Robot-assisted oblique-tip flexible needle puncture system and method

Abstract

The invention relates to a robot-assisted oblique-tip flexible needle puncture system and method. The method comprises the following steps: obtaining the position of a puncture platform and a puncture path through preoperative planning; moving a positioning mechanism to a specified position and locking the positioning mechanism, and controlling a puncture mechanism to enable a flexible needle to reach a penetration point of puncture; puncturing according to the planned puncture path; optimizing, by a path planning module, the puncture path of the flexible needle on line in real time according to flexible needle tip position information, attitude information and a puncture region tissue image fed back by a three-dimensional electromagnetic positioning sensor and a C-shaped arm in the puncture process; correcting the flexible needle by a controller according to a real-time on-line optimization strategy of the path planning module; ending the puncture process after the puncture needle reaches a target position. According to the method and the device, the position of the needle tip can be obtained in real time, the stress of the needle tip is obtained in real time, the puncture strategy is corrected on line according to tissue deformation to guarantee that the oblique-tip flexible needle can bypass an unpuncturable region to accurately reach a focus, and the puncture process is put under the monitoring of a doctor to guarantee the safety of the puncture surgery.

Description

technical field [0001] The invention relates to the field of thoracoabdominal soft tissue puncture surgery, in particular to a system and method for using a robot to assist a doctor to complete soft tissue puncture with an oblique-tipped flexible needle. Background technique [0002] Puncture is a typical technique in minimally invasive surgery (Minimally Invasive Surgery). Under the guidance of images and other sensory information, the needle percutaneously penetrates into the soft tissue target to complete drug placement, biopsy, local anesthesia, and brachytherapy. and ablation therapy. In traditional puncture treatment, doctors manually complete the puncture process under the supervision of medical image monitoring equipment such as C-arm and ultrasound. Although there are advanced medical imaging equipment to provide doctors with visual feedback on the puncture position, due to technical limitations, medical imaging equipment can only determine whether the puncture is ...

AI Technical Summary

Problems solved by technology

Existing puncture planning algorithms deterministically describe spatial obstacles, resulting in complex and very irregular representations of simple objects in configuration space, and exponentially increasing computational complexity, which cannot well solve problems under non-integrity constraints. real-time planning problem

[0006] The current minimally invasive surgery is very short of force sensors, unable to perceive the force information of the operating instrument on the tissue, and the clinical application is limited

[0007] Chinese patent CN102018575A "Robot-assisted flexible needle puncture soft tissue real-time control system and method" proposes a flexible needle control method and equipment, but the flexible needle model in this patent is limited to two-dimensional puncture, needle tip force and needle tip position use Obtained model prediction, which cannot be applied to real-time control, and there is no monitoring equipment, so this patent can only be applied to in vitro puncture experiments, but cannot be applied to clinical practice

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