Human-computer safety interaction system and method of clinical lithotomy position target particle implantation robot
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An interactive system and robot technology, applied in the field of clinical lithotomy position targeted particle implantation robot human-machine safety interactive system, can solve the problems of hand-eye fatigue, difficulty in achieving precise treatment of malignant tumors, and lack of independent and safe interactive treatment methods, etc. Achieve the effect of realizing safe interaction, ensuring stability and security
Inactive Publication Date: 2019-11-22
ANHUI POLYTECHNIC UNIV +1
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The clinical "image navigation human eye observation + instrument manual operation" is limited by the bottleneck of human observation accuracy and manual operation accuracy on the one hand, and on the other hand, hand and eye fatigue caused by long-term surgical operations makes it difficult to achieve precise treatment of malignant tumors. Lack of treatment methods with certain autonomous and safe interaction
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[0045] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.
[0046] like Figure 1 to Figure 4 As shown, the human-computer safety interaction system of the human-machine safety interaction system for the targeted particle implantation robot in the clinical lithotomy position includes:
[0047]The robot initialization working module performs initial positioning mechanism on the robot body to improve the positioning accuracy of the robot body;
[0048] The safe needle insertion control module cooperates with the robot initialization module to accurately position the robot body;
[0049] The targeted particle implantation path planning module cooperates with the safe needle insertion control module and the robot initialization module to plan the optimal path for the targeted particle;
[0050] The decision-making execution module cooperates with ...
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Abstract
The invention relates to the field of use methods of medical devices, and in particular, relates to a human-computer safety interaction system and method of a clinical lithotomy position target particle implantation robot, wherein the system includes a robot initialization work module, a safe needle feeding control module, a target particle implantation path planning module, and a decision-makingexecution module. The method comprises the following specific use steps: S1, robot initialization; S2, displacement; S3, needle feeding control; S4, operation; S5, target position determination; S6, needle feeding; S7, patient target data reading; S8, optimal path; S9, automatic implantation; S10, obtaining of an optimal path loading unit; S11, plane movement; S12, detection; S13, target confirmation; and S14, execution of the unit. Through joint use of the robot initialization work module, the safe needle feeding control module, the target particle implantation path planning module and the decision-making execution module, the safe interaction, safety, stability and high accuracy of the particle implantation process of the target particle implantation robot can be achieved.
Description
technical field [0001] The invention relates to the field of medical technology, in particular to a human-machine safety interaction system and method for a clinical lithotomy position targeting particle implantation robot. Background technique [0002] According to the 2018 cancer report statistics, there are 4.29 million new cancer cases in China every year, accounting for 20% of the world, and 2.81 million deaths. Brachytherapy is indicated for the treatment of genitourinary system tumors, abdominal tumors, digestive system tumors and intracranial tumors. In this type of clinical surgery, the gland cavity is used as the surgical approach. The doctor holds the particle implantation instrument through the guide template to the epidermis, uses the epidermis as the entrance, punctures the dura mater of the gland, and finally reaches the tumor gland target area for local precise radiation. Through a large number of clinical surgical evaluations, it has been confirmed that thi...
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