WO2022253286A1 - Procédé de réglage d'un point fixe peropératoire, support de stockage lisible et système de robot chirurgical - Google Patents

Procédé de réglage d'un point fixe peropératoire, support de stockage lisible et système de robot chirurgical Download PDF

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Publication number
WO2022253286A1
WO2022253286A1 PCT/CN2022/096721 CN2022096721W WO2022253286A1 WO 2022253286 A1 WO2022253286 A1 WO 2022253286A1 CN 2022096721 W CN2022096721 W CN 2022096721W WO 2022253286 A1 WO2022253286 A1 WO 2022253286A1
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Prior art keywords
pose
adjustment
fixed point
adjusting
intraoperative
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PCT/CN2022/096721
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English (en)
Chinese (zh)
Inventor
蒋友坤
何超
袁帅
陈功
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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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Priority claimed from CN202110615542.XA external-priority patent/CN115429441A/zh
Priority claimed from CN202110615540.0A external-priority patent/CN115429440A/zh
Application filed by 上海微创医疗机器人（集团）股份有限公司 filed Critical 上海微创医疗机器人（集团）股份有限公司
Publication of WO2022253286A1 publication Critical patent/WO2022253286A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the present application relates to the technical field of robot-assisted surgery, in particular to a method for adjusting a fixed point during surgery, a readable storage medium and a surgical robot system.
  • the design concept of the surgical robot is to accurately and dexterously perform complex surgical operations in a minimally invasive way, with high precision and high safety.
  • surgical robots have been developed to replace traditional surgery.
  • Surgical robots break through the limitations of the human eye and use stereoscopic imaging technology to present internal organs to the operator more clearly.
  • the robotic arm can complete 360-degree rotation, movement, swing or clamping, and can avoid shaking. This provides patients with the advantages of small wounds, less bleeding, and faster recovery, which greatly shortens the postoperative hospital stay of patients, and can also significantly improve the postoperative survival rate and recovery rate, which is favored by the majority of doctors and patients.
  • surgical robots As a high-end medical device, surgical robots have been widely used in various clinical operations.
  • the surgical robot system has a fixed point mechanism.
  • the fixed point mechanism can ensure that the doctor moves the mechanical arm around a fixed point during the operation.
  • the fixed point will coincide with the surgical hole on the patient's abdominal cavity, so as to ensure that the mechanical arm will not cause harm to the patient during the movement.
  • the mechanical volume of the surgical robot is several to dozens of times that of ordinary endoscopic instruments, and there will be interference between the robotic arms, which further reduces the operable range of the instrument.
  • the preoperative preparation time of the current surgical robot is long, and the selection of the drilling position is highly dependent on experience.
  • it is very easy to cause inappropriate drilling positions resulting in unsmooth progress of the operation process or the need to interrupt the operation to adjust the position of the patient and the surgical robot.
  • it is necessary to re-select the hole position and the patient’s cause unnecessary harm. Therefore, there is an urgent need for a method that can adjust the body position during the operation without interrupting the operation to solve the problem that the current surgical robot cannot meet the operation needs, thereby improving the efficiency and safety of the surgical robot operation.
  • the purpose of this application is to provide an intraoperative fixed point adjustment method, a readable storage medium and a surgical robot system to solve the problem that the existing surgical robot system cannot efficiently adjust the position of the surgical robot and the patient's position during the operation .
  • a first intraoperative fixed point adjustment method which includes:
  • One of the supporting device and the mechanical arm is the leading adjustment object, and the other is the subordinate adjustment object; the mechanical arm is used to drive the connected instrument to move through the fixed point;
  • the pose of the slave adjustment object is adjusted following the pose adjustment of the master adjustment object, so that the pose of the fixed point relative to the support device remains unchanged.
  • the pose of the master adjustment object is adjusted according to a preset expected operation pose.
  • the step of adjusting the pose of the threatening adjustment object following the adjustment of the master adjustment object includes:
  • a second adjustment path of the threat adjustment object is obtained, and the pose of the threat adjustment object is adjusted according to the second adjustment path.
  • the method for adjusting the intraoperative fixed point further includes:
  • the pose of the master adjustment object is actively adjusted in real time.
  • the step of actively adjusting the pose of the leading adjustment object in real time includes:
  • the pose of the dominant adjustment object is adjusted according to the received adjustment instruction; or,
  • the pose of the dominant adjustment object is adjusted according to the received external force.
  • the step of adjusting the pose of the threatening adjustment object following the adjustment of the master adjustment object includes:
  • the pose of the subject to be adjusted by the threat is adjusted.
  • the mechanical arm is the dominant adjustment object
  • the support device is the subordinate adjustment object
  • the number of the mechanical arms is greater than two
  • two of the mechanical arms are determined as the dominant adjustment object
  • the active adjustment end of the manipulator, and the rest of the mechanical arms are determined as the passive adjustment end in the main adjustment object; the pose of the active adjustment end is actively adjusted in real time, and the pose of the passive adjustment end follows the active adjustment end. It is adjusted by adjusting the pose of the adjustment end.
  • the method for adjusting the fixed point in the operation also includes:
  • An environment coordinate system is established, and the coordinate system of the supporting device and the coordinate system of the surgical robot where the robot arm is located are transformed and unified to the environment coordinate system.
  • the method for adjusting the fixed point in the operation also includes:
  • the method for establishing the security zone includes:
  • the safety area is obtained by fitting based on the point cloud data.
  • the method for establishing the security zone includes:
  • the safe area is obtained by fitting based on the shape data.
  • the intraoperative fixed point adjustment method further includes:
  • a first readable storage medium on which a program is stored, and when the program is executed, the first intraoperative immobilization as mentioned above is realized. point adjustment method.
  • a first surgical robot system which includes: a support device, a mechanical arm and a main controller, one of the support device and the mechanical arm One is configured as a master adjustment object, the other is configured as a slave adjustment object, and the mechanical arm is used to drive the connected instrument to move through the fixed point;
  • the master controller is configured to, according to the first intraoperative fixed point adjustment method described above, control the pose of the slave adjustment object to be adjusted following the pose adjustment of the master adjustment object, so as to The pose of the fixed point relative to the supporting device is kept unchanged.
  • a second intraoperative fixed point adjustment method which includes:
  • the desired fixed point pose of the fixed point is obtained; the fixed point is used for the device connected to the robotic arm to pass through and perform corresponding operations around the fixed point;
  • the desired fixed point pose adjust the pose of the support device and the pose of the mechanical arm, so that the pose of the fixed point relative to the support device remains unchanged.
  • the posture adjustment of the support device and the posture adjustment of the mechanical arm are matched in real time.
  • the expected fixed point pose is obtained according to a preset expected operating pose.
  • the step of adjusting the pose of the support device and the pose of the mechanical arm according to the desired fixed point pose includes:
  • the intraoperative fixed point adjustment method further includes:
  • the method for adjusting the fixed point in the operation also includes:
  • An environment coordinate system is established, and the coordinate system of the supporting device and the coordinate system of the surgical robot where the robot arm is located are transformed and unified to the environment coordinate system.
  • the method for adjusting the fixed point in the operation also includes:
  • the method for establishing the security zone includes:
  • the safety area is obtained by fitting based on the point cloud data.
  • the method for establishing the security zone includes:
  • the safe area is obtained by fitting based on the shape data.
  • the intraoperative fixed point adjustment method further includes:
  • a second readable storage medium on which a program is stored, and when the program is executed, the second intraoperative immobilization as mentioned above is realized. point adjustment method.
  • a first surgical robot system which includes: a support device, a mechanical arm and a main controller, and the mechanical arm is used to drive the connected instruments through movement past the fixed point;
  • the main controller is configured to, according to the second intraoperative fixed point adjustment method described above, control the support device and the mechanical arm to perform posture adjustment, so that the fixed point is relative to The pose of the supporting device remains unchanged.
  • the intraoperative fixed point adjustment method includes: using one of the support device and the mechanical arm as The master adjusts the object, and the other is the subordinate adjustment object; the mechanical arm is used to drive the connected instrument to move through the fixed point; adjust the pose of the master adjuster to adjust the position of the fixed point pose; the pose of the threatening adjustment object is adjusted following the pose adjustment of the master adjustment object, so that the pose of the fixed point relative to the support device remains unchanged.
  • the pose of the slave adjustment object is adjusted following the pose adjustment of the master adjustment object, so that the pose of the fixed point relative to the support device remains unchanged.
  • This makes it possible to adjust the intraoperative body position without interrupting the operation to solve problems such as the limited movement space of the robotic arm or the unsatisfactory position of the surgical hole, etc., and can effectively achieve various intraoperative body position adjustments without withdrawing the instrument during adjustment. .
  • This improves the surgical efficiency and safety of surgical robots, reduces the preoperative preparation time, effectively reduces the risks and defects of existing surgical drilling operations, improves the accuracy of surgical operations, reduces the pain of patients, and improves the recovery efficiency of patients.
  • the intraoperative fixed point adjustment method includes: based on the expected operating posture of the instrument, obtaining the fixed point The desired fixed point pose of the point; the fixed point is used for the equipment connected to the robotic arm to pass through and perform corresponding operations around the fixed point; according to the desired fixed point pose, adjust the position of the support device pose and the pose of the robotic arm, so that the pose of the fixed point relative to the support device remains unchanged.
  • the pose of the support device and the pose of the mechanical arm are adjusted according to the desired fixed point pose, which can keep the pose of the fixed point relative to the support device unchanged.
  • This makes it possible to adjust the intraoperative body position without interrupting the operation to solve problems such as the limited movement space of the robot arm or the unsatisfactory operation hole position caused by the relationship between the current surgical robot position and the patient's position, and there is no need to withdraw during the adjustment. It can effectively realize various intraoperative body position adjustments. This improves the surgical efficiency and safety of surgical robots, reduces the preoperative preparation time, effectively reduces the risks and defects of existing surgical drilling operations, improves the accuracy of surgical operations, reduces the pain of patients, and improves the recovery efficiency of patients. .
  • Fig. 1 is a schematic diagram of the surgical scene of the surgical robot system involved in the present application
  • Fig. 2 is a flow chart of the overall steps of the surgical planning involved in the present application
  • Fig. 3 is a schematic diagram of the establishment of the environmental coordinate system of the surgical scene involved in the present application.
  • Figure 4a and Figure 4b are schematic diagrams of the establishment of the surgical scene involved in the present application.
  • Fig. 5 is a schematic diagram of the establishment of the operation hole involved in the present application.
  • Fig. 6 is a schematic diagram of the patient-end surgical platform involved in the present application.
  • Fig. 7a is a schematic diagram of establishing a safe area through a positioning device involved in the present application.
  • Fig. 7b is a schematic diagram of establishing a safe area through an optical fiber shape sensor involved in the present application.
  • Fig. 8 is a schematic diagram of the robot involved in the present application before adaptation
  • Fig. 9 is a schematic diagram of the adapted robot involved in the present application.
  • Fig. 10 is a flow chart of the method for adjusting the intraoperative fixed point in Embodiment 1 of the present application.
  • Fig. 11 is a schematic diagram before the intraoperative fixed point adjustment in the first embodiment of the present application.
  • Fig. 12 is a schematic diagram of the intraoperative fixed point adjustment in Embodiment 1 of the present application.
  • Fig. 13 is a flow chart of the method for adjusting the intraoperative fixed point in the second embodiment of the present application.
  • 10-main controller 100-doctor-side control device; 101-main operator; 102-imaging equipment; 103-pedal surgery control equipment;
  • 200-patient control device 201-base; 210-mechanical arm; 211-adjustment arm; 212-tool arm; 220-apparatus; 221-surgical instrument; 222-endoscope;
  • 300-image trolley 302-display equipment; 400-supporting device; 410-patient; 411-operating hole; 500-safety area; - Fiber optic shape sensor.
  • proximal generally refers to the end close to the operator
  • distal generally refers to the end close to the patient, ie, the lesion.
  • One end and “another end” and “proximal end” and “distal end” generally refer to corresponding two parts, which include not only endpoints.
  • installation”, “connection” and “connection” should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediary, it can be The communication within two elements or the interaction relationship between two elements.
  • an element is arranged on another element, usually only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements can be direct or indirect through an intermediate element.
  • connection, coupling, fit or transmission but should not be understood as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of another element, unless the content Also clearly point out.
  • the purpose of this application is to provide a method for adjusting the fixed point in the operation, a system for adjusting the fixed point of the supporting device, a method for adjusting the surgical robot, a readable storage medium, and a surgical robot system, so as to solve the problem of the existing surgical robot system.
  • Figure 1 is a schematic diagram of the surgical scene of the surgical robot system involved in the present application
  • Figure 2 is a flow chart of the overall steps of the surgical planning involved in the present application
  • Figure 3 is the surgical procedure involved in the present application
  • Fig. 4a and Fig. 4b are schematic diagrams of the establishment of the surgical scene involved in the present application
  • Fig. 5 is a schematic diagram of the establishment of the surgical hole involved in the present application
  • Fig. 1 is a schematic diagram of the surgical scene of the surgical robot system involved in the present application
  • Figure 2 is a flow chart of the overall steps of the surgical planning involved in the present application
  • Figure 3 is the surgical procedure involved in the present application
  • Fig. 4a and Fig. 4b are schematic diagrams of the establishment of the surgical scene involved in the present application
  • Fig. 5 is a schematic diagram of the establishment of the surgical hole involved in the present application
  • FIG. 6 is a schematic diagram of the patient-side surgical platform involved in the present application Schematic diagram;
  • Figure 7a is a schematic diagram of establishing a safe area through a positioning device involved in the present application;
  • Figure 7b is a schematic diagram of establishing a safe area through an optical fiber shape sensor involved in the present application;
  • Figure 8 is a schematic diagram of the robot before adaptation involved in the present application;
  • Figure 9 is a schematic diagram of the robot involved in this application after adaptation.
  • Fig. 1 shows an application scenario of a surgical robot system.
  • the surgical robot system includes a master-slave teleoperated surgical robot, that is, the surgical robot system includes a doctor-side control device 100, a patient-side control device 200, a master controller 10, and a support device 400 for supporting the surgical object for surgery. (eg, operating table).
  • the supporting device 400 may also be replaced by other surgical operation platforms, which is not limited in the present application.
  • the doctor-end control device 100 is the operation end of the teleoperation surgical robot, and includes a main operator 101 installed thereon.
  • the main operating hand 101 is used to receive the operator's hand movement information, which can be input as the movement control signal of the whole system.
  • the main controller 10 can also be set on the doctor-end control device 100 .
  • the doctor-side control device 100 further includes an imaging device 102, which can provide a stereoscopic image for the operator to provide surgical operation information for the operator to perform a surgical operation.
  • the surgical operation information includes the type and quantity of surgical instruments, the posture in the abdomen, the shape and arrangement of blood vessels in the patient's organs and tissues, and the surrounding organs and tissues.
  • the doctor-side control device 100 also includes a foot-operated surgical control device 103 . The operator can also complete the input of relevant operation instructions such as electric cutting and electrocoagulation by pedaling the surgical control device 103 .
  • the patient-end control device 200 is a specific execution platform of a teleoperated surgical robot, and includes a base 201 and surgical execution components installed thereon.
  • the operation execution assembly includes a robot arm 210 and an instrument 220 .
  • the instrument 220 includes a surgical instrument 221 for performing surgery (such as a high-frequency electric knife, etc.), and an endoscope 222 for assisting observation.
  • the mechanical arm includes an adjustment arm 211 and a working arm 212 .
  • the tool arm 212 is a mechanical fixed point mechanism, used to drive the instrument 220 to move around the mechanical fixed point, and perform corresponding operations, so as to perform minimally invasive surgical treatment on the patient 410 on the supporting device 400 .
  • the adjustment arm 211 is used to adjust the position of the mechanical fixed point in the working space.
  • the mechanical arm 210 is a spatially configured mechanism with at least six degrees of freedom, which is used to drive the instrument 220 to move around an active fixed point under program control.
  • the instrument 220 is used to perform specific surgical operations, such as clamping, cutting, scissors, etc., or to assist surgery, such as photographing. It should be noted that since the instrument 220 has a certain volume in practice, the above-mentioned "fixed point” should be understood as a fixed area. Of course, those skilled in the art can understand the "fixed point" according to the prior art.
  • the main controller 10 is connected in communication with the doctor-side control device 100 and the patient-side control device 200 respectively, and is used to control the movement of the surgical execution component according to the movement of the main operator's hand 101 .
  • the master controller 10 includes a master-slave mapping module, which is used to obtain the terminal pose of the master operator 101 and a predetermined master-slave mapping relationship, so as to obtain the desired end pose.
  • the main controller 10 can control the mechanical arm 210 to drive the instrument 220 to move to a desired end pose.
  • the master-slave mapping module is also used to receive instrument functional operation instructions (such as electric cutting, electrocoagulation and other related operation instructions), and control the energy driver of the instrument 220 to release energy to implement electric cutting, electrocoagulation and other surgical operations.
  • the medical robot system also includes an image trolley 300 .
  • the image trolley 300 includes: an endoscope processor (not shown) communicatively connected with the endoscope 222 .
  • the endoscope 222 is used to obtain surgical operation information in the cavity (referring to the patient's body cavity).
  • the endoscope processor is used for performing image processing on the surgical operation information acquired by the endoscope 222 and transmitting it to the imaging device 102 so that the operator can observe the surgical operation information.
  • the image trolley 300 further includes a display device 302 .
  • the display device 302 is communicatively connected with the endoscope processor, and is used to display surgical operation information for an auxiliary operator (such as a nurse) in real time.
  • the operator sits in front of the doctor-side control device 100 located outside the sterile field, observes the surgical operation information transmitted back through the imaging device 102, and controls the operation by operating the main operating hand 101 Perform component and laparoscope movements to perform various surgical procedures.
  • Step SO1 Establish a surgical scene, and unify the coordinate system of the support device and the coordinate system of the surgical robot where the robotic arm 210 is located into an environment coordinate system; optionally, the pose of the support device 400 and the coordinate system of the robotic arm
  • the poses of 210 are expressed based on the environment coordinate system.
  • the environment coordinate system (X0, Y0, Z0) can be established for the surgical scene, and the surgical robot coordinate system (X1, Y1, Z1) and the support device coordinate system (X2, Y2, Z2) are unified into the environment coordinate system (X0, Y0, Z0) to realize the coordinate unification of the surgical scene.
  • the positional relationship between the coordinates of the support device and the coordinates of the surgical robot is established to provide a coordinate transformation relationship for the subsequent adjustment of the support device 400 to change the position of the patient's surgical hole and the position of the fixed point of the patient-end control device 200 .
  • Establishing the surgical scene is the first step in intraoperative fixed point adjustment.
  • the relative position relationship between the patient-end control device 200 and the support device 400 can be established through the positioning device 610 (for example, a binocular vision device) and the target 620 .
  • the establishment steps of the surgical scene are shown in Figure 4a, mainly including:
  • Step SP1 establishment of environment coordinates, establish the coordinates (X0, Y0, Z0) of the environment where the patient-side control device 200 and the support device 400 are located through the positioning device 610, and unify the coordinates of each system;
  • Step SP2 Establishment of coordinates of the patient-side control device: for the form of a surgical robot in which the robotic arm 210 is fixed to the patient-side control device 200, the patient-side control device 200 is located in the environment coordinate system (X0, Y0, Z0) through the positioning device 610 Coordinate recognition is carried out to determine the position of the patient-side control device 200 in the environmental coordinate system (X0, Y0, Z0), and then further used to determine the position of the fixed point of the surgical robot system in the environmental coordinate system ( Since the coordinates of the control device 200 and its own size, shape and pose are known, the position of the fixed point in the environment coordinate system can be deduced). ;
  • Step SP3 establishment of the coordinates of the support device: use the positioning device 610 to identify the coordinates of the support device 400 in the environmental coordinate system, to determine the position of the support device 400 in the environmental coordinate system, and to determine the adjustment time of the support device 400 Coordinates and changing paths of the patient's surgical hole position change (since the position of the support device 400 in the environment coordinate system before adjustment is known, by determining the position change of the support device 400 during the adjustment process, the surgical hole during the adjustment process can be obtained position change and change path);
  • Step SP4 establishment of fixed point coordinates: as shown in FIG. 5 , after the patient 410 is placed on the supporting device 400 and the establishment of the operation hole 411 is completed, the operation hole 411 on the body surface of the patient 410 is carried out through the positioning device 610 Coordinate identification in the environment coordinate system to determine the position of the operation hole 411 in the environment coordinate system.
  • Step SP5 Unify coordinates. After completing the establishment of the environment coordinates in step SP1, the establishment of the coordinates of the patient-end control device in step SP2, the establishment of the coordinates of the support device in step SP3, and the establishment of the fixed point coordinates in step SP4, the unification of the coordinate system is completed. By unifying the coordinates of the patient-side control device 200 , the support device 400 and the operation hole 411 of the patient 410 , a unified coordinate system is realized during intraoperative adjustment.
  • the supporting device 400 is connected with the patient-side control device 200, as shown in FIG. 6, to form a unified patient-side operating platform. It can be understood that at this time, it is not necessary to perform coordinate recognition on the patient-side control device 200 and the support device 400 respectively, and steps SP2 and SP3 are integrated into step SP6: establishing the coordinates of the patient-side operating platform.
  • the flow chart of the establishment of the operation scene is shown in Fig. 4b.
  • the present application is not limited to the above-mentioned coordinate identification and establishment methods, and those skilled in the art may select other coordinate identification and establishment methods according to actual conditions.
  • step SO2 drilling, the operator selects the location of the surgical hole according to the location of the lesion, and performs the drilling operation.
  • Step SO3 Identify the fixed point.
  • identify the surgical hole on the patient's body by certain technical means to obtain the coordinates of the surgical hole in the environment coordinate system.
  • the identification of the coordinates of the surgical hole can be accomplished through the positioning device 610 and the target 620 .
  • the coordinates of the operation hole will be updated with the adjustment of the support device 400, and the coordinates of the operation hole will be matched with the fixed point coordinates of the patient-end control device 200, and then the matching degree will be monitored to ensure the matching of the fixed point during the operation , so as to ensure the safety of the operation.
  • this embodiment provides two different specific identification schemes:
  • Fixed point identification scheme one: use the positioning device 610 to identify the fixed point in the environmental coordinate system: after the operation hole 411 is established, use the target 620 (that is, the positioning device 610) to identify the operation hole 411 (that is, fixed point) for coordinate identification.
  • the target 620 is systematically connected with the supporting device 400 (that is, physically fixedly connected), and when the relative position of the patient 410 and the supporting device 400 is fixed and the state remains unchanged, the change of the fixed point coordinates is only controlled by the supporting device. 400 motion evoked.
  • Fixed point identification method 2 use the positioning device 610 to identify the fixed point in real time in the environmental coordinate system: fix the target 620 for identifying coordinates to the surgical hole 411 of the patient 410 in a certain way (such as bonding) position, and recognize the coordinate position of the target 620 in the environmental coordinate system in real time.
  • the change of the target 620 is caused by the real-time status of the support device 400 and the patient 410, so that the coordinates of the position of the operation hole 411 of the patient 410 can be judged more accurately.
  • step SO4 establishing a security area 500 is also included.
  • the establishment of the safety area 500 may include the following steps: Step SO41: Obtain body surface information of a predetermined object (such as the patient 410) placed on the support device 400; Step SO42: Establish a safety area based on the body surface information 500 , and associate the position information of the safety area 500 with the position information of the support device 400 , so that the pose adjustment of the robotic arm 210 avoids the safety area 500 .
  • the safe area 500 is the area where the patient and a certain range outside the patient's body surface are located, and the robotic arm 210 should avoid the safe area 500 to avoid harming the patient during adjustment.
  • the establishment of a safe area can be realized by a positioning device 610 and a target 620 .
  • the method for establishing the safe area includes: using the positioning device 610 to obtain point cloud data when the target 620 abuts against the body surface of a predetermined object; and obtaining the safe area based on the point cloud data fitting.
  • the establishment of the safety zone can also be realized by using the optical fiber shape sensor 630 .
  • the method for establishing the safe area includes: using the optical fiber shape sensor 630 to obtain shape data obtained from the body surface of the predetermined object; and obtaining the safe area based on the shape data fitting.
  • Step SO5 Adjust the fixed point, and adjust the fixed point during the operation to make the operation space of the surgical robot meet the operation requirements.
  • step SO6 robot adaptation is also included, that is, after the fixed point adjustment in step SO5 is completed, according to the adjusted pose of the robotic arm 210, adjust the robotic arm 210 to expected pose.
  • the robotic arm 210 adjusts its posture to an expected posture, such as a suitable ideal posture, according to the lesion location, fixed point posture, safe area, and relative position of the robotic arm 210, so as to facilitate operation.
  • the current operating posture of the robotic arm 210 is not necessarily in a state that is convenient for operation. At this time, as shown in FIG. 8 and FIG.
  • the step of robot adaptation can be performed, and the robot arm 210 is adjusted to the position of the instrument 220 for proper operation. Further, after the mechanical arm 210 is adjusted to a suitable posture, it can also match the current posture of the robotic arm 210 with the operating posture of the control arm (ie, the main operator 101) of the doctor control terminal (ie, the doctor-side control device 100) , so that the pose of the control arm at the doctor’s control end is updated to match the current pose of the robotic arm 210 , so that the operating pose of the control arm corresponds to the current pose of the robotic arm 210 .
  • the control arm ie, the main operator 101
  • the doctor control terminal ie, the doctor-side control device 100
  • the present application provides several embodiments to solve the problem that it is difficult to adjust the patient's position during the operation.
  • FIG. 10 is a flow chart of the intraoperative fixed point adjustment method in Embodiment 1 of the present application
  • FIG. 11 is a schematic diagram before the intraoperative fixed point adjustment in Embodiment 1 of the present application
  • FIG. 12 is a schematic diagram of the intraoperative fixed point adjustment in Embodiment 1 of the present application.
  • Embodiment 1 of the present application provides a method for adjusting a fixed point during surgery, which includes:
  • Step SA1 take one of the supporting device 400 and the mechanical arm 210 as the dominant adjustment object, and the other as the subordinate adjustment object; the mechanical arm 210 is used to drive the connected instrument 220 to move through the fixed point;
  • Step SA2 adjusting the pose of the dominant adjustment object to adjust the pose of the fixed point
  • Step SA3 The pose of the slave adjustment object is adjusted following the pose adjustment of the master adjustment object, so that the pose of the fixed point relative to the supporting device 400 remains unchanged.
  • the relative positional relationship between the patient and the supporting device 400 during the operation is fixed, and the fixed point coincides with the surgical hole on the patient's body surface (the fixed point is defined at the surgical hole ). Therefore, it can be understood that as long as the position of the fixed point relative to the support device 400 remains unchanged, when the instrument 220 moves through the fixed point, the movement of the instrument 220 relative to the patient will not occur and will not cause harm to the patient. cause some damages.
  • the pose adjustment of the slave adjustment object follows the pose adjustment of the master adjustment object, so that the pose of the fixed point relative to the support device 400 can be kept unchanged. Change.
  • step SO5 can be realized by executing steps SA1 to SA3 as shown in FIG. 10 .
  • the leading adjustment object is adjusted according to two schemes of preset adjustment and real-time adjustment.
  • the pose of the master adjustment object is adjusted according to a preset expected operation pose.
  • the desired operating pose can be preset by designation or pre-planning.
  • step SA3 the step of adjusting the pose of the slave adjustment object following the adjustment of the master adjustment object includes:
  • Step SA31 Calculate the first expected pose and the expected fixed point pose of the dominant adjustment object: According to the preset expected operation pose, obtain the first expected pose of the dominant adjustment object, and then obtain the expected moving point pose;
  • Step SA32 Planning an adjustment path: planning a first adjustment path of the dominant adjustment object based on the first current pose of the current master adjustment object in combination with the first expected pose;
  • Step SA33 Adjust the pose of the master adjustment object, and adjust the pose of the slave adjustment object following the pose adjustment of the master adjustment object: obtain the slave adjustment object according to the first adjustment path and the current fixed point pose the second adjustment path, and adjust the pose of the slave adjustment object according to the second adjustment path.
  • the following takes the support device 400 as an example of the main adjustment object to specifically describe the preset automatic adjustment process in which the support device 400 is the main adjustment object and the mechanical arm 210 follows the movement of the main adjustment object.
  • step SA30 may also be included: preset desired operation posture.
  • the lesion can be seen through the endoscope 222, so that the desired operation posture of the instrument 220 can be obtained.
  • the coordinates of the desired operation posture in the environment coordinate system can be known, so as to determine the desired operation posture of the instrument 220 .
  • the location of the lesion in the environment coordinate system can be determined through the preoperative abdominal environment modeling, so as to determine the expected operation pose of the instrument 220 .
  • step SA31 the process of obtaining the expected fixed point pose can be obtained by calculating the first expected pose of the support device 400 through the known coordinates of the expected operating pose of the instrument 220 . Further, the expected fixed point pose can be obtained by calculating the first expected pose of the support device 400 .
  • step SA32 the first expected pose and the expected fixed point pose of the support device 400 can be obtained through step SA31; combined with the first expected pose, the expected fixed point pose and the current pose of the support device 400, the planning A first adjustment path of the supporting device 400 .
  • step SA33 through the first adjustment path, the adjustment path of the fixed point can be solved, and the second adjustment path of the mechanical arm 210 can be calculated according to the first adjustment path and the current fixed point pose, so as to realize When the supporting device 400 is adjusted according to the preset, the mechanical arm 210 can follow the adjustment. This ensures that the fixed point moves following the movement of the support device 400 , while keeping the pose of the fixed point relative to the support device 400 unchanged.
  • the intraoperative fixed point adjustment method further includes: Step SA32a, demonstrating the adjustment path: demonstrating the first adjustment path and the first adjustment path through a display device. /or the second adjustment path.
  • the display device may include the imaging device 102 and/or the display device 302 of the image cart 300 .
  • the first adjustment path and/or the second adjustment path may be displayed on the imaging device 102 of the doctor-end control device 100 and/or the display device 302 of the image trolley 300. 2. Adjust the path. It is up to the medical staff to further judge whether the planned adjustment path is safe and reasonable.
  • Step SA32a may be performed before step SA33. After confirming that the planned adjustment path is safe and reasonable, the surgical robot system performs the adjustment operation of the support device 400 according to the planned adjustment path, and the mechanical arm 210 moves following the movement of the support device 400 .
  • the robotic arm 210 may also be used as the master adjustment object, and the supporting device 400 may be used as the slave adjustment object accordingly.
  • the robot arm 210 is the main adjustment object, and the support device 400 follows the movement of the support device 400 to perform preset adjustment of the fixed point.
  • step SA3 the step of adjusting the pose of the slave adjustment object following the adjustment of the master adjustment object includes:
  • SA34 Real-time adjustment of the dominant adjustment object: acquiring the pose change information of the fixed point that changes in real time based on the pose adjustment of the dominant adjustment object;
  • SA35 follow-up adjustment of the threat adjustment object: adjust the pose of the threat adjustment object based on the pose change information of the fixed point.
  • the following also takes the supporting device 400 as an example of the main adjustment object to specifically describe the process of actively adjusting the support device 400 as the main adjustment object in real time, and the movement of the mechanical arm 210 following the movement of the main adjustment object.
  • the pose of the support device 400 can be actively adjusted in real time.
  • the operator inputs an adjustment command through the doctor-side control device 100, and the pose of the support device 400 is actively adjusted in real time according to the received adjustment command.
  • the coordinates of the fixed point change accordingly in real time due to the adjustment of the supporting device 400 .
  • the pose change information of the fixed point can be obtained.
  • the pose of the support device 400 can also be directly adjusted by the operator by applying external force, for example, the operator directly drags the support device 400 to adjust its pose.
  • step SA35 based on the pose change information of the fixed point, the mechanical arm 210 follows the fixed point to adjust the pose, so as to ensure that the patient’s surgical hole coincides with the fixed point of the robotic arm 210, and further, through the endoscope 222 to observe in real time whether the surgical instrument 221 has reached a suitable operating posture.
  • the robot arm 210 can also be actively adjusted in real time by taking the robot arm 210 as the main adjustment object, and the support device 400 follows the pose adjustment of the robot arm 210 to perform follow-up adjustment.
  • the mechanical arm 210 is used as the main adjustment object, and its pose is actively adjusted in real time, while the support device 400 is adjusted following the pose adjustment of the robotic arm 210 .
  • the step of real-time adjustment of the pose of the robotic arm 210 can be performed by inputting an adjustment command through the doctor-end control device 100 .
  • the step of real-time adjustment of the pose of the robotic arm 210 can also be that the operator applies an external force to the robotic arm 210 to directly drag the robotic arm 210 to move, that is, the pose of the robotic arm 210 is adjusted according to the external force received. Adjustment.
  • the mechanical arm 210 is the dominant adjustment object and the supporting device 400 is the subordinate adjustment object
  • the number of the mechanical arms 210 is greater than two
  • two of the mechanical arms 210 are determined as the The active adjustment end in the main adjustment object
  • the rest of the mechanical arms 210 are determined as the passive adjustment end in the main adjustment object.
  • the pose of the active adjustment end is actively adjusted in real time, and the pose of the passive adjustment end is adjusted following the adjustment of the pose of the active adjustment end.
  • the operator makes real-time mapping between the doctor-side control device 100 and the two robotic arms 210 , that is, the operator can only control at most two robotic arms 210 at the same time.
  • the two controlled robotic arms 210 are determined as active adjustment ends, and the poses of the two robotic arms 210 can be actively adjusted in real time under the control of the operator, while the rest of the robotic arms 210 are configured It is the passive adjustment terminal.
  • the passive adjustment end needs to be the same as the support device 400.
  • this embodiment also provides a readable storage medium on which a program is stored, and when the program is executed, the above-mentioned method for adjusting the fixed point is realized.
  • the readable storage medium can be integrated in the surgical robot system, such as integrated in the main controller, or can be attached independently.
  • this embodiment also provides a surgical robot system, which includes: a supporting device 400, a mechanical arm 210, and a main controller 10, one of the supporting device 400 and the robotic arm 210 is configured to lead the adjustment object, the other is configured as a coercion adjustment object, the mechanical arm 210 is used to drive the connected instrument 220 to move through the fixed point; the main controller 10 is configured to, according to the above described fixed A point adjustment method, controlling the pose adjustment of the slave adjustment object to follow the pose adjustment of the master adjustment object, so that the pose of the fixed point relative to the support device 400 remains unchanged.
  • Embodiment 2 of the present application will not describe the same parts as Embodiment 1, and only the differences will be described below.
  • FIG. 13 is a flow chart of the intraoperative fixed point adjustment method according to Embodiment 2 of the present application.
  • the method for adjusting the intraoperative fixed point includes:
  • Step SB1 Calculating the expected fixed point pose: based on the expected operating pose of the instrument 220, the expected fixed point pose of the fixed point is obtained; the fixed point is used for the instrument 220 connected to the robotic arm 210 to wear Pass through and around the fixed point for corresponding operations.
  • Step SB2 Adjust the pose of the support device and the robotic arm: adjust the pose of the support device 400 and the pose of the robotic arm 210 according to the desired fixed point pose, so that the fixed point is relative to the support The pose of the device 400 remains unchanged.
  • the posture adjustment of the support device 400 and the posture adjustment of the mechanical arm 210 are matched in real time, and both are adjusted synchronously.
  • the position of the supporting device 400 is adjusted by the first distance
  • the position of the robotic arm 210 is also adjusted by the first distance synchronously in real time, so that the pose adjustments of the two can be matched in real time.
  • step SO5 can be realized by executing the above-mentioned steps SB1 to SB2.
  • the intraoperative fixed point adjustment method further includes: step SB0: preset desired operation pose.
  • the method for adjusting the intraoperative fixed point provided in the second embodiment, it mainly includes a solution in which the supporting device 400 and the mechanical arm 210 are adjusted according to a preset desired operation posture. So configured, based on the desired operation pose of the apparatus 220, the desired fixed point pose of the fixed point is obtained; then, the pose of the supporting device 400 and the pose of the mechanical arm 210 are adjusted according to the desired fixed point pose, so that The pose of the fixed point relative to the supporting device 400 remains unchanged.
  • step SB1 the expected fixed point pose is obtained according to a preset expected operating pose.
  • the lesion can be seen through the endoscope 222 , so that the desired operation posture of the instrument 220 can be obtained.
  • the coordinates of the expected operating posture in the environmental coordinate system can be known, or the environmental coordinate system can be determined through preoperative abdominal environment modeling The position of the lower lesion, so as to determine the expected operation posture of the instrument 220.
  • step SB2 includes:
  • Step SB21 Obtain a first desired pose of the support device 400 and a second desired pose of the robotic arm 210 according to a preset desired operation pose;
  • Step SB22 Based on the current first current pose of the support device 400, planning a first adjustment path of the support device 400 in combination with the first desired pose; and based on the current second current position of the mechanical arm 210 pose, planning a second adjustment path of the robotic arm 210 in combination with the second desired pose.
  • step SB21 according to the coordinates when the instrument 220 reaches the desired operation pose, the first desired pose of the support device 400 and the second desired pose of the robotic arm 210 can be obtained through calculation. Further, through the first expected pose of the support device 400 and the second expected pose of the robotic arm 210 , the expected fixed point pose can be obtained through calculation.
  • step SB22 the first expected pose of the support device 400, the second expected pose of the robotic arm 210, and the expected fixed point pose can be obtained through step SB21.
  • step SB21 Combining the current pose of the support device 400 and the current pose of the robot arm 210 , the first adjustment path of the support device 400 and the second adjustment path of the robot arm 210 can be planned. In this way, when the support device 400 and the mechanical arm 210 are adjusted according to the preset desired operating posture, it is ensured that the fixed point moves following the movement of the support device 400, so that the fixed point relative to the posture of the support device 400 constant.
  • the intraoperative fixed point adjustment method further includes: using a display device to demonstrate the first adjustment path and/or the second adjustment path. 2. Adjust the path. After obtaining the first adjustment path and/or the second adjustment path, the first adjustment path and/or the second adjustment path may be displayed on the imaging device 102 of the doctor-end control device 100 and/or the display device 302 of the image trolley 300. 2. Adjust the path, and let the medical staff further judge whether the planned adjustment path is safe and reasonable. After the medical personnel confirm that the planned adjustment path is safe and reasonable, the surgical robot system adjusts the support device 400 and the mechanical arm 210 according to the planned adjustment path.
  • this embodiment also provides a readable storage medium on which a program is stored, and when the program is executed, the above-mentioned method for adjusting the fixed point is realized.
  • the readable storage medium can be integrated in the surgical robot system, such as integrated in the main controller, or can be attached independently.
  • this embodiment also provides a surgical robot system, which includes: a support device 400, a mechanical arm 210 and a main controller 10, the mechanical arm 210 is used to drive the connected instrument 220 to move through a fixed point;
  • the main controller is configured to control the support device 400 and the mechanical arm 210 to adjust the poses of the support device 400 and the mechanical arm 210 so that the fixed point is relative to the support The pose of the device 400 remains unchanged.

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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 d'un point fixe peropératoire, un support de stockage lisible et un système de robot chirurgical. Le procédé de réglage d'un point fixe peropératoire comprend : la considération de l'un dispositif de support (400) et d'un bras de robot (210) comme cible de réglage dominante, et la considération de l'autre comme cible de réglage esclave, le bras de robot (210) étant utilisé pour amener un instrument raccordé (220) à passer à travers un point fixe pour se déplacer ; le réglage de la pose de la cible de réglage dominante, de manière à ajuster la pose du point fixe ; et l'ajustement de la pose de la cible de réglage esclave conjointement au réglage de la pose de la cible de réglage dominante, de telle sorte que la pose du point fixe par rapport au dispositif de support (400) reste inchangée. L'invention concerne en outre un procédé de réglage d'un point fixe peropératoire. Le procédé comprend les étapes suivantes : sur la base d'une pose opérationnelle souhaitée d'un instrument (220), l'obtention d'une pose souhaitée d'un point fixe, le point fixe étant utilisé pour l'instrument (220), qui est raccordé à un bras de robot (210), pour passer à travers et pour effectuer une opération correspondante autour du point fixe ; et selon la pose souhaitée du point fixe, ajuster la pose d'un dispositif de support (400) et la pose du bras de robot (210), de telle sorte que la pose du point fixe par rapport au dispositif de support (400) reste inchangée. Au moyen d'une telle configuration, la pose de la cible de réglage esclave est ajustée conjointement au réglage de la pose d'une cible de réglage dominant, ou la pose du dispositif de support (400) et la pose du bras de robot (210) sont ajustées en fonction de la pose souhaitée du point fixe, de telle sorte que la pose du point fixe par rapport au dispositif de support (400) reste inchangée. Divers ajustements de positions peropératoires peuvent être efficacement satisfaits sans interrompre une chirurgie, ce qui permet d'améliorer l'efficacité chirurgicale et la sécurité d'un robot chirurgical.
PCT/CN2022/096721 2021-06-02 2022-06-02 Procédé de réglage d'un point fixe peropératoire, support de stockage lisible et système de robot chirurgical WO2022253286A1 (fr)

Applications Claiming Priority (4)

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CN202110615542.X 2021-06-02
CN202110615542.XA CN115429441A (zh) 2021-06-02 2021-06-02 术中不动点的调整方法、可读存储介质及手术机器人系统
CN202110615540.0A CN115429440A (zh) 2021-06-02 2021-06-02 术中不动点的调整方法、可读存储介质及手术机器人系统
CN202110615540.0 2021-06-02

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US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
CN101049248A (zh) * 2007-05-18 2007-10-10 西安工业大学 光磁电复合导航手术定位装置和方法
JP2012005557A (ja) * 2010-06-23 2012-01-12 Terumo Corp 医療用ロボットシステム
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