A kind of palpation instrument and application method for robot assisted Minimally Invasive SurgeryTechnical field
The invention belongs to medical instruments and diagnostic techniques field, more specifically, are related to a kind of for robot assistedThe palpation instrument and application method of Minimally Invasive Surgery.
Background technique
In contemporary surgical operation, Minimally Invasive Surgery is being faced due to the advantages that its wound is small, post-operative recovery is fast, the hospital stays is shortBed is used widely.In recent years, robot technology is constantly used for Minimally Invasive Surgery field, enhances the spirit of surgical operationActivity, harmony and stability, have further expanded the application range of Minimally Invasive Surgery.
As shown in Figure 1, it is mesh by taking " Leonardo da Vinci " operating robot of Intuitive Surgical company of the U.S. as an exampleThe preceding state-of-the-art micro-wound operation robot in the whole world, and the operating robot of unique commercialization.It by master station, (by bed) it is drivenRobot arm and three-dimensional endoscopic imaging system composition.Operative doctor probes into intracorporal stereo endoscope Real-time Feedback by observationImage operates the control-rod on master station, remotely controls multiple Slave Robotic Arms and probe into intracorporal Minimally Invasive Surgery instrumentComplete operation.Even if however, operating state-of-the-art " Leonardo da Vinci " progress Minimally Invasive Surgery, there is also many restrictions.Due to that can not perceiveTactile data, doctor can not carry out palpation to patient, this makes doctor lose one when carrying out robot assisted Minimally Invasive SurgeryKind can quickly, directly detect the most important approach of soft tissue or organ lesion.
Secondly, doctor often passes through the touch and pressing to internal soft tissue, root by taking the tumor examination in routine operation as an exampleIt is distributed according to soft tissue hardness, judges knub position and size.How to assist realizing effective tactile in Minimally Invasive Surgery in machine,Through at Minimally Invasive Surgery field urgent problem to be solved.
With the development of novel sensor technology, foreign countries have scholar begin trying using miniature tactile or force sensor intoRow soft tissue hardness measurement, however often structure is complicated, mechanism is accurate for microsensor, to operating environment requirements height, design andManufacturing cost is high, only rests on laboratory stage at present, it is difficult to clinical application.In addition, microsensor is finally by tactile or powerFeel is converted to electric signal output, needs to occupy the signal path of surgical robot system, is unfavorable for and existing operating robot systemSystem integrates.In addition, only relying only on microsensor in terms of method of palpation, hardness test is carried out to single-point, cannot achieveWhole palpation perception.Tactile or force sensor are only capable of providing single or several points force feedback informations, can not be based on soft groupThe 3D form and concrete position for knitting palpation area provide complete palpation area hardness distribution, are not easy to the diagnosis of doctor.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of touchings for robot assisted Minimally Invasive SurgeryInstrument and application method are examined, can be directly mounted on the Slave Robotic Arm of operating robot, without the straight of operating robotDriving is connect, the output without additional electric signal can provide reliable palpation foundation for diagnosis.
For achieving the above object, a kind of palpation instrument for robot assisted Minimally Invasive Surgery of the present invention, featureIt is, comprising:
One outer cylinder, is manufactured using medical metal material；The front half section of outer cylinder is hollow structure, and front port indicates colour circle,It is convenient to position in the picture；The second half section of outer cylinder is solid construction, for connecting robot arm；
One contained spring is linear compression spring, manufactured, be installed in outer cylinder with medical metal material, and one end and outerThe second half section of cylinder is fixed, and the other end is connect with movable visiting core；The receiving pressure and retraction distance of the contained spring are at justThan；
One visiting core, the metal thin bar made of medical metal material, diameter are slightly less than outer cylinder internal diameter, the part body of rod of visiting coreIt is connect in insertion outer cylinder with contained spring, another part body of rod leans out outer cylinder, after visiting core front end elevational is under pressure in compressingPortion's spring retraction, then the colour circle scale by indicating different colours on the exposed body of rod calculate palpation area soft tissue it is hardDegree.
The present invention also provides a kind of application methods of palpation instrument, which comprises the following steps:
(1), palpation area image is obtained using stereo endoscope；
(2), to palpation area discretization
Based on palpation area image, N number of equally distributed palpation point is turned to by palpation area is discrete, initializes palpation point serial number n=1, n=1,2 ..., N；
(3), palpation area 3D is reconstructed
Based on palpation area image, using the 3D form in stereoscopic vision matching technique reconstruct palpation area, so that it is determined that each touchingExamine three-dimensional coordinate a little；
(4), robot arm moves to n-th of palpation point
By surgery operation robot control system, the initial position that robot arm moves to n-th of palpation point is controlled, at this time robotFor palpation instrument axis on arm perpendicular to palpation area surface, visiting core has just contacted the initial position of n-th of palpation point, and keeps internalSpring does not stress, and visiting core nature protruded length is a；
(5), robot arm puts in length a:
By surgery operation robot control system, robot arm is controlled along palpation instrument axis and puts in length a forward, is reachedThe final position of n-th of palpation point；
(6), protruded length b after measurement visiting core stress
When palpation instrument reaches the final position of n-th of palpation point, contained spring no longer stress measures visiting core nature at this timeProtruded length b；
(7), n-th of palpation point hardness is calculated
N-th of palpation point hardness is deposited into palpation point hardness data set again；
(8), judge whether n is less than N, if when n < N, palpation point serial number being added 1, i.e. n=n+1, returns again to step(4)；Conversely, thening follow the steps (9)；
(9), soft tissue hardness distribution is exported
The hardness number of all N number of palpation points is extracted from palpation point hardness data set, then based on each palpation point in palpation areaThe hardness of the pixel other than each palpation point is estimated using two-dimensional interpolation in position in image, to obtain and palpation area figureAs the identical hardness distribution of size.
Goal of the invention of the invention is achieved in that
A kind of palpation instrument for robot assisted Minimally Invasive Surgery of the present invention includes: outer cylinder, contained spring visiting core, straightIt connects on the robot arm for being mounted on operating robot, is used cooperatively with stereo endoscope, carry out internal soft tissue palpation.SpecificallyPalpation process are as follows: first control robot arm to palpation point initial position, measure visiting core nature protruded length, then control driven machineDevice human arm is to palpation point final position, then measures visiting core protruded length at this time, and then calculate the hardness of palpation point；By to equalAfter the even palpation point being distributed in palpation area detects one by one, palpation area hardness distribution is obtained using two-dimensional interpolation technology, it is convenientPositioning of the doctor to lesion region.
Meanwhile a kind of palpation instrument and application method for robot assisted Minimally Invasive Surgery of the present invention also has and following hasBeneficial effect:
(1), palpation apparatus structure is simple, is made of purely mechanic component, manufactures, safeguards and uses simply, can be mounted directlyIt on robot arm for operation, directly controls or drives without operating robot, no electric signal transmission is not take up operating robotSignal path is easy to integrated with existing surgical robot system.
(2), the stereo endoscope for making full use of standard configuration in surgical robot system is examined from the palpation area image of its acquisitionProtruded length after surveying palpation instrument visiting core stress, to calculate the hardness of palpation point；Without increasing new device, it is not necessarily to powerSensor or tactile tactility apparatus；In addition, being identified with the colour circle and color of different colours in palpation instrument outer cylinder port and exposed visiting coreRing scale simplifies the visiting core protruded length detection based on image, improves the efficiency and precision of detection.
(3), by the discretization to palpation area, equally distributed palpation point is obtained, after detecting hardness one by one, utilizes two dimensionInterpolation technique obtains palpation area hardness distribution, and palpation result is more intuitive, facilitates positioning of the doctor to lesion region.
Detailed description of the invention
Fig. 1 is " Leonardo da Vinci " micro-wound operation robot schematic diagram；
A kind of palpation apparatus structure for robot assisted Minimally Invasive Surgery of Fig. 2 present invention and use schematic diagram；
Fig. 3 is a kind of method of palpation flow chart for robot assisted Minimally Invasive Surgery of the present invention；
Fig. 4 is a kind of method of palpation schematic illustration for robot assisted Minimally Invasive Surgery of the present invention；
Fig. 5 is to utilize palpation result schematic diagram of the present invention.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing, preferably so as to those skilled in the artUnderstand the present invention.Requiring particular attention is that in the following description, when known function and the detailed description of design perhapsWhen can desalinate main contents of the invention, these descriptions will be ignored herein.
Embodiment
A kind of palpation apparatus structure for robot assisted Minimally Invasive Surgery of Fig. 2 present invention and use schematic diagram.
In the present embodiment, as shown in Fig. 2, a kind of palpation instrument for robot assisted Minimally Invasive Surgery of the present invention, packetIt includes: outer cylinder, contained spring and visiting core.
Wherein, outer cylinder is manufactured using medical metal material；The front half section of outer cylinder is hollow structure, and front port indicates colorRing, it is convenient to position in the picture；The second half section of outer cylinder is solid construction, for connecting robot arm；
Contained spring is linear compression spring, is manufactured, is installed in outer cylinder with medical metal material, and one end and outer cylinderSecond half section is fixed, and the other end is connect with movable visiting core；The receiving pressure of the contained spring is to retraction apart from directly proportional；
The metal thin bar that visiting core medical metal material makes, diameter are slightly less than outer cylinder internal diameter, and the part body of rod of visiting core is insertedEnter and connect in outer cylinder with contained spring, another part body of rod leans out outer cylinder, oppresses after visiting core front end elevational is under pressure internalSpring retraction, then the colour circle scale by indicating different colours on the exposed body of rod calculate the soft tissue hardness of palpation area,Wherein, each color represents certain protruded length, convenient that protruded length is detected from image.
In the present embodiment, as shown in figure 3, a kind of application method of palpation instrument, is to be based on shore hardness test philosophy,Itself specifically includes the following steps:
S0, palpation start, and obtain palpation area image using stereo endoscope.
S1, to palpation area discretization
Based on palpation area image, N number of equally distributed palpation point is turned to by palpation area is discrete, initializes palpation point serial number n=1, n=1,2 ..., N.
S2, palpation area 3D reconstruct
Based on palpation area image, using the 3D form in stereoscopic vision matching technique reconstruct palpation area, so that it is determined that each touchingExamine three-dimensional coordinate a little；
In the present embodiment, (but being not limited to) Richa etc. can be used in document " Three-dimensional motiontracking for beating heart surgery using a thin-plate spline deformableModel " in the three-dimensional reconstruction method based on thin plate spline (TPS) model that proposes, or using Stoyanov etc. in document " Apractical approach towards accurate dense 3D depth recovery for roboticLaparoscopic surgery " in propose based on piecewise bilinear mapping (PBM) three-dimensional reconstruction method.
The method of palpation to palpation instrument is described in detail below with reference to Fig. 4, it is specific such as step S3-S6
S3, robot arm move to n-th of palpation point
According to the three-dimensional coordinate of n-th of palpation point, by surgery operation robot control system, controls robot arm and move to theThe initial position of n palpation point, for the palpation instrument axis on robot arm perpendicular to palpation area surface, visiting core has just contacted at this timeThe initial position of n palpation point, and contained spring is kept not stress, visiting core nature protruded length is a, wherein a is known length.
S4, robot arm put in length a
By surgery operation robot control system, robot arm is controlled along palpation instrument axis and puts in length a forward, with spyCore nature protruded length is equal, reaches the final position of n-th of palpation point.
Protruded length b after S5, measurement visiting core stress
When palpation instrument reaches the final position of n-th of palpation point, contained spring no longer stress, using outer cylinder port colour circle andColour circle scale on visiting core exposed rod can fast and accurately detect at this time from the image that stereo endoscope acquiresVisiting core nature protruded length b.
S6, n-th of palpation point hardness is calculated
N-th of palpation point hardness is deposited into palpation point hardness data set again.
S7, judge whether n is less than N, if thening follow the steps S8 when n < N；Conversely, thening follow the steps S9.
S8, n=n+1；Palpation point serial number adds 1, returns again to step (3), into the measurement of next palpation point.
S9, output soft tissue hardness distribution
The hardness number of all N number of palpation points is extracted from palpation point hardness data set, then based on each palpation point in palpation areaThe hardness of the pixel other than each palpation point is estimated using two-dimensional interpolation in position in image, to obtain and palpation area figureAs the identical hardness distribution of size.
Fig. 5 is to utilize palpation result schematic diagram of the present invention.
In the present embodiment, as shown in figure 5, soft tissue palpation area's image comes from certain left mirror of Minimally Invasive Surgery neutral body endoscopeThe image of acquisition.Palpation area size be 300 × 400 pixels, by its it is discrete turn to 10 × 10 palpation dot matrix, i.e., laterally everyA palpation point is determined every 40 pixels, it is longitudinal to determine a palpation point, total N=100 palpation at interval of 30 pixelsPoint.After carrying out hardness measurement to this 100 palpation points respectively, the pixel other than palpation point is carried out using two-dimensional interpolation technologyHardness estimation, obtains palpation area hardness distribution.
Wherein, if Fig. 5 (a) is palpation area image, 5 (b) be hardness distribution, passes through comparison hardness distribution and palpation areaHigh rigidity region can be accurately positioned in image, it is possible to which there are lump or the regions of lesion.
Although the illustrative specific embodiment of the present invention is described above, in order to the technology of the artPersonnel understand the present invention, it should be apparent that the present invention is not limited to the range of specific embodiment, to the common skill of the artFor art personnel, if various change the attached claims limit and determine the spirit and scope of the present invention in, theseVariation is it will be apparent that all utilize the innovation and creation of present inventive concept in the column of protection.