Puncture robot control method based on real-time ultrasound image

A technology of ultrasonic image and control method, which is applied in the direction of surgical robots, puncture needles, surgical manipulators, etc., can solve the problems of low puncture accuracy, reduce the error of puncture target points, improve the success rate of surgery, and reduce the surgical burden.

Pending Publication Date: 2021-03-23
珠海横乐医疗科技有限公司
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Problems solved by technology

[0006] The purpose of the present invention is to overcome the problem of low puncture accuracy caused by the displacement of the puncture target due to the breathing movement of the patient in the existing scene where most of the puncture targets are soft tissue organs, and to provide a puncture robot control method based on real-time ultrasonic images

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  • Puncture robot control method based on real-time ultrasound image
  • Puncture robot control method based on real-time ultrasound image

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specific Embodiment approach 1

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The specific steps of the puncture robot control method based on real-time ultrasound images of this embodiment are as follows:

[0015] Step 1. Obtain the motion direction and displacement of the puncture target in the ultrasonic plane and outside the ultrasonic plane respectively;

[0016] Step 2: Use the model predictive control method to control the end of the puncture robot to perform corresponding operations according to the movement directions and displacements of the puncture target in the ultrasound plane and outside the ultrasound plane.

[0017] Specifically, as figure 1 As shown, the method of the present invention collects an ultrasonic image through the ultrasonic probe clamped at the end of the puncture robot, and mainly includes three parts. First, in step 1, the characteristics of the puncture target are extracted by the brightness and geometric information in the ultrasonic image. The spatial position ...

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Abstract

The invention discloses a puncture robot control method based on a real-time ultrasound image, and a method for controlling a puncture robot to move, and aims to overcome the problems in the prior artthat most puncture targets are under a scene of soft tissue organs, the puncture target generates displacement due to the breathing movement of a patient so as to cause low puncture accuracy. The puncture robot control method based on the real-time ultrasound image specifically comprises the following steps of: S1: independently obtaining the movement direction and the displacement of the puncture target in an ultrasound plane and out of the ultrasound plane; and S2: using a model prediction control method to control the tail end of the puncture robot to carry out a corresponding operation according to the movement direction and the displacement of the puncture target in the ultrasound plane and out of the ultrasound plane.

Description

technical field [0001] The invention relates to a method for controlling the moving direction of a puncturing robot, in particular to a method for recognizing the movement of a puncturing target based on an image and controlling the puncturing of the robot. Background technique [0002] Needle puncture is the most basic surgical method in interventional radiotherapy, biopsy and other surgical diagnosis and treatment methods. In traditional puncture surgery, doctors mainly rely on their own intuition and experience to determine the puncture location. The surgical skills are highly demanding, and there are also manual operations. The problem of instability, the use of the puncture robot can significantly reduce the puncture error caused by these human factors, but there is still the problem of the intraoperative puncture target displacement due to the patient's breathing movement, especially in the scenario where the puncture target is mostly soft tissue organs, such as The re...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/34A61B34/20A61B34/30
CPCA61B17/34A61B17/3403A61B2017/3409A61B2017/3413A61B34/20A61B34/30A61B34/70A61B2034/2065
Inventor 滕皋军陆建温铁祥王澄朱海东张毅
Owner 珠海横乐医疗科技有限公司
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