Disclosure of Invention
In order to solve the technical problem that when an error exists in puncture path calculation in a puncture process, a puncture path cannot be timely adjusted according to a real-time puncture condition, the invention provides a puncture operation assisting method, a puncture operation assisting system, a puncture operation assisting robot and a puncture operation assisting storage medium, and the puncture operation assisting method comprises the following specific technical scheme that:
The invention provides a puncture operation assisting method, which comprises the following steps:
Acquiring a volume image of a focus through a volume probe arranged on a first mechanical arm, and receiving a puncture position marked on the volume image by a user;
after the current pose of the first mechanical arm is locked to be the first pose, calibrating a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system;
calculating a second pose of a second mechanical arm according to the coordinate conversion relation and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under a second mechanical arm coordinate system;
After receiving a first confirmation instruction of the second pose and a second confirmation instruction of the first vector coordinate respectively, adjusting and locking the current pose of the second mechanical arm to the second pose;
Calculating a second vector coordinate of the puncture path under a first mechanical arm coordinate system according to the first vector coordinate and the coordinate conversion relation;
And adjusting the gesture of the first mechanical arm to be a third gesture according to the second vector coordinate, wherein the volume image is parallel to the plane where the puncture path is located in the third gesture, and the puncture path is included in the volume image.
According to the puncture operation auxiliary method provided by the invention, collection of focus volume images and planning of puncture paths are realized by controlling the first mechanical arm and the second mechanical arm, after the second mechanical arm provided with the puncture needles adjusts the postures according to the puncture paths, the first mechanical arm provided with the volume probe is controlled to adjust the postures, so that the volume probe can collect image information in real time in the puncture operation process, the problem that the puncture process cannot be checked in real time in the puncture operation process is avoided, once errors exist in calculation of the puncture paths, a user does not know actual puncture path information and affected part conditions, the operation effect is influenced, and the user can conveniently adjust the puncture paths in time according to the real-time puncture conditions.
In some embodiments, the receiving the puncture location marked by the user on the volumetric image specifically includes:
Performing three-dimensional reconstruction according to the volume image, and generating and displaying a cross section image and a coronal plane image of the focus;
And respectively receiving a first position coordinate marked by the user in the cross section image and a second position coordinate marked in the coronal image, and taking the first position coordinate and the second position coordinate as the puncture position.
The puncture operation auxiliary method provided by the invention generates the cross section image and the coronal image of the focus in a three-dimensional reconstruction mode, so that a user can intuitively mark the puncture position according to the cross section image and the coronal image of the focus, the accuracy of the user in judging the puncture position is improved, and the operation effect is further improved.
In some embodiments, the calculating the second pose of the second mechanical arm according to the coordinate transformation relation and the puncture position, and calculating the first vector coordinate of the puncture path of the puncture needle mounted on the second mechanical arm under the second mechanical arm coordinate system specifically includes:
Respectively receiving a third position coordinate marked by the user in the cross-section image and a fourth position coordinate marked in the coronal image, and taking the third position coordinate and the fourth position coordinate as surface incisional points of the focus;
And calculating the second pose and the first vector coordinate according to the first position coordinate, the second position coordinate, the third position coordinate and the fourth position coordinate.
According to the puncture operation auxiliary method provided by the invention, the surface cut-in points are marked on the cross-section image and the coronal image of the focus, so that the second pose of the second mechanical arm and the first vector coordinates of the puncture path are calculated, and the surface cut-in points and the puncture positions are planned on the cross-section image and the coronal image of the focus, so that a user can intuitively plan and view the puncture path on the cross-section image and the coronal image.
In some embodiments, the calculating the second pose of the second mechanical arm according to the coordinate transformation relationship and the puncture position, and calculating the first vector coordinate of the puncture path of the puncture needle mounted on the second mechanical arm under the second mechanical arm coordinate system, specifically further includes:
After the user moves the second mechanical arm to enable the puncture needle to click the surface cut-in point of the focus, receiving a third determining instruction input by the user, and acquiring a fifth position coordinate of the current position of the second mechanical arm under a second mechanical arm coordinate system;
Converting the fifth position coordinate into a sixth position coordinate under the first mechanical arm coordinate system according to the coordinate conversion relation;
And calculating the second pose and the first vector coordinate according to the sixth position coordinate, the first position coordinate and the second position coordinate.
According to the puncture operation auxiliary method provided by the invention, the puncture needle clicks the surface access point of the focus by moving the second mechanical arm, and the second pose of the second mechanical arm and the first vector coordinate of the puncture path are calculated according to the coordinates of the surface access point of the focus and the coordinates of the puncture position, so that a user can directly plan the puncture position and the puncture path according to the actual condition of the focus, and the puncture operation effect is improved.
In some embodiments, the volumetric probe comprises an ultrasonic linear probe, a frame, and a placement tray;
the volume probe mounted on the first mechanical arm is used for acquiring volume images of a focus, and the method specifically comprises the following steps:
after the user moves the volume probe to the focus, receiving a fourth determining instruction input by the user;
And controlling the ultrasonic linear array probe to rotate around the circle center of the placing disc by a preset angle in the frame body according to the fourth determining instruction, and collecting the volume image.
The invention provides a puncture operation auxiliary method, which discloses a volume probe structure and a collection method for collecting volume images of a focus, and improves the accuracy of collecting the volume images of the focus, thereby improving the effect of the puncture operation.
In some embodiments, the calibrating the coordinate conversion relationship between the first mechanical arm coordinate system and the second mechanical arm coordinate system specifically includes:
After a user adjusts the second mechanical arm to enable the puncture needle to click a preset punctuation target point on the first mechanical arm, the coordinate conversion relation is calculated according to the current gesture and the first gesture of the second mechanical arm.
The puncture operation auxiliary method provided by the invention discloses a calibration mode of a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system, and the calibration can be completed by adjusting the gesture of the second mechanical arm, so that the simplicity of the puncture operation is improved.
In some embodiments, the first and second robotic arms are disposed on first and second adjustment rails, respectively;
Before the volume probe installed on the first mechanical arm collects the volume image of the focus, the method further comprises the following steps:
Fixing the position of the first mechanical arm on the first adjusting track;
after the current pose of the first mechanical arm is locked to be the first pose, before the second pose of the second mechanical arm is calculated according to the coordinate conversion relation and the puncture position, the method further comprises:
And after the position of the second mechanical arm on the second adjusting track is adjusted, calibrating a coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system, and fixing the position of the second mechanical arm on the second adjusting track.
According to the puncture operation auxiliary method provided by the invention, the first mechanical arm and the second mechanical arm are respectively arranged on different adjusting tracks, so that the technical effect of increasing the moving range of the first mechanical arm and the second mechanical arm in the operation process is realized, the puncture position and the puncture path in the operation process are more flexible to select, and meanwhile, the scheme of fixing the mechanical arms on the corresponding adjusting tracks is disclosed, so that the change of the coordinate conversion relation caused by the movement of the mechanical arms after the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm are calibrated is avoided, and the operation accuracy is influenced.
In some embodiments, according to another aspect of the present invention, there is also provided a puncture surgical assistance system comprising:
the acquisition module is used for acquiring a volume image of a focus through a volume probe arranged on the first mechanical arm and receiving a puncture position marked on the volume image by a user;
the calibration module is used for calibrating the coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system after the current pose of the first mechanical arm is locked to be the first pose;
The first calculation module is connected with the calibration module and is used for calculating a second pose of the second mechanical arm according to the coordinate conversion relation and the puncture position and calculating a first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under a coordinate system of the second mechanical arm;
The first adjusting module is connected with the first calculating module and is used for adjusting and locking the current pose of the second mechanical arm to be the second pose after receiving the first confirming instruction of the second pose and the second confirming instruction of the first vector coordinate respectively;
The second calculation module is respectively connected with the calibration module and the first adjustment module and is used for calculating a second vector coordinate of the puncture path under a first mechanical arm coordinate system according to the first vector coordinate and the coordinate conversion relation;
the second adjusting module is connected with the second calculating module and is used for adjusting the gesture of the first mechanical arm to be a third gesture according to the second vector coordinate, the volume image is parallel to the plane where the puncture path is located in the third gesture, and the puncture path is included in the volume image.
In some embodiments, according to another aspect of the present invention, there is also provided a puncture surgery assisting robot including:
The device comprises a first mechanical arm, a second mechanical arm and a control unit, wherein the first mechanical arm is provided with a volume probe for controlling the volume probe to acquire volume images of a focus;
the second mechanical arm is provided with a puncture needle which is used for controlling the puncture needle to puncture the focus;
The industrial personal computer is respectively connected with the first mechanical arm and the second mechanical arm, is used for receiving the volume image acquired by the volume probe, receiving a puncture position marked on the volume image by a user, calibrating a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system after locking the current position of the first mechanical arm to be a first position, calculating a second position of the second mechanical arm according to the coordinate conversion relation and the puncture position, calculating a first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under the second mechanical arm coordinate system, then respectively receiving a first confirmation instruction of the second position and a second confirmation instruction of the first vector coordinate, adjusting and locking the current position of the second mechanical arm to be the second position, calculating a second vector coordinate of the puncture path under the first mechanical arm coordinate system according to the first vector coordinate and the coordinate conversion relation, and finally adjusting the first position to be the third position of the puncture path to be the third position parallel to the volume image.
In some embodiments, according to another aspect of the present invention, there is also provided a storage medium having stored therein at least one instruction that is loaded and executed by a processor to perform the operations performed by the above-described puncture surgery assisting method.
The invention provides a puncture operation assisting method, a puncture operation assisting system, a puncture operation assisting robot and a puncture operation assisting storage medium, which at least comprise the following technical effects:
(1) The collection of focus volume images and the planning of puncture paths are realized by controlling the first mechanical arm and the second mechanical arm, after the second mechanical arm provided with the puncture needles adjusts the postures according to the puncture paths, the first mechanical arm provided with the volume probes is controlled to adjust the postures, so that the volume probes can collect image information in real time in the puncture operation process, the problem that the puncture process cannot be checked in real time in the puncture operation process is avoided, once errors exist in the calculation of the puncture paths, the actual puncture path information and the affected part conditions are unclear for a user, the operation effect is influenced, and the user can conveniently adjust the puncture paths in time according to the real-time puncture conditions;
(2) Generating a cross section image and a coronal image of a focus in a three-dimensional reconstruction mode, so that a user can intuitively mark the puncture position according to the cross section image and the coronal image of the focus, the accuracy of the user in judging the puncture position is improved, and the operation effect is further improved;
(3) Marking surface cut points on the cross section image and the coronal image of the focus, further calculating a second pose of the second mechanical arm and a first vector coordinate of a puncture path, and planning the surface cut points and the puncture positions on the cross section image and the coronal image of the focus, so that a user can intuitively plan and view the puncture path on the cross section image and the coronal image;
(4) The puncture needle clicks the surface entry point of the focus by moving the second mechanical arm, and the second pose of the second mechanical arm and the first vector coordinate of the puncture path are calculated according to the coordinates of the surface entry point of the focus and the coordinates of the puncture position, so that a user can directly plan the puncture position and the puncture path according to the actual condition of the focus, and the effect of the puncture operation is improved;
(5) Through setting up first arm and second arm on different regulation tracks respectively, realize increasing first arm and second arm in the technological effect of operation in-process movable range, make the selection of puncture position and puncture route more nimble in the operation in-process, disclose simultaneously one kind with the scheme of arm fixing on corresponding regulation track, avoid leading to the coordinate conversion relation change because the arm removes after first arm coordinate system and second arm coordinate system are markd, influence the accuracy nature of operation.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to facilitate a concise understanding of the drawings, components having the same structure or function in some of the drawings are depicted schematically only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
In one embodiment of the present invention, as shown in fig. 1, the present invention provides a puncture operation assisting method, comprising the steps of:
S100, acquiring a volume image of a focus through a volume probe arranged on a first mechanical arm, and receiving a puncture position marked on the volume image by a user.
Specifically, the volume probe may adopt an ultrasonic volume probe, a depth volume probe and the like, and is used for acquiring a 3D volume image of a focus position, the volume probe transmits the volume image from an industrial personal computer after acquiring the volume image, the volume image is displayed through a display device of the industrial personal computer, and a mark of a doctor on the puncture position on the volume image can be received through the display device.
And S200, after the current pose of the first mechanical arm is locked to be the first pose, calibrating the coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system.
Specifically, the first mechanical arm and the second mechanical arm are both in multi-degree-of-freedom mechanical arm structures, after the volume probe acquires the volume image of the focus, the current posture of the first mechanical arm is kept unchanged, and the coordinate conversion relation between the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm is calibrated.
S300, calculating a second pose of the second mechanical arm according to the coordinate conversion relation and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under a second mechanical arm coordinate system.
Specifically, according to the coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system, the puncture position is converted into a coordinate under the second mechanical arm coordinate system, the second pose of the second mechanical arm is calculated according to the coordinate of the puncture position under the second mechanical arm coordinate system, and the puncture path is calculated according to the puncture pose under the second coordinate system.
S400, after receiving the first confirmation instruction of the second pose and the second confirmation instruction of the first vector coordinate respectively, adjusting and locking the current pose of the second mechanical arm to the second pose.
Specifically, the puncture position and the puncture path of the puncture needle in the volume image are displayed through the display equipment of the industrial personal computer and are confirmed by a doctor, after the doctor confirms the puncture position and the puncture path respectively, a first confirmation instruction and a second confirmation instruction are input, and the industrial personal computer adjusts the current pose of the second mechanical arm to the second pose according to the first confirmation instruction and the second confirmation instruction and locks the current pose of the second mechanical arm to the second pose.
S500, calculating a second vector coordinate of the puncture path under the first mechanical arm coordinate system according to the first vector coordinate and the coordinate conversion relation.
And S600, adjusting the posture of the first mechanical arm to be a third posture according to the second vector coordinate.
Specifically, the volume image in the third posture is parallel to the plane where the puncture path is located, and the puncture path is included in the volume image.
According to the puncture operation assisting method, collection of focus volume images and planning of puncture paths are achieved through controlling the first mechanical arm and the second mechanical arm, after the second mechanical arm provided with the puncture needles is adjusted according to the puncture paths, the first mechanical arm provided with the volume probe is controlled to adjust the gesture, so that the volume probe can collect image information in real time in the puncture operation process, the problem that the puncture process cannot be checked in real time in the puncture operation process is avoided, once errors exist in puncture path calculation, a user does not know actual puncture path information and affected part conditions, operation effects are affected, and timely adjustment of the puncture paths is facilitated for the user according to real-time puncture conditions.
In one embodiment, as shown in fig. 2, step S100 to step S300 specifically include:
S120, acquiring a volume image of the focus through a volume probe arranged on the first mechanical arm.
S131, performing three-dimensional reconstruction according to the volume image, and generating and displaying a cross-section image and a coronal image of the focus.
Specifically, the three-dimensional reconstruction method comprises multi-layer reconstruction, maximum density projection, surface shadow coverage, volume roaming technology, curved surface reconstruction, virtual endoscope technology and the like, the volume image acquired by the volume probe is converted into a cross-section image and a coronal image of a focus by any one of the above methods, and the cross-section image and the coronal image of the focus are displayed simultaneously by a display device of an industrial personal computer.
S132, respectively receiving a first position coordinate marked by a user in the cross-section image and a second position coordinate marked in the coronal image, and taking the first position coordinate and the second position coordinate as puncture positions.
Specifically, the first position coordinates marked in the cross-section image and the second position coordinates marked in the coronal image of the doctor are received through the display device of the industrial personal computer.
And S200, after the current pose of the first mechanical arm is locked to be the first pose, calibrating the coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system.
S311 receives the third position coordinate marked by the user in the cross-section image and the fourth position coordinate marked in the coronal image, respectively, and uses the third position coordinate and the fourth position coordinate as the surface incision point of the lesion.
Specifically, after planning the surface incision point of the focus according to the coronal image and the cross-section image of the focus, the doctor receives the third position coordinates marked in the cross-section image and the fourth position coordinates marked in the coronal image by the doctor through the display device of the industrial personal computer.
S312 calculates the second pose and the first vector coordinate from the first position coordinate, the second position coordinate, the third position coordinate, and the fourth position coordinate.
The puncture operation auxiliary method provided by the embodiment generates the cross-section image and the coronal image of the focus in a three-dimensional reconstruction mode, so that a user can intuitively mark the puncture position according to the cross-section image and the coronal image of the focus, and meanwhile, the surface entry point is marked on the cross-section image and the coronal image of the focus, so that the second pose of the second mechanical arm and the first vector coordinate of the puncture path are calculated, the surface entry point and the puncture position are planned on the cross-section image and the coronal image of the focus, and the user can intuitively plan and check the puncture path on the cross-section image and the coronal image, so that the accuracy of the judgment of the puncture position by the user is improved, and further, the operation effect is improved.
In one embodiment, as shown in fig. 3, step S300 calculates a second pose of the second mechanical arm according to the coordinate transformation relationship and the puncture position, and calculates a first vector coordinate of a puncture path of a puncture needle mounted on the second mechanical arm under a second mechanical arm coordinate system, and specifically further includes:
s321, after the user moves the second mechanical arm to enable the puncture needle to click the surface cut-in point of the focus, receiving a third determining instruction input by the user, and obtaining a fifth position coordinate of the current position of the second mechanical arm under the second mechanical arm coordinate system.
Specifically, after the puncture needle clicks the surface incision point of the focus, the doctor inputs a third determining instruction through the industrial personal computer, and at the moment, a fifth position coordinate is calculated according to the current gesture data of each joint of the second mechanical arm.
S322 converts the fifth position coordinate into a sixth position coordinate under the first mechanical arm coordinate system according to the coordinate conversion relation.
S323 calculates the second pose and the first vector coordinate from the sixth position coordinate, the first position coordinate, and the second position coordinate.
According to the puncture operation assisting method, the second mechanical arm is moved to enable the puncture needle to click the surface access point of the focus, the second pose of the second mechanical arm and the first vector coordinate of the puncture path are calculated according to the coordinates of the surface access point of the focus and the coordinates of the puncture position, so that a user can directly plan the puncture position and the puncture path according to the actual condition of the focus, and the puncture operation effect is improved.
In one embodiment, as shown in fig. 4 and 5, the present invention further provides a puncture surgery assisting method, comprising the steps of:
s110, fixing the position of the first mechanical arm on the first adjusting track.
Specifically, as shown in fig. 5, as in fig. 5, the puncture operation assisting apparatus applying the puncture operation assisting method, wherein the first mechanical arm and the second mechanical arm are respectively disposed on the first adjustment rail and the second adjustment rail, the first adjustment rail and the second adjustment rail in fig. 5 are disposed as linear rails, and may be disposed as multidirectional rails in other embodiments.
S121 receives a fourth determination instruction input by the user after the user moves the volume probe to the lesion.
Specifically, after the user moves the volume probe to the focus, a fourth determining instruction is input through the industrial personal computer, and the volume probe is controlled to start volume images.
S122, controlling the ultrasonic linear array probe to rotate around the circle center of the placing disc by a preset angle in the frame body according to the fourth determining instruction, and collecting volume images.
Specifically, the volume probe comprises an ultrasonic linear array probe, a frame body and a placing disc, after receiving a fourth determining instruction, the ultrasonic linear array probe is placed above a focus to be pressurized and fully contacted with skin, the ultrasonic linear array probe is controlled to rotate around the circle center of the placing disc by a preset angle, volume images are collected, and the volume images are collected by rotating 180 degrees generally.
S131, performing three-dimensional reconstruction according to the volume image, and generating and displaying a cross-section image and a coronal image of the focus.
Specifically, the three-dimensional reconstruction method comprises multi-layer reconstruction, maximum density projection, surface shadow coverage, volume roaming technology, curved surface reconstruction, virtual endoscope technology and the like, the volume image acquired by the volume probe is converted into a cross-section image and a coronal image of a focus by any one of the above methods, and the cross-section image and the coronal image of the focus are displayed simultaneously by a display device of an industrial personal computer.
S132, respectively receiving a first position coordinate marked by a user in the cross-section image and a second position coordinate marked in the coronal image, and taking the first position coordinate and the second position coordinate as puncture positions.
S210, locking the current pose of the first mechanical arm to be the first pose.
S220, after the user adjusts the second mechanical arm to enable the puncture needle to click a preset punctuation target point on the first mechanical arm, calculating a coordinate conversion relation according to the current gesture and the first gesture of the second mechanical arm.
Specifically, the preset punctuation target point can be arranged on the volume probe, so that the accuracy of the coordinate conversion relation is further improved.
S230, fixing the position of the second mechanical arm on the second adjusting track.
S300, calculating a second pose of the second mechanical arm according to the coordinate conversion relation and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle arranged on the second mechanical arm under a second mechanical arm coordinate system.
Specifically, according to the coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system, the puncture position is converted into a coordinate under the second mechanical arm coordinate system, the second pose of the second mechanical arm is calculated according to the coordinate of the puncture position under the second mechanical arm coordinate system, and the puncture path is calculated according to the puncture pose under the second coordinate system.
S400, after receiving the first confirmation instruction of the second pose and the second confirmation instruction of the first vector coordinate respectively, adjusting and locking the current pose of the second mechanical arm to the second pose.
Specifically, the puncture position and the puncture path of the puncture needle in the volume image are displayed through the display equipment of the industrial personal computer and are confirmed by a doctor, after the doctor confirms the puncture position and the puncture path respectively, a first confirmation instruction and a second confirmation instruction are input, and the industrial personal computer adjusts the current pose of the second mechanical arm to the second pose according to the first confirmation instruction and the second confirmation instruction and locks the current pose of the second mechanical arm to the second pose.
S500, calculating a second vector coordinate of the puncture path under the first mechanical arm coordinate system according to the first vector coordinate and the coordinate conversion relation.
And S600, adjusting the posture of the first mechanical arm to be a third posture according to the second vector coordinate.
Specifically, the volume image in the third posture is parallel to the plane where the puncture path is located, and the puncture path is included in the volume image.
The puncture operation auxiliary method provided by the embodiment discloses a volume probe structure and a collection method for collecting volume images of a focus, improves the accuracy of collecting the volume images of the focus, further improves the effect of puncture operation, simultaneously respectively sets a first mechanical arm and a second mechanical arm on different adjustment tracks, achieves the technical effect of increasing the moving range of the first mechanical arm and the second mechanical arm in the operation process, enables the selection of puncture positions and puncture paths in the operation process to be more flexible, and simultaneously discloses a scheme for fixing the mechanical arms on corresponding adjustment tracks, and avoids the change of coordinate conversion relations caused by the movement of the mechanical arms after the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm are calibrated, thereby affecting the accuracy of operation.
In one embodiment, as shown in fig. 6, the present invention also provides a puncture surgery assistance system, comprising an acquisition module 10, a calibration module 20, a first calculation module 30, a first adjustment module 40, a second calculation module 50, and a second adjustment module 60.
Wherein the acquisition module 10 is used for acquiring a volume image of a focus through a volume probe mounted on the first mechanical arm and receiving a puncture position marked on the volume image by a user.
Specifically, the volume probe may adopt an ultrasonic volume probe, a depth volume probe and the like, and is used for acquiring a 3D volume image of a focus position, the volume probe transmits the volume image from an industrial personal computer after acquiring the volume image, the volume image is displayed through a display device of the industrial personal computer, and a mark of a doctor on the puncture position on the volume image can be received through the display device.
The calibration module 20 is configured to calibrate a coordinate conversion relationship between the first mechanical arm coordinate system and the second mechanical arm coordinate system after locking the current pose of the first mechanical arm to the first pose.
Specifically, the first mechanical arm and the second mechanical arm are both in multi-degree-of-freedom mechanical arm structures, after the volume probe acquires the volume image of the focus, the current posture of the first mechanical arm is kept unchanged, and the coordinate conversion relation between the coordinate system of the first mechanical arm and the coordinate system of the second mechanical arm is calibrated.
The first calculating module 30 is connected to the calibration module 20, and is configured to calculate a second pose of the second mechanical arm according to the coordinate transformation relationship and the puncture position, and calculate a first vector coordinate of a puncture path of the puncture needle mounted on the second mechanical arm under a coordinate system of the second mechanical arm.
Specifically, according to the coordinate conversion relation between the first mechanical arm coordinate system and the second mechanical arm coordinate system, the puncture position is converted into a coordinate under the second mechanical arm coordinate system, the second pose of the second mechanical arm is calculated according to the coordinate of the puncture position under the second mechanical arm coordinate system, and the puncture path is calculated according to the puncture pose under the second coordinate system.
The first adjusting module 40 is connected to the first calculating module 30, and is configured to adjust and lock the current pose of the second mechanical arm to the second pose after receiving the first confirmation command of the second pose and the second confirmation command of the first vector coordinate, respectively.
Specifically, the first adjusting module 40 displays the puncture position and the puncture path of the puncture needle in the volumetric image through the display device of the industrial personal computer, and inputs a first confirmation instruction and a second confirmation instruction after the doctor confirms the puncture position and the puncture path respectively, and the first adjusting module 40 adjusts the current pose of the second mechanical arm to the second pose according to the first confirmation instruction and the second confirmation instruction and locks the current pose of the second mechanical arm to the second pose.
The second calculation module 50 is connected to the calibration module 20 and the first adjustment module 40, respectively, and is configured to calculate a second vector coordinate of the puncture path under the first mechanical arm coordinate system according to the first vector coordinate and the coordinate conversion relationship.
The second adjusting module 60 is connected to the second calculating module 50, and is configured to adjust the posture of the first mechanical arm to be the third posture according to the second vector coordinate.
Specifically, the volume image in the third posture is parallel to the plane where the puncture path is located, and the puncture path is included in the volume image.
The puncture operation auxiliary system provided by the embodiment realizes collection of focus volume images and planning of puncture paths by controlling the first mechanical arm and the second mechanical arm, and after the second mechanical arm provided with the puncture needles adjusts the postures according to the puncture paths, the first mechanical arm provided with the volume probe is controlled to adjust the postures, so that the volume probe can collect image information in real time in the puncture operation process, the problem that the puncture process cannot be checked in real time in the puncture operation process is avoided, once the puncture paths are calculated to have errors, a user does not know actual puncture path information and affected part conditions, the operation effect is affected, and the user can conveniently adjust the puncture paths in time according to the real-time puncture conditions.
In one embodiment, as shown in fig. 7, the present invention further provides a puncture surgery auxiliary robot, which includes a first mechanical arm 100, a second mechanical arm 200, and an industrial personal computer 300.
The first mechanical arm 100 is provided with a volume probe for controlling the volume probe to collect a volume image of a focus, the second mechanical arm 200 is provided with a puncture needle for controlling the puncture needle to puncture the focus, the industrial personal computer 300 is respectively connected with the first mechanical arm 100 and the second mechanical arm 200 and is used for receiving the volume image collected by the volume probe and receiving a puncture position marked by a user on the volume image, after the current position of the first mechanical arm 100 is locked as a first position, a coordinate conversion relation between a first mechanical arm coordinate system and a second mechanical arm coordinate system is calibrated, a second position of the second mechanical arm 200 is calculated according to the coordinate conversion relation and the puncture position, a first vector coordinate of a puncture needle installed on the second mechanical arm 200 in the second mechanical arm coordinate system is calculated, then a first confirmation instruction of the second position and a second confirmation instruction of the first vector coordinate are respectively received, the current position of the second mechanical arm 200 is adjusted and locked, a second vector coordinate of the puncture path in the first mechanical arm coordinate system is calculated according to the first vector coordinate and the coordinate conversion relation, a final vector coordinate of the puncture path in the first mechanical arm coordinate system is calculated, and the second vector coordinate of the puncture path in the second mechanical arm coordinate system is adjusted according to the second vector coordinate of the first vector coordinate system is parallel to the third vector coordinate of the puncture path in the puncture path, and the puncture path is adjusted in the second plane.
In one embodiment, the present invention further provides a storage medium having at least one instruction stored therein, the instruction being loaded and executed by a processor to implement the operations performed by the corresponding embodiments of the above-described puncture surgery assisting method. For example, the storage medium may be read-only memory (ROM), random-access memory (RAM), compact disk read-only (CD-ROM), magnetic tape, floppy disk, optical data storage device, etc.
They may be implemented in program code that is executable by a computing device such that they may be stored in a memory device for execution by the computing device, or they may be separately fabricated into individual integrated circuit modules, or a plurality of modules or steps in them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the elements and steps of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed puncture surgery assisting method, system, robot and storage medium may be implemented in other manners. For example, one of the above-described embodiments of a puncture surgery assistance method, system, robot, and storage medium is merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or modules may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the communications links shown or discussed may be through some interface, device or unit communications link or integrated circuit, whether electrical, mechanical or otherwise.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
It should be noted that the foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.