lesion information as the patient posture maintaining The target pose of the device 100, and/or select the pose of the robot 200 corresponding to the acquired lesion information as the target pose of the robot 200; if the medical staff chooses No, the system will automatically use the optimal method to calculate the The patient pose maintains the target pose of the device 100 and/or the target pose of the robot 200; in order to prevent mistakes, the medical staff can maintain the target pose of the device 100 and/or the robot 200 for the acquired patient pose Confirm the target pose of the patient posture, if the medical staff chooses yes, then the acquisition of the target pose of the patient posture maintaining device 100 and/or the target pose of the robot 200 is completed, and the system will execute the above step S3; if If the medical staff chooses No, the target pose of the patient pose maintaining device 100 and/or the target pose of the robot 200 will be acquired again.
  • the corresponding relationship between the lesion 310 and the posture of the patient posture maintaining device 100 and/or between the lesion 310 and the robot 200 can be preset by the manufacturer before the surgical robot system leaves the factory, or can be The ones saved for the user/medical staff may also be automatically saved by the surgical robot system according to the most recently performed operations.
  • Figure 6 schematically shows a schematic diagram of the user selecting the target pose in an embodiment of the present invention.
  • the user when the user chooses to enter the mode of selecting the target pose, the user can select the manufacturer's preset
  • the set pose can also choose the pose saved by the user, or the recently used pose, or be based on a large amount of historical data (foci 310 and patient posture maintaining device 100 pose and/or lesion 310 and the relationship between the pose of the robot 200) the preferred pose preserved by the system.
  • the corresponding relationship between the lesion 310 and the posture of the patient posture maintaining device 100 includes the posture of the lesion 310 and the bed surface 120 of the patient posture maintaining device 100, and the position and posture of the lesion 310 and the robot 200
  • the corresponding relationship between the poses includes the corresponding relationship between the lesion 310 and the end poses of the mechanical arms 220 of the robot 200, wherein the pose of the bed surface 120 refers to the position of the bed surface 120 in the world coordinate system (X0 , Y0, Z0), the end pose of the robotic arm 220 refers to the pose of the end of the robotic arm 220 in the world coordinate system (X0, Y0, Z0), thus, according to the obtained According to the position and posture of the bed surface 120 corresponding to the lesion information, obtain the target pose of the patient posture maintaining device 100, and obtain The target pose of the robot 200.
  • the corresponding relationship between the lesion 310 and the posture of the patient posture maintaining device 100 includes the positions of the joints of the lesion 310 and the patient posture maintaining device 100 , and the relationship between the lesion 310 and the posture of the robot 200 The corresponding relationship among them includes the corresponding relationship between the lesion 310 and the position of each joint of each mechanical arm 220 of the robot 200, wherein the position of each joint of the patient posture maintaining device 100 refers to the position of each joint of the patient posture maintaining device 100
  • the position of each joint of the mechanical arm 220 refers to the position of each joint of the mechanical arm 220 in the world coordinate system (X0, Y0, Z0) Therefore, according to the obtained position of each joint of the patient posture maintaining device 100 corresponding to the lesion information, the target pose of the patient posture maintaining device 100 can be obtained, and according to the obtained The position of each joint of each robot arm 220 corresponding to the lesion information
  • FIG. 7 schematically shows a flow chart of obtaining a target pose using an optimal method provided by an embodiment of the present invention.
  • the acquisition of the target pose information of the patient posture maintaining device 100 using an optimal method according to the lesion information includes:
  • the lesion information acquire the posture information of the patient posture maintaining device 100 in the scene under the condition of satisfying the artificial condition
  • the pose information of the patient posture maintaining device 100 satisfying the artificial conditions is used as the target pose information of the patient posture maintaining device 100 in the scene.
  • the table height and the patient's height of the patient's posture maintaining device 100 can be obtained under the conditions of ergonomics (that is, a natural form suitable for the patient's body).
  • Information such as the table attitude angle of the posture maintaining device 100, combined with the spatial mapping relationship between the patient posture maintaining device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0), can obtain the described
  • the pose information of the patient posture maintaining device 100 in the scene under the condition of satisfying the artificial conditions, the pose information is the target pose information of the patient posture maintaining device 100 in the scene. How to obtain the spatial mapping relationship between the coordinate system (X1, Y1, Z1) of the patient posture maintaining device and the world coordinate system (X0, Y0, Z0) can refer to the relevant description below, so it will not be repeated here.
  • the optimal method is used to obtain the target pose information of the robot 200 in the scene, including:
  • the objective function is solved to obtain the target pose information of the robot 200 in the scene.
  • the objective function is solved according to the lesion information to obtain the target pose information of the robot 200 in the scene, including:
  • the target pose information of the patient posture maintaining device 100 According to the target pose information of the patient posture maintaining device 100 and the spatial mapping relationship between the lesion 310 and the patient posture maintaining device 100, acquire the target pose information of the lesion 310;
  • the objective function is solved to obtain the target pose information of the robot 200 in the scene.
  • the patient posture maintenance function can also be obtained according to the correspondence between the pre-stored lesion 310 and the posture of the patient posture maintenance device 100 .
  • the target pose information of the device 100 is then used to obtain the target pose information of the lesion 310 according to the target pose information of the patient pose maintaining device 100 .
  • the objective function is solved to obtain the target pose information of the robot 200 in the scene, including:
  • the pose of the robot 200 when the objective function value satisfies the preset condition is taken as the target pose of the robot 200 .
  • the objective function selected in this embodiment is:
  • ⁇ is the weight of w 1 (q)
  • ⁇ is the weight of w 2 ( q)
  • ⁇ + ⁇ 1
  • N is the number of joints of a single mechanical arm 220 of the robot 200
  • q i is the i-th joint position, is the average position of the ith joint traversing the lesion sphere space
  • q imax is the maximum position of the i th joint traversing the lesion sphere space
  • q imin is the minimum position of the i th joint traversing the lesion sphere space position
  • n is the number of mechanical arms 220 of the robot 200
  • h i is the distance between two adjacent mechanical arms 220, is the average value of the distances between all adjacent robotic arms 220 .
  • each mechanical arm 220 of the robot 200 traverses each point in the space of the focal sphere, by solving the objective function value at different positions, that is, the value of w(q), and maximizing the objective function value
  • the pose of the robot 200 at that time is used as the target pose of the robot 200 in the scene.
  • the specific values of ⁇ and ⁇ can be set according to the specific situation. For example, when ⁇ is 1 and ⁇ is 0, the objective function is:
  • the pose of the ends of each robotic arm 220 are used as the target poses of the corresponding ends of the robotic arms 220, and the robot 200 can be obtained according to the target pose information of the ends of each robotic arm 220. target pose information.
  • the target position of each joint of the robotic arm 220 can be obtained by inversely solving the target pose of the end of the robotic arm 220 using inverse kinematics or other inverse solutions.
  • the target pose of the robot 200 satisfies the condition that the movement space of the robotic arm 220 and the placement of the robotic arm 220 are balanced.
  • the current pose of the patient posture maintaining device 100 is obtained through the following steps:
  • the current pose information of the robot 200 is obtained through the following steps:
  • the current position information of the joints can obtain the position information of each joint of the patient posture maintaining device 100 under the world coordinate system (X0, Y0, Z0), according to the position information of each joint of the patient posture maintaining device 100 in the world
  • the position information in the coordinate system (X0, Y0, Z0) can obtain the position and posture information of the bed surface 120 of the patient posture maintaining device 100 in the world coordinate system (X0, Y0, Z0) according to the kinematic equation.
  • the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) and the current position information of each joint of each mechanical arm 220 of the robot 200 it can be obtained
  • Information that is, the pose information of the end of each robotic arm 220 in the world coordinate system (X0, Y0, Z0) can be obtained according to the kinematic equation.
  • the current position information of each joint of the patient posture maintaining device 100 is obtained by a position sensor installed on each joint of the patient posture maintaining device 100, and the current position information of each joint of the mechanical arm 220 is obtained by The position sensors installed on the joints of the robot arm 220 are obtained.
  • the surgical robot system also includes a binocular camera 410, which is connected to a controller in communication, and the binocular camera 410 is based on binocular vision pose measurement
  • the coordinate system (X1, Y1, Z1) of the patient posture maintaining device and the world coordinate system (X0, Y0, Z0) and the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) The spatial mapping relationship between them.
  • a binocular camera 410 is arranged in the operating room, a plurality of first targets 420 are arranged on the first base 100, and a plurality of second targets 430 are arranged on the second base 200, and the binocular camera 410 is used to acquire all
  • the image information of the plurality of first targets 420 on the first base 100 and the image information of the plurality of second targets 430 on the second base 200 are sent to the controller, and the control
  • the device acquires the images of the plurality of first targets 420 and the plurality of second targets 430 in the binocular camera.
  • the spatial mapping relationship between the coordinate system (X1, Y1, Z1) of the patient posture maintaining device and the world coordinate system (X0, Y0, Z0) can be obtained, according to the multiple first
  • the coordinates of the second target 430 in the world coordinate system (X0, Y0, Z0) and the spatial mapping relationship between the plurality of second targets 430 and the robot coordinate system (X2, Y2, Z2) can be obtained.
  • the surgical robot system also includes a laser tracker 510, which is connected to a controller in communication, and the laser tracker 510 is based on the laser tracking pose measurement method Obtain the relationship between the coordinate system (X1, Y1, Z1) of the patient posture maintaining device and the world coordinate system (X0, Y0, Z0) and the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) spatial mapping relationship.
  • a laser tracker 510 is arranged in the operating room, a plurality of first reflectors 520 are arranged on the first base 100, a plurality of second reflectors 530 are arranged on the second base 200, and the laser The tracker 510 is used to emit laser light to the plurality of first reflectors 520 on the first base 100 and the plurality of second reflectors 530 on the second base 200, and receive The reflected light reflected back by each first reflector 520 and the plurality of second reflectors 530, the controller according to the reflections reflected back by the plurality of first reflectors 520 and the plurality of second reflectors 530 Light information, to obtain the coordinates of the plurality of first reflectors 520 and the plurality of second reflectors 530 in the world coordinate system (X0, Y0, Z0), because the plurality of first reflectors 520 and the plurality of second reflectors 530 There is a specific spatial mapping relationship between the patient posture maintaining device coordinate system (X1,
  • the spatial mapping relationship of the plurality of first reflectors 520 in the world coordinate system (X0, Y0, Z0) and the coordinates of the plurality of first reflectors 520 and the patient posture maintaining device The spatial mapping relationship between the patient posture maintaining device coordinate system (X1, Y1, Z1) and the world coordinate system (X0, Y0, Z0) can be obtained, According to the coordinates of the plurality of second reflectors 530 in the world coordinate system (X0, Y0, Z0) and the coordinates between the plurality of second reflectors 530 and the robot coordinate system (X2, Y2, Z2),
  • the spatial mapping relationship that is, the spatial mapping relationship between the robot coordinate system (X2, Y2, Z2) and the world coordinate system (X0, Y0, Z0) can be obtained.
  • the pose of the patient posture maintaining device 100 is performed according to the target pose information of the patient posture maintaining device 100 in the scene and the current pose information of the patient posture maintaining device 100 adjustments, including:
  • the movement trajectory of the patient posture maintaining device 100 is acquired;
  • the adjusting the pose of the robot 200 according to the target pose information of the robot 200 in the scene and the current pose information of the robot 200 includes:
  • the pose of the robot 200 is adjusted.
  • the shortest distance method, energy optimization method or other methods can be used to obtain the patient posture information.
  • the motion track of the robot 200 can be obtained by using the shortest distance method, energy optimization method or other methods.
  • the current posture information of the bed surface 120 of the patient posture maintaining device 100 and the target of the bed surface 120 of the patient posture maintaining device 100 can be Position and posture information, obtain the movement trajectory of the patient posture maintaining device 100, and then use inverse kinematics solution or other solutions to inversely solve the movement trajectory of the patient posture maintaining device 100, so as to obtain the patient posture maintaining The movement trajectory of each joint of the device 100, and then adjust the position of each joint of the patient posture maintenance device 100 according to the movement trajectory of each joint of the patient posture maintenance device 100, so that the patient posture Each joint of the holding device 100 is adjusted to a target position, that is, the pose of the patient posture holding device 100 is adjusted, so as to adjust the pose of the patient posture holding device 100 to the target pose.
  • the motion trajectory of each mechanical arm 220 of the robot 200 can be obtained according to the current pose information of each robotic arm 220 of the robot 200 and the target pose information of each robotic arm 220 of the robot 200, and then Use the inverse kinematics solution or other inverse solutions to inversely solve the motion trajectory of each mechanical arm 220 to obtain the motion trajectory of each joint of each said mechanical arm 220, and then according to the motion trajectory of each joint of each said mechanical arm 220 , adjust the position of each joint of each of the mechanical arms 220 to adjust the joints of each of the mechanical arms 220 to the target position, that is, adjust the pose of the robot 200 so that the robot The pose of 200 is adjusted to the target pose.
  • the patient posture maintaining device can be obtained directly according to the current position information of each joint of the patient posture maintaining device 100 and the target position information of each joint of the patient posture maintaining device 100 100, and then adjust the position of each joint of the patient posture maintaining device 100 according to the movement trajectory of each joint of the patient posture maintaining device 100, so as to maintain the patient posture
  • Each joint of the device 100 is adjusted to the target position, that is, the posture of the patient posture maintaining device 100 is adjusted, so as to adjust the posture of the patient posture maintaining device 100 to the target posture.
  • the current position information of each joint of each mechanical arm 220 of the robot 200 and the target position information of each joint of each mechanical arm 220 of the robot 200 can be directly used to obtain each joint of each mechanical arm 220.
  • the position of each joint of each said mechanical arm 220 is adjusted, so as to adjust each joint of each said mechanical arm 220 to the target position , that is, adjust the pose of the robot 200 to adjust the pose of the robot 200 to a target pose.
  • FIG. 10 schematically shows a flow chart of pose adjustment provided by an embodiment of the present invention.
  • the adjustment method further includes:
  • the adjustment method also includes:
  • the unexpected movement includes: movement range exceeding limit, movement speed exceeding limit and/or movement space interference.
  • unexpected movements of the patient posture maintaining device 100 and/or unexpected movements of the robot 200 may occur.
  • an alarm message is sent, and then the position of the patient posture maintaining device 100 can be terminated in time when the movement of the patient posture maintaining device 100 is abnormal and/or the movement of the robot 200 is abnormal.
  • automatic adjustment of posture and/or automatic adjustment of the posture of the robot 200 to protect the patient posture maintaining device 100 and/or the robot 200.
  • the adjustment method further includes:
  • the adjustment method also includes:
  • the pose adjustment state of the robot 200 is displayed.
  • the posture adjustment state of the patient posture maintaining device 100 and/or the posture adjustment state of the robot 200 it is convenient for medical personnel to observe the patient posture maintaining device 100 and/or the patient posture maintaining device 100 and/or the robot 200.
  • the posture adjustment state of the robot 200 so that when an abnormal situation occurs in the posture adjustment of the patient posture maintaining device 100 and/or the robot 200, it can be stopped in time to protect the patient posture maintaining device 100 and/or The robot 200.
  • the speaker corresponding to the patient posture maintaining device 100 when the posture of the patient posture maintaining device 100 is adjusted to the target posture, the speaker corresponding to the patient posture maintaining device 100 will emit a continuous normal sound, and/or be consistent with the patient posture.
  • the display lamp corresponding to the holding device 100 will emit a normal color; when the pose of the robot 200 is adjusted to the target pose, the speaker corresponding to the robot 200 will emit a continuous normal sound, and/or correspond to the robot 200
  • the indicator light of will glow normal color.
  • the speaker corresponding to the patient posture maintaining device 100 When the movement of the patient posture maintaining device 100 is abnormal, the speaker corresponding to the patient posture maintaining device 100 will emit a continuous abnormal sound, and/or the display lamp corresponding to the patient posture maintaining device 100 will turn on Emit an abnormal color; when the movement of the robot 200 is abnormal, the speaker corresponding to the robot 200 will emit a continuous abnormal sound, and/or the display lamp corresponding to the robot 200 will emit an abnormal color.
  • the normal sound and the abnormal sound can be distinguished according to the frequency of the continuous sound, and the normal color and the abnormal color can be distinguished according to the different colors of the status lights.
  • the adjustment method further includes:
  • the adjustment method further includes:
  • the adjusted pose of the robot 200 is saved.
  • the lesion 310 at the same location can be performed next time.
  • the posture of the patient posture maintaining device 100 is adjusted to a suitable position directly according to the saved target posture of the patient posture maintaining device 100 .
  • the pose of the robot 200 is adjusted to the target pose, by saving the target pose of the robot 200, the operation on the lesion 310 at the same part can be performed next time, and the patient's gender,
  • the pose of the robot 200 is adjusted to a proper position directly according to the saved target pose of the robot 200 .
  • the patient posture maintaining device 100 under abnormal conditions Storing the pose can facilitate relevant personnel to analyze the abnormal situation, so as to determine the cause of the abnormal movement of the patient's posture maintaining device 100 .
  • the adjustment of the pose of the robot 200 is stopped due to an abnormal situation in the pose adjustment process of the robot 200, by saving the pose of the robot 200 under abnormal conditions, it is convenient for relevant personnel Analyze the abnormal situation to determine the cause of the abnormal movement of the robot 200 .
  • the pose adjustment method provided by the present invention obtains the lesion information of the patient first, and then obtains the target pose information of the patient posture maintaining device 100 and/or the target pose information of the robot 200 based on the lesion information. Finally, adjust the pose of the patient posture maintaining device 100 according to the target posture information of the patient posture maintaining device 100 and the current posture information of the patient posture maintaining device 100 , and/or adjust the pose of the robot 200 according to the target pose information of the robot 200 and the current pose information of the robot 200 .
  • the present invention plans a suitable posture for the patient according to the lesion information of the patient, and automatically completes the posture adjustment of the patient posture maintaining device 100 and/or the robot 200 before the operation, and completes the preoperative posture preparation in advance, so that it can The operation time is effectively reduced, and the overall operation efficiency is improved.
  • the present invention also provides a surgical robot system, including a robot 200, a patient posture maintaining device 100, and a controller, the controller includes a processor and a memory, and a computer program is stored on the memory, the When the computer program is executed by the processor, the pose adjustment method described above is realized.
  • FIG. 11 schematically shows a block diagram of a controller provided by an embodiment of the present invention. As shown in Fig. 11, the controller includes a processor 601 and a memory 603, and a computer program is stored on the memory 603, and when the computer program is executed by the processor 601, the pose adjustment described above is realized method.
  • the surgical robot system provided by the present invention acquires the target pose information of the patient posture maintaining device 100 and/or the target pose information of the robot 200 according to the focus information of the patient by acquiring the lesion information, Finally, according to the target posture information of the patient posture maintaining device 100 and the current posture information of the patient posture maintaining device 100, the posture of the patient posture maintaining device 100 is adjusted, and/or according to the The target pose information of the robot 200 and the current pose information of the robot 200 are used to adjust the pose of the robot 200.
  • the present invention plans a suitable posture for the patient according to the lesion information of the patient, and automatically completes the posture adjustment of the patient posture maintaining device 100 and/or the robot 200 before the operation, and completes the preoperative posture preparation in advance, so that it can The operation time is effectively reduced, and the overall operation efficiency is improved.
  • the controller further includes a communication interface 602 and a communication bus 604 , wherein the processor 601 , the communication interface 602 , and the memory 603 communicate with each other through the communication bus 604 .
  • the communication bus 604 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus or the like.
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the communication bus 604 can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
  • the communication interface 602 is used for communication between the above-mentioned controller and other devices.
  • the processor 601 mentioned in the present invention can be a central processing unit (Central Processing Unit, CPU), and can also be other general processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor, etc.
  • the processor 601 is the control center of the controller, and connects various parts of the entire controller with various interfaces and lines.
  • the memory 603 can be used to store the computer program, and the processor 601 implements various functions of the controller by running or executing the computer program stored in the memory 603 and calling the data stored in the memory 603. Function.
  • the memory 603 may include non-volatile and/or volatile memory.
  • Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM Static RAM
  • DRAM Dynamic RAM
  • SDRAM Synchronous DRAM
  • DDRSDRAM Double Data Rate SDRAM
  • ESDRAM Enhanced SDRAM
  • SLDRAM Synchronous Chain Synchlink DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM
  • the present invention also provides a readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the pose adjustment method described above can be realized. Therefore, when the computer program stored in the storage medium of the present invention is executed by the processor, the target pose information of the patient posture maintaining device 100 can be obtained according to the lesion information of the patient by acquiring the lesion information of the patient. and/or the target pose information of the robot 200, and finally maintain the patient pose according to the target pose information of the patient pose maintaining device 100 and the current pose information of the patient pose maintaining device 100 The pose of the device 100 is adjusted, and/or the pose of the robot 200 is adjusted according to the target pose information of the robot 200 and the current pose information of the robot 200 .
  • the present invention plans a suitable posture for the patient according to the lesion information of the patient, and automatically completes the posture adjustment of the patient posture maintaining device 100 and/or the robot 200 before the operation, and completes the preoperative posture preparation in advance, so that it can The operation time is effectively reduced, and the overall operation efficiency is improved.
  • the readable storage medium in the embodiment of the present invention may use any combination of one or more computer-readable media.
  • the readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connection with one or more wires, portable computer hard disk, hard disk, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • the pose adjustment method, surgical robot system and storage medium provided by the present invention have the following advantages: the present invention obtains the lesion information of the patient, and then according to the lesion information, obtains the The target pose information of the patient pose maintaining device and/or the target pose information of the robot, and finally according to the target pose information of the patient pose maintaining device and the current pose information of the patient pose maintaining device , adjusting the pose of the patient pose maintaining device, and/or adjusting the pose of the robot according to target pose information of the robot and current pose information of the robot.
  • the present invention plans a body position suitable for the patient according to the lesion information of the patient, and automatically completes the position adjustment of the patient's posture maintaining device and the robot before operation, and completes the preoperative body position preparation in advance, thereby effectively reducing the operation time , improving the efficiency of the overall operation.
  • Computer program code for carrying out the operations of the present invention may be written in one or more programming languages, or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, including conventional Procedural programming language-such as "C" or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via an Internet connection using an Internet service provider). ).
  • LAN local area network
  • WAN wide area network
  • Internet service provider e.g., via an Internet connection using an Internet service provider
  • each block in a flowchart or block diagram may represent a module, a program segment, or a portion of code that includes one or more programmable components for implementing specified logical functions.
  • Executable instructions, the module, program segment or part of the code contains one or more executable instructions for realizing the specified logic function.
  • the functions noted in the block may occur out of the order noted in the figures.
  • each block in the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in special purpose hardware-based systems that perform the specified functions or actions. implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • the functional modules in the various embodiments herein can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

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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)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de réglage de position, un système de robot chirurgical et un support de stockage. Le procédé de réglage de position est appliqué à un scénario pour robot chirurgical. Le procédé de réglage de position comprend les étapes consistant à : obtenir des informations de lésion d'un patient (S1) ; obtenir des informations de position cible d'un appareil de maintien de la posture du patient (100) et/ou des informations de position cible d'un robot (200) dans un scénario en fonction des informations de lésion (S2) ; et régler la position de l'appareil de maintien de la posture du patient (100) en fonction des informations de position cible de l'appareil de maintien de la posture du patient (100) et des informations de position actuelle de l'appareil de maintien de la posture du patient (100) dans le scénario, et/ou régler la position du robot (200) en fonction des informations de position cible du robot (200) et des informations de position actuelle du robot (200) dans le scénario (S3). Grâce à la planification d'une posture appropriée pour le patient et à l'achèvement automatique du réglage de la position pré-chirurgicale pour l'appareil de maintien de la posture du patient (100), ainsi qu'à l'achèvement de la préparation par le robot (200) de la posture pré-chirurgicale à l'avance, la durée de l'opération est efficacement réduite, et l'efficacité d'ensemble de l'intervention chirurgicale est améliorée.
PCT/CN2022/091745 2021-05-17 2022-05-09 Procédé de réglage de position, système de robot chirurgical et support de stockage WO2022242493A1 (fr)

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