CN1243690A - Cerebrosurgical operation equipment system with robot and its implement method - Google Patents
Cerebrosurgical operation equipment system with robot and its implement methodDownload PDFInfo
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Translated fromChinese本发明是一种借助于机器人和计算机来辅助进行人体头部手术的特种医疗设备系统及其实现方法。它涉及到计算机、机器人、机械、自动化、及医疗设备工程等技术学科领域。The invention relates to a special medical equipment system and its realization method for assisting human head surgery by means of a robot and a computer. It involves technical disciplines such as computers, robotics, mechanics, automation, and medical equipment engineering.
机器人脑外科设备系统，在医疗设备工程领域正发挥着越来越重要的作用。常规的立体定向脑外科手术是借助一种带有N字形定位标记的立体定位仪框架(标定设备)，将它固定在病人的颅骨上，通过CT扫描或有关X光设备成象，将CT片上脑组织的病灶点信息与立体定位仪框架坐标建立相应的几何变换关系，再借助于一种专用坐标刻度盘和定位尺设备，可从刻度盘上读出病灶靶点在立体定位仪坐标系中的三维坐标值。在此基础上，将一个弓型手术器械引导装置安装在立体定位仪框架，通过已知的病灶靶点的坐标值和该引导装置便可在颅骨上钻一个小孔，并将探针或其它更精细、复杂的外科器件引入脑内，对病灶点进行活检、放疗、切除等操作。Robot brain surgery equipment system is playing an increasingly important role in the field of medical equipment engineering. Conventional stereotaxic brain surgery is to fix it on the patient's skull by means of a stereotaxic instrument frame (calibration equipment) with N-shaped positioning marks, and image it on the CT film through CT scanning or related X-ray equipment imaging. The corresponding geometric transformation relationship is established between the lesion point information of the brain tissue and the frame coordinates of the stereotaxic instrument, and then with the help of a special coordinate dial and positioning ruler equipment, the lesion target point can be read from the dial in the stereotaxic instrument coordinate system The three-dimensional coordinate value of . On this basis, a bow-shaped surgical instrument guide device is installed on the stereotaxic instrument frame, and a small hole can be drilled on the skull through the known coordinate values of the lesion target point and the guide device, and the probe or other More sophisticated and complex surgical devices are introduced into the brain, and operations such as biopsy, radiotherapy, and resection are performed on the lesion.
现有这种外科手术取得了许多重要成果，但也存在着一些不足：The existing surgical operation has achieved many important results, but there are also some shortcomings:
A.是病人从CT扫描开始直到手术结束始终都要戴着笨重金属头架，特别是要安装的弓型手术引导操作臂，不仅使病人不舒服，而且占用手术操作的空间。A. The patient has to wear a heavy metal headgear from the beginning of the CT scan until the end of the operation, especially the bow-shaped surgical guide arm to be installed, which not only makes the patient uncomfortable, but also takes up space for the operation.
B.是目前使用的坐标刻度盘和定位尺设备只限用于一种特定大小的CT片，而不能适用于各种CT机拍成的CT片，特别是不能适用目前普遍使用的一张9幅脑图CT片。B. The currently used coordinate dial and positioning ruler equipment are only used for a specific size of CT film, and cannot be applied to CT films made by various CT machines, especially the currently commonly used one 9 A CT scan of the brain.
C.是这种方法很难在不同方向上提供对目标(肿瘤)的轨迹规划；C. It is difficult for this method to provide trajectory planning for the target (tumor) in different directions;
D.是手术者从框架标尺读取靶点的坐标到对框架进行调整的操作繁琐、时间长。D. It is tedious and long time for the operator to read the coordinates of the target point from the frame ruler to adjust the frame.
E.是将CT室作为手术室，利用机器人与CT扫描床固定联接，完成立体定向神经外科手术定位操作，这种方法不符合我们国家的国情，价格昂贵的CT机往往是面向医院各个医疗科室，很难作为手术室。E. The CT room is used as the operating room, and the robot is fixedly connected with the CT scanning bed to complete the stereotaxic neurosurgery positioning operation. This method does not conform to the national conditions of our country. The expensive CT machines are often used in various medical departments of the hospital. , it is difficult to use as an operating room.
F.在手术中，医务人员直接进行放射性药物的注入操作，还会造成医务人员的辐射伤害。F. During the operation, medical personnel directly inject radiopharmaceuticals, which may also cause radiation injuries to medical personnel.
为此，人们迫切希望借助计算机与机器人高新技术，寻找一种新的、更快、更灵活、更可靠、更精确、成本低的机器人脑外科设备系统及其实现方法。For this reason, people are eager to find a new, faster, more flexible, more reliable, more accurate, and low-cost robotic brain surgery equipment system and its implementation method with the help of high-tech computers and robots.
本发明的机器人脑外科设备系统及其实现方法的目的是利用机器人和电脑的先进高技术，对手术操作的直线轨迹进行规划，选择一个最小损伤的手术路径，同时又避免伤害脑内重要的血管、神经，在机器人1末端机械手延伸装置27的引导下，将其它更精细、复杂的外科器件引入脑内(如探针等)，辅助有关人员对病灶点进行活检、放疗、切除等精细手术操作。The purpose of the robot brain surgery equipment system and its implementation method of the present invention is to use the advanced high technology of robots and computers to plan the linear trajectory of surgical operations, select a surgical path with minimal damage, and at the same time avoid damage to important blood vessels in the brain , Nerves, under the guidance of the
我们目的是：Our purpose is to:
1.利用计算机图像处理，使常规各种脑立体定向仪的靶点定位适用于各种CT机拍成的CT片，如一张9幅脑图的CT片，并省去坐标刻度盘和定位尺的繁杂操作。1. Using computer image processing, the target positioning of conventional stereotaxic instruments is suitable for CT films made by various CT machines, such as a CT film with 9 brain maps, and the coordinate dial and positioning ruler are omitted complicated operations.
2.本发明的机器人脑外科设备系统及其实现方法在手术时不占用CT室，可以节约大量的经费，更符合中国国情。2. The robot brain surgery equipment system and its implementation method of the present invention do not occupy the CT room during the operation, which can save a lot of money and is more in line with China's national conditions.
3.提出一种微损失映射方法，解决医疗图像空间与临床手术操作空间非结构化环境的复杂繁琐标定。提出了无损伤手术病灶测定和操作方法，更大地保护了病人的利益。3. A micro-loss mapping method is proposed to solve the complex and cumbersome calibration of the unstructured environment of the medical image space and the clinical operation space. A non-invasive operation lesion determination and operation method is proposed, which protects the interests of patients to a greater extent.
4.利用机器人操作，取消框架仪的弓型操作臂，实现不同方向的直线穿刺轨迹规划，并为医务人员提供更大的手术空间。4. Using robot operation, cancel the bow-shaped operating arm of the frame instrument, realize linear puncture trajectory planning in different directions, and provide medical personnel with a larger surgical space.
5.设计一种注射器的推进机构，替代医务人员直接进行放射性药物的注入操作，以减轻对医务人员的辐射伤害。5. Design a syringe propulsion mechanism to replace the medical staff to directly inject radiopharmaceuticals, so as to reduce the radiation damage to the medical staff.
本发明提出的机器人脑外科设备系统及其实现方法的具体内容如下：机器人脑外科设备系统它是由计算机4(选用型号PC586)、机器人1(选用型号PUMA262)、机械手延伸装置27、手术床28、和标定设备29等设备构成，是进行接受信息、测定并确定病灶的位置、辅助进行手术和进行治疗的脑外科设备系统，其特征在于，其机械手延伸装置27(见图1和图2)包括测量标定机械接口70、标测钉71、手术器械夹持具60、双层模板50、注射器推进机构30和六关节机械臂9等设备，该系统还包括CT图片26、扫描仪5(选用型号UNISCAN)和C形X光机8等设备，其标定设备29使用的是定位框架3。不同的步骤选用的设备不同，The concrete content of robot brain surgery equipment system and its implementation method that the present invention proposes is as follows: robot brain surgery equipment system it is by computer 4 (selection model PC586), robot 1 (selection model PUMA262),
一.在进行标测定位时：将病人的头部固定在带有N字形标记的立体定位框架3上，对机器人1及有关相联接的周边设备进行消毒，诸如测量标定机械接口70(见图8)，一端呈尖形的棒体标测钉71，手术器械夹持具60，双层模板50，注射器推进机构30等，测量标定机械接口70是为和机器人末端衔接的接口，是由有四个衔接螺口75形似法蓝盘的底座73和中心有固定孔72的固定件74组成，底座73和固定件74是固定连接，在固定件74上配有固定用的螺钉。让病人躺在手术床上，一方面利用扫描仪5将CT图片26数据输入计算机4，用本发明研究开发的图像引导软件系统测定脑病灶的三维坐标；另一方面用本发明设计的测量标定方法，用测量标定机械接口70和标测钉71、或双层模板50，完成手术操作空间与图像规划空间之间映射变换，之后，将机器人末端的手术器械夹持具60装置，利用机器人1辅助完成不同方向的直线轨迹规划，实现立体定向手术的精确定位。1. When carrying out calibration and positioning: the patient's head is fixed on the stereotaxic frame 3 with N-shaped marks, and the
二.在进行相关手术时：控制机器人1按最佳的直线轨迹运动到脑颅附近，借助本发明设计的手术器械夹持具60，进行钻孔并插入探针，并在计算机4控制下机器人1进行微动精细地前进或后退运动定位，进行有关病灶点的活检和囊液的抽取等。2. When carrying out related operations: control the
三.在辅助治疗时：在手术器械夹持具60上安装本发明设计的注射推进机构30，在计算机4的控制下，完成放射性同位素的注射。3. During auxiliary treatment: the injection propulsion mechanism 30 designed by the present invention is installed on the surgical instrument holder 60, and under the control of the
应当这样说：我们的技术方案主要由图像引导定位方法、医疗图像模型与临床手术环境的标定方法、机器人辅助立体定向运动控制及放射性药物注入控制等四大部分组成。现在这四大块分别加以说明。It should be said that our technical solution is mainly composed of image-guided positioning method, calibration method of medical image model and clinical operation environment, robot-assisted stereotaxic motion control and radiopharmaceutical injection control. These four blocks are now described separately.
一.图像引导定位方法：1. Image-guided positioning method:
对于脑立体定向手术，为了准确地将探针或其它更精细复杂的外科器件引入脑内病灶点，进行活检、放疗、切除等操作，必须准确地确定病灶点的位置，以及在颅骨上钻孔位置姿态。因此，首先一个重要任务就是，利用计算机进行脑图像的手术靶点定位，并在此基础上进行多条直线轨迹外科手术的规划，选择最佳的手术方案。For brain stereotaxic surgery, in order to accurately introduce probes or other more sophisticated surgical devices into brain lesions, perform biopsy, radiotherapy, resection, etc., it is necessary to accurately determine the location of lesions and drill holes on the skull position posture. Therefore, the first important task is to use the computer to locate the surgical target on the brain image, and on this basis, plan multiple straight-line surgical operations and choose the best surgical plan.
为了准确地定位，本发明设计了两套方案，一个是面向二维图像引引导定位系统，另一个是面向三维图象引导定位系统。For accurate positioning, the present invention designs two sets of solutions, one is for a two-dimensional image-guided positioning system, and the other is for a three-dimensional image-guided positioning system.
A：本发明设计的借助于PC586 Window平台，利用Visual C++技术，我们设计了二维图像引导定位方法是：借助于PC586 Window平台，利用Visual C++技术实现五个图标驱动下的可视化引导病灶点的定位，既：A: The present invention designs by means of PC586 Window platform, utilizes Visual C ++ technology, we have designed two-dimensional image guidance positioning method is: by means of PC586 Window platform, utilizes Visual C ++ technology to realize the visual guidance lesion point under five icon drives Positioning, both:
a.图标功能之一是读写文件操作，它负责将CT或MRI图像数据读入缓冲区并显示在屏幕上，或者将修改的CT或MRI图像数据存入文件，或者将完成定位的参数、病例报告输出打印。a. One of the functions of the icon is the operation of reading and writing files, which is responsible for reading the CT or MRI image data into the buffer and displaying it on the screen, or saving the modified CT or MRI image data into a file, or storing the positioning parameters, Case report output printing.
b.图标功能之二是在计算机显示的CT或MRI图像上，再叠加显示一个带有标尺的框架，利用鼠标拖动这个显示框架，以便对准CT或MRI图像显示的病人头部带有立体定向框架的四个角，从而确定计算机屏幕上CT或MRI图像显示与实际脑部位置的坐标变换关系。b. The second function of the icon is to superimpose a frame with a scale on the CT or MRI image displayed on the computer, and use the mouse to drag the display frame so as to align with the patient's head displayed on the CT or MRI image. Orient the four corners of the frame to determine the coordinate transformation relationship between the CT or MRI image displayed on the computer screen and the actual brain position.
c.图标功能之三是在计算机显示的CT或MRI图像上，再叠加显示带有刻度的横向标尺，利用鼠标拖动这个标尺，以便对准CT或MRI图像显示的病人头部带有N字形标记点，从而确定计算机屏幕上CT或MRI图像显示Z轴深度的坐标。c. The third function of the icon is to superimpose and display a horizontal scale with scale on the CT or MRI image displayed on the computer. Use the mouse to drag the scale so as to align with the N-shaped patient head displayed on the CT or MRI image. Mark points to determine the Z-axis depth coordinates of the CT or MRI image displayed on the computer screen.
d.图标功能之四是在计算机显示的CT或MRI图像上，再叠加显示带有刻度的十字标尺，利用鼠标拖动这个标尺，以便对准CT或MRI图像显示的病人脑部病灶点，从而确定计算机屏幕上CT或MRI图像显示X、Y轴的坐标。d. The fourth function of the icon is to superimpose and display a cross scale with a scale on the CT or MRI image displayed on the computer, and use the mouse to drag the scale so as to align with the patient's brain lesion displayed on the CT or MRI image, thereby Determine the X, Y axis coordinates of the CT or MRI image display on the computer screen.
e.图标功能之五是根据图标功能之二到之四的操作，通过几何变换，计算出相对于立体定向框架仪的X、Y、Z坐标。e. The fifth icon function is to calculate the X, Y, and Z coordinates relative to the stereotactic frame instrument through geometric transformation according to the operation of the icon function two to four.
这一技术方案的突出特点是适用于各种CT机7拍成的CT片，如一张9幅脑图的CT片，可以完成脑靶点定位，即可用于机器人1辅助脑外科系统，也可以配合常规的各种脑立体定向仪的定位框架3，在保持同样精度的条件下，实时计算靶点的X、Y、Z坐标位置，同时还具有省去坐标刻度盘和定位尺设备与操作等优点。The outstanding feature of this technical solution is that it is applicable to CT films made by various CT machines 7, such as a CT film with 9 brain maps, which can complete the positioning of brain targets, which can be used in the
B：面向三维图像引导定位软件系统是借助本发明设计的六关节机械臂9作为观测棒，在OpenGL软件开发环境下，实现我们的这一技术方案。B: The three-dimensional image-oriented positioning software system uses the six-joint mechanical arm 9 designed by the present invention as an observation rod, and implements our technical solution under the OpenGL software development environment.
现在来说明一下本发明所设计的六关节机械臂9的结构，作为人机交互装置的观测棒，主要用于手术操作空间点的测量和三维图像的操作。六自由度关节式机械臂9(见图3和图4)，采用无动力源方式，它及各关节均采用经过表面处理的航空铝型材料进行制作，主要硬件结构组成如下：Now let's explain the structure of the six-joint robotic arm 9 designed in the present invention, as an observation stick of a human-computer interaction device, it is mainly used for the measurement of surgical operation space points and the operation of three-dimensional images. The six-degree-of-freedom articulated manipulator 9 (see Figure 3 and Figure 4) adopts the method of no power source. It and its joints are made of surface-treated aviation aluminum materials. The main hardware structure is as follows:
在机座10上装配有关节一11，其关节一11下端内部采用精密轴，心轴94与机座10用螺钉96进行固定，心轴轴向定位由挡环92、垫圈93与关节一11进行固定，心轴94的径向定位由铜制衬套与关节一11进行固定，铜制衬套97的作用犹如滑动轴承，在轴与轴承之间有石墨作润滑剂，保证关节一11的转动灵活。与电位计20的联结是通过紧固在心轴94中凸塞99插入电位计的轴槽，实现心轴与电位计20轴连动的，而电位计的外壳紧固在关节一11的接头91上，以保证电位计准确地与关节一11保持同步转动。A joint-11 is assembled on the
关节二12的右端与关节一11的左端相连，其关节二12的心轴94与关节一11用螺钉96进行固定，心轴94轴向定位由挡环92、垫圈93与关节二12进行固定，心轴94的径向定位由铜制衬套97与关节二12进行固定，铜制衬套97的作用犹如滑动轴承，在轴与轴承之间有石墨作润滑剂，保证关节二12的转动灵活；与电位计21的联结是通过紧固在心轴94中凸塞99插入电位计的轴槽，实现心轴94与电位计21轴连动的，而电位计的外壳紧固在关节二12的接头91上，以保证电位计准确地与关节二12保持同步转动；关节二12的上端与大臂13一端进行固定相连(以下两两关节的内在连接和联结都是相同的和类同的，下面就不一一叙述了)。The right end of joint two 12 is connected with the left end of joint one 11, the
关节三14的下端与大臂13另一端进行固定相连，关节三14的右端与关节四15的左端相连，其关节三14的心轴与关节四15用螺钉进行固定，心轴轴向定位由挡环、垫圈与关节三14进行固定，心轴的径向定位由铜制衬套与关节三14进行固定，铜制衬套的作用犹如滑动轴承，在轴与轴承之间有石墨作润滑剂，保证关节三14的转动灵活；与电位计22的联结是通过紧固在心轴中凸塞插入电位计的轴槽，实现心轴与电位计22轴连动的，而电位计的外壳紧固在关节三14的接头上，以保证电位计准确地与关节三14保持同步转动。The lower end of the joint three 14 is fixedly connected with the other end of the
关节四15的下端与小臂16一端进行固定相连，关节四15的右端与关节三14的右端相连，其关节四15的心轴与小臂16一端用螺钉进行固定，心轴轴向定位由挡环、垫圈与关节四15进行固定，心轴的径向定位由铜制衬套与关节四15进行固定，铜制衬套的作用犹如滑动轴承，在轴与轴承之间有石墨作润滑剂，保证关节四15的转动灵活；与电位计23的联结是通过紧固在心轴中凸塞插入电位计的轴槽，实现心轴与电位计23轴连动的，而电位计的外壳紧固在关节四15的接头上，以保证电位计准确地与关节四15保持同步转动。The lower end of joint four 15 is fixedly connected with one end of
关节五17的上端与小臂16另一端进行固定相连，关节五17的右端与关节六18的左端相连，其关节五17的心轴与关节六18进行固定，心轴轴向定位由挡环、垫圈与关节五17进行固定，心轴的径向定位由铜制衬套与关节五17进行固定，铜制衬套的作用犹如滑动轴承，在轴与轴承之间有石墨作润滑剂，保证关节五17的转动灵活；与电位计24的联结是通过紧固在心轴中凸塞插入电位计的轴槽，实现心轴与电位计24轴连动的，而电位计的外壳紧固在关节五17的接头上，以保证电位计准确地与关节五17保持同步转动。The upper end of joint five 17 is fixedly connected with the other end of
关节六18的下端与锥形探测工具19进行相连，其关节六18的心轴与探测工具19进行固定，心轴轴向定位由挡环、垫圈与关节六18进行固定，心轴的径向定位由铜制衬套与关节六18进行固定，铜制衬套的作用犹如滑动轴承，在轴与轴承之间有石墨作润滑剂，保证关节六18的转动灵活；与电位计25的联结是通过紧固在心轴中凸塞插入电位计的轴槽，实现心轴与电位计25轴连动的，而电位计的外壳紧固在关节六18的接头上，以保证电位计准确地与关节六18保持同步转动。The lower end of the joint six 18 is connected with the
面向三维图像引导定位方法是：The 3D image-oriented positioning method is:
本发明设计的借助于计算机WindowsNT和SGI工作站的OpenGL软件技术，设计的三维图像引导定位方法是：用六关节机械臂9作为观测棒，在计算机WindowsNT和SGI工作站的OpenGL软件开发环境平台上，可以实现一个三维图像引导的立体定向外科手术规划系统。它首先可以完成二维图像数据预处理，包括直方图显示、灰度范围校准(线性灰度变换、非线性灰度变换)、组织划分、一系列CT扫描脑图像对齐校准以及CT层间的插值处理等。然后，在此基础上实现三维图像的重构，并在计算机屏幕上用不同颜色显示脑内的不同解剖组织结构。利用本发明设计的六关节机械臂9作为观测棒，可以实现三维图像的平移旋转、放大缩小、任意切割平面等操作，并可以从不同角度，对预行手术操作的部位进行测量定位，通过计算机程序，进行坐标变换，计算出机械臂末端的坐标值，对手术穿刺直线轨迹在计算机的人脑三维图像中进行虚拟演示与规划，观察手术操作轨迹是否可能对重要的脑组织或脑血管造成严重的影响，模拟同位素内放疗的结果等。The present invention designs by means of the OpenGL software technology of computer WindowsNT and SGI workstation, and the three-dimensional image guided positioning method of design is: use six-joint mechanical arm 9 as observation rod, on the OpenGL software development environment platform of computer WindowsNT and SGI workstation, can Realize a three-dimensional image-guided stereotactic surgery planning system. It can first complete two-dimensional image data preprocessing, including histogram display, grayscale range calibration (linear grayscale transformation, nonlinear grayscale transformation), tissue division, alignment calibration of a series of CT scan brain images, and interpolation between CT layers processing etc. Then, on this basis, the reconstruction of the three-dimensional image is realized, and different anatomical structures in the brain are displayed in different colors on the computer screen. Utilizing the six-joint mechanical arm 9 designed by the present invention as an observation rod, operations such as translation and rotation of three-dimensional images, zooming in and out, and arbitrary cutting of planes can be realized, and the position of the pre-operated operation can be measured and positioned from different angles. Program, coordinate transformation, calculate the coordinate value of the end of the mechanical arm, perform virtual demonstration and planning of the surgical puncture linear trajectory in the computer's three-dimensional image of the human brain, and observe whether the surgical operation trajectory may cause serious damage to important brain tissues or cerebral blood vessels. The impact of simulated isotope radiotherapy results and so on.
明确地说：我们可以利用六关节机械臂9，借助于六个关节上的电位器，测量出各个关节的角度，通过计算机4的A/D卡采集转换为数字量，再利用计算机4的程序，进行空间几何坐标转换，就可以算出机械臂末端的姿态和位置。对六关节机械臂9的操纵，对实际病人头部表面的测量，就可以Specifically: we can use the six-joint robotic arm 9 to measure the angles of each joint with the help of the potentiometers on the six joints, convert them into digital quantities through the A/D card of the
A.利用六关节机械臂9末端的姿态和位置，控制计算机4屏幕上三维图象的旋转A. Use the posture and position of the end of the six-joint mechanical arm 9 to control the rotation of the three-dimensional image on the screen of the
B.利用六关节机械臂9末端与实际病人头部的远近，可以控制计算机4屏幕上三维图象的放大或缩小；B. Utilize the distance between the end of the six-joint mechanical arm 9 and the actual patient's head to control the enlargement or reduction of the three-dimensional image on the screen of the
C.以六关节机械臂9末端的姿态定义一个平面，对计算机4屏幕上三维图象进行切割，便于观察人体脑内部的病灶靶点；C. Define a plane with the attitude of the end of the six-joint mechanical arm 9, and cut the three-dimensional image on the screen of the
基于上述三个功能，就可以借助对六关节机械臂9的操作，以其坐标系为基点，来分析、观察机器人手术穿刺直线的最佳位置和姿态，其手术操作直线轨迹是否可能对重要的脑组织或脑血管造成严重的影响等；这一技术的凸出特点是借助于六关节机械臂9作为观测棒，可以方便建立图像操作的良好界面，以实现虚拟手术的操作和规划，选择最佳手术方案。二.医疗图像三维模型与临床手术环境的标定方法Based on the above three functions, it is possible to use the operation of the six-joint robotic arm 9 and use its coordinate system as the base point to analyze and observe the optimal position and posture of the robotic surgical puncture line. Brain tissue or cerebral blood vessels are seriously affected; the prominent feature of this technology is that with the help of the six-joint robotic arm 9 as an observation stick, it is convenient to establish a good interface for image manipulation, so as to realize the operation and planning of virtual surgery. The best surgical option. 2. Calibration method of 3D model of medical image and clinical operation environment
在计算机与机器人辅助外科手术中，首先需要解决的问题是如何实现脑图像三维模型与临床手术操作环境的标定，即将CT图片上的预定病灶点位置映射到机器人操作的具体病灶点位置。在这里借助于本发明设计的测量标定机械接口70和标测钉71、双层模板50，利用计算机控制的机器人力控制人机交互操作界面，我们提出了微创伤和无创伤的两种映射变换方法。In computer and robot-assisted surgery, the first problem that needs to be solved is how to realize the calibration of the three-dimensional model of the brain image and the clinical operation environment, that is, to map the predetermined focus point position on the CT image to the specific focus point position operated by the robot. Here, with the help of the measurement and calibration
A：微创伤映射变换方法：A: Microtrauma mapping transformation method:
一般我们定义虚拟空间是基于CT的图像空间，现实空间是机器人和病人所在的空间。为了建立两个空间的映射关系，我们通过定义立体框架上的三个定位标记点，来构造一个与颅骨固连的参考坐标系，实现了两个空间的匹配映射。Generally, we define the virtual space as the image space based on CT, and the real space as the space where the robot and the patient are located. In order to establish the mapping relationship between the two spaces, we constructed a reference coordinate system fixed to the skull by defining three positioning marker points on the stereoscopic frame, and realized the matching mapping of the two spaces.
对于微创伤映射变换方法，机器人1可以将目标靶点从CT图像坐标系、定位框架3坐标系映射到机器人1基坐标系、机器人末端的手术器械夹持具60坐标系。本发明设计了用于测量标定的标测钉71工具和测量标定机械接口70，测量标定机械接口70的一端通过螺钉可以固定在机器人末端力传感器2，测量标定机械接口70的另一端通过螺钉可以固定锥形标测钉，目的是为了利用机器人1末端安装的标测钉71直接获取手术操作空间的标记点坐标。For the microtrauma mapping transformation method, the
本发明设计的借助于CT扫描，获得CT图象，借助于在CT图象空间坐标系中，已知道了定位框架3上的三个标记点，我们所设计的微创伤定位的方法是：首先在人体头部安装的定位框架3上选择定义三个标记点，然后进行CT扫描，获得CT图象；由于在CT图象空间坐标系中，知道上述个标记点，以这三个标记点可以构造一个空间坐标系，称之为CT图象空间的标记点三坐标系，从而可以通过空间几何变换，将CT图象空间所所关心的病灶点映射到CT图象中的标记点坐标系中。The present invention designs by means of CT scan, obtains CT image, by means of in CT image spatial coordinate system, has known three mark points on the positioning frame 3, the method for the microtrauma positioning that we design is: First select and define three marker points on the positioning frame 3 installed on the human head, then perform CT scanning to obtain a CT image; since the above marker points are known in the CT image space coordinate system, these three marker points A space coordinate system can be constructed, which is called the three-coordinate system of marker points in the CT image space, so that the lesion points concerned in the CT image space can be mapped to the marker point coordinate system in the CT image through spatial geometric transformation middle.
另一方面，当带着定位框架3的病人躺在手术床上以后，我们将测量标定机械接口70的一端，通过螺钉固定在机器人末端力传感器2上，再将测量标定机械接口70的另一端安装固定一个锥形标测钉71，可以测量获得手术操作空间的三个标记点，以这三个标定的标记点又可以构造一个空间坐标系，称之为手术操作空间中的标记点坐标系。由机器人在手术操作空间中通知上述三个标记点，从而可以通过几何变换，将手术操作空间中所关心的病灶点映射到标记点坐标系中，而且这种逆变换也是存在的，即标记点坐标系中的病灶点映射到机器人手术操作空间中。On the other hand, after the patient with the positioning frame 3 is lying on the operating bed, we fix one end of the measuring and calibrating
通过上述方法，CT图象空间映射变换到CT图象空间中的标记点坐标系中，CT图象空间中的标记点坐标系与机器人手术操作空间中的标记点坐标系完全等价，从而再将上述变换将机器人手术操作空间中标记点坐标系映射变换到机器人手术操作空间，这就实现了CT图象空间大到手术操作空间的变换。Through the above method, the CT image space mapping is transformed into the marker point coordinate system in the CT image space, and the marker point coordinate system in the CT image space is completely equivalent to the marker point coordinate system in the robot operation space, so that The above transformation transforms the coordinate system mapping of the marked points in the robot operation space to the robot operation space, which realizes the transformation from the large CT image space to the operation space.
因此，在手术操作空间中，只要借助我们设计安装在机器人末端的测量标定机械接口70和标测钉71，通过计算机4，实现PUMA260机器人1力控制方式，用机器人1可以直接从定位框架3上识别获得手术操作空间中定义的三个定位标记点。在虚拟空间中定义的三个定位标记点坐标位置，可以从定位框架3刻度上直接获得。可以看出，只要三个定位标记点不同线，基于可以使用的软件，就可以构造这两个空间映射关系的几何变换矩阵。Therefore, in the operation space, as long as we design and install the measurement and calibration
我们所提出的微损失映射方法较好地解决了医疗图像空间与临床手术操作空间非结构化环境的复杂繁琐标定，使手术不占用CT室，这样符合中国国情，并为无框架立体定向神经外科手术的进一步研究奠定重要的基础。The micro-loss mapping method proposed by us better solves the complex and cumbersome calibration of the medical image space and the unstructured environment of the clinical operation space, so that the operation does not occupy the CT room. It lays an important foundation for further research in surgery.
B.关于无创伤映射变换方法：B. Regarding the non-invasive mapping transformation method:
我们提出了利用成像设备C形X光机8，不在病人身上设置有损伤的标记点，实现医疗图像空间与临床手术操作空间非结构化环境映射变换。设想任何一幅X光医疗图像是一个三维的透视图，图像中的目标点可以看成是该点在空间沿着X光线方向的投影点，一条投影线上的每一点都对应同一个投影点。显然，如果在两幅图像中都找到一条通过目标点的投影直线，那么这两条直线的交点就是我们要求的空间目标点位置。We propose to use the imaging equipment C-shaped
为了解决这一问题，我们设计了一种双层模板50(见图6)。它的结构是：上层模板51和下层模板的材料用有机玻璃，上层模板51和下层模板52之间的距离是确定的，上层模板51和下层模板52之间的联接固定是通过螺钉54、55、56、57紧固，上层模板51的标记点的位置我们采用正方形网格排列，每两点之间的距离是确定的，下层模板52的标记点在板中心的若干个同心圆上，这些标记点在双层模板50中的坐标系位置是精确的和确定的，而且它们的投影在图象中是可见的，标记点的材料选用1mm直径的铅丝制成。In order to solve this problem, we designed a double-layer template 50 (see Figure 6). Its structure is: the material of the
如果给出具体的数值，则模板的一种设计是：模板的尺寸为200mm×200mm，上层模板51和下层模板的材料用有机玻璃，厚度为4mm，上层模板51和下层模板52之间的距离为53mm，上层模板51和下层模板52之间的联接固定是通过螺钉54、55、56、57紧固的。上层模板51的标记点我们采用正方形网格排列，每两点之间的距离为40mm，下层模板52的标记点采用圆形排列，共有两个圆周，小圆半径为50mm，大圆半径为70mm；每个圆周上有16个标记点。If a specific value is given, then a design of the template is: the size of the template is 200mm × 200mm, the material of the
双层模板50与机器人末端的测量标定机械接口70联接是通过双层模板50的机械接口53固定联接的，然后通过双层模板50上金属标记在X光图象中的投影关系，可以测量和计算空间未知点在模板坐标系的坐标，再基于机器人1基坐标的变换矩阵，则可从两幅投影图象中分别确立两条空间直线，他们的相交点即为我们所待求的空间位置，从而实现一种快速有效的定位算法。双层模板50的结构是基于求解投影线上两个点的想法，以建立空间直线方程而专门设计的。The connection between the double-layer template 50 and the measurement and calibration
双层模板50结构是：上层模板51和下层模板的材料用有机玻璃，上层模板51和下层模板52之间的距离是确定的，上层模板51和下层模板52之间的联接固定是通过螺钉54、55、56、57紧固，上层模板51的标记点的位置我们采用正方形网格排列，每两点之间的距离是确定的，下层模板52的标记点在板中心的若干个同心圆上，这些标记点在双层模板50中的坐标系位置是精确的和确定的，而且它们的投影在图象中是可见的，标记点的材料选用1mm直径的铅丝制成。在使用时，首先将双层模板50与机器人末端的测量标定机械接口70通过螺钉固定连接，利用计算机4将机器人末端的双层模板运动到待测部位的上方，然后将来成象设备C形X光机8移动到机器人末端双层模板50的上方进行拍照成象。由于双层模板50上的标记点不仅在X光图象上是可见的，而且它们之间的位置关系在机器人坐标中也是固定和已知的，从而可以通过双层模板50上的标记点，构造一条穿过病灶靶点的空间直线族。然后，按上述方法将机器人末端双层模板50和C形X光机8移动到待测部位的另一方位，又可以构造出另一条穿过病灶靶点的空间直线族，当病灶点是唯一的，则两条空间直线族的交点就是我们待测分三维坐标病灶靶点。这种方法在病人身上没有有损伤的标记点，而是借助于本发明设计的双层模板50，实现了医疗图象与临床手术操作间非结构化的映射变换。The structure of the double-layer template 50 is: the material of the
因此，我们所提出的非损伤映射技术方案突出特点是借助我们设计的双层模板50，可以巧妙地将医疗成象设备与图象引导定位系统分离开来，定位算法中不需要考虑医疗成象设备C形X光机8的有关参数和姿态，这不仅使定位问题简单化，而且使得这种定位系统变得更加实用。三.机器人辅助立体定向的操作控制：Therefore, the outstanding feature of our proposed non-invasive mapping technology scheme is that with the help of our designed double-layer template 50, the medical imaging equipment can be skillfully separated from the image-guided positioning system, and the medical imaging equipment does not need to be considered in the positioning algorithm. The relevant parameters and attitude of the equipment C-shaped
我们是以UNIMATION公司的PUMA260机器人1为硬件平台，研究开发了机器人辅助立体定向操作控制，这方面的技术方案包括本发明设计的与机器人末端联接的手术器械夹持具、机器人轨迹规划、机器人运动控制算法和通讯程序。另外还实现了具有基于实时力控制的人机交互界面，医生可以直接抓持机器人的末端，控制机器人达到医生所期望的位置和姿态，方便了医务人员对机器人定位的操作。We use the
UNIMATION公司的PUMA260机器人1是一种可编程的体积较小、便于搬运的通用机器人，它能以0.05mm的重复精度完成复杂的工作，并能保持稳定的轨迹。它主要由操作机、控制器、示教盒、监视器等系统连接组成。它的运动与人体相类似，如可以以腕、肩、肘、腰部位并行或分别旋转操作。六个关节分别配有永磁电机和伺服驱动系统。每个关节都能进行大范围角位移。另外，PUMA260机器人1具有较好的安全性，当它的电气或机械失效后，在腰、肩、肘安装的弹簧机制可以有刹车制动作。为了使机器人与病人保持固定的联系，机器人1基座与手术床的位置距离在手术过程中保持不变，安装在病人头部的定位框架3与手术床固定联接。UNIMATION's
将测量标定机械接口70替换为手术机械夹持具60，利用计算机4控制程序可以实现机器人1辅助下的不同方向直线轨迹规划，以选择最佳的手术方案。手术机械夹持具60(见图7)的硬件结构组成是机械接口61与引导机构62精密固定配合，机械接口61的功能是与机器人末端力传感器进行联接。引导机构62功能是在上位夹持具63和下位夹持具64配合下，保证各种手术器械工具，在引导机构62引导的方向上进行相应的手术操作，其中上位夹持具63和下位夹持具64是可以按手术器械的粗细、大小进行更换，螺钉65和螺钉66负责对更换的上位夹持具63和下位夹持具64进行固定。在分析比较确定机器人1规划的最佳穿刺直线路径后，确定一条避开脑部重要功能区和血管组织的近似轨迹，机器人1可以根据选择的不同方向，调整姿态，然后进行直线轨迹的运动，并将探针指向靶点。实现立体定向手术的精确定位，并控制机器人1按最佳的直线轨迹运动到脑颅附近。机器人1可以实时、准确地计算出需要到达预定目标区域的距离，提供工作人员参考。经再三对比，对机器人计算的结果进行分析、讨论、评价，并根据手术实际情况进行修正。机器人1按准确修正后的速度和距离，准确地沿直线前进或后退运动。然后，工作人员用电钻借助本发明设计的手术器械夹持具沿着预定轨迹在头滑上钻孔，接着用一根穿刺针完成对病变的处理。机器人1也可以进行微动精细地前进或后退运动定位。现在，到达预定目标区域的距离可以由机器人1计算得到，但通过探针支持器插入探针的工作还是由医生人工操作进行的。The measurement and calibration
四.放射性药物注入机构和控制：4. Radiopharmaceutical injection mechanism and control:
考虑减轻注射同位素对外科医务工作人员的辐射伤害，我们在机器人末端的手术器械夹持具60上，专门设计了一种用于遥控操作的注射器推进机构30(见图5)，辅助工作人员在远距高进行放射性同位素药物的注射操作。注射器推进机构30的夹具33功能是在螺钉31、32的紧固配合下，将推进机构本体34与手术器械夹持具60固定联接。直流电机37固定安装在推进机构本体34上，直流电机37轴承与一个转动轮35固定联接，通过一条钢丝绳36与滑板相连。当直流电机37带动转动轮35正转或反转，滑板38在滑槽39上也跟着上下移动。滑板与一个连杆40固定联接，连杆40的顶部通过一个螺钉41又与一个挡板42相连。当螺钉41松动时，挡板42可以左右转动，便于安装不同大小粗细的注射器6。当螺钉41紧固时，挡板42也将固定，从而可以随连杆40上下移动，推动注射器6完成放射性药物的注入。直流电机37的驱动是利用计算机4程序，通过计算机4的A/D卡进行控制的。Consider reducing the radiation damage of the injection isotope to the surgical staff, we have specially designed a syringe propulsion mechanism 30 (see Figure 5) for remote operation on the surgical instrument holder 60 at the end of the robot, and the auxiliary staff can Injection of radioisotope drugs is carried out at a high distance. The function of the
本发明有以下优点：The present invention has the following advantages:
a.充分利用影像信息(如9幅普通CT片)，扫描定位靶点精确，可重复性好，减少了人工测量靶点的误差。a. Make full use of image information (such as 9 ordinary CT slices), scan and locate the target point accurately, with good repeatability, and reduce the error of manual measurement of the target point.
b.适用于各种CT机拍成的CT片，如一张9幅脑图的CT片，可以完成脑靶点定位，即可用于机器人辅助脑外科系统，也可以配合常规的各种脑立体定向仪，在保持同样精度的条件下，实时计算靶点的X、Y、Z坐标位置，同时还具有省去坐标刻度盘和定位尺设备与操作等优点。b. It is suitable for CT films made by various CT machines, such as a CT film with 9 brain maps, which can complete the positioning of brain targets, can be used in robot-assisted brain surgery systems, and can also cooperate with various conventional brain stereotaxy Under the condition of maintaining the same accuracy, it can calculate the X, Y, Z coordinate position of the target point in real time, and it also has the advantages of eliminating the equipment and operation of the coordinate dial and positioning ruler.
c.国外一般所采用的映射标定方法是将CT扫描室直接作为手术室，在手术操作之前，将机器人机座与CT床的机座牢牢相连，从而可以完成CT机扫描的空间坐标系与机器人基坐标系之间的映射变换。这种方法显然不符合我们国家的国情，价格昂贵的CT机往往是面向医院各个医疗科室，很难作为手术室。因此，我们所提出的微损失映射方法较好地解决了医疗图像空间与临床手术操作空间非结构化环境的复杂繁琐标定，使手术不占用CT室，这样符合中国国情。c. The mapping calibration method generally adopted in foreign countries is to use the CT scanning room directly as the operating room. Before the operation, the robot base is firmly connected with the CT bed base, so that the spatial coordinate system of the CT machine scan can be compared with that of the CT bed. Mapping transformation between robot base coordinate systems. This method is obviously not in line with our country's national conditions. Expensive CT machines are often used in various medical departments of hospitals, and it is difficult to use them as operating rooms. Therefore, the micro-loss mapping method proposed by us can better solve the complex and cumbersome calibration of the medical image space and the unstructured environment of the clinical operation space, so that the operation does not occupy the CT room, which is in line with China's national conditions.
d.本发明所提出的非损失映射技术方案突出特点是借助本发明设计的模板，可以巧妙地将医疗成象设备与图象引导定位系统分离开来，定位算法中不需要考虑医疗成象设备的有关参数和姿态，这不仅使定位问题简单化，而且使得这种定位系统变得更加实用。d. The outstanding feature of the non-loss mapping technical solution proposed by the present invention is that the template designed by the present invention can skillfully separate the medical imaging equipment from the image-guided positioning system, and the medical imaging equipment does not need to be considered in the positioning algorithm The relevant parameters and attitudes of , which not only simplify the localization problem, but also make this localization system more practical.
e.利用先进机器人技术，取消框架仪的弓型操作臂，为工作人员提供更大的手术空间。e. Using advanced robot technology, the bow-shaped operating arm of the frame instrument is canceled to provide a larger surgical space for the staff.
f.利用机器人技术，替代医务人员直接进行放射性药物的注入操作，以减轻对工作人员的辐射伤害。通过电检和手检，没有文献给予报道。f. Use robot technology to replace medical staff to directly inject radiopharmaceuticals, so as to reduce radiation damage to staff. Through electrical inspection and manual inspection, there is no literature to report.
g.利用机器人技术，可以进行不同方向的直线穿刺轨迹规划，以保证手术方案的最佳性。g. Using robotic technology, it is possible to plan linear puncture trajectories in different directions to ensure the optimal surgical plan.
h.由于实施的微创伤外科，所以减少了病人的手术危险和痛苦，缩短了所需康复的时间，同时也降低了医疗费用。h. Due to the implementation of minimally invasive surgery, the risk and pain of the patient's operation are reduced, the time required for rehabilitation is shortened, and medical expenses are also reduced.
我们提出的映射标定方法重要意义是为无框架立体定向神经外科手术研究将奠定重要的基础。这种方法的优点在于可以减小病人的外伤，使病人摆脱笨重的框架和弓型手术引导装置，扩大医生手术操作的空间，克服病人从CT扫描开始直到手术结束都要戴着头架的缺点，并且常规方法难以在不同方向上提供对目标(肿瘤)的轨迹规划。The significance of the mapping and calibration method proposed by us is that it will lay an important foundation for the study of frameless stereotaxic neurosurgery. The advantage of this method is that it can reduce the patient's trauma, free the patient from the bulky frame and bow-shaped surgical guide device, expand the space for the doctor's operation, and overcome the shortcomings of the patient wearing a headgear from the beginning of the CT scan to the end of the operation. , and conventional methods are difficult to provide trajectory planning to the target (tumor) in different directions.
从长远来看，机器人技术应用于立体定向神经外科定位，拓宽了立体定向手术的范围，代表着立体定向手术的发展方向，为实施脑深部肿瘤的外科治疗、开展无框架立体定向神经外科提供了新的途径。它不仅使手术更加安全可靠，而且减轻了创伤，缩短了病人的康复时间，还可避免放射性药物注入过程中对医务人员的伤害，使立体定向手术更加方便、省时、高效。本发明有以下附图：In the long run, the application of robot technology to stereotaxic neurosurgery positioning broadens the scope of stereotaxic surgery, represents the development direction of stereotaxic surgery, and provides a great opportunity for the surgical treatment of deep brain tumors and the development of frameless stereotaxic neurosurgery. new way. It not only makes the operation safer and more reliable, but also reduces the trauma, shortens the patient's recovery time, and avoids the injury to medical staff during the injection of radiopharmaceuticals, making stereotaxic surgery more convenient, time-saving and efficient. The present invention has following accompanying drawing:
图1是本发明的机器人脑外科设备系统结构示意图；Fig. 1 is a schematic structural diagram of the robot brain surgery equipment system of the present invention;
设备组成和图中各标号的含义是，它是由机器人1，计算机4，扫描仪5，C形X光机8，CT图片26，机械手延伸装置27，手术床28和标定设备29组成的。The equipment composition and the meaning of each label in the figure are that it is composed of a
图2是本发明的机器人脑外科设备系统部分设备在工作状态下的示的意图；Fig. 2 is a schematic diagram of some equipment in the working state of the robot brain surgery equipment system of the present invention;
设备组成和图中各标号的含义是，力传感器2，定位框架3，注射器6和注射器推进机构30组成。The composition of the equipment and the meanings of the symbols in the figure are that the force sensor 2, the positioning frame 3, the syringe 6 and the syringe propulsion mechanism 30 are composed.
图3是本发明设计的六关节机械臂示意图；Fig. 3 is a schematic diagram of a six-joint mechanical arm designed by the present invention;
设备组成和图中各标号的含义是，它是由机座10，关节一11，关节二12大臂13，关节三14，关节15，小臂16，关节五17，关节六18，探测工具19，电位计20，电位计21，电位计22，电位计23，电位计24和电位计25组成。The equipment composition and the meaning of each label in the figure are that it is composed of a
图4是本发明设计的六关节机械臂第一和第二关节部件的剖视件示意图；Fig. 4 is the cross-sectional schematic view of the first and second joint parts of the six-joint mechanical arm designed by the present invention;
设备组成和图中各标号的含义是，它是由接头91，挡环92，垫圈93，心轴94，螺钉96，衬套97，连接套98和凸塞99组成。The equipment composition and the meaning of each label in the figure are that it is made up of joint 91, retaining
图5是本发明设计的注射器推进机构的示意图；Fig. 5 is the schematic diagram of the syringe propulsion mechanism designed by the present invention;
设备组成和图中各标号的含义是，它是由螺钉31，螺钉32，夹具33，推进机构本体34，转动轮35，钢丝绳36，直流电机37，滑板38，滑槽39，连杆40，螺钉41，挡板42和卡口43组成。The equipment composition and the meaning of each label in the figure are that it is composed of
图6是本发明设计的双层模板的示意图；Fig. 6 is the schematic diagram of the double-layer formwork that the present invention designs;
设备组成和图中各标号的含义是，它是由上层模板51，下层模板52，机械接口53，螺钉54，螺钉55，螺钉56，螺钉57，和固定棒58组成。The equipment composition and the meaning of each label in the figure are that it is composed of an
图7是本发明设计的手术器械夹持具示意图；Fig. 7 is a schematic view of the surgical instrument holder designed by the present invention;
设备组成和图中各标号的含义是，它是由机械接口61，引导机构62，上位夹持具63，下位夹持具64，紧固螺钉65，紧固螺钉66，支架67，和衔接口68组成。The equipment composition and the meanings of the labels in the figure are that it consists of a
图8是本发明设计的测量标定机械接口示意图，Fig. 8 is a schematic diagram of the measurement and calibration mechanical interface designed by the present invention,
设备组成和图中各标号的含义是，它是由标测钉71，固定孔72，底座73，固定件74和衔接螺口75组成。The equipment composition and the meaning of each label in the figure are that it is composed of a mapping nail 71 , a fixing
图9是本发明所使用的标测钉示意图；Fig. 9 is a schematic diagram of a mapping pin used in the present invention;
本发明的实施内容，已经在前面的叙述中完整、清楚地叙述过，就不再在实施例中重复了。The implementation content of the present invention has been completely and clearly described in the foregoing description, so it will not be repeated in the embodiments.
Claims (12)
- Cerebrosurgical operation equipment system with robot it be by computer (4), robot (1), mechanical hand extension apparatus (27), operation table (28), and calibration facility equipment such as (29) constitutes, be to receive information, the position of mensuration and definite focus, the auxiliary Cerebrosurgical operation equipment system that undergos surgery and treat, it is characterized in that, its mechanical hand extension apparatus (27) comprises measuring demarcates mechanical interface (70), mapping nail (71), operating theater instruments fixture (60), double template (50), syringe propulsive mechanism (30) and six joint mechanical arm equipment such as (9), this system also comprises CT picture (26), scanner (5) and C shape X-ray machine equipment such as (8), what its calibration facility (29) used is positioning framework (3);One. when carrying out the mapping location: patient's head is fixed on the three-dimensional positioning framework (3) that has N font labelling, robot 1 and relevant joining peripheral equipment are carried out disinfection, demarcate mechanical interface (70) such as measuring, one end is pointed barred body mapping nail (71), operating theater instruments fixture (60), double template (50), syringe propulsive mechanism (30) etc., measure to demarcate mechanical interface (70) and be interface for being connected with the robot end, form by the fixture (74) that there are fixing hole (72) at base (73) that four blue dishes of linking screw socket (75) likeness in form method are arranged and center, base (73) is to fixedly connected with fixture (74), is furnished with the fixedly screw of usefulness on fixture (74).Allow patient lie on the operation table, utilize scanner (5) on the one hand, measure the three-dimensional coordinate of encephalopathy kitchen range with the image guiding software system of the present invention's research and development CT picture (26) data input computer (4); On the other hand with the measurement scaling method of the present invention design, demarcate mechanical interface (70) and mapping nail (71) or double template (50) with measuring, finish mapping transformation between operation technique space and the image planning space, afterwards, operating theater instruments fixture (60) device with the robot end, utilize the auxiliary straight path planning of finishing different directions of robot (1), the accurate location of realizing stereotactic surgery;Two. when carrying out related surgical: control robot 1 moves near the brainpan by the straight path of the best, operating theater instruments fixture (60) by the present invention's design, hole and insert probe, and computer (4) control down robot (1) carry out that fine motion is advanced subtly or setback is located, carry out the biopsy of relevant focus point and the extraction of capsule liquid etc.;Three. when auxiliary treatment: go up the injection propulsive mechanism (30) that the present invention's design is installed at operating theater instruments fixture (60), under the control of computer (4), finish radioisotopic injection.
- 2. according to the said Cerebrosurgical operation equipment system of claim 1, it is characterized in that, the structure of six joint mechanical arms (9) is: be equipped with joint one (11) on support (10), its one (11) lower end, joint is inner adopts accurate, axle (94) is fixed with screw (96) with support (10), the axle axial location is by baffle ring (92), packing ring (93) is fixed with joint one (11), the radial location of axle (94) is fixed by copper lining and joint one (11), the effect of copper lining (97) is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint one (11) is flexible; With the connection of potentiometer (20) be to insert potentiometric axial trough by being fastened on axle (94) convexity plug (99), realization axle and potentiometer (20) axle interlock, and potentiometric shell is fastened on the joint (91) in joint one (11), keeps rotating synchronously with joint one (11) exactly to guarantee potentiometer;The right-hand member in joint two (12) links to each other with the left end in joint one (11), the axle 94 in its joint two (12) and joint one (11) are fixed with screw 96, axle 94 axial location are fixed with joint two (12) by baffle ring 92, packing ring 93, the radial location of axle 94 is fixed by copper lining 97 and joint two (12), the effect of copper lining 97 is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint two (12) is flexible; With the connection of potentiometer (21) is to insert potentiometric axial trough by being fastened on axle 94 convexity plugs 99, realization axle 94 and potentiometer (21) axle interlock, and potentiometric shell is fastened on the joint 91 in joint two (12), keeps rotating synchronously with joint two (12) exactly to guarantee potentiometer; The upper end in joint two (12) is fixedly linked with big arm (13) one ends;The lower end in joint three (14) is fixedly linked with big arm (13) other end, the right-hand member in joint three (14) links to each other with the left end in joint four (15), the axle in its joint three (14) and joint four (15) are fixed with screw, the axle axial location is fixed by baffle ring, packing ring and joint three (14), the radial location of axle is fixed by copper lining and joint three (14), the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint three (14) is flexible; With the connection of potentiometer (22) be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and potentiometer (22) axle interlock, and potentiometric shell is fastened on the joint in joint three (14), keeps rotating synchronously with joint three (14) exactly to guarantee potentiometer;The lower end in joint four (15) and forearm (16) one ends are fixedly linked, the right-hand member in joint four (15) links to each other with the right-hand member in joint three (14), the axle in its joint four (15) and forearm (16) one ends are fixed with screw, the axle axial location is fixed by baffle ring, packing ring and joint four (15), the radial location of axle is fixed by copper lining and joint four (15), the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint four (15) is flexible; With the connection of potentiometer (23) be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and potentiometer (23) axle interlock, and potentiometric shell is fastened on the joint in joint four (15), keeps rotating synchronously with joint four (15) exactly to guarantee potentiometer;The upper end in joint five (17) and forearm (16) other end are fixedly linked, the right-hand member in joint five (17) links to each other with the left end in joint six (18), the axle in its joint five (17) and joint six (18) are fixed, the axle axial location is fixed by baffle ring, packing ring and joint five (17), the radial location of axle is fixed by copper lining and joint five (17), the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint five (17) is flexible; With the connection of potentiometer (24) be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and potentiometer (24) axle interlock, and potentiometric shell is fastened on the joint in joint five (17), keeps rotating synchronously with joint five (17) exactly to guarantee potentiometer;The lower end in joint six (18) links to each other with taper prospecting tools (19), the axle in its joint six (18) and prospecting tools (19) are fixed, the axle axial location is fixed by baffle ring, packing ring and joint six (18), the radial location of axle is fixed by copper lining and joint six (18), the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint six (18) is flexible; With the connection of potentiometer (25) be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and potentiometer (25) axle interlock, and potentiometric shell is fastened on the joint in joint six (18), keeps rotating synchronously with joint six (18) exactly to guarantee potentiometer.
- 3. according to the said Cerebrosurgical operation equipment system of claim 1, it is characterized in that, double template (50) structure is: the material lucite of upper former (51) and lower template, distance between upper former (51) and the lower template (52) is determined, being connected and fixed between upper former (51) and the lower template (52) is by screw (54), (55), (56), (57) fastening, the position of the gauge point of upper former (51) we adopt square net to arrange, distance between per 2 is determined, the gauge point of lower template (52) is on several concentric circulars at plate center, the coordinate system position of these gauge points in double template (50) is accurate and definite, and being projected in the image of they be visible, and the galvanized wire of the material selection 1mm diameter of gauge point is made.
- 4. according to the said template of claim 3, it is characterized in that, a kind of design of template is: template is of a size of 200mm * 200mm, the material lucite of upper former (51) and lower template, thickness is 4mm, distance between upper former (51) and the lower template (52) is 53mm, and being connected and fixed between upper former (51) and the lower template (52) is fastening by screw (54), (55), (56), (57); The gauge point of upper former (51) we adopt square net to arrange, and the distance between per 2 is 40mm, and the gauge point of lower template (52) adopts circular arrangement, has two circumference, and little radius of circle is 50mm, and big radius of circle is 70mm; 16 gauge points are arranged on each circumference.
- 5. according to the said Cerebrosurgical operation equipment system of claim 1, it is characterized in that, the mechanical fixture (60) of performing the operation is by mechanical interface (61), support (67) and guide (62) are formed in the blue dish of mechanical interface (61) likeness in form method, four seams (68) are arranged above, (61), (62) be to fixedly connected with (67), can connecting of mechanical interface (61) with robot end's force transducer, guide (62) is spill, projection forms upper fixture (63) and the next fixture (64), under upper fixture (63) and the next fixture (64) cooperation, can the various operating theater instruments instruments of clamping, on the direction of guide (62) guiding, carry out corresponding operation technique, wherein upper fixture (63) and the next fixture (64) are can be by the thickness of operating theater instruments, size is changed, and screw (65) and screw (66) are responsible for upper fixture (63) and the next fixture (64) changed are fixed.
- 6. according to the said Cerebrosurgical operation equipment system of claim 1, it is characterized in that, the structure of syringe propulsive mechanism (30) is: the formed bayonet sockets of anchor clamps (33) (43), in screw (31), (32) under the secure fit, propulsive mechanism body (34) and operating theater instruments fixture (60) are fixedly connected, direct current generator (37) is fixedly mounted on the propulsive mechanism body (34), direct current generator (a 37) bearing and a moving runner (35) are fixedly connected, link to each other with slide plate by a steel wire rope (36), when direct current generator (37) drive moving runner (35) forward or reverse, slide plate (38) can move up and down along chute (39); A slide plate and a connecting rod (40) are fixedly connected, and the top of connecting rod (40) links to each other with a baffle plate (42) again by a screw (41); When screw (41) was loosening, baffle plate (42) can left-right rotation, is convenient to install the syringe (6) of different big or small thicknesses; When screw (41) is fastening, baffle plate (42) also will be fixed, thereby can move up and down with connecting rod (40), and pushing syringe (6) is finished radiopharmaceutic injection; Be by computer (4) program, the A/D card of appliance computer (4) driving direct current generator (37).
- 7. the implementation method of Cerebrosurgical operation equipment system with robot, it is characterized in that, the present invention has designed the step of mapping location, assisted surgery and auxiliary treatment and by means of PC586 Window platform, has utilized Visual C++ technology, and we have designed two dimensional image guiding localization method; By means of the OpenGL software engineering of computer WindowsNT and SGI work station, we have designed 3-D image guided localization method; By means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, known three gauge points on the positioning framework (3), localized method is hindered by our designed Wicresoft; With by means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, known three gauge points on the positioning framework (3), the localized method of no wound that we are designed.
- 8. according to the said method of claim 7, it is characterized in that: the step of mapping location, assisted surgery and the auxiliary treatment of the present invention's design is:(1) carries out mapping location: patient's head is fixed on the three-dimensional positioning framework (3) that has N font labelling, allows patient lie on CT machine (7) bed, carry out CT scan (outside the operating room), obtain some relevant CT sheets; Meanwhile, robot (1) and relevant joining peripheral equipment are carried out disinfection, demarcate mechanical interface (70), mapping nail (71), operating theater instruments fixture (60), double template (50), syringe propulsive mechanism (30) etc. such as measuring; Then, patient is released CT Room, advance operating room, allow patient lie in operation table again; Utilize scanner (5) with CT picture (26) data input computer (4) on the one hand, can measure the three-dimensional coordinate of cerebroma with the image guiding software system of the present invention's research and development.On the other hand patient head positioning framework (3) and operation table are fixedly connected, the power that realizes by the present invention is controlled human-computer interaction technology again, measurement scaling method with the present invention's design, demarcate mechanical interface (70) and mapping nail (71) or double template (50) with the measurement of the present invention's design, finish mapping transformation between operation technique space and the image planning space.Then, robot end's relevant measurement calibration tool is replaced with operating theater instruments fixture (60) device of the present invention's design, utilize the auxiliary straight path planning of finishing different directions of robot (1), but under the guiding of operating theater instruments fixture (60), the probe maintenance of operating theater instruments is pointed to target spot with probe all the time.After analyzing the best puncture straight line path of relatively determining robot (1) planning, the accurate location of realizing stereotactic surgery;(2) carry out related surgical: control robot (1) moves near the brainpan by the straight path of the best.After carrying out local anesthesia on to patient's skull,, hole and insert probe by the operating theater instruments fixture (60) of the present invention's design, and computer (4) control down robot (1) can carry out that fine motion is advanced subtly or setback is located.Obtain the biopsy of relevant focus point and the extraction of capsule liquid etc.;(3) inject radiation liquid: go up the injection propulsive mechanism (30) that the present invention's design is installed at operating theater instruments fixture (60), under the control of computer (4), finish radioisotopic injection.
- 9. according to the said method of claim 7, it is characterized in that: the present invention design by means of PC586 Window platform, utilize Visual C++ technology, we have designed two dimensional image guiding localization method: by means of PC586 Window platform, the location that utilizes Visual C++ technology to realize five visual guiding focus points under the icons driving, both:A. one of icon function is reading and writing of files operation, and it is responsible for CT or MRI view data being read in relief area and being presented on the screen, perhaps deposits CT or the MRI view data of revising in file, perhaps will finish localized parameter, case report output print;B. two of icon function is on CT or MRI image that computer shows, stack shows a framework that has scale again, utilize this display frame of mouse drag, so that the patient head of aiming at CT or MRI pictorial display has four angles of stereotactic frame, thereby the coordinate transform of determining CT on the computer screen or MRI pictorial display and real EEG portion position concerns;C. three of icon function is on CT or MRI image that computer shows, the stack demonstration has graduated horizontal scale again, utilize this scale of mouse drag, have N font gauge point so that aim at the patient head of CT or MRI pictorial display, thereby determine the coordinate of the CT on the computer screen or the MRI pictorial display Z axle degree of depth;D. four of icon function is on CT or MRI image that computer shows, the stack demonstration has graduated Cross Scale again, utilize this scale of mouse drag, so that aim at patient's brain lesion point of CT or MRI pictorial display, thereby determine the coordinate of CT on the computer screen or MRI pictorial display X, Y-axis;E. five of icon function is four the operations of arriving according to two of icon function, by geometric transformation, calculates X, Y, Z coordinate with respect to the stereotactic frame instrument.
- 10. according to the said method of claim 7, it is characterized in that: the OpenGL software engineering by means of computer WindowsNT and SGI work station of the present invention's design, the 3-D image guided localization method of design is: excellent as observation with six joint mechanical arms (9), on the OpenGL software development environment platform of computer WindowsNT and SGI work station, can realize a 3-D image guided stereotactic surgery surgery planning system; It at first can finish the two-dimensional image data pretreatment, comprises that rectangular histogram shows, tonal range is calibrated (linear greyscale transformation, nonlinear gray conversion), organizes the interpolation processing of division, a series of CT scan brain image alignment and CT interlayer etc.; Then, realize the reconstruct of 3-D view on this basis, and on computer screen, show different anatomic organizational structure in the brain with different colours; The six joint mechanical arms (9) that utilize the present invention to design are excellent as observation, can realize the translation rotation of 3-D view, amplification is dwindled, operations such as any cutting planes, and can be from different perspectives, measurement and positioning is carried out at position to the operation technique of carrying out ahead of schedule, pass through computer program, carry out coordinate transform, calculate the coordinate figure of mechanical arm end, the operation puncturing straight path is carried out virtual demonstration and planning in the human brain 3-D view of computer, observe the operation technique track and whether may cause and seriously influence, the result of radiotherapy etc. in the simulation isotope important cerebral tissue or cerebrovascular;In particular: we can utilize six joint mechanical arms (9), by means of the potentiometer on six joints, measure the angle in each joint, A/D card collection by computer (4) is converted to digital quantity, utilize the program of computer (4) again, carry out the space geometry Coordinate Conversion, just can calculate the attitude and the position of mechanical arm end; To the manipulation of six joint mechanical arms (9),, just can to the measurement of actual patient head surfaceA. utilize six joint mechanical arms (9) terminal attitude and position, the rotation of three-dimensional image on Control Computer (4) screen;B. utilize the terminal distance with the actual patient head of six joint mechanical arms (9), can Control Computer 4 screens on three-dimensional image amplification or dwindle;C. with the terminal plane of attitude definition of six joint mechanical arms (9), three-dimensional image on computer (4) screen is cut, be convenient to observe the focus target spot of human body brain inside;Based on above-mentioned three functions, just can be by operation to six joint mechanical arms (9), with its coordinate is basic point, analyze, the collinear optimum position of observer robot operation puncturing and attitude, whether its operation technique straight path may cause important cerebral tissue or cerebrovascular and seriously influence etc.; The protrusion characteristics of this technology are excellent as observation by means of six joint mechanical arms (9), can conveniently set up the good interface of image manipulation, to realize the operation and the planning of virtual operation, select best operation plan.
- 11. according to the said method of claim 7, it is characterized in that: the present invention design by means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, three gauge points on the positioning framework (3) have been known, localized method is hindered by our designed Wicresoft: at first the positioning framework of installing at human body head (3) is gone up and is selected three gauge points of definition, carries out CT scan then, obtains the CT image; Because in CT pattern space coordinate system, know above-mentioned gauge point, can construct space coordinates with these three gauge points, be referred to as the gauge point three-coordinate of CT pattern space, thereby can pass through the space geometry conversion, with the CT pattern space the focus point be concerned about be mapped in the gauge point coordinate system in the CT image;On the other hand, after the patient with positioning framework (3) lies on the operation table, we will measure an end of demarcating mechanical interface (70), be fixed on robot end's force transducer (2) by screw, to measure the other end of demarcating mechanical interface (70) again and install and fix a taper mapping nail (71), can measure and obtain spatial three gauge points of operation technique, gauge point with these three demarcation can be constructed space coordinates again, is referred to as the gauge point coordinate system in the operation technique space; In the operation technique space, notify above-mentioned three gauge points by robot, thereby can be by geometric transformation, the focus point of being concerned about in the operation technique space is mapped in the gauge point coordinate system, and this inverse transformation also exists, and promptly the focus point in the gauge point coordinate system is mapped in the robotic surgery working place;Pass through said method, in the gauge point coordinate system of CT pattern space mapping transformation in the CT pattern space, gauge point coordinate system in the CT pattern space and the gauge point coordinate system in the robotic surgery working place are of equal value fully, thereby be that the robotic surgery working place is arrived in mapping transformation with above-mentioned conversion with labelling point coordinates in the robotic surgery working place again, this has just realized that the CT pattern space arrives the conversion of operation working place greatly.
- 12. according to the said method of claim 7, it is characterized in that: the present invention design by means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, three gauge points on the positioning framework (3) have been known, we are at the designed localized method of no wound: at first double template (50) is demarcated mechanical interface (70) with robot end's measurement and fixedly connected by screw, utilize computer (4) that robot end's double template is moved to the top of detected part, then image device C shape X-ray machine 8 top that moves to robot end's double template (50) imaging of taking pictures in the future; Because the gauge point on the double template (50) not only is visible on X light image, and close the position between them, and to tie up in the robot coordinate also be fixing and known, thereby can pass through the gauge point on the double template (50), construct a space line family of passing the focus target spot; Then, as stated above robot end's double template (50) and C shape X-ray machine (8) are moved to another orientation of detected part, can construct the space line family that another passes the focus target spot again; When the focus point is unique, then the intersection point of two space line families is exactly our three-dimensional coordinate focus target spot to be measured; This method does not have the gauge point of damage on one's body patient, but by means of the double template (50) that the present invention designs, has realized the mapping transformation of medical care image and clinical operation working place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN97115258ACN1100516C (en) | 1997-08-27 | 1997-08-27 | Cerebrosurgical operation equipment system with robot and its implement method |
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|---|---|---|---|
| CN97115258ACN1100516C (en) | 1997-08-27 | 1997-08-27 | Cerebrosurgical operation equipment system with robot and its implement method |
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| CN1100516C CN1100516C (en) | 2003-02-05 |
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| CN97115258AExpired - Fee RelatedCN1100516C (en) | 1997-08-27 | 1997-08-27 | Cerebrosurgical operation equipment system with robot and its implement method |
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