Multi-mode sensory system of prostate operation robot and a data fusing method

Abstract

The invention relates to a multi-mode sensory system of a prostate operation robot and a data fusing method. The system comprises an electromagnetic positioning system, an ultrasonic image navigationsystem, a six-dimensional force sensor system and a data fusing system, wherein the electromagnetic positioning system is used for measuring real-time position information of a puncture needle; the ultrasonic image navigation system is used for measuring a real-time position relation between the puncture needle and tissue; the six-dimensional force sensor system is used for measuring the stress condition of the puncture needle for early warning monitoring; the data fusing system is used for fusing related data to perform real-time positioning on the puncture needle. By the adoption of the multi-mode sensory system of the prostate operation robot and the data fusing method, accurate position coordinates of a real-time position can be output through a Bayes data fusing algorithm and a kalmanfiltering algorithm when the prostate operation robot punctures the prostate tissue, a more accurate position feedback system is provided for the prostate interventional operation robot, meanwhile, early warning monitoring can be performed according to a force sensor at the tail end of the puncture needle, and the prostate operation robot can be prevented from being in danger during the operation.

Description

technical field [0001] The invention relates to a multimodal perception system and a data fusion method of a prostate surgery robot, and belongs to the technical field of computer-aided positioning of medical equipment. Background technique [0002] Traditional prostate interventional surgery is punctured by doctors. However, due to factors such as doctor’s experience, puncture surgery requires multiple needle insertions and constant changes in needle insertion positions, resulting in low accuracy and long time for puncture surgery. for pain. Prostate interventional robots have higher accuracy in reaching the target, shorter operation time, and lower labor intensity for doctors, so they have broad application prospects. [0003] Existing prostate surgery robots mostly use a single ultrasound image navigation method for tissue positioning and puncture surgery. When this method uses a single ultrasound image navigation method for needle tip recognition on ultrasound images, i...

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Problems solved by technology

[0004] In view of the above-mentioned shortcomings of the prior art, the experimental purpose of the present invention is to provide a multi-modal sensing system and data fusion method for a prostate surgery robot, aiming to solve the problem of low accuracy and low safety of the existing single navigation system. question

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