CN111513849B - Surgical system for puncture, control method and control device - Google Patents
Surgical system for puncture, control method and control deviceDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本公开涉及医疗技术领域，具体而言，涉及一种用于穿刺的手术系统、控制方法及控制装置。The present disclosure relates to the field of medical technology, and in particular, to a surgical system, a control method, and a control device for puncture.
背景技术Background technique
穿刺手术是指在医学图像的引导下，将穿刺针等医疗器械刺入患者体内病灶点的位置，以执行活检、消融、放射性粒子植入等操作，进而达到治疗目的的微创手术；其具备手术创伤小、患者痛苦减轻、康复时间短、手术费用低等优点。Puncture surgery refers to the minimally invasive surgery that, under the guidance of medical images, puncture needles and other medical instruments into the patient's body to perform operations such as biopsy, ablation, radioactive seed implantation, etc., and then achieve the purpose of treatment. It has the advantages of less trauma, less pain, shorter recovery time, and lower operating costs.
目前，医生利用穿刺手术机器人的手术规划系统来选取病灶点，并计算出皮肤穿刺入针点，进而规划穿刺针的穿刺轨迹。但在手术过程中，患者或患者的某个部位一旦产生位移，甚至患者的呼吸，均可能导致病灶器官的位置发生改变，也即导致病灶点的位置发生改变；而穿刺手术机器人无法对该位置变化进行准确的测量，仍按照预先规划的穿刺轨迹进行穿刺手术，进而导致穿刺的精确度和效率均较低。At present, doctors use the surgical planning system of the puncture surgical robot to select the lesion point, and calculate the skin puncture needle point, and then plan the puncture trajectory of the puncture needle. However, during the operation, once the patient or a certain part of the patient is displaced, even the patient's breathing may cause the position of the focal organ to change, that is, the position of the focal point; however, the puncture surgery robot cannot perform this position. The changes are accurately measured, and the puncture operation is still performed according to the pre-planned puncture trajectory, which leads to low puncture accuracy and efficiency.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本公开的目的在于提供一种用于穿刺的手术系统、控制方法及控制装置，以解决现有技术存在的由于病灶器官发生偏移导致无法准确穿刺的问题。In view of this, the purpose of the present disclosure is to provide a surgical system, a control method and a control device for puncture, so as to solve the problem of inaccurate puncture caused by the deviation of the focal organ in the prior art.
第一方面，本公开提供了一种用于穿刺的手术系统，其中，包括成像装置、机械臂和控制装置，所述成像装置用于获取病灶器官的病灶图像，在所述机械臂的远端设置穿刺部；还包括引导部，所述控制装置通过所述机械臂控制所述穿刺部按照预设穿刺轨迹移动并通过所述引导部的状态信息调整所述预设穿刺轨迹。In a first aspect, the present disclosure provides a surgical system for puncturing, which includes an imaging device, a robotic arm, and a control device, the imaging device is used to acquire a lesion image of a lesion organ, and the distal end of the robotic arm is located at the distal end of the robotic arm. A puncture part is provided; and a guide part is further included, wherein the control device controls the puncture part to move according to a preset puncture trajectory through the mechanical arm and adjusts the preset puncture trajectory according to the state information of the guide part.
在一种可能的实施方式中，所述引导部包括引导针和导航装置，所述引导针设置在所述病灶器官上，所述导航装置配置地采集所述引导针的状态信息。In a possible implementation manner, the guide part includes a guide needle and a navigation device, the guide needle is arranged on the lesion organ, and the navigation device is configured to collect state information of the guide needle.
在一种可能的实施方式中，所述成像装置是以下其中之一：In a possible implementation, the imaging device is one of the following:
X射线成像装置、CT成像装置、磁共振成像装置。X-ray imaging equipment, CT imaging equipment, magnetic resonance imaging equipment.
在一种可能的实施方式中，所述控制装置包括显示单元，所述显示单元至少用于显示以下之一：In a possible implementation manner, the control device includes a display unit, and the display unit is used to display at least one of the following:
所述病灶图像、所述预设穿刺轨迹、所述穿刺部的状态信息、所述引导部的状态信息。The lesion image, the preset puncture trajectory, the state information of the puncture part, and the state information of the guide part.
在一种可能的实施方式中，所述控制装置包括无线通信单元，所述无线通信单元用于接收所述引导部的状态信息。In a possible implementation manner, the control device includes a wireless communication unit, and the wireless communication unit is configured to receive the state information of the guide portion.
第二方面，本公开还提供了一种用于穿刺手术的控制方法，其中，包括以下步骤：In a second aspect, the present disclosure also provides a control method for a puncture operation, including the following steps:
确定基于预设穿刺点的第一穿刺轨迹以及引导部的初始位置与所述预设穿刺点的位置之间的预设位置关系；determining the first puncture trajectory based on the preset puncture point and the preset positional relationship between the initial position of the guide portion and the position of the preset puncture point;
控制穿刺部按照所述第一穿刺轨迹移动；controlling the puncturing part to move according to the first puncturing trajectory;
获取所述引导部的状态信息；obtain the state information of the guiding part;
基于所述预设位置关系和所述状态信息，确定第二穿刺轨迹，控制所述穿刺部按照所述第二穿刺轨迹移动。Based on the preset positional relationship and the state information, a second puncturing trajectory is determined, and the puncturing part is controlled to move according to the second puncturing trajectory.
在一种可能的实施方式中，所述确定基于预设穿刺点的第一穿刺轨迹包括：In a possible implementation manner, the determining of the first puncture trajectory based on the preset puncture point includes:
获取病灶图像；obtain images of lesions;
基于所述病灶图像，确定所述预设穿刺点的位置信息；determining the position information of the preset puncture point based on the lesion image;
基于穿刺部的初始状态和所述预设穿刺点的位置信息，确定所述第一穿刺轨迹。The first puncture trajectory is determined based on the initial state of the puncture part and the position information of the preset puncture point.
在一种可能的实施方式中，所述引导部包括引导针和导航装置，所述获取所述引导部的状态信息包括：In a possible implementation manner, the guide part includes a guide needle and a navigation device, and the acquiring the state information of the guide part includes:
利用所述导航装置获取所述引导针的状态信息。Use the navigation device to acquire the state information of the guide needle.
在一种可能的实施方式中，控制方法还包括：In a possible implementation, the control method further includes:
基于所述第一穿刺轨迹或所述第二穿刺轨迹，实时显示所述穿刺部的状态信息和/或所述引导部的状态信息。Based on the first puncture trajectory or the second puncture trajectory, the status information of the puncture portion and/or the status information of the guide portion is displayed in real time.
第三方面，本公开还提供了一种用于穿刺手术的控制装置，其中，包括：In a third aspect, the present disclosure also provides a control device for a puncture operation, comprising:
确定模块，用于确定基于预设穿刺点的第一穿刺轨迹以及引导部的初始位置与所述预设穿刺点的位置之间的预设位置关系；a determination module, configured to determine a first puncture trajectory based on a preset puncture point and a preset positional relationship between the initial position of the guide portion and the position of the preset puncture point;
第一控制模块，用于控制穿刺部按照所述第一穿刺轨迹移动；a first control module for controlling the puncture part to move according to the first puncture trajectory;
获取模块，用于获取所述引导部的状态信息；an acquisition module for acquiring the state information of the guide portion;
第二控制模块，用于基于所述预设位置关系和所述状态信息，确定第二穿刺轨迹，控制所述穿刺部按照所述第二穿刺轨迹移动。The second control module is configured to determine a second puncture trajectory based on the preset position relationship and the state information, and control the puncture part to move according to the second puncture trajectory.
在一种可能的实施方式中，所述确定模块包括：In a possible implementation, the determining module includes:
获取单元，用于获取病灶图像；an acquisition unit, used for acquiring a lesion image;
第一确定单元，用于基于所述病灶图像，确定所述预设穿刺点的位置信息；a first determining unit, configured to determine the position information of the preset puncture point based on the lesion image;
第二确定单元，用于基于穿刺部的初始状态和所述预设穿刺点的位置信息，确定所述第一穿刺轨迹。The second determining unit is configured to determine the first puncturing trajectory based on the initial state of the puncturing part and the position information of the preset puncturing point.
在一种可能的实施方式中，所述引导部包括引导针和导航装置，所述获取模块，具体用于利用所述导航装置获取所述引导针的状态信息。In a possible implementation manner, the guide part includes a guide needle and a navigation device, and the obtaining module is specifically configured to obtain the state information of the guide needle by using the navigation device.
在一种可能的实施方式中，还包括：In a possible implementation, it also includes:
显示模块，用于基于所述第一穿刺轨迹或所述第二穿刺轨迹，实时显示所述穿刺部的状态信息和/或所述引导部的状态信息。A display module, configured to display the state information of the puncture part and/or the state information of the guide part in real time based on the first puncture track or the second puncture track.
第四方面，本公开还提供了一种计算机可读存储介质，其中，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行如所述的控制方法的步骤。In a fourth aspect, the present disclosure further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to execute the steps of the control method.
第五方面，本公开还提供了一种电子设备，其中，包括：处理器、存储器和总线，所述存储器存储有所述处理器可执行的机器可读指令，当电子设备运行时，所述处理器与所述存储器之间通过总线通信，所述机器可读指令被所述处理器执行时执行如所述的控制方法的步骤。In a fifth aspect, the present disclosure also provides an electronic device, which includes: a processor, a memory, and a bus, the memory stores machine-readable instructions executable by the processor, and when the electronic device runs, the The processor communicates with the memory through a bus, and the machine-readable instructions execute the steps of the control method when executed by the processor.
本公开实施例利用引导部的状态信息调整预设穿刺轨迹，避免因患者或患者的某个部位产生的位移导致穿刺手术机器人无法对病灶点的位置变化进行准确的测量，仍按照预先规划的穿刺轨迹进行穿刺手术，进而导致穿刺的精确度和效率均较低的问题，提高了穿刺的精确度和效率。In the embodiment of the present disclosure, the state information of the guide portion is used to adjust the preset puncture trajectory, so as to avoid the puncture surgery robot being unable to accurately measure the position change of the lesion due to the displacement of the patient or a certain part of the patient, and the pre-planned puncture is still performed. The puncture operation is performed on the track, which leads to the problem that the precision and efficiency of the puncture are both low, and the precision and efficiency of the puncture are improved.
为使本公开的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the preferred embodiments are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings.
附图说明Description of drawings
为了更清楚地说明本公开或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the present disclosure or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the For some embodiments described in the disclosure, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1示出了本公开所提供的一种用于穿刺的手术系统的结构示意图；FIG. 1 shows a schematic structural diagram of a surgical system for puncture provided by the present disclosure;
图2示出了本公开所提供的一种用于穿刺的手术系统的布置示意图；FIG. 2 shows a schematic diagram of the arrangement of a surgical system for puncturing provided by the present disclosure;
图3示出了本公开所提供的一种用于穿刺手术的控制方法的流程图；FIG. 3 shows a flowchart of a control method for a puncture operation provided by the present disclosure;
图4示出了本公开所提供的一种用于穿刺手术的控制方法中确定基于预设穿刺点的第一穿刺轨迹的流程图；4 shows a flowchart of determining a first puncture trajectory based on a preset puncture point in a control method for a puncture operation provided by the present disclosure;
图5示出了本公开所提供的控制装置的结构示意图；FIG. 5 shows a schematic structural diagram of the control device provided by the present disclosure;
图6示出了本公开所提供的电子设备的结构示意图。FIG. 6 shows a schematic structural diagram of an electronic device provided by the present disclosure.
附图标记：Reference number:
10-成像装置；20-机械臂；30-控制装置；40-穿刺部；50-引导部；301-无线通信单元；302-显示单元；501-引导针；502-导航装置。10-imaging device; 20-robot; 30-control device; 40-puncture part; 50-guide part; 301-wireless communication unit; 302-display unit; 501-guide needle; 502-navigation device.
具体实施方式Detailed ways
为了使得本公开的目的、技术方案和优点更加清楚，下面将结合本公开的附图，对本公开的技术方案进行清楚、完整地描述。显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于所描述的本公开的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the present disclosure. Obviously, the described embodiments are some, but not all, embodiments of the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.
除非另外定义，本公开使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。Unless otherwise defined, technical or scientific terms used in this disclosure shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. As used in this disclosure, "first," "second," and similar terms do not denote any order, quantity, or importance, but are merely used to distinguish the various components. "Comprising" or "comprising" and similar words mean that the elements or things appearing before the word encompass the elements or things recited after the word and their equivalents, but do not exclude other elements or things. Words like "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "Down", "Left", "Right", etc. are only used to indicate the relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
为了保持本公开的以下说明清楚且简明，本公开省略了已知功能和已知部件的详细说明。In order to keep the following description of the present disclosure clear and concise, the present disclosure omits detailed descriptions of well-known functions and well-known components.
第一方面，为便于对本公开进行理解，首先对本公开所提供的一种用于穿刺的手术系统进行详细介绍。In the first aspect, in order to facilitate the understanding of the present disclosure, a surgical system for puncturing provided by the present disclosure is first introduced in detail.
在进行穿刺手术的过程中，通常通过两种穿刺方式进行穿刺，第一种穿刺方式为医生仅依靠成像装置和自身的经验来对患者的病灶器官上的病灶点进行穿刺；第二种穿刺方式为依靠穿刺手术机器人在术前规划的预设穿刺轨迹来对病灶器官进行穿刺，以使穿刺针到达患者的病灶点，以执行活检、消融、放射性粒子植入等操作，最终完成以治疗为目的的微创手术。通过上面所提到的第一种穿刺方式进行穿刺往往需要医生经过多次扫描并基于扫描结果进行多次调整，也即经过多次穿刺才能将穿刺针准确的穿刺至病灶点，穿刺准确度较低，手术效率低，并且患者受成像装置发射的射线的辐射次数较多；通过上面所提到的第二种穿刺方式将穿刺针按照预设穿刺轨迹移动的过程中，患者一旦移动，甚至简单的呼吸，都可能使得病灶器官移动，导致病灶点的位置发生偏移，导致穿刺针无法精确的穿刺到病灶点，穿刺的精确度较低。针对上述问题，本公开提供了用于穿刺的手术系统，尤其能够适应于病灶器官运动导致病灶点发生偏移的情况，以提高穿刺的精确度和效率。In the process of puncture operation, puncture is usually performed in two ways. The first puncture method is that the doctor only relies on the imaging device and his own experience to puncture the lesion on the patient's focal organ; the second puncture method In order to puncture the focal organ by relying on the preset puncture trajectory planned by the puncture surgical robot before surgery, so that the puncture needle can reach the patient's focal point to perform operations such as biopsy, ablation, radioactive seed implantation, etc., and finally complete the purpose of treatment. of minimally invasive surgery. The puncture performed by the first puncture method mentioned above often requires the doctor to scan multiple times and make multiple adjustments based on the scan results. low operation efficiency, and the patient is irradiated by the radiation emitted by the imaging device more times; in the process of moving the puncture needle according to the preset puncture trajectory through the second puncture method mentioned above, once the patient moves, even simple The breathing may cause the focal organ to move, causing the position of the focal point to shift, resulting in the inability of the puncture needle to accurately puncture the focal point, and the puncture accuracy is low. In view of the above-mentioned problems, the present disclosure provides a surgical system for puncturing, which can be especially adapted to the situation where the movement of the focal organ causes the displacement of the focal point, so as to improve the accuracy and efficiency of puncturing.
具体地，如图1和2所示，图1为本公开中用于穿刺的手术系统的结构示意图，图2示出了用于穿刺的手术系统的一种布置示意图，但本领域技术人员应知晓的是，并不仅限于图2示出的具体结构。该手术系统包括成像装置10、机械臂20和控制装置30，机械臂20一般固定设置在手术台上以便于对患者进行操作，在所述机械臂20的远端设置穿刺部40；其中，所述穿刺部40可以是穿刺针，所述机械臂20的远端与所述穿刺部40之间可以采用现有技术中任意的连接方式进行连接，在具体实施中，例如为了便于所述穿刺部40的更换、消毒等，可以利用所述机械臂20的远端通过夹持方式连接所述穿刺部40，以实现控制所述机械臂20带动所述穿刺部40进行移动和进行穿刺操作的目的；其中，所述机械臂20的远端与所述穿刺部40之间的相对位置和相对姿态可以随时基于控制装置30发出的控制指令进行调整。当然，还可以通过其他固定件将所述穿刺部40固定在所述机械臂20的远端，也即，保持所述机械臂20的远端与所述穿刺部40之间的相对位置和相对姿态不变。Specifically, as shown in FIGS. 1 and 2, FIG. 1 is a schematic structural diagram of a surgical system for puncture in the present disclosure, and FIG. 2 shows a schematic diagram of an arrangement of the surgical system for puncture, but those skilled in the art should It is known that, it is not limited to the specific structure shown in FIG. 2 . The surgical system includes an
继续参见图2，所述成像装置10用于对例如手术台上的患者进行病灶器官的成像，具体地，在患者处于所述成像装置10对应的采集范围内的情况下，例如患者躺在所述成像装置10对应的手术台上之后，所述成像装置10获取所述患者的病灶图像；具体地，在进行穿刺手术的过程中，患者躺在手术台上，所述成像装置10位于所述手术台的一端，所述手术台处于其对应的采集范围，也就是说，所述成像装置10能够获取到所述手术台上患者的病灶图像。当然，所述成像装置10与所述手术台之间的相对位置关系并不限于图2所示出的这一种位置关系，在实际使用中，根据使用场景、所述成像装置10和所述手术台的大小、形状等可以实时调整所述成像装置10与所述手术台之间的相对位置关系。所述病灶图像包括病灶器官以及病灶点的图像信息。所述成像装置10可以根据手术的类型以及成像的要求等采用以下其中之一：X射线成像装置、CT成像装置、磁共振成像装置。其中，X射线成像装置、CT成像装置、磁共振成像装置可以分别适用于对不同病灶的处理需求，也就是说，本公开实施例提供的手术系统可以用于多种手术的场景下。Continuing to refer to FIG. 2 , the
继续参见图2，在获取病灶图像之后，所述机械臂20固定在所述手术台上，便于所述机械臂20控制所述穿刺部40对所述手术台上的患者进行穿刺，其中，所述机械臂20固定在所述手术台上的位置可以根据实际需求随时进行调整，例如在所述机械臂20的长度无法满足手术需求时，也即所述机械臂20控制所述穿刺部40无法达到患者的病灶点时，可以调整所述机械臂20在所述手术台上的位置，以使所述机械臂20能够控制所述穿刺部40达到患者的病灶点，以完成穿刺手术。当然，所述机械臂20还可以固定在所述成像装置10上。Continuing to refer to FIG. 2 , after the lesion image is acquired, the
所述控制装置30用于获取所述成像装置10采集的病灶图像并对机械臂20进行控制，所述控制装置30与所述成像装置10和所述机械臂20之间通信连接，可以采用无线连接，也可以采用有线连接，连接方式可以根据实际需求进行设置。在具体实施中，利用所述成像装置10获取患者的病灶图像之后，所述成像装置10将所述病灶图像传输给所述控制装置30，其中，所述控制装置30包括处理单元，例如计算机以及显示单元等；这里，所述成像装置10可以基于医生执行预设的操作来获取所述患者的病灶图像，例如医生按下所述成像装置10对应的启动按键；还可以基于所述控制装置30的启动指令来获取所述患者的病灶图像，例如所述控制装置30在确定所述手术台上存在患者，并处于静止状态时，生成启动指令，传输给所述控制装置30等。The
所述控制装置30在接收到所述病灶图像之后，对所述病灶图像进行分析、处理，基于所述病灶图像获取患者的预设病灶点的位置信息，基于患者的病灶器官上的预设病灶点的位置可以确定所述穿刺部40的运动轨迹。具体地，在控制装置30提前获取所述穿刺部40的初始状态信息即初始位置和/或姿态信息的情况下，进而根据所述穿刺部40的初始状态信息以及患者的预设病灶点的位置信息确定所述穿刺部40的预设穿刺轨迹，以使所述机械臂20控制所述穿刺部40按照预设穿刺轨迹进行移动，将所述穿刺部40插入患者的病灶点，这里的预设穿刺轨迹包括将所述穿刺部40扎入患者体内的所述穿刺部40的预设进针位置和方向，以执行活检、消融、放射性粒子植入等操作，达到完成穿刺手术的目的。当然，还可以通过所述控制装置30中的显示单元将所述病灶图像以及所述预设穿刺轨迹进行显示，这将在后面进行详细介绍。After receiving the lesion image, the
优选地，所述机械臂20为六自由度机械臂，也即能够实现多个方向移动的串联式机械臂，其不仅能够通过多个关节处的电机和编码器实现多个方向移动，进而带动所述穿刺部40进行多个方向的移动，以使所述穿刺部40能够精确地对病灶点进行穿刺；还能够利用其编码器实时计算出所述穿刺部40的初始状态信息即初始位置和/或姿态信息，并将所述穿刺部的初始状态信息传输给所述控制装置30。当然，还可以是其他类型的机械臂，在所述机械臂上未设置编码器的情况下，可以在所述机械臂20的远端或所述穿刺部40上设置陀螺仪等能够采集位置和/或姿态信息等状态信息的传感器，以通过该传感器获取所述穿刺部40的初始状态信息，并传输给所述控制装置30。Preferably, the
考虑到在所述机械臂20控制所述穿刺部40按照预设穿刺轨迹进行移动的过程中，由于患者无意的位移或呼吸使得病灶器官或者病灶点的位置可能产生变化，因此，为了便于所述穿刺部40能够准确进入患者体内并达到预设病灶点的位置，本公开实施例提供的所述手术系统中还包括引导部50，所述引导部50用于对患者的病灶器官进行定位从而能够实时获取病灶器官的实际位置信息，所述控制装置30在通过所述机械臂20控制所述穿刺部40按照预设穿刺轨迹移动的过程中，可以通过所述引导部50传送的状态信息，也就是病灶器官的位置信息，实时调整所述预设穿刺轨迹，以便于所述穿刺部40准确到达穿刺点的位置，这里所述引导部50的状态信息可以是位置信息，也可以是姿态信息，当然还可以是位置信息和姿态信息等。Considering that in the process that the
具体地，为了便于确定患者的病灶器官的位置，所述引导部50可以设置在病灶器官上，其包括引导针501和导航装置502，所述引导针501可以插在病灶器官上，所述导航装置502与所述引导针501相连接，其配置地实时采集所述引导针501的状态信息，例如包括位置和/或姿态信息，这样也就采集到病灶器官的实时位置和/或状态信息，并发送给所述控制装置30。具体地，在将所述引导针501插入至所述病灶器官之后，所述导航装置502实时采集所述引导针501的位置和/或姿态信息，并通过所述导航装置502中的通信组件通过有线或者无线连接的方式将所述引导针501的位置和/或姿态信息传输给所述控制装置30。Specifically, in order to facilitate the determination of the position of the focal organ of the patient, the
图2中所述成像装置10、所述引导部50、所述机械臂20均与所述控制装置30通信连接，也即所述控制装置30通过所述无线通信单元301接收所述成像装置10将获取到的病灶图像，通过所述无线通信单元301接收所述引导部50获取到的所述引导针501的状态信息，通过所述无线通信单元301接收所述机械臂20获取到的所述穿刺部40的状态信息，以及控制所述机械臂20控制所述穿刺部40进行移动。在实际应用中，可以设置所述成像装置10、所述机械臂20与所述控制装置30通过连接线连接，以实现信息的接收和发送。In FIG. 2 , the
进一步地，为了便于所述引导部50和所述控制装置30之间的通信连接，所述引导部50和所述控制装置30之间采用无线通信连接的方式，所述控制装置30包括无线通信单元301，所述无线通信单元301用于接收所述导航装置502采集并传输的所述引导针501的状态信息，也即所述引导针501的位置和/或姿态信息。Further, in order to facilitate the communication connection between the
考虑到患者的病灶器官发生位置偏移的情况，在接收到所述引导针501的状态信息之后，在所述病灶图像上设置模拟插入预设病灶点的虚拟穿刺部，并基于虚拟穿刺部的位置信息和所述引导针501的初始位置信息确定所述虚拟穿刺部和所述引导针501之间的预设位置关系，这里，所述虚拟穿刺部的位置信息表示预设穿刺点的位置信息，所述引导针501的初始位置信息表示所述病灶器官的位置信息，这里的预设位置关系表示所述引导针502插入后病灶器官的初始位置信息与预设穿刺点的位置信息之间的关系，也就是所述引导针501所插入的病灶器官上的某一点的位置与病灶点的实际位置之间保持固定的关系，即使病灶器官发生了位移，也可以基于该预设位置关系找到实际病灶点的位置。Considering the situation that the patient's focal organ is displaced in position, after receiving the state information of the guide needle 501, a virtual puncture part simulating inserting a preset focal point is set on the lesion image, and based on the virtual puncture part The position information and the initial position information of the guide needle 501 determine the preset positional relationship between the virtual puncture part and the guide needle 501, where the position information of the virtual puncture part represents the position information of the preset puncture point , the initial position information of the guide needle 501 represents the position information of the focal organ, and the preset position relationship here represents the difference between the initial position information of the focal organ after the
在具体实施中，所述控制装置30在获取到患者的针对病灶器官的病灶图像，并将所述病灶图像显示出来后，医生可以基于所述病灶图像将所述引导针501插入至患者的病灶点对应的病灶器官上，或者所述病灶器官的边缘部位。优选地，将所述引导针501插入至所述病灶器官，能够在一定程度上确保穿刺的精确度。In a specific implementation, after the
这样，在通过所述机械臂20控制所述穿刺部40按照预设穿刺轨迹移动的过程中，由于病灶点可能会随着患者的呼吸、运动等因素随着病灶器官的运动发生位置偏移，所述控制装置30实时获取所述引导针501的状态信息即位置和/或姿态信息，也就是病灶器官的实时位置和/或姿态信息；在接收到所述引导针501的状态信息之后，基于接收到的位置和/或姿态信息以及所述预设位置关系，实现对所述预设穿刺轨迹进行调整。In this way, in the process of controlling the puncturing
具体地，可以存在以下两种调整方式，第一种调整方式，在接收到所述引导针501的状态信息即位置和/或姿态信息之后，直接基于当前接收时刻接收到的所述引导针501的状态信息以及所述预设位置关系，重新确定穿刺点的位置信息以及穿刺轨迹；例如，根据所述穿刺部40的初始位置信息以及针对病灶点的预设穿刺点的位置信息确定包括第一进针位置和方向的第一穿刺轨迹后，在接收到所述引导针501的实时的状态信息之后，根据所述引导针501的当前状态信息以及所述预设位置关系重新确定第二穿刺轨迹，如果当前所述穿刺部40还未进入到患者体内，则所述第二穿刺轨迹可以包括第二进针位置和方向。第二种调整方式，在接收到所述引导针501的状态信息之后，将当前接收时刻接收到的状态信息与前一接收时刻接收到的状态信息进行对比，如果当前接收时刻接收到的状态信息与前一接收时刻接收到的状态信息不同，则根据所述引导针501的当前状态信息以及所述预设位置关系重新确定第二穿刺轨迹；如果当前接收时刻接收到的状态信息与前一接收时刻接收到的状态信息相同，则控制所述机械臂20控制所述穿刺部40按照第一穿刺轨迹移动，也即，在当前接收时刻接收到的状态信息与前一接收时刻接收到的状态信息相同时，对所述预设穿刺轨迹不进行调整，也就是说，不再基于当前接收时刻接收到的状态信息重新确定第二穿刺轨迹，从而避免了资源浪费的问题。Specifically, there may be the following two adjustment methods. In the first adjustment method, after receiving the state information of the guide needle 501, that is, the position and/or attitude information, the guide needle 501 is directly received based on the current receiving moment. The state information and the preset position relationship of the puncture point are re-determined, and the position information of the puncture point and the puncture trajectory; for example, according to the initial position information of the
在通过所述机械臂20控制所述穿刺部40按照预设穿刺轨迹移动的过程中，通过所述引导针501的状态信息以及所述预设位置关系，能够根据病灶点位置的变化进行适应，对所述预设穿刺轨迹进行实时的调整，提高了穿刺的精确度，进而提高了穿刺手术的效率。In the process of controlling the
此外，如图2所示，所述控制装置30包括显示单元302，所述显示单元302用于实时显示患者的所述病灶图像、所述预设穿刺轨迹、所述引导部的状态信息以及所述穿刺部40的状态信息；具体地，可以基于预设穿刺点的位置生成虚拟穿刺针，基于所述引导针501的初始状态信息生成虚拟引导针，根据所述穿刺部40的实时状态信息、所述引导针501的实时状态信息以及所述采集范围之间的空间关系，将所述虚拟穿刺针、所述虚拟引导针同时显示在所述病灶图像上，并根据所述穿刺部40的状态信息、所述引导针501的状态信息实时进行更新，以便于医生实时观察并了解手术的进程。所述显示单元302可以是显示屏，当然还可以设置显示单元302包括多个显示屏或显示设备，进而控制多个显示屏或显示设备从多个、不同的角度显示所述穿刺针的位置和/或姿态信息、所述引导针的位置和/或姿态信息以及病灶图像，便于医生能够更加全面的了解穿刺手术的精确度和进度。In addition, as shown in FIG. 2 , the
当然，还可以将所述预设穿刺轨迹显示出来，以便于医生确定所述机械臂20控制所述穿刺部40是否按照所述预设穿刺轨迹进行移动的，并在所述机械臂20控制所述穿刺部40未按照所述预设穿刺轨迹进行移动的情况下，也即，所述机械臂20控制所述穿刺部40进行移动产生的实际穿刺轨迹与所述预设穿刺轨迹存在偏差时，能够及时的手动停止所述机械臂20的移动，避免所述穿刺部40插入除病灶点之外的其他位置点。Of course, the preset puncture trajectory can also be displayed, so that the doctor can determine whether the
本公开实施例利用所述引导针的状态信息调整预设穿刺轨迹，避免因患者或患者的某个部位产生的位移导致穿刺手术机器人无法对病灶点的位置变化进行准确的测量，仍按照预先规划的穿刺轨迹进行穿刺手术，进而导致穿刺的精确度和效率均较低的问题，提高了穿刺的精确度和效率；并且，在获取病灶图像和穿刺的过程中，无需患者屏住呼吸，改善了手术过程中患者的体验度。In the embodiment of the present disclosure, the state information of the guide needle is used to adjust the preset puncture trajectory, so as to prevent the puncture surgical robot from being unable to accurately measure the position change of the lesion due to the displacement of the patient or a certain part of the patient, and still follow the pre-planning The accuracy and efficiency of the puncture are low, which improves the accuracy and efficiency of the puncture. Moreover, during the process of acquiring the image of the lesion and puncturing, the patient does not need to hold his breath, which improves the efficiency of the puncture. Patient experience during surgery.
基于同一发明构思，本公开的第二方面还提供了一种与用于穿刺的手术系统对应的控制方法，该方法可以存储在机器可读介质中以用于实施，由于本公开中的远程操作控制方法解决问题的原理与本公开上述手术系统中的控制装置相似，因此控制方法的实施可以参见系统的实施，重复之处不再赘述。Based on the same inventive concept, the second aspect of the present disclosure also provides a control method corresponding to a surgical system for puncturing, the method can be stored in a machine-readable medium for implementation, due to the remote operation in the present disclosure The principle of the control method for solving the problem is similar to that of the control device in the above-mentioned surgical system of the present disclosure. Therefore, the implementation of the control method can refer to the implementation of the system, and the repetition will not be repeated.
如图3所示，为用于穿刺手术的控制方法的流程图，其中，具体步骤如下：As shown in Figure 3, it is a flowchart of a control method for puncture operation, wherein the specific steps are as follows:
S301，确定基于预设穿刺点的第一穿刺轨迹以及引导部的初始位置与所述预设穿刺点的位置之间的预设位置关系；S301, determining a first puncture trajectory based on a preset puncture point and a preset positional relationship between an initial position of a guide portion and the position of the preset puncture point;
S302，控制穿刺部按照所述第一穿刺轨迹移动；S302, controlling the puncturing part to move according to the first puncturing trajectory;
S303，获取所述引导部的状态信息；S303, obtaining the state information of the guiding part;
S304，基于所述预设位置关系和所述状态信息，确定第二穿刺轨迹，控制所述穿刺部按照所述第二穿刺轨迹移动。S304: Determine a second puncture trajectory based on the preset position relationship and the state information, and control the puncture part to move according to the second puncture trajectory.
如图4所示，为该控制方法中确定基于预设穿刺点的第一穿刺轨迹的流程图，其中，具体步骤如下：As shown in FIG. 4 , it is a flowchart of determining a first puncture trajectory based on a preset puncture point in the control method, wherein the specific steps are as follows:
S401，获取病灶图像；S401, acquiring a lesion image;
S402，基于所述病灶图像，确定所述预设穿刺点的位置信息；S402, based on the lesion image, determine the position information of the preset puncture point;
S403，基于穿刺部的初始状态和所述预设穿刺点的位置信息，确定所述第一穿刺轨迹。S403: Determine the first puncture track based on the initial state of the puncture part and the position information of the preset puncture point.
本公开实施例提供的控制方法中，所述引导部包括引导针和导航装置，所述获取所述引导部的状态信息包括：利用所述导航装置获取所述引导针的状态信息。In the control method provided by the embodiment of the present disclosure, the guide part includes a guide needle and a navigation device, and the acquiring the state information of the guide part includes: using the navigation device to acquire the state information of the guide needle.
本公开实施例提供的控制方法中，还包括：基于所述第一穿刺轨迹或所述第二穿刺轨迹，实时显示所述穿刺部的状态信息和/或所述引导部的状态信息。The control method provided by the embodiment of the present disclosure further includes: based on the first puncture trajectory or the second puncture trajectory, displaying the state information of the puncture part and/or the state information of the guide part in real time.
本公开通过控制方法对成像装置、机械臂和引导部进行上述步骤的操作，避免因患者或患者的某个部位产生的位移导致穿刺手术机器人无法对病灶点的位置变化进行准确的测量，仍按照预先规划的穿刺轨迹进行穿刺手术，进而导致穿刺的精确度和效率均较低的问题，提高了穿刺的精确度和效率。The present disclosure performs the above steps on the imaging device, the robotic arm and the guide through the control method, so as to avoid the inability of the puncture surgical robot to accurately measure the position change of the lesion due to the displacement of the patient or a certain part of the patient, and still follow the The puncture operation is performed with a pre-planned puncture trajectory, which leads to the problem of low puncture accuracy and efficiency, and improves the puncture accuracy and efficiency.
基于同一发明构思，本公开的第三方面还提供了一种与上述控制方法对应的控制装置，由于本公开中的装置解决问题的原理与本公开上述控制方法相似，因此装置的实施可以参见方法的实施，重复之处不再赘述。Based on the same inventive concept, a third aspect of the present disclosure also provides a control device corresponding to the above control method. Since the principle of solving the problem in the device in the present disclosure is similar to the above control method in the present disclosure, the implementation of the device can refer to the method implementation, and the repetition will not be repeated.
参见图5所示，用于穿刺手术的控制装置包括：Referring to Fig. 5, the control device for puncture operation includes:
确定模块510，用于确定基于预设穿刺点的第一穿刺轨迹以及引导部的初始位置与所述预设穿刺点的位置之间的预设位置关系；A
第一控制模块520，用于控制穿刺部按照所述第一穿刺轨迹移动；a
获取模块530，用于获取所述引导部的状态信息；an obtaining
第二控制模块540，用于基于所述预设位置关系和所述状态信息，确定第二穿刺轨迹，控制所述穿刺部按照所述第二穿刺轨迹移动。The
在其中一实施例中，所述确定模块510包括：In one embodiment, the determining
获取单元，用于获取病灶图像；an acquisition unit, used for acquiring a lesion image;
第一确定单元，用于基于所述病灶图像，确定所述预设穿刺点的位置信息；a first determining unit, configured to determine the position information of the preset puncture point based on the lesion image;
第二确定单元，用于基于穿刺部的初始状态和所述预设穿刺点的位置信息，确定所述第一穿刺轨迹。The second determining unit is configured to determine the first puncturing trajectory based on the initial state of the puncturing part and the position information of the preset puncturing point.
在其中一实施例中，所述引导部包括引导针和导航装置，所述获取模块530，具体用于利用所述导航装置获取所述引导针的状态信息。In one embodiment, the guide part includes a guide needle and a navigation device, and the obtaining
在其中一实施例中，所述控制装置还包括：In one embodiment, the control device further includes:
显示模块550，用于基于所述第一穿刺轨迹或所述第二穿刺轨迹，实时显示所述穿刺部的状态信息和/或所述引导部的状态信息。The
本公开利用引导部的状态信息调整预设穿刺轨迹，能够避免因患者或患者的某个部位产生的位移导致穿刺手术机器人无法对病灶点的位置变化进行准确的测量，仍按照预先规划的穿刺轨迹进行穿刺手术，进而导致穿刺的精确度和效率均较低的问题，提高了穿刺的精确度和效率。The present disclosure adjusts the preset puncture trajectory by using the state information of the guide part, which can prevent the puncture surgical robot from being unable to accurately measure the position change of the lesion point due to the displacement of the patient or a certain part of the patient, and still follow the pre-planned puncture trajectory. The puncture operation is performed, which leads to the problem that the precision and efficiency of the puncture are both low, and the precision and efficiency of the puncture are improved.
本公开的第四方面还提供了一种存储介质，该存储介质为计算机可读介质，存储有计算机程序，该计算机程序被处理器执行时实现本公开任意实施例提供的方法，包括如下步骤：A fourth aspect of the present disclosure further provides a storage medium, where the storage medium is a computer-readable medium and stores a computer program. When the computer program is executed by a processor, the method provided by any embodiment of the present disclosure is implemented, including the following steps:
S11，确定基于预设穿刺点的第一穿刺轨迹以及引导部的初始位置与所述预设穿刺点的位置之间的预设位置关系；S11, determining the first puncture trajectory based on the preset puncture point and the preset positional relationship between the initial position of the guide portion and the position of the preset puncture point;
S12，控制穿刺部按照所述第一穿刺轨迹移动；S12, controlling the puncturing part to move according to the first puncturing trajectory;
S13，获取所述引导部的状态信息；S13, obtain the state information of the guide part;
S14，基于所述预设位置关系和所述状态信息，确定第二穿刺轨迹，控制所述穿刺部按照所述第二穿刺轨迹移动。S14: Determine a second puncture trajectory based on the preset position relationship and the state information, and control the puncture part to move according to the second puncture trajectory.
计算机程序被处理器执行确定基于预设穿刺点的第一穿刺轨迹时，具体被处理器执行如下步骤：获取病灶图像；基于所述病灶图像，确定所述预设穿刺点的位置信息；基于穿刺部的初始状态和所述预设穿刺点的位置信息，确定所述第一穿刺轨迹。When the computer program is executed by the processor to determine the first puncture trajectory based on the preset puncture point, the processor specifically performs the following steps: acquiring a lesion image; determining the position information of the preset puncture point based on the lesion image; The initial state of the part and the position information of the preset puncture point are used to determine the first puncture trajectory.
所述引导部包括引导针和导航装置，计算机程序被处理器执行所述获取所述引导部的状态信息时，具体被处理器执行如下步骤：利用所述导航装置获取所述引导针的状态信息。The guiding part includes a guiding needle and a navigation device. When the computer program is executed by the processor to obtain the state information of the guiding part, the processor specifically executes the following steps: using the navigation device to obtain the state information of the guiding needle .
计算机程序被处理器执行所述控制方法时，还被处理器执行如下步骤：基于所述第一穿刺轨迹或所述第二穿刺轨迹，实时显示所述穿刺部的状态信息和/或所述引导部的状态信息。When the computer program is executed by the processor to execute the control method, the processor also executes the following steps: based on the first puncture trajectory or the second puncture trajectory, displaying the status information of the puncture part and/or the guide in real time Ministry status information.
计算机程序被处理器执行确定基于预设穿刺点的第一穿刺轨迹之前，还被处理器执行如下步骤：获取病灶器官的病灶图像。Before the computer program is executed by the processor to determine the first puncture trajectory based on the preset puncture point, the computer program is further executed by the processor as follows: acquiring a lesion image of the lesion organ.
本公开利用引导部的状态信息调整预设穿刺轨迹，能够避免因患者或患者的某个部位产生的位移导致穿刺手术机器人无法对病灶点的位置变化进行准确的测量，仍按照预先规划的穿刺轨迹进行穿刺手术，进而导致穿刺的精确度和效率均较低的问题，提高了穿刺的精确度和效率。The present disclosure adjusts the preset puncture trajectory by using the state information of the guide part, which can prevent the puncture surgical robot from being unable to accurately measure the position change of the lesion point due to the displacement of the patient or a certain part of the patient, and still follow the pre-planned puncture trajectory. The puncture operation is performed, which leads to the problem that the precision and efficiency of the puncture are both low, and the precision and efficiency of the puncture are improved.
本公开的第四方面还提供了一种电子设备，如图6所示，该电子设备至少包括存储器601和处理器602，存储器601上存储有计算机程序，处理器602在执行存储器601上的计算机程序时实现本公开任意实施例提供的方法。示例性的，电子设备计算机程序执行的方法如下：A fourth aspect of the present disclosure also provides an electronic device, as shown in FIG. 6 , the electronic device at least includes a
S21，确定基于预设穿刺点的第一穿刺轨迹以及引导部的初始位置与所述预设穿刺点的位置之间的预设位置关系；S21, determining the first puncture trajectory based on the preset puncture point and the preset positional relationship between the initial position of the guide portion and the position of the preset puncture point;
S22，控制穿刺部按照所述第一穿刺轨迹移动；S22, controlling the puncturing part to move according to the first puncturing trajectory;
S23，获取所述引导部的状态信息；S23, obtain the state information of the guide part;
S24，基于所述预设位置关系和所述状态信息，确定第二穿刺轨迹，控制所述穿刺部按照所述第二穿刺轨迹移动。S24: Determine a second puncture trajectory based on the preset position relationship and the state information, and control the puncture part to move according to the second puncture trajectory.
处理器在执行存储器上存储的确定基于预设穿刺点的第一穿刺轨迹时，具体执行如下计算机程序：获取病灶图像；基于所述病灶图像，确定所述预设穿刺点的位置信息；基于穿刺部的初始状态和所述预设穿刺点的位置信息，确定所述第一穿刺轨迹。When executing the first puncture trajectory stored in the memory and determined based on the preset puncture point, the processor specifically executes the following computer program: acquiring a lesion image; determining the position information of the preset puncture point based on the lesion image; based on the puncture The initial state of the part and the position information of the preset puncture point are used to determine the first puncture trajectory.
所述引导部包括引导针和导航装置，处理器在执行存储器上存储的所述获取所述引导部的状态信息时，具体执行如下计算机程序：利用所述导航装置获取所述引导针的状态信息。The guide part includes a guide needle and a navigation device, and when the processor executes the acquisition of the state information of the guide part stored in the memory, the processor specifically executes the following computer program: using the navigation device to obtain the state information of the guide needle .
处理器在执行存储器上存储的所述控制方法时，还执行如下计算机程序：基于所述第一穿刺轨迹或所述第二穿刺轨迹，实时显示所述穿刺部的状态信息和/或所述引导部的状态信息。When executing the control method stored in the memory, the processor further executes the following computer program: based on the first puncture trajectory or the second puncture trajectory, displaying the status information of the puncture part and/or the guidance in real time Ministry status information.
处理器在执行存储器上存储的确定基于预设穿刺点的第一穿刺轨迹之前，还执行如下计算机程序：获取病灶器官的病灶图像。Before executing the determination of the first puncture trajectory based on the preset puncture point stored in the memory, the processor further executes the following computer program: acquiring a lesion image of the lesion organ.
本公开利用引导部的状态信息调整预设穿刺轨迹，能够避免因患者或患者的某个部位产生的位移导致穿刺手术机器人无法对病灶点的位置变化进行准确的测量，仍按照预先规划的穿刺轨迹进行穿刺手术，进而导致穿刺的精确度和效率均较低的问题，提高了穿刺的精确度和效率。The present disclosure adjusts the preset puncture trajectory by using the state information of the guide part, which can prevent the puncture surgical robot from being unable to accurately measure the position change of the lesion point due to the displacement of the patient or a certain part of the patient, and still follow the pre-planned puncture trajectory. The puncture operation is performed, which leads to the problem that the precision and efficiency of the puncture are both low, and the precision and efficiency of the puncture are improved.
在一些实施方式中，客户端、服务器可以利用诸如HTTP(HyperText TransferProtocol，超文本传输协议)之类的任何当前已知或未来研发的网络协议进行通信，并且可以与任意形式或介质的数字数据通信(例如，通信网络)互连。通信网络的示例包括局域网(LAN)、广域网(WAN)、网际网(例如，互联网)以及端对端网络(例如，ad hoc端对端网络)，以及任何当前已知或未来研发的网络。In some embodiments, the client and server can communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and can communicate with digital data in any form or medium (eg, a communications network) interconnected. Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet (eg, the Internet), and peer-to-peer networks (eg, ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
上述存储介质可以是上述电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中。The above-mentioned storage medium may be included in the above-mentioned electronic device; or may exist alone without being assembled into the electronic device.
上述存储介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：获取至少两个网际协议地址；向节点评价设备发送包括至少两个网际协议地址的节点评价请求，其中，节点评价设备从至少两个网际协议地址中，选取网际协议地址并返回；接收节点评价设备返回的网际协议地址；其中，所获取的网际协议地址指示内容分发网络中的边缘节点。The above-mentioned storage medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device: acquires at least two Internet Protocol addresses; sends the at least two Internet Protocol addresses to the node evaluation device The node evaluation request of the node evaluation device, wherein the node evaluation device selects the Internet protocol address from at least two Internet protocol addresses and returns it; receives the Internet protocol address returned by the node evaluation device; wherein, the obtained Internet protocol address indicates the IP address in the content distribution network. edge node.
或者，上述存储介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：接收包括至少两个网际协议地址的节点评价请求；从至少两个网际协议地址中，选取网际协议地址；返回选取出的网际协议地址；其中，接收到的网际协议地址指示内容分发网络中的边缘节点。Or, the above-mentioned storage medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device: receives a node evaluation request including at least two Internet Protocol addresses; In the protocol address, the Internet Protocol address is selected; the selected Internet Protocol address is returned; wherein, the received Internet Protocol address indicates an edge node in the content distribution network.
可以以一种或多种程序设计语言或其组合来编写用于执行本公开的操作的计算机程序代码，上述程序设计语言包括但不限于面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program code for performing operations of the present disclosure may be written in one or more programming languages, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and This includes conventional procedural programming languages - such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).
需要说明的是，本公开上述的存储介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何存储介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。存储介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。It should be noted that, the above-mentioned storage medium of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any storage medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. Program code embodied on a storage medium may be transmitted using any suitable medium including, but not limited to, electrical wire, optical fiber cable, RF (radio frequency), etc., or any suitable combination of the foregoing.
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.
描述于本公开中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。其中，单元的名称在某种情况下并不构成对该单元本身的限定。The units described in the present disclosure can be implemented in software or hardware. Among them, the name of the unit does not constitute a limitation of the unit itself under certain circumstances.
本文中以上描述的功能可以至少部分地由一个或多个硬件逻辑部件来执行。例如，非限制性地，可以使用的示范类型的硬件逻辑部件包括：现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、片上系统(SOC)、复杂可编程逻辑设备(CPLD)等等。The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chips (SOCs), Complex Programmable Logical Devices (CPLDs) and more.
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开中所涉及的公开范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述公开构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, and should also cover, without departing from the above-mentioned disclosed concept, the technical solutions formed by the above-mentioned technical features or Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above-mentioned features with the technical features disclosed in the present disclosure (but not limited to) with similar functions.
此外，虽然采用特定次序描绘了各操作，但是这不应当理解为要求这些操作以所示出的特定次序或以顺序次序执行来执行。在一定环境下，多任务和并行处理可能是有利的。同样地，虽然在上面论述中包含了若干具体实现细节，但是这些不应当被解释为对本公开的范围的限制。在单独的实施例的上下文中描述的某些特征还可以组合地实现在单个实施例中。相反地，在单个实施例的上下文中描述的各种特征也可以单独地或以任何合适的子组合的方式实现在多个实施例中。Additionally, although operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, although the above discussion contains several implementation-specific details, these should not be construed as limitations on the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
尽管已经采用特定于结构特征和/或方法逻辑动作的语言描述了本主题，但是应当理解所附权利要求书中所限定的主题未必局限于上面描述的特定特征或动作。相反，上面所描述的特定特征和动作仅仅是实现权利要求书的示例形式。Although the subject matter has been described in language specific to structural features and/or logical acts of method, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.
以上对本公开多个实施例进行了详细说明，但本公开不限于这些具体的实施例，本领域技术人员在本公开构思的基础上，能够做出多种变型和修改实施例，这些变型和修改都应落入本公开所要求保护的范围之内。The various embodiments of the present disclosure have been described in detail above, but the present disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications on the basis of the concept of the present disclosure. These variations and modifications All should fall within the scope of the claimed protection of the present disclosure.
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