Puncture speed planning method, puncture speed planning device, puncture device and computer storage medium

Abstract

The invention discloses a puncture speed planning method, a puncture speed planning device, a puncture device and a computer storage medium. The puncture speed planning method includes: acquiring a center-of-mass motion model and a target puncture position of a puncture object; detecting an initial posture of the tail end of the puncture device and an initial center-of-mass position of the centerof mass of the puncture object; based on the center-of-mass motion model, and under the conditions that a center-of-mass position corresponding to the puncture starting time is the initial center-of-mass position and a center-of-mass position corresponding to the puncture ending time is the target puncture position, determining a planned puncture speed according to the initial posture, the initialcenter-of-mass position and the target puncture position. In the method, based on a dynamic position model for the center of mass of the puncture object under the condition of human breathing, the motion time of a manipulator can be considered comprehensively, the puncture speed of the manipulator can be planned accurately, and accordingly, the puncture object is punctured accurately.

Description

technical field [0001] Embodiments of the present invention relate to medical device technology, and in particular, relate to a puncture speed planning method, device, puncture device, and computer storage medium. Background technique [0002] With the development of robotic technology, puncture robots and other equipment are gradually used in the puncture of tumors and other lesions. However, because the human body needs to breathe during the puncture process, the position of the lesion that needs to be punctured may move with the breathing of the human body. The traditional automatic puncture method cannot Adjusting the displacement caused by breathing will cause the puncture device to fail to accurately puncture the lesion when the human body breathes, which may cause accidental injury to the punctured object. Contents of the invention [0003] Based on this, aiming at the above technical problems, the present invention provides a puncture speed planning method, device,...

AI Technical Summary

Problems solved by technology

[0002] With the development of robotic technology, puncture robots and other equipment are gradually used in the puncture of tumors and other lesions. However, because the human body needs to breathe during the puncture process, the position of the lesion that needs to be punctured may move with the breathing of the human body. The traditional automatic puncture method cannot Adjust the displacement caused by breathing, so that the puncture device cannot accurately puncture the lesion when the human body breathes, which may cause unexpected damage to the punctured object

Images