WO2022256964A1 - 穿刺引导系统及方法 - Google Patents

穿刺引导系统及方法 Download PDF

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Publication number
WO2022256964A1
WO2022256964A1 PCT/CN2021/098590 CN2021098590W WO2022256964A1 WO 2022256964 A1 WO2022256964 A1 WO 2022256964A1 CN 2021098590 W CN2021098590 W CN 2021098590W WO 2022256964 A1 WO2022256964 A1 WO 2022256964A1
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WO
WIPO (PCT)
Prior art keywords
mechanical arm
control device
movement
cannula
button
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Application number
PCT/CN2021/098590
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English (en)
French (fr)
Inventor
杨顺贸
Original Assignee
何明志
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Filing date
Publication date
Application filed by 何明志 filed Critical 何明志
Priority to PCT/CN2021/098590 priority Critical patent/WO2022256964A1/zh
Publication of WO2022256964A1 publication Critical patent/WO2022256964A1/zh

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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
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms

Definitions

  • the present application relates to a puncture guidance system and method.
  • Techniques such as fine needle aspiration biopy or percutaneous ablation usually need to be guided by diagnostic testing devices such as ultrasound (ultrasound) or computed tomography (CT) before practitioners can Determine the correct position of the cannula on the patient's body and the correct position of the needle on the cannula, and control the movement of the robotic arm through the control system.
  • the robotic arm can control the cannula to move to the target with the needle to obtain tumor cells or Complete ablation therapy.
  • the diagnostic testing device is near one end of the bed, and the robotic arm is near the side of the bed.
  • the control system includes a table, a chair, an input device, an image capturing device and a screen, the chair is arranged beside the table, the input device and the screen are arranged on the table, and the image capturing device is arranged near the bed.
  • the input device includes a computer, a keyboard, a mouse, a control panel and a control panel. It is conceivable that, except for the image capture equipment, the other components of the control system are set up in groups, which are quite bulky and not suitable for being set up on one side of the bed, otherwise it will hinder practitioners from performing surgery.
  • the practitioner after confirming that the cannula is placed in the correct position, the practitioner must walk from the side of the control system to the side of the bed to further manually move the position of the cannula to adjust the cannula action path. After adjusting the action path of the cannula, the practitioner must walk from the side of the bed to the control system to confirm on the screen whether the action path of the cannula is correct. After confirming the movement path of the casing, the practitioners can remotely control the robotic arm through the control system.
  • the problem with the above operation method is: firstly, the practitioners need to walk back and forth between the bed and the control system, which is time-consuming, laborious and inefficient; secondly, the practitioners usually need to go through several corrections to adjust the action path of the cannula It is time-consuming and labor-intensive, and the efficiency is low.
  • the practitioner's body is likely to collide with the mechanical arm, causing the movement path of the casing to deviate. Once the cannula moves on the deflected path of motion, the needles on the cannula will excessively pull on the patient's wound.
  • the image capture device must continuously take pictures of the robotic arm and transmit the photos to the computer, so that the computer can output the real-time position image of the robotic arm to the screen, and the screen can display the moving track of the robotic arm and the casing, which is costly and efficient. Low, will also increase the patient's radiation exposure.
  • the main purpose of the present application is to provide a puncture guidance system and method, in which the movement of the cannula is relatively stable, slow and safe, and the movement accuracy of the mechanical arm reaches millimeter level or less.
  • Another object of the present application is to provide a puncture guidance system and method, which can provide single-person bedside operation and observe the positions and moving tracks of the robotic arm and cannula.
  • Yet another object of the present application is to provide a puncture guidance system and method, which can activate the mechanical arm to be manually moved through a dual mechanism.
  • Another object of the present application is to provide a puncture guidance system and method, which can sense whether the mechanical arm is impacted by external force, and immediately control the mechanical arm to stop moving.
  • Another object of the present application is to provide a puncture guidance system and method, capable of memorizing the real-time position of the robotic arm in space at any time, so as to calculate the moving target position of the robotic arm and set the movement path of the cannula.
  • Another object of the present application is to provide a puncture guidance system and method capable of controlling the low-speed movement of the robotic arm.
  • a puncture guidance system which includes a control device, a mechanical arm, a diagnostic detection device, a screen, and a foot pedal.
  • the control device has an image reconstruction module.
  • the mechanical arm is electrically connected to the control device, has a manual mode and a fixed mode, and is equipped with a cannula, which is used to place a patient's body at a first position.
  • the diagnostic detection device is electrically connected to the control device to scan the patient's body to obtain multiple 2D images of the cannula and tissues near the first position.
  • the image reconstruction module receives the multiple 2D images and constructs a A 3D image.
  • the screen is electrically connected to the control device, receives and displays the multiple 2D images, 3D images or a combination thereof.
  • the foot pedal is electrically connected to the control device and includes a switching button, a first moving button and a second moving button.
  • the control device controls the mechanical arm to switch to the manual mode or the fixed mode according to the actuation of the switching button.
  • the mechanical arm is manually moved to adjust the position of the cannula to a second position, and the control device will set the path between the first position and the second position as the action path of the cannula.
  • the control device controls the movement of the mechanical arm to drive the casing to move from the second position to the first position along the action path according to the actuation of the first moving button, and the control device moves according to the second movement
  • the button is actuated to control the movement of the mechanical arm and drive the cannula to move from the first position to the second position along the action path, wherein the screen displays the moving tracks of the mechanical arm and the cannula.
  • the image reconstruction module defines the spatial relationship between the cannula and a target object according to the plurality of two-dimensional images and constructs a three-dimensional image; when the cannula is in the first position, an axis of the cannula and an axis of the target object Axis misalignment; when the cannula is in the second position, the axis of the cannula is aligned with the axis of the target.
  • the foot pedal transmits a first switching signal to the control device, and the control device controls the mechanical arm to switch to the manual mode according to the first switching signal.
  • the foot pedal when the switching button is inactive, transmits a second switching signal to the control device, and the control device controls the mechanical arm to switch to the fixed mode according to the second switching signal.
  • the pedal transmits a first movement signal to the control device, and the control device The signal controls the movement of the mechanical arm, and the mechanical arm drives the cannula to move from the second position to the first position along the motion path, and the screen displays the moving tracks of the mechanical arm and the cannula.
  • the foot pedal transmits a second movement signal to the control device, and the control device moves according to the second movement.
  • the signal controls the movement of the mechanical arm, and the mechanical arm drives the cannula to move from the first position to the second position along the motion path, and the screen displays the moving tracks of the mechanical arm and the cannula.
  • the puncture guidance system further includes a force sensor, which is arranged on the mechanical arm and is electrically connected to the control device; wherein, when the mechanical arm is switched to manual mode and the force sensor detects that the mechanical arm is manually When moving, the force sensor sends a first sensing signal to the control device, and the control device controls the mechanical arm to be manually moved according to the first sensing signal.
  • a force sensor which is arranged on the mechanical arm and is electrically connected to the control device; wherein, when the mechanical arm is switched to manual mode and the force sensor detects that the mechanical arm is manually When moving, the force sensor sends a first sensing signal to the control device, and the control device controls the mechanical arm to be manually moved according to the first sensing signal.
  • the puncture guidance system further includes a force sensor, which is arranged on the mechanical arm and is electrically connected to the control device; wherein, when the mechanical arm switches to the fixed mode and the force sensor senses that the mechanical arm is pressed by an external force When impacting, the force sensor sends a second sensing signal to the control device, and the control device controls the mechanical arm to stop moving according to the second sensing signal.
  • a force sensor which is arranged on the mechanical arm and is electrically connected to the control device; wherein, when the mechanical arm switches to the fixed mode and the force sensor senses that the mechanical arm is pressed by an external force When impacting, the force sensor sends a second sensing signal to the control device, and the control device controls the mechanical arm to stop moving according to the second sensing signal.
  • the puncture guidance system further includes a buffer set on the robotic arm and electrically connected to the control device; wherein, when the robotic arm switches to manual mode, the buffer always remembers the position of the robotic arm in the space The real-time position of the manipulator, the control device recalculates the moving target position of the manipulator according to the real-time position of the manipulator provided by the buffer, so as to set the action path of the cannula, and display the movement trajectory of the manipulator and the cannula on the on the screen.
  • the moving speed of the robotic arm is 0.2-1 cm per second.
  • the present application provides a puncture guidance method, comprising the following steps: controlling a mechanical arm to drive a cannula to be placed at a first position on a patient's body, the cannula is installed on the mechanical arm;
  • a diagnostic detection device scans the patient's body to obtain multiple two-dimensional images of the cannula and tissues near the first position; constructs a three-dimensional image based on the multiple two-dimensional images; configures a screen to display the multiple two-dimensional images, three-dimensional Image or its combination; equipped with a foot pedal, the foot pedal includes a switch button, a first movement button and a second movement button; according to the action of the switch button, to control the mechanical arm to switch to a manual mode or a fixed mode ;In the state of manual mode, the mechanical arm is manually moved to adjust the position of the sleeve to a second position, and the path between the first position and the second position is set as the action path of the sleeve, and the screen displays the
  • the image reconstruction module defines the spatial relationship between the cannula and a target object according to the plurality of two-dimensional images and constructs a three-dimensional image; when the cannula is in the first position, an axis of the cannula and an axis of the target object Axis misalignment; when the cannula is in the second position, the axis of the cannula is aligned with the axis of the target.
  • the foot pedal transmits a first switching signal to a control device, and the control device controls the mechanical arm to switch to the manual mode according to the first switching signal.
  • the foot pedal transmits a second switching signal to a control device, and the control device controls the mechanical arm to switch to a fixed mode according to the second switching signal.
  • the foot pedal transmits a first movement signal to a control device, and the control device transmits a first movement signal according to the first movement button.
  • the movement signal controls the movement of the mechanical arm, and the mechanical arm drives the cannula to move from the second position to the first position along the motion path, and the screen displays the moving tracks of the mechanical arm and the cannula.
  • the pedal transmits a second movement signal to a control device, and the control device transmits a second movement signal according to the second movement button.
  • the movement signal controls the movement of the mechanical arm, and the mechanical arm drives the cannula to move from the first position to the second position along the motion path, and the screen displays the moving tracks of the mechanical arm and the cannula.
  • the force sensor when the mechanical arm is switched to manual mode and a force sensor detects that the mechanical arm is manually moved, the force sensor transmits a first sensing signal to the control device, and the control device controls the mechanical arm according to the first sensing signal
  • the arms can be moved manually.
  • the force sensor when the mechanical arm switches to the fixed mode and a force sensor senses that the mechanical arm is hit by an external force, the force sensor sends a second sensing signal to the control device, and the control device controls the mechanical arm according to the second sensing signal.
  • the arm stops moving.
  • a buffer when the manipulator is switched to manual mode, a buffer stores the real-time position of the manipulator in space at any time, and the control device recalculates the real-time position of the manipulator according to the real-time position of the manipulator in space provided by the register. Move the target position to set the action path of the cannula, and display the moving track of the robotic arm and the cannula on the screen.
  • the moving speed of the robotic arm is 0.2-1 cm per second.
  • this application can control the mechanical arm through the foot pedal, the movement of the sleeve is relatively stable, slow and safe, and the movement accuracy of the mechanical arm reaches the millimeter level or less, and the sleeve can move very precisely along the The path moves to the destination, not bad at all.
  • this application can provide a practitioner to operate the entire surgical process such as puncture, scanning, and setting the action path, and at the same time observe the position and movement track of the robotic arm and cannula through the screen, and control the machine by stepping on the pedal.
  • the arm can also free up both hands to do things, saving time and effort, high operating efficiency, and saving labor costs.
  • the application can activate the mechanical arm through the dual mechanism of the foot pedal and the force sensor, so that the mechanical arm can be manually moved, which improves the operation safety.
  • the present application can use the force sensor to sense whether the mechanical arm is hit by an external force in the state of the fixed mode, and immediately control the mechanical arm to stop moving, preventing the cannula from moving on the deflected action path and causing the needle on the cannula Excessive stretching of the patient's wound.
  • this application can store the real-time position of the robot arm in space at any time through the buffer to calculate the moving target position of the robot arm and set the action path of the cannula, and cooperate with the screen to display the movement track of the robot arm and the cannula While standing on the side of the bed and controlling the mechanical arm by stepping on the pedals, the practitioner can observe the position of the cannula and whether the movement path is correct from the screen.
  • this method of operation anyone can easily move the cannula to the correct position at one time without repeated corrections, and the operation efficiency is high, and there is no need to set up additional image capture equipment and configure another person to assist in the operation, saving costs and reducing patients. radiation exposure.
  • the application can limit the movement of the robotic arm at a low speed in a fixed mode, which not only prevents the needle on the cannula from being bent or broken, but also avoids excessive pulling on the patient's wound.
  • Fig. 1 is a perspective view of the puncture guidance system of the present application.
  • Fig. 2 is a schematic structural view of the puncture guidance system of the present application.
  • Fig. 3 is a flow chart of the puncture guidance method of the present application.
  • Fig. 4 is a schematic diagram of step S1 of the puncture guiding method of the present application.
  • FIG. 5 is a schematic diagram of obtaining a single two-dimensional image by the diagnostic detection device of the present application.
  • FIG. 6 is a schematic diagram of multiple two-dimensional images obtained by the diagnostic detection device of the present application and the image reconstruction module defining the spatial relationship between the cannula and the target object.
  • FIG. 7 is a structural schematic diagram of image conversion and output in the present application.
  • FIG. 8 is a schematic diagram of the screen displaying the cannula and the 2D image and the 3D image near the first position of the present application.
  • FIG. 9 is a schematic diagram of the operation of the robotic arm of the present application in a manual state.
  • FIG. 10 is a schematic diagram of the screen displaying the cannula and the 2D image and the 3D image near the second position of the present application.
  • FIG. 11 is a structural schematic view of the foot pedal controlling the mechanical arm through the control device of the present application.
  • Fig. 12 is a schematic diagram of the screen displaying the moving track of the robot arm and the cannula in the present application.
  • Fig. 13 is a schematic diagram of the robot arm driving the sleeve to move from the second position to the first position along the motion path of the present application.
  • Fig. 14 is a schematic diagram of the robot arm driving the sleeve to move from the first position to the second position along the motion path of the present application.
  • Fig. 15 is a block diagram of the force sensor of the present application controlling the mechanical arm through the control device.
  • FIG. 16 is a block diagram of the register coordination control device of the present application setting the movement path and displaying the movement track on the screen.
  • the present application provides a puncture guidance system, including a control device 10, a mechanical arm 20, a diagnostic detection device 30, a screen 40, a pedal 50, a force sensor 60 and a register 70 .
  • the control device 10 has an image reconstruction module 11 .
  • the mechanical arm 20 is located on a first side of a bed 80 , is electrically connected to the control device 10 , has a manual mode 21 and a fixed mode 22 , and is equipped with a sleeve 90 .
  • the diagnostic testing device 30 is located at a first end of the bed 80 and is electrically connected to the control device 10 .
  • the screen 40 is located on the first side of the bed 80 and is electrically connected to the control device 10 .
  • the foot board 50 is located on a second side of the bed 80 , is electrically connected to the control device 10 , and includes a switching button 51 , a first moving button 52 and a second moving button 53 .
  • the force sensor 60 is disposed on the robot arm 20 and is electrically connected to the control device 10 .
  • the buffer 70 is disposed on the robot arm 20 and is electrically connected to the control device 10 .
  • Step S1 controls the mechanical arm 20 to drive the cannula 90 to a first position A on the body of a patient 100 , and the cannula 90 is installed on the mechanical arm 20 .
  • the diagnostic detection device 30 is configured to scan the body of the patient 100 to obtain a plurality of two-dimensional images 31 of the cannula 90 and tissues near the first position A. More specifically, the tissue near the first position A includes a target object 200 and the tissue around the target object 200 .
  • the target object 200 can be any tissue in the patient's body, such as a tumor.
  • Step S3 constructs a 3D image 111 according to the plurality of 2D images 31 .
  • Step S4 configures a screen 40 to display the plurality of 2D images 31 , 3D images 111 or a combination thereof.
  • FIG. 8 shows a 3D image 111 at the bottom right of the screen 40
  • FIG. 8 shows a 2D image 31 at the top left, bottom left, and top right of the screen 40 .
  • the screen 40 can separately display the 2D image 31 or the 3D image 111 .
  • step S5 as shown in FIG. 1 and FIG. 3 , the pedal 50 is configured, and the pedal 50 includes a switching button 51 , a first moving button 52 and a second moving button 53 .
  • Step S6 controls the mechanical arm 20 to switch to the manual mode 21 or the fixed mode 22 according to the actuation of the switching button 51 .
  • Step S7 as shown in Figure 3, Figure 9 to Figure 12, in the state of manual mode 21, the mechanical arm 20 is manually moved to adjust the position of the sleeve 90 to a second position B, set the first position A and The path between the second positions B is a motion path 92 of the cannula 90 , and the screen 40 displays the moving tracks of the robot arm 20 and the cannula 90 .
  • Step S8 as shown in FIG. 3 and FIG. 13 , in the state of the fixed mode 22, according to the actuation of the first movement button 52, the movement of the mechanical arm 20 is controlled to drive the sleeve 90 along the movement path 92 from the second position B moves to the first position A, and the screen 40 displays the moving track of the mechanical arm 20 and the cannula 90 .
  • Step S9 as shown in FIG. 3 and FIG. 14 , in the state of the fixed mode 22, according to the actuation of the second movement button 53, the movement of the mechanical arm 20 is controlled to drive the sleeve 90 along the movement path 92 from the first position A moves to the second position B, and the screen 40 displays the moving tracks of the mechanical arm 20 and the cannula 90 .
  • the present application can control the mechanical arm 20 through the foot pedal 50, the movement of the sleeve pipe 90 is relatively stable, slow and safe, and the movement accuracy of the mechanical arm 20 reaches the millimeter level or less, and the sleeve pipe 90 can be very precisely along the The motion path 92 moves to the target position without missing a beat.
  • step S1 actually has two operation modes.
  • the casing 90 is first installed on the mechanical arm 20, and then the switching button 51 is stepped on to switch the mechanical arm 20 to the manual mode 21.
  • the practitioner can manually move the mechanical arm 20, so that The cannula 90 is placed at a first location A on the body of the patient 100 .
  • the second mode of operation first place the cannula 90 at the first position A of the body of the patient 100, and then step on the switching button 51 with the foot, so that the mechanical arm 20 is switched to the manual mode 21.
  • the practitioner can manually Move the mechanical arm 20 to one side of the sleeve 90 , and finally install the sleeve 90 on the mechanical arm 20 .
  • the diagnostic detection device 30 is a computed tomography scanner that senses the cannula 90 through an image segmentation algorithm (eg, histogram method or level set method). Therefore, the two-dimensional image 31 is a two-dimensional slice image generated by a computed tomography scanner, and is output to the image reconstruction module 11 in the format of the digital medical image transmission protocol (DICOM).
  • DICOM digital medical image transmission protocol
  • the image reconstruction module 11 receives the multiple two-dimensional images 31, defines the spatial relationship between the cannula 90 and the target object 200 according to the multiple two-dimensional images 31, and constructs A three-dimensional image 111 is produced.
  • Figures 4, 5, 12 and 14 when the sleeve 90 is at the first position A, an axis 91 of the sleeve 90 is offset from an axis 210 of the target 200, that is to say, the sleeve 90 The target object 200 is not aligned, so the position of the cannula 90 needs to be adjusted.
  • step S6 of the preferred embodiment when the switching button 51 is actuated, the pedal 50 sends a first switching signal 501 to the control device 10, and the control device 10 The robot arm 20 is controlled to switch to the manual mode 21 according to the first switching signal 501 .
  • step S6 of the preferred embodiment when the switching button 51 is inactive, the pedal 50 sends a second switching signal 502 to the control device 10, and the control device 10 The robot arm 20 is controlled to switch to the fixed mode 21 according to the second switching signal 502 .
  • step S7 of the preferred embodiment as shown in FIG. 3 , FIG. 9 and FIG. 12 , the control device 10 will set the path between the first position A and the second position B as the action path 92 of the cannula 90 , the screen 40 displays the moving tracks of the robotic arm 20 and the cannula 90 .
  • step S8 of the preferred embodiment in the state of the fixed mode 22, when the first moving button 52 is actuated and the second moving button 53 is not actuated,
  • the pedal 50 transmits a first movement signal 503 to the control device 10, the control device 10 controls the movement of the mechanical arm 20 according to the first movement signal 503, and the mechanical arm 20 drives the casing 90 to move from the second position B to the In the first position A, the screen 40 displays the moving tracks of the robotic arm 20 and the cannula 90 .
  • step S9 of the preferred embodiment in the state of the fixed mode 22, when the second moving button 53 is activated and the first moving button 52 is not activated,
  • the foot pedal 50 transmits a second movement signal 504 to the control device 10, and the control device 10 controls the movement of the mechanical arm 20 according to the second movement signal 504, and the mechanical arm 20 drives the casing 90 to move from the first position A to the In the second position B, the screen 40 displays the moving tracks of the mechanical arm 20 and the cannula 90 .
  • a practitioner may install a needle (not shown) on the cannula 90 before performing the above method. Therefore, in step S1 , the needle is inserted into the first position A of the body of the patient 100 ; in steps S7 - 9 , the needle moves along with the cannula 90 . In particular, after the cannula 90 is moved to the second position B, the needle is moved to the target 200 in step S9.
  • the practitioner can also install a needle (not shown) on the sleeve 90 after the sleeve 90 moves to the second position B in step S9, and then insert the needle into the second position B of the patient's body.
  • the needle moves to the target object 200 .
  • the present application can provide a practitioner to operate the entire surgical process such as puncture, scanning, and setting the action path 92, and at the same time observe the position and movement track of the mechanical arm 20 and the cannula 90 through the screen 40, as well as stepping on the foot pedal.
  • the board 50 controls the mechanical arm 20 and can also free up both hands to do things, which saves time and labor, has high operating efficiency, and saves labor costs.
  • the footboard 50 is small in size and placed on the ground, it will not affect the operation of practitioners and does not take up space, so it is suitable to be arranged on one side of the bed 80, and the screen 40 can be arranged on the other side of the bed 80. side. Therefore, the present application can provide a practitioner standing on one side of the bed 80 to operate the surgical procedure without leaving the side of the bed 80 at all.
  • the force sensor 60 transmits a first sensing signal 61 to the control In the device 10, the control device 10 controls the mechanical arm 20 to be manually moved according to the first sensing signal 61, so that practitioners can move the mechanical arm 20 arbitrarily to complete step S1 or step S7. Therefore, the present application can activate the mechanical arm 20 through the dual mechanism of the foot pedal 50 and the force sensor 60 to allow the mechanical arm 20 to be manually moved, thereby improving the operational safety.
  • the force sensor 60 when the mechanical arm 20 switches to the fixed mode 22 and the force sensor 60 senses that the mechanical arm 20 is hit by an external force, the force sensor 60 transmits a second sensing signal 62 to the control The device 10 , the control device 10 controls the mechanical arm 20 to stop moving according to the second sensing signal 62 . Therefore, the present application can sense whether the mechanical arm 20 is impacted by an external force in the state of the fixed mode 22 through the force sensor 60, and immediately control the mechanical arm 20 to stop moving, preventing the sleeve tube 90 from moving on the deflected action path 92 to This causes the needles on the cannula 90 to pull excessively on the patient's 100 wound.
  • the register 70 memorizes the real-time position 71 of the robot arm 20 in space at any time, and the control device 10 according to the information provided by the register 70
  • the real-time position 71 of the robotic arm 20 in space recalculates the moving target position of the robotic arm 20 to set the motion path 92 of the cannula 90 , and displays the moving trajectories of the robotic arm 20 and the cannula 90 on the screen 40 .
  • the present application can memorize the real-time position 71 of the robot arm 20 in space at any time through the register 70, so as to calculate the moving target position of the robot arm 20 and set the action path 92 of the sleeve 90, and cooperate with the screen 40 to display the robot arm 20 and
  • an practitioner can observe the position of the sleeve pipe 90 and whether the action path 92 is correct from the screen 40 while standing on the side of the bed 80 and manipulating the mechanical arm 20 by stepping on the pedal 50.
  • the moving speed of the mechanical arm 20 is 0.2-1 cm per second. Therefore, the present application can limit the movement of the robotic arm 20 at a low speed in the state of the fixed mode 22, which can not only prevent the needles on the cannula 90 from bending or breaking, but also prevent the needles on the cannula 90 from excessively pulling the patient 100. Wound.

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Abstract

一种穿刺引导系统。系统包括控制装置（10）、机械手臂（20）、诊断检测装置（30）、屏幕（40）及脚踏板（50）。套管（90）置于病患（100）身体并装在机械手臂（20）上；诊断检测装置（30）扫描病患（100）以取得二维影像（31）；建构出三维影像（111）；屏幕（40）显示影像；配置脚踏板（50）；根据切换钮（51）的作动，机械手臂（20）切换成手动模式（21）或固定模式（22）；设定套管（90）的动作路径（92），屏幕（40）显示移动轨迹；根据第一移动钮（52）的作动，套管（90）移动到第一位置，屏幕（40）显示移动轨迹；根据第二移动钮（53）的作动，套管（90）移动到第二位置，屏幕（40）显示移动轨迹。该穿刺引导系统能够让套管（90）的移动较稳定、缓慢且安全。

Description

穿刺引导系统及方法 技术领域
本申请涉及一种穿刺引导系统及方法。
背景技术
细针穿刺切片(fine needle aspiration biopy)或经皮穿刺消融(Percutaneous ablation)等技术，通常需要经由超声波(ultrasound)或计算机断层扫描(computed tomography，CT)等诊断检测装置引导下，从业人员才能够确定套管置于病患的身体的正确位置以及套管上的针插入正确位置，并且通过控制系统控制机械手臂移动，机械手臂可以控制套管带着针移动至目标物，以取得肿瘤细胞或完成消融治疗。
一般来说，诊断检测装置靠近床的一端，机械手臂靠近床的一侧。控制系统包含一桌子、一椅子、一输入设备、一影像捕获设备及一屏幕，椅子设置在桌子旁，输入设备和屏幕设置在桌子上，影像捕获设备设置在床附近。输入设备包含一计算机、一键盘、一鼠标、一控制面板和一控制盘。可想而知，除了影像捕获设备之外，控制系统其余构件是成组设置，体积相当庞大，不适合设置在床的一侧，否则会障碍从业人员执行手术。
然而，如果从业人员是单人操作的话，在将套管置于病患的身体以后，从业人员必须从床的一侧走到控制系统旁，才能够从屏幕上确认套管是否置于正确位置。
再者，如果从业人员是单人操作的话，在确认套管置于正确位置以后，从业人员必须从控制系统旁走到床的一侧，才能够进一步手动移动套管的位置，以调整套管的动作路径。在完成调整套管的动作路径以后，从业人员必须从床的一侧走到控制系统旁，才能够从屏幕上确认套管的动作路径是否正确。在确认套管的动作路径以后，从业人员始能通过控制系统远程遥控机械手臂。
上述操作方式的问题在于：其一，从业人员需要在床和控制系统之间来回走动，费时费力，效率低；其二，从业人员通常需要经过几次的修正，才 能将套管的动作路径调整成正确的动作路径，费时费力，效率低。
此外，一般的机械手臂通常是固定不动的，从业人员没有办法任意移动机械手臂。
又，从业人员在走动的过程中，身体容易碰撞到机械手臂，造成套管的动作路径偏移。一旦套管在偏移后的动作路径上移动，套管上的针将会过度拉扯病患的伤口。
另外，影像捕获设备必须不断对机械手臂拍照并将照片传送至计算机，计算机才能够将机械手臂的实时位置的影像输出给屏幕，屏幕才能够显示机械手臂和套管的移动轨迹，成本高，效率低，也会增加病患的辐射暴露。
还有，一般的机械手臂容易发生动作过快或过大的问题，造成套管上的针折弯或断裂，还会过度拉扯病患的伤口。
发明内容
本申请的主要目的在于提供一种穿刺引导系统及方法，套管的移动较稳定、缓慢且安全，机械手臂的移动精度达到毫米等级或更小。
本申请的另一目的在于提供一种穿刺引导系统及方法，能够提供单人床边操作及观察机械手臂和套管的位置及其移动轨迹。
本申请的又一目的在于提供一种穿刺引导系统及方法，能够通过双重机制启动机械手臂被手动移动。
本申请的再一目的在于提供一种穿刺引导系统及方法，能够感测机械手臂是否被外力撞击，并且立刻控制机械手臂停止移动。
本申请的再一目的在于提供一种穿刺引导系统及方法，能够随时记忆机械手臂在空间中的实时位置，以计算机械手臂的移动目标位置并设定套管的动作路径。
本申请的另一目的在于提供一种穿刺引导系统及方法，能够控制机械手臂低速移动。
为了达成前述的目的，本申请提供一种穿刺引导系统，包括一控制装置、一机械手臂、一诊断检测装置、一屏幕以及一脚踏板。该控制装置具有一影像重建模块。机械手臂电性连接该控制装置，具有一手动模式及一固定模式， 并且安装一套管，套管用以置于一病患的身体的一第一位置。诊断检测装置电性连接该控制装置，用以扫描病患的身体，以取得套管及第一位置附近的组织的多张二维影像，影像重建模块接收该多张二维影像并且根据该多张二维影像建构出一张三维影像。屏幕电性连接该控制装置，接收并且显示该多张二维影像、三维影像或其组合。脚踏板电性连接该控制装置，并且包括一切换钮、一第一移动钮及一第二移动钮。其中，控制装置根据切换钮的作动，以控制机械手臂切换成手动模式或固定模式。其中，在手动模式的状态下，机械手臂被手动移动以调整套管的位置至一第二位置，控制装置会将第一位置与第二位置之间的路径设定为套管的动作路径。其中，在固定模式的状态下，控制装置根据第一移动钮的作动，以控制机械手臂移动而驱动套管沿着动作路径从第二位置移动到第一位置，且控制装置根据第二移动钮的作动，以控制机械手臂移动而驱动套管沿着动作路径从第一位置移动到第二位置，其中，屏幕显示机械手臂和套管的移动轨迹。
在一些实施例中，影像重建模块根据该多张二维影像界定出套管与一目标物的空间关系并且建构出三维影像；当套管位于第一位置时，套管的一轴线与目标物的一轴线错开；当套管位于第二位置时，套管的轴线与目标物的轴线对齐。
在一些实施例中，当切换钮被作动时，脚踏板传送一第一切换讯号至控制装置，控制装置根据第一切换讯号控制机械手臂切换成手动模式。
在一些实施例中，当切换钮无作动时，脚踏板传送一第二切换讯号至控制装置，控制装置根据第二切换讯号控制机械手臂切换成固定模式。
在一些实施例中，在固定模式的状态下，当第一移动钮被作动且第二移动钮无作动时，脚踏板传送一第一移动讯号至控制装置，控制装置根据第一移动讯号控制机械手臂移动，机械手臂驱动套管沿着动作路径从第二位置移动到第一位置，屏幕显示机械手臂和套管的移动轨迹。
在一些实施例中，在固定模式的状态下，当第二移动钮被作动且第一移动钮无作动时，脚踏板传送一第二移动讯号至控制装置，控制装置根据第二移动讯号控制机械手臂移动，机械手臂驱动套管沿着动作路径从第一位置移动到第二位置，屏幕显示机械手臂和套管的移动轨迹。
在一些实施例中，所述的穿刺引导系统进一步包括一力传感器，设置于机械手臂上，并且电性连接控制装置；其中，当机械手臂切换成手动模式且力传感器感测到机械手臂被手动移动时，力传感器传送一第一感测讯号至控制装置，控制装置根据第一感测讯号控制机械手臂能够被手动移动。
在一些实施例中，所述的穿刺引导系统进一步包括一力传感器，设置于机械手臂上，并且电性连接控制装置；其中，当机械手臂切换成固定模式且力传感器感测到机械手臂被外力撞击时，力传感器传送一第二感测讯号至控制装置，控制装置根据第二感测讯号控制机械手臂停止移动。
在一些实施例中，所述的穿刺引导系统进一步包括一缓存器设置于机械手臂上，并且电性连接控制装置；其中，当机械手臂切换成手动模式时，缓存器随时记忆机械手臂在空间中的实时位置，控制装置根据缓存器所提供的机械手臂在空间中的实时位置重新计算机械手臂的移动目标位置，以设定套管的动作路径，并且将机械手臂和套管的移动轨迹显示在屏幕上。
在一些实施例中，在固定模式的状态下，机械手臂的移动速度为每秒0.2～1厘米。
为了达成前述的目的，本申请提供一种穿刺引导方法，包括下列步骤：控制一机械手臂以驱动一套管置于一病患的身体的一第一位置，套管安装在机械手臂上；配置一诊断检测装置以扫描病患的身体，而取得套管及第一位置附近的组织的多张二维影像；根据该多张二维影像建构出一张三维影像；配置一屏幕以显示该多张二维影像、三维影像或其组合；配置一脚踏板，脚踏板包括一切换钮、一第一移动钮及一第二移动钮；根据切换钮的作动，以控制机械手臂切换成一手动模式或一固定模式；在手动模式的状态下，机械手臂被手动移动以调整套管的位置至一第二位置，设定第一位置与第二位置之间的路径为套管的动作路径，屏幕显示机械手臂和套管的移动轨迹；在固定模式的状态下，根据第一移动钮的作动，以控制机械手臂移动而驱动套管沿着动作路径从第二位置移动到第一位置，屏幕显示机械手臂和套管的移动轨迹；以及在固定模式的状态下，根据第二移动钮的作动，以控制机械手臂移动而驱动套管沿着动作路径从第一位置移动到第二位置，屏幕显示机械手臂和套管的移动轨迹。
在一些实施例中，影像重建模块根据该多张二维影像界定出套管与一目标物的空间关系并且建构出三维影像；当套管位于第一位置时，套管的一轴线与目标物的一轴线错开；当套管位于第二位置时，套管的轴线与目标物的轴线对齐。
在一些实施例中，当切换钮被作动时，脚踏板传送一第一切换讯号至一控制装置，控制装置根据第一切换讯号控制机械手臂切换成手动模式。
在一些实施例中，当切换钮无作动时，脚踏板传送一第二切换讯号至一控制装置，控制装置根据第二切换讯号控制机械手臂切换成固定模式。
在一些实施例中，在固定模式的状态下，当第一移动钮被作动且第二移动钮无作动时，脚踏板传送一第一移动讯号至一控制装置，控制装置根据第一移动讯号控制机械手臂移动，机械手臂驱动套管沿着动作路径从第二位置移动到第一位置，屏幕显示机械手臂和套管的移动轨迹。
在一些实施例中，在固定模式的状态下，当第二移动钮被作动且第一移动钮无作动时，脚踏板传送一第二移动讯号至一控制装置，控制装置根据第二移动讯号控制机械手臂移动，机械手臂驱动套管沿着动作路径从第一位置移动到第二位置，屏幕显示机械手臂和套管的移动轨迹。
在一些实施例中，当机械手臂切换成手动模式且一力传感器感测到机械手臂被手动移动时，力传感器传送一第一感测讯号至控制装置，控制装置根据第一感测讯号控制机械手臂能够被手动移动。
在一些实施例中，当机械手臂切换成固定模式且一力传感器感测到机械手臂被外力撞击时，力传感器传送一第二感测讯号至控制装置，控制装置根据第二感测讯号控制机械手臂停止移动。
在一些实施例中，当机械手臂切换成手动模式时，一缓存器随时记忆机械手臂在空间中的实时位置，控制装置根据缓存器所提供的机械手臂在空间中的实时位置重新计算机械手臂的移动目标位置，以设定套管的动作路径，并且将机械手臂和套管的移动轨迹显示在屏幕上。
在一些实施例中，在固定模式的状态下，机械手臂的移动速度为每秒0.2～1厘米。
本申请的功效在于，本申请能够通过脚踏板操控机械手臂，套管的移动 较稳定、缓慢且安全，且机械手臂的移动精度达到毫米等级或更小，套管得以非常精准地沿着动作路径移动到目的地，丝毫不差。
再者，本申请能够提供一位从业人员操作穿刺、扫描、设定动作路径等全部手术流程，同时透过屏幕观察机械手臂和套管的位置及其移动轨迹，以及脚踩踏脚踏板操控机械手臂，还能空出双手做事，省时省力，操作效率高，节省人力成本。
此外，本申请能够通过脚踏板和力传感器的双重机制启动机械手臂，才能够准许机械手臂被手动移动，提升操作安全性。
又，本申请能够通过力传感器感测机械手臂是否在固定模式的状态下被外力撞击，并且立刻控制机械手臂停止移动，防止套管在偏移后的动作路径上移动而造成套管上的针过度拉扯病患的伤口。
另外，本申请能够通过缓存器随时记忆机械手臂在空间中的实时位置，以计算机械手臂的移动目标位置并设定套管的动作路径，配合屏幕显示机械手臂和套管的移动轨迹，一位从业人员站在床的一侧以脚踩踏脚踏板操控机械手臂的同时，能够从屏幕上观察套管的位置及动作路径是否正确。这样的操作方式，任何人都能够轻易地一次就将套管移动到正确位置，不须反复修正，操作效率高，更无须额外设置影像捕获设备和配置另一人辅助操作，节省成本，降低病患的辐射暴露。
还有，本申请能够将机械手臂在固定模式的状态下限制在低速移动，不仅能够防止套管上的针折弯或断裂，还可避免过度拉扯病患的伤口。
附图说明
图1是本申请的穿刺引导系统的立体图。
图2是本申请的穿刺引导系统的结构示意图。
图3是本申请的穿刺引导方法的流程图。
图4是本申请的穿刺引导方法的步骤S1的示意图。
图5是本申请的诊断检测装置取得单张二维影像的示意图。
图6是本申请的诊断检测装置取得多张二维影像且影像重建模块界定出套管和目标物的空间关系的示意图。
图7是本申请的影像转换及输出的结构示意图。
图8是本申请的屏幕显示套管及第一位置附近的二维影像和三维影像的示意图。
图9是本申请的机械手臂在手动状态下的操作示意图。
图10是本申请的屏幕显示套管及第二位置附近的二维影像和三维影像的示意图。
图11是本申请的脚踏板透过控制装置操控机械手臂的结构示意图。
图12是本申请的屏幕显示机械手臂和套管的移动轨迹的示意图。
图13是本申请的机械手臂驱动套管沿着动作路径从第二位置移动到第一位置的示意图。
图14是本申请的机械手臂驱动套管沿着动作路径从第一位置移动到第二位置的示意图。
图15是本申请的力传感器通过控制装置操控机械手臂的方块图。
图16是本申请的缓存器配合控制装置设定动作路径并将移动轨迹显示于屏幕的方块图。
具体实施方式
以下配合图式及组件符号对本申请的实施方式做更详细的说明，以使本领域技术人员在研读本说明书后能据以实施。
请参阅图1及图2所示，本申请提供一种穿刺引导系统，包括一控制装置10、一机械手臂20、一诊断检测装置30、一屏幕40、一脚踏板50、一力传感器60及一缓存器70。控制装置10具有一影像重建模块11。机械手臂20位于一床80的一第一侧，电性连接控制装置10，具有一手动模式21及一固定模式22，并且安装一套管90。诊断检测装置30位于床80的一第一端，并且电性连接控制装置10。屏幕40位于床80的第一侧，并且电性连接控制装置10。脚踏板50位于床80的一第二侧，电性连接控制装置10，并且包括一切换钮51、一第一移动钮52及一第二移动钮53。力传感器60设置在机械手臂20上，并且电性连接控制装置10。缓存器70设置于机械手臂20上，并且电性连接控制装置10。
请参阅图3至图14，本申请提供一种穿刺引导方法，包括下列步骤：
步骤S1，如图3及图4所示，控制机械手臂20以驱动套管90置于一病患100的身体的一第一位置A，套管90安装在机械手臂20上。
步骤S2，如图3、图5至图7所示，配置诊断检测装置30以扫描病患100的身体，而取得套管90及第一位置A附近的组织的多张二维影像31。更明确地说，第一位置A附近的组织包含一目标物200及目标物200周围的组织。目标物200可以是病患体内任何组织，例如肿瘤。
步骤S3，如图3及图7所示，根据该多张二维影像31建构出一张三维影像111。
步骤S4，如图3、图7及图8，配置一屏幕40以显示该多张二维影像31、三维影像111或其组合。图8显示屏幕40右下方为三维影像111，图8显示屏幕40左上方、左下方、右上方为二维影像31。在其他实施例中，屏幕40可以单独显示二维影像31或三维影像111。
步骤S5，如图1及图3所示，配置脚踏板50，脚踏板50包括切换钮51、第一移动钮52及第二移动钮53。
步骤S6，如图3及图9所示，根据切换钮51的作动，以控制机械手臂20切换成手动模式21或固定模式22。
步骤S7，如图3、图9至图12所示，在手动模式21的状态下，机械手臂20被手动移动以调整套管90的位置至一第二位置B，设定第一位置A与第二位置B之间的路径为套管90的一动作路径92，屏幕40显示机械手臂20和套管90的移动轨迹。
步骤S8，如图3及图13所示，在固定模式22的状态下，根据第一移动钮52的作动，以控制机械手臂20移动而驱动套管90沿着动作路径92从第二位置B移动到第一位置A，屏幕40显示机械手臂20和套管90的移动轨迹。
步骤S9，如图3及图14所示，在固定模式22的状态下，根据第二移动钮53的作动，以控制机械手臂20移动而驱动套管90沿着动作路径92从第一位置A移动到第二位置B，屏幕40显示机械手臂20和套管90的移动轨迹。
这样，本申请能够通过脚踏板50操控机械手臂20，套管90的移动较稳定、缓慢且安全，且机械手臂20的移动精度达到毫米等级或更小，套管90 得以非常精准地沿着动作路径92移动到目标位置，丝毫不差。
进一步地说，步骤S1实际上有两种操作方式。关于第一种操作方式，首先将套管90安装在机械手臂20上，接着再以脚踩踏切换钮51，使得机械手臂20切换成手动模式21，此时从业人员能够手动移动机械手臂20，让套管90置于病患100的身体的第一位置A。关于第二种操作方式，首先将套管90置于病患100的身体的第一位置A，接着再以脚踩踏切换钮51，使得机械手臂20切换成手动模式21，此时从业人员能够手动移动机械手臂20至套管90的一侧，最后将套管90安装在机械手臂20上。
如图1所示，在较佳实施例中，诊断检测装置30为一计算机断层扫描仪，计算机断层扫描仪通过图像分割算法(例如，直方图法或水平集方法)感测套管90。因此，所述二维影像31为计算机断层扫描仪产生的二维切片影像，并且以医疗数字影像传输协议(DICOM)的格式输出至影像重建模块11。
如图5至图7所示，在较佳实施例的步骤S3中，影像重建模块11接收该多张二维影像31，根据该多张二维影像31界定出套管90与目标物200的空间关系并且建构出三维影像111。如图4、图5、图12及图14所示，当套管90位于第一位置A时，套管90的一轴线91与目标物200的一轴线210错开，也就是说，套管90并没有对准目标物200，因此套管90的位置需要调整。如图5、图9、图12及图13所示，当套管90位于第二位置B时，套管90的轴线91与目标物200的轴线210对齐，也就是说，套管90已经对准目标物200。
如图3、图9至图12所示，在较佳实施例的步骤S6中，当切换钮51被作动时，脚踏板50传送一第一切换讯号501至控制装置10，控制装置10根据第一切换讯号501控制机械手臂20切换成手动模式21。如图3、图13及图14所示，在较佳实施例的步骤S6中，当切换钮51无作动时，脚踏板50传送一第二切换讯号502至控制装置10，控制装置10根据第二切换讯号502控制机械手臂20切换成固定模式21。
在较佳实施例的步骤S7中，如图3、图9及图12所示，控制装置10会将第一位置A与第二位置B之间的路径设定为套管90的动作路径92，屏幕40显示机械手臂20和套管90的移动轨迹。
在较佳实施例的步骤S8中，如图3、图9及图13所示，在固定模式22的状态下，当第一移动钮52被作动且第二移动钮53无作动时，脚踏板50传送一第一移动讯号503至控制装置10，控制装置10根据第一移动讯号503控制机械手臂20移动，机械手臂20驱动套管90沿着动作路径92从第二位置B移动到第一位置A，屏幕40显示机械手臂20和套管90的移动轨迹。
在较佳实施例的步骤S9中，如图3、图11及图14所示，在固定模式22的状态下，当第二移动钮53被作动且第一移动钮52无作动时，脚踏板50传送一第二移动讯号504至控制装置10，控制装置10根据第二移动讯号504控制机械手臂20移动，机械手臂20驱动套管90沿着动作路径92从第一位置A移动到第二位置B，屏幕40显示机械手臂20和套管90的移动轨迹。
从业人员可以在尚未进行上述方法以前，先将针(图未示)安装在套管90上。因此，在步骤S1中，针插入病患100的身体的第一位置A；在步骤S7～9中，针会随着套管90移动。尤其是，在步骤S9中，在套管90移动到第二位置B以后，针移动至目标物200。
从业人员也可以在步骤S9中，在套管90移动到第二位置B以后，先将针(图未示)安装在套管90上，再将针插入病患的身体的第二位置B。针移动至目标物200。
这样，本申请能够提供一位从业人员操作穿刺、扫描、设定动作路径92等全部手术流程，同时透过屏幕40观察机械手臂20和套管90的位置及其移动轨迹，以及脚踩踏脚踏板50操控机械手臂20，还能空出双手做事，省时省力，操作效率高，节省人力成本。
再者，因为脚踏板50的体积小且放置在地面上，不会影响到从业人员操作，也不占空间，所以适合设置在床80的一侧，屏幕40则可设置在床80的另一侧。因此，本申请能够提供一位从业人员站在床80的一侧操作手术流程，完全不需要离开床80的一侧。
如图15所示，在较佳实施例中，当机械手臂20切换成手动模式21且力传感器60感测到机械手臂20被手动移动时，力传感器60传送一第一感测讯号61至控制装置10，控制装置10根据第一感测讯号61控制机械手臂20能够被手动移动，让从业人员能够任意地移动机械手臂20，以完成步骤S1或 步骤S7。因此，本申请能够通过脚踏板50和力传感器60的双重机制启动机械手臂20，才能够准许机械手臂20被手动移动，提升操作安全性。
如图15所示，在较佳实施例中，当机械手臂20切换成固定模式22且力传感器60感测到机械手臂20被外力撞击时，力传感器60传送一第二感测讯号62至控制装置10，控制装置10根据第二感测讯号62控制机械手臂20停止移动。因此，本申请能够通过力传感器60感测机械手臂20是否在固定模式22的状态下被外力撞击，并且立刻控制机械手臂20停止移动，防止套管90在偏移后的动作路径92上移动而造成套管90上的针过度拉扯病患100的伤口。
如图16所示，在较佳实施例中，当机械手臂20切换成手动模式21时，缓存器70随时记忆机械手臂20在空间中的实时位置71，控制装置10根据缓存器70所提供的机械手臂20在空间中的实时位置71重新计算机械手臂20的移动目标位置，以设定套管90的动作路径92，并且将机械手臂20和套管90的移动轨迹显示在屏幕40上。因此，本申请能够通过缓存器70随时记忆机械手臂20在空间中的实时位置71，以计算机械手臂20的移动目标位置并设定套管90的动作路径92，配合屏幕40显示机械手臂20和套管90的移动轨迹，一位从业人员站在床80的一侧以脚踩踏脚踏板50操控机械手臂20的同时，能够从屏幕40上观察套管90的位置及动作路径92是否正确。这样的操作方式，任何人都能够轻易地一次就将套管90移动到正确位置，不须反复修正，操作效率高，更无须额外设置影像捕获设备和配置另一人辅助操作，节省成本，降低病患的辐射暴露。
在较佳实施例中，在固定模式22的状态下，机械手臂20的移动速度为每秒0.2～1厘米。因此，本申请能够将机械手臂20在固定模式22的状态下限制在低速移动，不仅能够防止套管90上的针折弯或断裂，还可避免套管90上的针过度拉扯病患100的伤口。
以上所述仅为用以解释本申请的较佳实施例，并非企图据以对本申请做任何形式上的限制，因此，凡有在相同的发明精神下所作有关本申请的任何修饰或变更，皆仍应包括在本申请意图保护的范畴。

Claims (20)

  1. 一种穿刺引导系统，包括：
    一控制装置，具有一影像重建模块；
    一机械手臂，电性连接该控制装置，具有一手动模式及一固定模式，并且安装一套管，该套管用以置于一病患的身体的一第一位置；
    一诊断检测装置，电性连接该控制装置，用以扫描该病患的身体，以取得该套管及该第一位置附近的组织的多张二维影像，该影像重建模块接收该多张二维影像并且根据该多张二维影像建构出一张三维影像；
    一屏幕，电性连接该控制装置，接收并且显示该多张二维影像、该三维影像或其组合；以及
    一脚踏板，电性连接该控制装置，并且包括一切换钮、一第一移动钮及一第二移动钮；
    其中，该控制装置根据该切换钮的作动，以控制该机械手臂切换成该手动模式或该固定模式；
    其中，在该手动模式的状态下，该机械手臂被手动移动以调整该套管的位置至一第二位置，该控制装置会将该第一位置与该第二位置之间的路径设定为该套管的一动作路径；
    其中，在该固定模式的状态下，该控制装置根据该第一移动钮的作动，以控制该机械手臂移动而驱动该套管沿着该动作路径从该第二位置移动到该第一位置，且该控制装置根据该第二移动钮的作动，以控制该机械手臂移动而驱动该套管沿着该动作路径从该第一位置移动到该第二位置；以及
    其中，该屏幕显示该机械手臂和该套管的移动轨迹。
  2. 根据权利要求1所述的穿刺引导系统，其中，该影像重建模块根据该多张二维影像界定出该套管与一目标物的空间关系并且建构出该三维影像；当该套管位于该第一位置时，该套管的一轴线与该目标物的一轴线错开；当该套管位于该第二位置时，该套管的该轴线与该目标物的该轴线对齐。
  3. 根据权利要求1所述的穿刺引导系统，其中，当该切换钮被作动时，该脚踏板传送一第一切换讯号至该控制装置，该控制装置根据该第一切换讯 号控制该机械手臂切换成该手动模式。
  4. 根据权利要求1所述的穿刺引导系统，其中，当该切换钮无作动时，该脚踏板传送一第二切换讯号至该控制装置，该控制装置根据该第二切换讯号控制该机械手臂切换成该固定模式。
  5. 根据权利要求1所述的穿刺引导系统，其中，在该固定模式的状态下，当该第一移动钮被作动且该第二移动钮无作动时，该脚踏板传送一第一移动讯号至该控制装置，该控制装置根据该第一移动讯号控制该机械手臂移动，该机械手臂驱动该套管沿着该动作路径从该第二位置移动到该第一位置，该屏幕显示该机械手臂和该套管的移动轨迹。
  6. 根据权利要求1所述的穿刺引导系统，其中，在该固定模式的状态下，当该第二移动钮被作动且该第一移动钮无作动时，该脚踏板传送一第二移动讯号至该控制装置，该控制装置根据该第二移动讯号控制该机械手臂移动，该机械手臂驱动该套管沿着该动作路径从该第一位置移动到该第二位置，该屏幕显示该机械手臂和该套管的移动轨迹。
  7. 根据权利要求1所述的穿刺引导系统，进一步包括一力传感器，设置于该机械手臂上，并且电性连接该控制装置；其中，当该机械手臂切换成该手动模式且该力传感器感测到该机械手臂被手动移动时，该力传感器传送一第一感测讯号至该控制装置，该控制装置根据该第一感测讯号控制该机械手臂能够被手动移动。
  8. 根据权利要求1所述的穿刺引导系统，进一步包括一力传感器，设置于该机械手臂上，并且电性连接该控制装置；其中，当该机械手臂切换成该固定模式且该力传感器感测到该机械手臂被外力撞击时，该力传感器传送一第二感测讯号至该控制装置，该控制装置根据该第二感测讯号控制该机械手臂停止移动。
  9. 根据权利要求1所述的穿刺引导系统，进一步包括一缓存器，设置于该机械手臂上，并且电性连接该控制装置；其中，当该机械手臂切换成该手动模式时，该缓存器随时记忆该机械手臂在空间中的实时位置，该控制装置根据该缓存器所提供的该机械手臂在空间中的实时位置重新计算该机械手臂的移动目标位置，以设定该套管的一动作路径，并且将该机械手臂和该套管 的移动轨迹显示在该屏幕上。
  10. 根据权利要求1所述的穿刺引导系统，其中，在该固定模式的状态下，该机械手臂的移动速度为每秒0.2～1里面。
  11. 一种穿刺引导方法，包括下列步骤：
    控制一机械手臂以驱动一套管置于一病患的身体的一第一位置，该套管安装在该机械手臂上；
    配置一诊断检测装置以扫描该病患的身体，而取得该套管及该第一位置附近的组织的多张二维影像；
    根据该多张二维影像建构出一张三维影像；
    配置一屏幕以显示该多张二维影像、该三维影像或其组合；
    配置一脚踏板，该脚踏板包括一切换钮、一第一移动钮及一第二移动钮；
    根据该切换钮的作动，以控制该机械手臂切换成一手动模式或一固定模式；
    在该手动模式的状态下，该机械手臂被手动移动以调整该套管的位置至一第二位置，设定该第一位置与该第二位置之间的路径为该套管的动作路径，该屏幕显示该机械手臂和该套管的移动轨迹；
    在该固定模式的状态下，根据该第一移动钮的作动，以控制该机械手臂移动而驱动该套管沿着该动作路径从该第二位置移动到该第一位置，该屏幕显示该机械手臂和该套管的移动轨迹；以及
    在该固定模式的状态下，根据该第二移动钮的作动，以控制该机械手臂移动而驱动该套管沿着该动作路径从该第一位置移动到该第二位置，该屏幕显示该机械手臂和该套管的移动轨迹。
  12. 根据权利要求11所述的穿刺引导方法，其中，该影像重建模块根据该多张二维影像界定出该套管与一目标物的空间关系并且建构出该三维影像；当该套管位于该第一位置时，该套管的一轴线与该目标物的一轴线错开；当该套管位于该第二位置时，该套管的该轴线与该目标物的该轴线对齐。
  13. 根据权利要求11所述的穿刺引导方法，其中，当该切换钮被作动时，该脚踏板传送一第一切换讯号至一控制装置，该控制装置根据该第一切换讯号控制该机械手臂切换成该手动模式。
  14. 根据权利要求11所述的穿刺引导方法，其中，当该切换钮无作动时，该脚踏板传送一第二切换讯号至一控制装置，该控制装置根据该第二切换讯号控制该机械手臂切换成该固定模式。
  15. 根据权利要求11所述的穿刺引导方法，其中，在该固定模式的状态下，当该第一移动钮被作动且该第二移动钮无作动时，该脚踏板传送一第一移动讯号至一控制装置，该控制装置根据该第一移动讯号控制该机械手臂移动，该机械手臂驱动该套管沿着该动作路径从该第二位置移动到该第一位置，该屏幕显示该机械手臂和该套管的移动轨迹。
  16. 根据权利要求11所述的穿刺引导方法，其中，在该固定模式的状态下，当该第二移动钮被作动且该第一移动钮无作动时，该脚踏板传送一第二移动讯号至一控制装置，该控制装置根据该第二移动讯号控制该机械手臂移动，该机械手臂驱动该套管沿着该动作路径从该第一位置移动到该第二位置，该屏幕显示该机械手臂和该套管的移动轨迹。
  17. 根据权利要求11所述的穿刺引导方法，其中，当该机械手臂切换成该手动模式且一力传感器感测到该机械手臂被手动移动时，该力传感器传送一第一感测讯号至该控制装置，该控制装置根据该第一感测讯号控制该机械手臂能够被手动移动。
  18. 根据权利要求11所述的穿刺引导方法，其中，当该机械手臂切换成该固定模式且一力传感器感测到该机械手臂被外力撞击时，该力传感器传送一第二感测讯号至该控制装置，该控制装置根据该第二感测讯号控制该机械手臂停止移动。
  19. 根据权利要求11所述的穿刺引导方法，其中，当该机械手臂切换成该手动模式时，一缓存器随时记忆该机械手臂在空间中的实时位置，该控制装置根据该缓存器所提供的该机械手臂在空间中的实时位置重新计算该机械手臂的移动目标位置，以设定该套管的动作路径，并且将该机械手臂和该套管的移动轨迹显示在该屏幕上。
  20. 根据权利要求11所述的穿刺引导方法，其中，在该固定模式的状态下，该机械手臂的移动速度为每秒0.2～1厘米。
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