Control method and device for automatic puncture biopsy medical robot and robot

Abstract

The invention discloses a control method and device for an automatic puncture biopsy medical robot and the robot. The method includes the following steps: collecting multi-modal medical images in a diagnosis stage for planning a puncture path for puncture biopsy surgery; acquiring current multi-modal image information in the implementation stage of the puncture biopsy surgery; performing registration and fusion on the current multi-modal image information and the medical images to obtain a registration result; and correcting the puncture biopsy planned path according to the registration result, and performing automatic puncture biopsy on human bodies according to the corrected puncture biopsy planned path. The control method can apply multi-modal molecular imaging to the puncture biopsy surgery of various tissue and organs of the human bodies to avoid surgery errors caused by artificial operation, and effectively improve the accuracy of the surgery, and thereby improving the accuracy of diagnosis, and effectively realizing clinical promotion and application.

Description

technical field [0001] The invention relates to the field of medical technology, in particular to a control method, device and robot for an automatic puncture biopsy medical robot. Background technique [0002] At present, obtaining histological information is an important means of diagnosis during needle biopsy in the diagnosis of some tumor diseases, and is often used as the gold standard for diagnosis. [0003] The needle biopsy operation of the related technology is manually operated by a doctor combined with CT, MR or ultrasound images, which relies on the doctor's experience and technology, and there is inevitably a risk of error caused by inaccurate operation and lack of experience, so that different people operate it accurately. There is a large difference in gender, and grass-roots hospitals often lack experience and cannot carry out this technology. However, although there are some automatic needle biopsy techniques, only CT images are often used to determine the ...

AI Technical Summary

Problems solved by technology

[0003] The needle biopsy operation of the related technology is manually operated by a doctor combined with CT, MR or ultrasound images, which relies on the doctor's experience and technology, and there is inevitably a risk of error caused by inaccurate operation and lack of experience, so that different people operate it accurately. There is a large difference in gender, and grassroots hospitals are often inexperienced and unable to carry out this technology

However, although there are some automatic needle biopsy techniques, only CT images are often used to determine the biopsy target area, and CT or ultrasound is used to guide the puncture position during the operation, which may easily lead to inaccurate biopsy target area positions, inapplicability of some organs, and poor puncture process. Larger deviations and other problems are likely to bring the risk of failure of needle biopsy

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