A puncture surgery auxiliary method, system, robot and storage medium

Abstract

The present invention discloses a puncture surgery auxiliary method, system, robot and storage medium, and the method includes the steps of: collecting a volume image of a lesion by a volume probe installed on a first mechanical arm, and receiving a puncture position marked by a user on the volume image; after locking the current posture of the first mechanical arm as the first posture, calibrating the coordinate conversion relationship between the first mechanical arm coordinate system and the second mechanical arm coordinate system; calculating the second posture of the second mechanical arm and the first vector coordinate of the puncture path; after receiving the confirmation instruction of the second posture and the first vector coordinate, adjusting and locking the current posture of the second mechanical arm as the second posture; calculating the second vector coordinate of the puncture path in the first mechanical arm coordinate system; according to the second vector coordinate, adjusting the posture of the first mechanical arm to the third posture. The present invention can avoid the influence of the surgical effect on the surgical effect caused by the error in the calculation of the puncture path during the operation, and improve the surgical accuracy and controllability of the puncture surgery auxiliary robot.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a puncture surgery auxiliary method, system, robot and storage medium. Background Art

[0002] During breast surgery and examination, an industrial computer is currently used to plan the puncture path. After the robotic arm carrying the puncture probe is controlled to reach a fixed position, the doctor pushes the probe in to complete the puncture surgery, avoiding errors that affect the surgical effect when manually determining the probe's puncture position and puncture path.

[0003] However, the existing puncture assistance robots cannot view the puncture process in real time during use. Once there is an error in the puncture path calculation, the doctor is unclear about the actual puncture path information and the condition of the affected area, and cannot make timely adjustments to the puncture path based on the real-time puncture situation.

[0004] Therefore, there is a need for a puncture surgery assisting method to obtain the insertion information of the surgical probe in the affected area during the assisted puncture surgery, so that the doctor can check the puncture process and make real-time adjustments, thereby improving the surgical accuracy and controllability of the puncture surgery assisting robot. Summary of the invention

[0005] In order to solve the technical problem that when there is an error in the calculation of the puncture path during the puncture process, the puncture path cannot be adjusted in time according to the real-time puncture situation, the present invention provides a puncture surgery auxiliary method, system, robot and storage medium. The specific technical solution is as follows:

[0006] The present invention provides a puncture surgery auxiliary method, comprising the steps of:

[0007] Acquiring a volumetric image of the lesion through a volume probe installed on the first mechanical arm, and receiving a puncture position marked by a user on the volumetric image;

[0008] After locking the current posture of the first robotic arm as the first posture, calibrating the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system;

[0009] Calculating a second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle mounted on the second robotic arm in the coordinate system of the second robotic arm;

[0010] After receiving a first confirmation instruction of the second posture and a second confirmation instruction of the first vector coordinates respectively, adjusting and locking the current posture of the second robotic arm to the second posture;

[0011] Calculating a second vector coordinate of the puncture path in a first robotic arm coordinate system according to the first vector coordinate and the coordinate transformation relationship;

[0012] According to the second vector coordinate, the posture of the first robotic arm is adjusted to a third posture, in which the volume image is parallel to a plane where the puncture path is located, and the volume image includes the puncture path.

[0013] The puncture surgery auxiliary method provided by the present invention realizes the acquisition of lesion volume images and the planning of puncture paths by controlling the first mechanical arm and the second mechanical arm. After the second mechanical arm on which the puncture needle is installed adjusts its posture according to the puncture path, the first mechanical arm carrying the volume probe is controlled to adjust its posture, so that the volume probe can acquire image information in real time during the puncture surgery, thereby avoiding the inability to view the puncture process in real time during the puncture surgery. Once there is an error in the puncture path calculation, the user is unclear about the actual puncture path information and the condition of the affected area, which affects the surgical effect, and facilitates the user to adjust the puncture path in time according to the real-time puncture situation.

[0014] In some embodiments, receiving the puncture position marked by the user on the volume image specifically includes:

[0015] Performing three-dimensional reconstruction according to the volume image to generate and display a cross-sectional image and a coronal image of the lesion;

[0016] The first position coordinates marked by the user in the cross-sectional image and the second position coordinates marked in the coronal image are respectively received, and the first position coordinates and the second position coordinates are used as the puncture position.

[0017] The puncture surgery auxiliary method provided by the present invention generates a cross-sectional image and a coronal image of the lesion by means of three-dimensional reconstruction, so that the user can intuitively mark the puncture position according to the cross-sectional image and the coronal image of the lesion, thereby improving the accuracy of the user's judgment on the puncture position and thus improving the surgical effect.

[0018] In some embodiments, the calculating of the second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and the calculating of the first vector coordinates of the puncture path of the puncture needle mounted on the second robotic arm in the coordinate system of the second robotic arm specifically include:

[0019] Respectively receiving the third position coordinates marked by the user in the transverse image and the fourth position coordinates marked in the coronal image, and using the third position coordinates and the fourth position coordinates as the surface entry point of the lesion;

[0020] The second posture and the first vector coordinates are calculated according to the first position coordinates, the second position coordinates, the third position coordinates and the fourth position coordinates.

[0021] The puncture surgery assisting method provided by the present invention marks the surface entry point on the cross-sectional image and the coronal image of the lesion, and then calculates the second posture of the second robotic arm and the first vector coordinate of the puncture path, and plans the surface entry point and the puncture position on the cross-sectional image and the coronal image of the lesion, so that the user can intuitively plan and view the puncture path on the cross-sectional image and the coronal image.

[0022] In some embodiments, the calculating of the second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and the calculating of the first vector coordinates of the puncture path of the puncture needle mounted on the second robotic arm in the coordinate system of the second robotic arm specifically include:

[0023] After the user moves the second mechanical arm so that the puncture needle hits the surface entry point of the lesion, a third confirmation instruction input by the user is received to obtain fifth position coordinates of the current position of the second mechanical arm in the second mechanical arm coordinate system;

[0024] According to the coordinate conversion relationship, the fifth position coordinate is converted into a sixth position coordinate in the first mechanical arm coordinate system;

[0025] The second posture and the first vector coordinates are calculated according to the sixth position coordinates, the first position coordinates and the second position coordinates.

[0026] The puncture surgery auxiliary method provided by the present invention moves the second robotic arm to make the puncture needle hit the surface entry point of the lesion, and calculates the second posture of the second robotic arm and the first vector coordinates of the puncture path according to the coordinates of the surface entry point at the lesion and the coordinates of the puncture position, so that the user can directly plan the puncture position and puncture path according to the actual situation of the lesion, thereby improving the effect of the puncture surgery.

[0027] In some embodiments, the volume probe includes an ultrasonic linear array probe, a frame, and a placement tray;

[0028] The collecting of the volume image of the lesion by the volume probe installed on the first mechanical arm specifically includes:

[0029] After the user moves the volume probe to the lesion, receiving a fourth determination instruction input by the user;

[0030] According to the fourth determination instruction, the ultrasonic linear array probe is controlled to rotate within the frame around the center of the placement plate by a preset angle to acquire the volume image.

[0031] The puncture surgery auxiliary method provided by the present invention discloses a volume probe structure and an acquisition method for acquiring a volume image of a lesion, thereby improving the accuracy of acquiring the volume image of the lesion and further improving the effect of the puncture surgery.

[0032] In some embodiments, the calibrating the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system specifically includes:

[0033] After the user adjusts the second robotic arm so that the puncture needle hits the preset mark target on the first robotic arm, the coordinate transformation relationship is calculated according to the current posture of the second robotic arm and the first posture.

[0034] The puncture surgery assisting method provided by the present invention discloses a calibration method for the coordinate conversion relationship between the first robotic arm coordinate system and the second robotic arm coordinate system. The calibration can be completed by adjusting the posture of the second robotic arm, thereby improving the simplicity of the puncture surgery.

[0035] In some embodiments, the first mechanical arm and the second mechanical arm are disposed on a first adjustment track and a second adjustment track, respectively;

[0036] Before acquiring the volume image of the lesion by the volume probe installed on the first mechanical arm, the method further includes:

[0037] Fixing the position of the first mechanical arm on the first adjustment track;

[0038] After locking the current posture of the first mechanical arm as the first posture and before calculating the second posture of the second mechanical arm according to the coordinate transformation relationship and the puncture position, the method further includes:

[0039] After adjusting the position of the second mechanical arm on the second adjustment track, the coordinate conversion relationship between the first mechanical arm coordinate system and the second mechanical arm coordinate system is calibrated to fix the position of the second mechanical arm on the second adjustment track.

[0040] The puncture surgery assisting method provided by the present invention achieves the technical effect of increasing the moving range of the first robotic arm and the second robotic arm during the operation by respectively setting the first robotic arm and the second robotic arm on different adjustment tracks, so that the selection of the puncture position and the puncture path during the operation is more flexible. At the same time, a scheme for fixing the robotic arm on the corresponding adjustment track is disclosed to avoid changes in the coordinate conversion relationship due to the movement of the robotic arm after the first robotic arm coordinate system and the second robotic arm coordinate system are calibrated, thereby avoiding affecting the accuracy of the operation.

[0041] In some embodiments, according to another aspect of the present invention, the present invention further provides a puncture surgery auxiliary system, comprising:

[0042] An acquisition module, used for acquiring a volume image of the lesion through a volume probe installed on the first mechanical arm, and receiving a puncture position marked by a user on the volume image;

[0043] A calibration module, used for calibrating the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system after locking the current posture of the first robotic arm as the first posture;

[0044] a first calculation module, connected to the calibration module, for calculating a second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle mounted on the second robotic arm in a coordinate system of the second robotic arm;

[0045] A first adjustment module, connected to the first calculation module, for adjusting and locking the current posture of the second manipulator to the second posture after receiving a first confirmation instruction of the second posture and a second confirmation instruction of the first vector coordinate respectively;

[0046] A second calculation module, connected to the calibration module and the first adjustment module respectively, for calculating the second vector coordinates of the puncture path in the first mechanical arm coordinate system according to the first vector coordinates and the coordinate conversion relationship;

[0047] A second adjustment module is connected to the second calculation module, and is used to adjust the posture of the first robotic arm to a third posture according to the second vector coordinate, wherein the volume image is parallel to the plane where the puncture path is located in the third posture, and the volume image includes the puncture path.

[0048] In some embodiments, according to another aspect of the present invention, the present invention further provides a puncture surgery assisting robot, comprising:

[0049] a first mechanical arm, on which a volume probe is mounted, and used to control the volume probe to acquire a volume image of a lesion;

[0050] a second robotic arm, on which a puncture needle is mounted, for controlling the puncture needle to puncture the lesion;

[0051] The industrial computer is connected to the first mechanical arm and the second mechanical arm respectively, and is used to receive the volume image collected by the volume probe and receive the puncture position marked by the user on the volume image. After locking the current posture of the first mechanical arm as the first posture, the coordinate conversion relationship between the first mechanical arm coordinate system and the second mechanical arm coordinate system is calibrated, and the second posture of the second mechanical arm is calculated according to the coordinate conversion relationship and the puncture position, and the first vector coordinates of the puncture path of the puncture needle installed on the second mechanical arm in the second mechanical arm coordinate system are calculated, and then the first confirmation instruction of the second posture and the second confirmation instruction of the first vector coordinates are respectively received, and the current posture of the second mechanical arm is adjusted and locked to the second posture, and then the second vector coordinates of the puncture path in the first mechanical arm coordinate system are calculated according to the first vector coordinates and the coordinate conversion relationship. Finally, according to the second vector coordinates, the posture of the first mechanical arm is adjusted to a third posture, and in the third posture, the volume image is parallel to the plane where the puncture path is located, and the volume image includes the puncture path.

[0052] In some embodiments, according to another aspect of the present invention, the present invention further provides a storage medium, wherein the storage medium stores at least one instruction, and the instruction is loaded and executed by a processor to implement the operations performed by the above-mentioned puncture surgery auxiliary method.

[0053] The present invention provides a puncture surgery auxiliary method, system, robot and storage medium, which have at least one of the following technical effects:

[0054] (1) The first robotic arm and the second robotic arm are controlled to realize the acquisition of lesion volume images and the planning of puncture paths. After the second robotic arm equipped with the puncture needle adjusts its posture according to the puncture path, the first robotic arm equipped with the volume probe is controlled to adjust its posture so that the volume probe can acquire image information in real time during the puncture operation, thereby avoiding the inability to view the puncture process in real time during the puncture operation. Once there is an error in the calculation of the puncture path, the user is unclear about the actual puncture path information and the condition of the affected area, which affects the surgical effect. It is convenient for the user to adjust the puncture path in time according to the real-time puncture situation.

[0055] (2) Generate cross-sectional images and coronal images of the lesion through three-dimensional reconstruction, so that users can intuitively mark the puncture position based on the cross-sectional images and coronal images of the lesion, thereby improving the accuracy of the user's judgment of the puncture position and thus improving the surgical effect;

[0056] (3) By marking the surface entry point on the cross-sectional image and the coronal image of the lesion, the second posture of the second robotic arm and the first vector coordinate of the puncture path are calculated, and the surface entry point and the puncture position are planned on the cross-sectional image and the coronal image of the lesion, so that the user can intuitively plan and view the puncture path on the cross-sectional image and the coronal image;

[0057] (4) The second robotic arm is moved to make the puncture needle hit the surface entry point of the lesion, and the second posture of the second robotic arm and the first vector coordinate of the puncture path are calculated according to the coordinates of the surface entry point of the lesion and the coordinates of the puncture position, so that the user can directly plan the puncture position and puncture path according to the actual situation of the lesion, thereby improving the effect of the puncture surgery;

[0058] (5) By respectively setting the first robotic arm and the second robotic arm on different adjustment rails, the technical effect of increasing the moving range of the first robotic arm and the second robotic arm during the operation is achieved, making the selection of the puncture position and the puncture path during the operation more flexible. At the same time, a solution for fixing the robotic arm on the corresponding adjustment rail is disclosed to avoid changes in the coordinate conversion relationship due to the movement of the robotic arm after the first robotic arm coordinate system and the second robotic arm coordinate system are calibrated, thereby avoiding affecting the accuracy of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0060] Figure 1 This is a flow chart of a puncture surgery auxiliary method of the present invention;

[0061] Figure 2 A flow chart of a puncture surgery auxiliary method of the present invention;

[0062] Figure 3 A flowchart of calculating a second posture of a second robotic arm and a first vector coordinate of a puncture path in a puncture surgery auxiliary method of the present invention;

[0063] Figure 4 Another flow chart of the puncture surgery auxiliary method of the present invention;

[0064] Figure 5 An exemplary diagram of a puncture surgery assisting device using a puncture surgery assisting method of the present invention;

[0065] Figure 6 This is an example diagram of a puncture surgery auxiliary system of the present invention;

[0066] Figure 7 This is an example diagram of a puncture surgery assisting robot according to the present invention.

[0067] Numbers in the figure: acquisition module-10, calibration module-20, first calculation module-30, first adjustment module-40, second calculation module-50, second adjustment module-60, first robotic arm-100, second robotic arm-200 and industrial computer-300. DETAILED DESCRIPTION

[0068] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0069] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0070] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0071] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0072] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0073] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0074] One embodiment of the present invention, as Figure 1 As shown, the present invention provides a puncture surgery auxiliary method, comprising the steps of:

[0075] S100 acquires a volumetric image of the lesion through a volumetric probe installed on the first robotic arm, and receives a puncture position marked by a user on the volumetric image.

[0076] Specifically, the volume probe can be an ultrasonic volume probe, a depth volume probe, etc., which is used to acquire a 3D volume image of the lesion location. After acquiring the volume image, the volume probe sends the volume image from the industrial computer, and the volume image is displayed through the display device of the industrial computer. The doctor's marking of the puncture position on the volume image can be received through the display device.

[0077] S200 locks the current posture of the first robotic arm as the first posture, and then calibrates the coordinate conversion relationship between the first robotic arm coordinate system and the second robotic arm coordinate system.

[0078] Specifically, the first robotic arm and the second robotic arm are both multi-degree-of-freedom robotic arm structures. After the volume probe acquires the volume image of the lesion, the current posture of the first robotic arm is kept unchanged, and the coordinate conversion relationship between the first robotic arm coordinate system and the second robotic arm coordinate system is calibrated.

[0079] S300 calculates a second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculates a first vector coordinate of a puncture path of a puncture needle mounted on the second robotic arm in the second robotic arm coordinate system.

[0080] Specifically, according to the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system, the puncture position is converted into coordinates in the second robotic arm coordinate system, the second posture of the second robotic arm is calculated according to the coordinates of the puncture position in the second robotic arm coordinate system, and the puncture path is calculated according to the puncture posture in the second coordinate system.

[0081] S400 adjusts and locks the current posture of the second robot arm to the second posture after receiving the first confirmation instruction of the second posture and the second confirmation instruction of the first vector coordinates respectively.

[0082] Specifically, the puncture position and puncture path of the puncture needle in the volume image are displayed by the display device of the industrial computer for confirmation by the doctor. After the doctor confirms the puncture position and puncture path respectively, the first confirmation instruction and the second confirmation instruction are input. The industrial computer adjusts the current posture of the second robotic arm to the second posture according to the first confirmation instruction and the second confirmation instruction, and locks the current posture of the second robotic arm to the second posture.

[0083] S500 calculates the second vector coordinates of the puncture path in the first robot arm coordinate system according to the first vector coordinates and the coordinate conversion relationship.

[0084] S600 adjusts the posture of the first robot arm to a third posture according to the second vector coordinates.

[0085] Specifically, in the third posture, the volume image is parallel to the plane where the puncture path is located, and the volume image includes the puncture path.

[0086] The puncture surgery auxiliary method provided in this embodiment realizes the acquisition of lesion volume images and the planning of puncture paths by controlling the first robotic arm and the second robotic arm. After the second robotic arm equipped with the puncture needle adjusts its posture according to the puncture path, the first robotic arm equipped with the volume probe is controlled to adjust its posture, so that the volume probe can acquire image information in real time during the puncture surgery, thereby avoiding the inability to view the puncture process in real time during the puncture surgery. Once there is an error in the puncture path calculation, the user is unclear about the actual puncture path information and the condition of the affected area, which affects the surgical effect. It is convenient for the user to adjust the puncture path in time according to the real-time puncture situation.

[0087] In one embodiment, Figure 2 As shown, steps S100 to S300 specifically include:

[0088] S120 collects a volume image of the lesion using a volume probe installed on the first robotic arm.

[0089] S131 performs three-dimensional reconstruction based on the volume image, generates and displays a cross-sectional image and a coronal image of the lesion.

[0090] Specifically, the three-dimensional reconstruction methods include multi-plane reconstruction, maximum density projection, surface shadow masking, volume roaming technology, surface reconstruction and virtual endoscopy technology, etc. The volume image acquired by the volume probe is converted into a cross-sectional image and a coronal image of the lesion by any of the above methods, and the cross-sectional image and the coronal image of the lesion are simultaneously displayed through the display device of the industrial computer.

[0091] S132 receives the first position coordinates marked by the user in the cross-sectional image and the second position coordinates marked in the coronal image, respectively, and uses the first position coordinates and the second position coordinates as the puncture position.

[0092] Specifically, the first position coordinates marked in the cross-sectional image and the second position coordinates marked in the coronal image by the doctor are received through the display device of the industrial computer.

[0093] S200 locks the current posture of the first robotic arm as the first posture, and then calibrates the coordinate conversion relationship between the first robotic arm coordinate system and the second robotic arm coordinate system.

[0094] S311 receives the third position coordinates marked by the user in the cross-sectional image and the fourth position coordinates marked in the coronal image respectively, and uses the third position coordinates and the fourth position coordinates as the surface entry point of the lesion.

[0095] Specifically, after the doctor plans the surface entry point of the lesion based on the coronal image and the cross-sectional image of the lesion, the display device of the industrial computer receives the third position coordinates marked by the doctor in the cross-sectional image and the fourth position coordinates marked in the coronal image.

[0096] S312 calculates the second posture and the first vector coordinates according to the first position coordinates, the second position coordinates, the third position coordinates and the fourth position coordinates.

[0097] The puncture surgery auxiliary method provided in this embodiment generates a cross-sectional image and a coronal image of the lesion by means of three-dimensional reconstruction, so that the user can intuitively mark the puncture position according to the cross-sectional image and the coronal image of the lesion. At the same time, by marking the surface entry point on the cross-sectional image and the coronal image of the lesion, the second posture of the second robotic arm and the first vector coordinate of the puncture path are calculated, and the surface entry point and the puncture position are planned on the cross-sectional image and the coronal image of the lesion, so that the user can intuitively plan and view the puncture path on the cross-sectional image and the coronal image, thereby improving the accuracy of the user's judgment on the puncture position and thus improving the surgical effect.

[0098] In one embodiment, Figure 3 As shown, step S300 calculates the second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculates the first vector coordinate of the puncture path of the puncture needle installed on the second robotic arm in the second robotic arm coordinate system, and specifically also includes:

[0099] S321 After the user moves the second robotic arm to make the puncture needle hit the surface entry point of the lesion, a third confirmation instruction input by the user is received to obtain the fifth position coordinates of the current position of the second robotic arm in the second robotic arm coordinate system.

[0100] Specifically, after the puncture needle hits the surface entry point of the lesion, the doctor inputs a third determination instruction through the industrial computer. At this time, the fifth position coordinates are calculated based on the current posture data of each joint of the second robotic arm.

[0101] S322 converts the fifth position coordinates into sixth position coordinates in the first robot arm coordinate system according to the coordinate conversion relationship.

[0102] S323 calculates the second posture and the first vector coordinates according to the sixth position coordinates, the first position coordinates and the second position coordinates.

[0103] The puncture surgery auxiliary method provided in this embodiment moves the second robotic arm to make the puncture needle hit the surface entry point of the lesion, and calculates the second posture of the second robotic arm and the first vector coordinates of the puncture path according to the coordinates of the surface entry point at the lesion and the coordinates of the puncture position, so that the user can directly plan the puncture position and puncture path according to the actual situation of the lesion, thereby improving the effect of the puncture surgery.

[0104] In one embodiment, Figure 4 and Figure 5 As shown, the present invention also provides a puncture surgery auxiliary method, comprising the steps of:

[0105] S110 fixes the position of the first mechanical arm on the first adjustment track.

[0106] Specifically, Figure 5 As shown, Figure 5 The puncture surgery assisting device using the puncture surgery assisting method comprises a first mechanical arm and a second mechanical arm respectively arranged on a first adjustment track and a second adjustment track. Figure 5 The first adjustment track and the second adjustment track are configured as linear tracks, and in other embodiments they may also be configured as multi-directional tracks.

[0107] S121: After the user moves the volume probe to the lesion, a fourth determination instruction input by the user is received.

[0108] Specifically, after the user moves the volume probe to the lesion, the fourth determination instruction is input through the industrial computer to control the volume probe to start volume imaging.

[0109] S122 controls the ultrasonic linear array probe to rotate around the center of the placement plate within the frame by a preset angle according to the fourth determination instruction to collect a volume image.

[0110] Specifically, the volume probe includes an ultrasound linear array probe, a frame and a placement plate. After receiving the fourth confirmation instruction, the ultrasound linear array probe is placed above the lesion and pressurized to make full contact with the skin. The ultrasound linear array probe is controlled to rotate around the center of the placement plate at a preset angle to collect volume images, usually rotating 180° to collect volume images.

[0111] S131 performs three-dimensional reconstruction based on the volume image, generates and displays a cross-sectional image and a coronal image of the lesion.

[0112] Specifically, the three-dimensional reconstruction methods include multi-plane reconstruction, maximum density projection, surface shadow masking, volume roaming technology, surface reconstruction and virtual endoscopy technology, etc. The volume image acquired by the volume probe is converted into a cross-sectional image and a coronal image of the lesion by any of the above methods, and the cross-sectional image and the coronal image of the lesion are simultaneously displayed through the display device of the industrial computer.

[0113] S132 receives the first position coordinates marked by the user in the cross-sectional image and the second position coordinates marked in the coronal image, respectively, and uses the first position coordinates and the second position coordinates as the puncture position.

[0114] S210 locks the current posture of the first robot arm as the first posture.

[0115] S220 After the user adjusts the second robotic arm so that the puncture needle hits the preset mark target on the first robotic arm, the coordinate transformation relationship is calculated according to the current posture of the second robotic arm and the first posture.

[0116] Specifically, a preset punctuation target point can be set on the volume probe to further improve the accuracy of the coordinate transformation relationship.

[0117] S230 fixes the position of the second robot arm on the second adjustment track.

[0118] S300 calculates a second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculates a first vector coordinate of a puncture path of a puncture needle mounted on the second robotic arm in the second robotic arm coordinate system.

[0119] Specifically, according to the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system, the puncture position is converted into coordinates in the second robotic arm coordinate system, the second posture of the second robotic arm is calculated according to the coordinates of the puncture position in the second robotic arm coordinate system, and the puncture path is calculated according to the puncture posture in the second coordinate system.

[0120] S400 adjusts and locks the current posture of the second robot arm to the second posture after receiving the first confirmation instruction of the second posture and the second confirmation instruction of the first vector coordinates respectively.

[0121] Specifically, the puncture position and puncture path of the puncture needle in the volume image are displayed by the display device of the industrial computer for confirmation by the doctor. After the doctor confirms the puncture position and puncture path respectively, the first confirmation instruction and the second confirmation instruction are input. The industrial computer adjusts the current posture of the second robotic arm to the second posture according to the first confirmation instruction and the second confirmation instruction, and locks the current posture of the second robotic arm to the second posture.

[0122] S500 calculates the second vector coordinates of the puncture path in the first robot arm coordinate system according to the first vector coordinates and the coordinate conversion relationship.

[0123] S600 adjusts the posture of the first robot arm to a third posture according to the second vector coordinates.

[0124] Specifically, in the third posture, the volume image is parallel to the plane where the puncture path is located, and the volume image includes the puncture path.

[0125] The puncture surgery auxiliary method provided in this embodiment discloses a volume probe structure and an acquisition method for acquiring a volume image of a lesion, thereby improving the accuracy of acquiring a volume image of the lesion, thereby improving the effect of the puncture surgery. At the same time, the first robotic arm and the second robotic arm are respectively set on different adjustment tracks to achieve the technical effect of increasing the movement range of the first robotic arm and the second robotic arm during the operation, so that the selection of the puncture position and the puncture path during the operation is more flexible. At the same time, a solution for fixing the robotic arm on the corresponding adjustment track is disclosed to avoid changes in the coordinate conversion relationship due to the movement of the robotic arm after the first robotic arm coordinate system and the second robotic arm coordinate system are calibrated, thereby affecting the accuracy of the operation.

[0126] In one embodiment, Figure 6 As shown, the present invention further provides a puncture surgery auxiliary system, including an acquisition module 10, a calibration module 20, a first calculation module 30, a first adjustment module 40, a second calculation module 50 and a second adjustment module 60.

[0127] The acquisition module 10 is used to acquire a volume image of the lesion through a volume probe installed on the first mechanical arm, and receive a puncture position marked by a user on the volume image.

[0128] Specifically, the volume probe can be an ultrasonic volume probe, a depth volume probe, etc., which is used to acquire a 3D volume image of the lesion location. After acquiring the volume image, the volume probe sends the volume image from the industrial computer, and the volume image is displayed through the display device of the industrial computer. The doctor's marking of the puncture position on the volume image can be received through the display device.

[0129] The calibration module 20 is used to calibrate the coordinate conversion relationship between the first robotic arm coordinate system and the second robotic arm coordinate system after locking the current posture of the first robotic arm as the first posture.

[0130] Specifically, the first robotic arm and the second robotic arm are both multi-degree-of-freedom robotic arm structures. After the volume probe acquires the volume image of the lesion, the current posture of the first robotic arm is kept unchanged, and the coordinate conversion relationship between the first robotic arm coordinate system and the second robotic arm coordinate system is calibrated.

[0131] The first calculation module 30 is connected to the calibration module 20, and is used to calculate the second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculate the first vector coordinates of the puncture path of the puncture needle installed on the second robotic arm in the second robotic arm coordinate system.

[0132] Specifically, according to the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system, the puncture position is converted into coordinates in the second robotic arm coordinate system, the second posture of the second robotic arm is calculated according to the coordinates of the puncture position in the second robotic arm coordinate system, and the puncture path is calculated according to the puncture posture in the second coordinate system.

[0133] The first adjustment module 40 is connected to the first calculation module 30, and is used to adjust and lock the current posture of the second robotic arm to the second posture after receiving the first confirmation instruction of the second posture and the second confirmation instruction of the first vector coordinates respectively.

[0134] Specifically, the first adjustment module 40 displays the puncture position and puncture path of the puncture needle in the volume image through the display device of the industrial computer for confirmation by the doctor. After the doctor confirms the puncture position and puncture path respectively, the first confirmation instruction and the second confirmation instruction are input. The first adjustment module 40 adjusts the current posture of the second robotic arm to the second posture according to the first confirmation instruction and the second confirmation instruction, and locks the current posture of the second robotic arm to the second posture.

[0135] The second calculation module 50 is connected to the calibration module 20 and the first adjustment module 40 respectively, and is used to calculate the second vector coordinates of the puncture path in the first robot arm coordinate system according to the first vector coordinates and the coordinate conversion relationship.

[0136] The second adjustment module 60 is connected to the second calculation module 50 and is used to adjust the posture of the first robotic arm to a third posture according to the second vector coordinates.

[0137] Specifically, in the third posture, the volume image is parallel to the plane where the puncture path is located, and the volume image includes the puncture path.

[0138] The puncture surgery auxiliary system provided in this embodiment realizes the acquisition of lesion volume images and the planning of puncture paths by controlling the first robotic arm and the second robotic arm. After the second robotic arm equipped with the puncture needle adjusts its posture according to the puncture path, the first robotic arm equipped with the volume probe is controlled to adjust its posture, so that the volume probe can acquire image information in real time during the puncture surgery, thereby avoiding the inability to view the puncture process in real time during the puncture surgery. Once there is an error in the puncture path calculation, the user is unclear about the actual puncture path information and the condition of the affected area, which affects the surgical effect. It is convenient for the user to make timely adjustments to the puncture path according to the real-time puncture situation.

[0139] In one embodiment, if Figure 7 As shown, the present invention also provides a puncture surgery auxiliary robot, including a first robotic arm 100, a second robotic arm 200 and an industrial computer 300.

[0140] The first robotic arm 100 is equipped with a volume probe for controlling the volume probe to collect a volume image of the lesion. The second robotic arm 200 is equipped with a puncture needle for controlling the puncture needle to puncture the lesion. The industrial computer 300 is connected to the first robotic arm 100 and the second robotic arm 200, respectively, for receiving the volume image collected by the volume probe and receiving the puncture position marked by the user on the volume image. After locking the current posture of the first robotic arm 100 as the first posture, the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system is calibrated, and the second robotic arm coordinate system is calculated according to the coordinate transformation relationship and the puncture position. Second posture, and calculate the first vector coordinates of the puncture path of the puncture needle installed on the second robotic arm 200 in the second robotic arm coordinate system, then receive the first confirmation instruction of the second posture and the second confirmation instruction of the first vector coordinates respectively, adjust and lock the current posture of the second robotic arm 200 to the second posture, and then calculate the second vector coordinates of the puncture path in the first robotic arm coordinate system according to the first vector coordinates and the coordinate conversion relationship, and finally adjust the posture of the first robotic arm 100 to a third posture according to the second vector coordinates. In the third posture, the volume image is parallel to the plane where the puncture path is located, and the volume image includes the puncture path.

[0141] In one embodiment, the present invention further provides a storage medium, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operations performed by the corresponding embodiment of the above-mentioned puncture surgery auxiliary method. For example, the storage medium can be a read-only memory (ROM), a random access memory (RAM), a read-only compact disk (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0142] They can be implemented with program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0143] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0144] Those of ordinary skill in the art will appreciate that the units and steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed with hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0145] In the embodiments provided in the present application, it should be understood that the disclosed puncture surgery auxiliary method, system, robot and storage medium can be implemented in other ways. For example, the above-described puncture surgery auxiliary method, system, robot and storage medium embodiment is only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the communication connection between each other shown or discussed can be through some interfaces, communication connections of devices or units or integrated circuits, which can be electrical, mechanical or other forms.

[0146] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0147] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0148] It should be noted that the above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A puncture surgery auxiliary system, characterized in that: include: An acquisition module, used for acquiring a volume image of the lesion through a volume probe installed on the first mechanical arm, and receiving a puncture position marked by a user on the volume image; A calibration module, used for calibrating the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system after locking the current posture of the first robotic arm as the first posture; a first calculation module, connected to the calibration module, for calculating a second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle mounted on the second robotic arm in a coordinate system of the second robotic arm; A first adjustment module, connected to the first calculation module, for adjusting and locking the current posture of the second manipulator to the second posture after receiving a first confirmation instruction of the second posture and a second confirmation instruction of the first vector coordinate respectively; A second calculation module, connected to the calibration module and the first adjustment module respectively, for calculating the second vector coordinates of the puncture path in the first mechanical arm coordinate system according to the first vector coordinates and the coordinate conversion relationship; a second adjustment module, connected to the second calculation module, and configured to adjust the posture of the first mechanical arm to a third posture according to the second vector coordinate, wherein the volume image is parallel to the plane where the puncture path is located in the third posture, and the volume image includes the puncture path; Wherein, the acquisition module is also used for: Performing three-dimensional reconstruction according to the volume image to generate and display a cross-sectional image and a coronal image of the lesion; Respectively receiving the first position coordinates marked by the user in the transverse image and the second position coordinates marked in the coronal image, and using the first position coordinates and the second position coordinates as the puncture position; The first computing module is further configured to: Respectively receiving the third position coordinates marked by the user in the transverse image and the fourth position coordinates marked in the coronal image, and using the third position coordinates and the fourth position coordinates as the surface entry point of the lesion; The second posture and the first vector coordinates are calculated according to the first position coordinates, the second position coordinates, the third position coordinates and the fourth position coordinates.

2. A puncture surgery assisting robot, characterized in that: include: a first mechanical arm, on which a volume probe is mounted, and used to control the volume probe to acquire a volume image of a lesion; a second robotic arm, on which a puncture needle is mounted, for controlling the puncture needle to puncture the lesion; an industrial computer, connected to the first mechanical arm and the second mechanical arm, respectively, for receiving the volume image acquired by the volume probe and receiving the puncture position marked by the user on the volume image, after locking the current posture of the first mechanical arm as the first posture, calibrating the coordinate conversion relationship between the first mechanical arm coordinate system and the second mechanical arm coordinate system, calculating the second posture of the second mechanical arm according to the coordinate conversion relationship and the puncture position, and calculating the first vector coordinates of the puncture path of the puncture needle installed on the second mechanical arm in the second mechanical arm coordinate system, and then respectively receiving a first confirmation instruction of the second posture and a second confirmation instruction of the first vector coordinates, adjusting and locking the current posture of the second mechanical arm as the second posture, and then calculating the second vector coordinates of the puncture path in the first mechanical arm coordinate system according to the first vector coordinates and the coordinate conversion relationship, and finally adjusting the posture of the first mechanical arm to a third posture according to the second vector coordinates, wherein the volume image is parallel to the plane where the puncture path is located in the third posture, and the volume image includes the puncture path; The industrial computer is also used for: Performing three-dimensional reconstruction according to the volume image to generate and display a cross-sectional image and a coronal image of the lesion; Respectively receiving the first position coordinates marked by the user in the transverse image and the second position coordinates marked in the coronal image, and using the first position coordinates and the second position coordinates as the puncture position; The industrial computer is also used for: Respectively receiving the third position coordinates marked by the user in the transverse image and the fourth position coordinates marked in the coronal image, and using the third position coordinates and the fourth position coordinates as the surface entry point of the lesion; The second posture and the first vector coordinates are calculated according to the first position coordinates, the second position coordinates, the third position coordinates and the fourth position coordinates.

3. A storage medium, characterized in that: The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the operation performed by the puncture surgery auxiliary method; The puncture surgery auxiliary method comprises the steps of: Acquire a volumetric image of the lesion through a volume probe installed on the first mechanical arm, and receive a puncture position marked by a user on the volumetric image; After locking the current posture of the first robotic arm as the first posture, calibrating the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system; Calculating a second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculating a first vector coordinate of a puncture path of a puncture needle mounted on the second robotic arm in the coordinate system of the second robotic arm; After receiving a first confirmation instruction of the second posture and a second confirmation instruction of the first vector coordinates respectively, adjusting and locking the current posture of the second robotic arm to the second posture; Calculating a second vector coordinate of the puncture path in a first robotic arm coordinate system according to the first vector coordinate and the coordinate transformation relationship; According to the second vector coordinate, adjusting the posture of the first robotic arm to a third posture, in which the volume image is parallel to a plane where the puncture path is located, and the volume image includes the puncture path; The receiving of the puncture position marked by the user on the volume image specifically includes: Performing three-dimensional reconstruction according to the volume image to generate and display a cross-sectional image and a coronal image of the lesion; Respectively receiving the first position coordinates marked by the user in the transverse image and the second position coordinates marked in the coronal image, and using the first position coordinates and the second position coordinates as the puncture position; The calculating of the second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and the calculating of the first vector coordinates of the puncture path of the puncture needle mounted on the second robotic arm in the coordinate system of the second robotic arm specifically include: Respectively receiving the third position coordinates marked by the user in the transverse image and the fourth position coordinates marked in the coronal image, and using the third position coordinates and the fourth position coordinates as the surface entry point of the lesion; The second posture and the first vector coordinates are calculated according to the first position coordinates, the second position coordinates, the third position coordinates and the fourth position coordinates.

4. The storage medium according to claim 3, characterized in that The method of calculating the second posture of the second robotic arm according to the coordinate transformation relationship and the puncture position, and calculating the first vector coordinate of the puncture path of the puncture needle installed on the second robotic arm in the coordinate system of the second robotic arm, specifically includes: After the user moves the second mechanical arm so that the puncture needle hits the surface entry point of the lesion, a third confirmation instruction input by the user is received to obtain fifth position coordinates of the current position of the second mechanical arm in the second mechanical arm coordinate system; According to the coordinate conversion relationship, the fifth position coordinate is converted into a sixth position coordinate in the first mechanical arm coordinate system; The second posture and the first vector coordinates are calculated according to the sixth position coordinates, the first position coordinates and the second position coordinates.

5. The storage medium according to claim 3, characterized in that The volume probe comprises an ultrasonic linear array probe, a frame and a placement plate; The collecting of the volume image of the lesion by the volume probe installed on the first mechanical arm specifically includes: After the user moves the volume probe to the lesion, receiving a fourth determination instruction input by the user; According to the fourth determination instruction, the ultrasonic linear array probe is controlled to rotate within the frame around the center of the placement plate by a preset angle to acquire the volume image.

6. The storage medium according to claim 3, characterized in that The calibration of the coordinate transformation relationship between the first robotic arm coordinate system and the second robotic arm coordinate system specifically includes: After the user adjusts the second robotic arm so that the puncture needle hits the preset mark target on the first robotic arm, the coordinate transformation relationship is calculated according to the current posture of the second robotic arm and the first posture.

7. The storage medium according to claim 3, characterized in that The first mechanical arm and the second mechanical arm are respectively arranged on a first adjustment track and a second adjustment track; Before acquiring the volume image of the lesion by the volume probe installed on the first mechanical arm, the method further includes: Fixing the position of the first mechanical arm on the first adjustment track; After locking the current posture of the first mechanical arm as the first posture and before calculating the second posture of the second mechanical arm according to the coordinate transformation relationship and the puncture position, the method further includes: After adjusting the position of the second mechanical arm on the second adjustment track, the coordinate conversion relationship between the first mechanical arm coordinate system and the second mechanical arm coordinate system is calibrated to fix the position of the second mechanical arm on the second adjustment track.

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