Double-channel lung lesion biopsy robot and control method

Abstract

The invention relates to a double-channel lung lesion biopsy robot and a control method, and relates to the technical field of surgical instruments / minimally invasive surgery robots, the double-channel lung lesion biopsy robot comprises a first positioning mechanical arm, a second positioning mechanical arm, a first instrument driving mechanical arm, a second instrument driving mechanical arm, a bronchoscope and a puncture needle, the first positioning mechanical arm and the first instrument driving mechanical arm are used for automatically or manually positioning the bronchoscope to the focus position, and the second positioning mechanical arm and the second instrument driving mechanical arm are used for controlling the puncture needle to implement puncture biopsy through the chest wall. The problem that an existing surgical robot technology cannot be completely suitable for the whole lung when applied to lung lesion biopsy is solved, two biopsy channels are planned at the same time in a unified preoperative planning mode, and image data information obtained through a bronchial channel is used for focus position correction; and an integrated double-arm structure and a seamless switching control mode are designed, so that biopsy of the whole lung focus is completed more accurately in a one-stop mode.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments / minimally invasive surgical robots, and in particular to a dual-channel lung lesion biopsy robot and a control method thereof. Background Art

[0002] Lung lesion biopsy requires the use of biopsy instruments to reach the target lesion and obtain specimens for pathological and etiological examinations under the guidance of medical images such as computed tomography (CT) and radial endobronchial ultrasound.

[0003] In the clinical application of lung lesion biopsy, there are mainly two methods: transbronchial lung biopsy and transthoracic lung puncture biopsy. The transbronchial biopsy method is performed from the inside to the outside, with less trauma and higher safety, but is limited by the bronchial cavity and is suitable for lesions in the inner and middle zones; the transthoracic puncture biopsy method is performed from the outside to the inside, suitable for lesions in the outer and middle zones, with a higher diagnosis rate, but a high complication rate, and the puncture process relies on multiple CT scans, with a high radiation dose. The two biopsy methods have their own advantages and disadvantages in clinical applications, complement each other, and cannot completely replace each other.

[0004] The precise controllability, high stability, high reliability and easy operation of robots have led to the application of medical robots in soft tissue and organ biopsy. Currently, typical applications of robots for lung lesion biopsy include transbronchial robots and transthoracic wall puncture robots, but both robots are limited in their applicable parts and have the disadvantage that a single channel cannot reach the entire lung for safe and accurate diagnosis. Summary of the invention

[0005] The purpose of the present invention is to provide a dual-pathway lung lesion biopsy robot system for existing surgical robots that are not compatible with both transbronchial biopsy and transthoracic wall puncture. The system can apply preoperative surgical path planning (based on preoperative CT) to obtain the best surgical paths for the two pathways, and use the continuously corrected intraoperative surgical navigation to guide the implementation of lung biopsy. When the surgical paths planned by the two pathways before surgery can lead directly to the lesion, transbronchial examination and biopsy are preferred; when the transbronchial pathway cannot lead directly to the lesion or the biopsy does not obtain a satisfactory biopsy specimen, it can be switched to the transthoracic wall puncture mode. Using bronchoscope image data, patient lung CT data and transbronchial biopsy robot arm motion data, the intraoperative navigation can be continuously corrected and the real-time coordinates of the lesion can be obtained, thereby driving the transthoracic wall puncture robot arm to implement the transthoracic wall puncture operation and complete the lesion biopsy, thereby realizing the organic connection of the two biopsy methods, achieving full coverage of lung lesion biopsy with high precision.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention provides a dual-channel lung lesion biopsy robot, including a first positioning robotic arm and a second positioning robotic arm, a first instrument driving robotic arm arranged on the first positioning robotic arm, a bronchoscope arranged on the first instrument driving robotic arm, a second instrument driving robotic arm arranged on the second positioning robotic arm, and a puncture needle arranged on the second instrument driving robotic arm, the first positioning robotic arm and the first instrument driving robotic arm are used to control the movement of the bronchoscope, and the second positioning robotic arm and the second instrument driving robotic arm are used to control the puncture needle to perform transthoracic wall puncture biopsy.

[0007] Preferably, it includes a three-dimensional lung model data processing module, a preoperative planning module, a data processing module, and a human-computer interaction module; the three-dimensional lung model data processing module is used to generate a digital three-dimensional lung model from the CT image of the lung by a computer image processing method; the preoperative planning module is used to mark the target lesion location and the bronchial branch reaching the lesion, and plan the transbronchial surgical path and the transthoracic wall puncture surgical path; the data processing module is used to receive the motion data of the first positioning robot arm, the first instrument driving robot arm, the second positioning robot arm and the second instrument driving robot arm, establish an end coordinate system to describe the position coordinate data of the bronchoscope end and the puncture needle tip, and transmit it to the human-computer interaction module for graphical display; the human-computer interaction module is used to graphically display the real-time bronchoscope image, the intraoperative navigation path, the position of the lesion in the intraoperative navigation image, the position of the bronchoscope end and the puncture needle tip in the intraoperative navigation image, and the operation information of the system.

[0008] Preferably, an intraoperative navigation module is included, which is used to process the transbronchial biopsy path and transthoracic wall puncture path data generated by the preoperative planning module, and receive the bronchoscope image or CT image in real time, and establish the conversion relationship between the terminal coordinate system and the three-dimensional lung model coordinate system through the fusion of the preoperative planning path, real-time image, and real-time data received from the data processing module, so as to realize the real-time correction of the intraoperative navigation image, and transmit it to the human-computer interaction module for display in the form of an image. The corrected real-time lesion position coordinates will provide the second robotic arm with the coordinate data for automatic terminal positioning.

[0009] Preferably, it includes a first robotic arm control module, a second robotic arm control module, and a console module, wherein the console module is used to provide a function of autonomously selecting a control mode, wherein the bronchoscope and the puncture needle can be controlled by operating two control handles in different control modes, wherein the left control handle is used to control the forward or backward movement of the bronchoscope and the puncture needle, and the right control handle is used to control the bending and rotation angles of the bronchoscope and the puncture angle of the puncture needle; the console module digitally processes the position data of the operating handle and sends it to the first robotic arm control module or the second robotic arm control module through communication; the first robotic arm control module adjusts the travel position, bending and rotation angle of the bronchoscope upon receiving the control data, and the second robotic arm control module adjusts the insertion position and insertion angle of the puncture needle.

[0010] The technical solution of the present invention provides a control method for a dual-channel lung lesion biopsy robot, comprising the following steps:

[0011] The three-dimensional lung model data, preoperative planning path data, and position data information of the first positioning mechanical arm and the first instrument driving mechanical arm are obtained; in the process of the first instrument driving mechanical arm driving the bronchoscope, the conversion method between the endotracheal tube entrance terminal coordinate system and the three-dimensional lung model coordinate system is gradually established and corrected until the bronchoscope moves to the next level of bronchus, and the preoperative planning path virtual image can be completely aligned with the real-time bronchoscope image. Then the corrected position coordinates of the lesion in the terminal coordinate system are calculated.

[0012] The second positioning robot arm automatically positions itself to a first position above the lesion according to the corrected lesion position coordinates, and the first position can be set to a position 2-3 cm away from the skin;

[0013] Acquiring the transthoracic wall puncture navigation path;

[0014] According to the transthoracic puncture navigation path, the second instrument drives the mechanical arm to adjust the insertion angle of the puncture needle, and controls the puncture needle to reach a second position, and the second position can be set to an extrapleural position closest to the target lesion;

[0015] Perform a CT scan to confirm the positional relationship between the puncture needle and the target lesion;

[0016] Fine-tuning the puncture needle travel path according to the transthoracic puncture navigation path and the CT scan image to move the puncture needle to a third position of the target lesion, wherein the third position depends on the size of the target lesion and the safety distance in front of the lesion;

[0017] A biopsy tool is inserted through the channel of the puncture needle to complete biopsy sampling of the lesion.

[0018] Preferably, the method comprises the following steps of registering the three-dimensional lung model with the real-time bronchoscope image:

[0019] Acquiring control data of the first positioning mechanical arm and the first instrument driving mechanical arm, that is, real-time driving data of the bronchoscope, including forward and backward distances, bending angles, and rotation angles;

[0020] Performing registration of the virtual image of the three-dimensional lung model with the real-time image of the bronchoscope through real-time driving data;

[0021] Solve the displacement, scaling, and rotation parameters in the mapping transformation matrix formula between the two coordinate systems.

[0022] Preferably, a coordinate system can be established at the junction of the outlet of the first positioning robot arm and the inlet of the endotracheal tube, with the X-axis perpendicular to the patient's airway axis and the direction related to the position of the lesion target, that is, when the lesion target is in the right lung, it is toward the patient's right arm side, and when the lesion target is in the left lung, it is toward the patient's left arm side. The Y-axis is consistent with the direction of the patient's airway axis, and the Z-axis is perpendicular to the horizontal plane of the patient's bed and is facing downward.

[0023] Preferably, each time the next level of bronchus is entered, the displacement, scaling, and rotation parameters in the mapping transformation matrix formula are further calibrated until the digital lung model image of the next level of bronchial bifurcation is completely consistent with the real-time image of the bronchoscope, thereby obtaining the position coordinates of each key point of the bronchial bifurcation in the terminal coordinate system and the position coordinates of the target lesion in the terminal coordinate system.

[0024] Preferably, the method comprises the following steps:

[0025] Obtain the patient's preoperative chest CT images;

[0026] Form a digital three-dimensional lung model;

[0027] The transbronchial biopsy pathway and transthoracic biopsy pathway were planned according to the location of the lesion.

[0028] The technical solution of the present invention also provides a control method for a dual-channel lung lesion biopsy robot, comprising the following steps:

[0029] (1) Importing chest CT image data into a three-dimensional lung model data processing module for processing to form a digital three-dimensional lung model, and planning the biopsy paths of the transbronchial biopsy pathway and the transthoracic wall biopsy pathway through the preoperative planning module based on the three-dimensional lung model;

[0030] (2) importing the three-dimensional lung model data, selecting a working mode and an optimal travel path;

[0031] (3) operating the first robotic arm to quickly position the bronchoscope to the position of the patient's tracheal intubation, driving the bronchoscope through the tracheal intubation route into the patient's airway through the operation console, and operating the bronchoscope according to the pre-planned travel path to reach the bronchus closest to the lesion as much as possible. During the movement of the bronchoscope, the bronchial mucosa, the lesion and its surrounding conditions can be observed, and the correction of intraoperative navigation can be gradually completed;

[0032] (4) When the bronchoscope reaches the bronchus closest to the lesion, the posture of the bronchoscope tip is adjusted to align with the center of the lesion, and then the posture of the bronchoscope tip is locked;

[0033] (5) If the preoperative planning suggests that the imaging features of transbronchial biopsy are met, a radial endobronchial ultrasound probe is inserted through the working channel of the bronchoscope, and the radial endobronchial ultrasound probe is withdrawn after imaging confirmation of the lesion;

[0034] (6) inserting a biopsy tool through the working channel of the bronchoscope to sample the lesion tissue;

[0035] (7) Evaluate the lesion tissue samples;

[0036] (8) If the preoperative planning indicates that the imaging features for transbronchial biopsy are not met, or if a satisfactory biopsy specimen cannot be obtained after transbronchial biopsy, the device working mode can be switched to transthoracic biopsy mode;

[0037] (9) the second robotic arm automatically locates to the first position above the needle insertion point according to the real-time lesion position coordinates provided by the corrected intraoperative navigation, and automatically adjusts the insertion angle of the puncture needle according to the puncture path of the transthoracic biopsy pathway. After the adjustment is completed, the puncture needle is operated to enter the second position through the operating console;

[0038] (10) Perform a chest CT scan to determine the relative position of the target lesion and the tip of the puncture needle, fine-tune the second instrument driving the robotic arm through the operating table so that the axial direction of the puncture needle points to the center of the target lesion, operate the puncture needle to continue to advance the needle to the third position, withdraw the needle core, insert the biopsy needle into the lesion at a set distance, and perform a biopsy operation.

[0039] (11) After the biopsy is completed, the puncture needle is withdrawn, the second robotic arm is reset to its initial position, the bronchoscope is withdrawn, and the first robotic arm is reset to its initial position.

[0040] The present invention includes the following beneficial technical effects:

[0041] The dual-pathway lung lesion biopsy robot system of the present invention solves the problem that the existing surgical robot technology is applied to lung lesion biopsy, and the biopsy path is single and cannot be fully applied or complemented to realize the whole lung biopsy operation. The present invention uses a unified preoperative planning platform to simultaneously plan the transbronchial biopsy method and the transthoracic wall biopsy method, and designs the compact mechanical configuration required for the two biopsy methods. The first robotic arm is used for transbronchial biopsy, and the second robotic arm is used for transthoracic wall biopsy. The features include designing two paths to be planned simultaneously in the same preoperative planning module, and the physician can observe and select the appropriate biopsy path during the operation; the two robotic arms are designed to be integrated on the same vehicle and operated through the same operating table, and the lesion position can be calibrated according to the position data of the first robotic arm, the fusion of the bronchoscope image and the digital three-dimensional lung model data, and the second robotic arm can be automatically guided and positioned, realizing the organic connection between the two pathway biopsy methods, free selection, and seamless switching. Specifically, when performing a lung lesion biopsy, if the transbronchial access has imaging features that lead to the lesion in preoperative planning, transbronchial examination and biopsy are preferred; when the transbronchial access cannot directly lead to the lesion, or a satisfactory biopsy specimen cannot be obtained during transbronchial biopsy, the biopsy robot system mode can be switched online to transthoracic wall biopsy through the operating console. The bronchoscope in the airway provides the required real-time images for intraoperative navigation system correction, thereby providing a more precise lesion location for transthoracic wall puncture, improving puncture efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is the main process of double-channel lung lesion biopsy;

[0043] Figure 2 The workflow of the dual-channel lung lesion biopsy robot transthoracic biopsy mode;

[0044] Figure 3 It is composed of system functional modules of a dual-channel lung lesion biopsy robot;

[0045] Figure 4 A control console embodiment of a dual-channel lung lesion biopsy robot;

[0046] Figure 5 A transbronchial access embodiment of a dual access lung lesion biopsy robot;

[0047] Figure 6 An intraoperative navigation embodiment of a dual-channel lung lesion biopsy robot;

[0048] Figure 7 Provides intraoperative navigation registration workflow for dual-access lung lesion biopsy robots;

[0049] Figure 8A first robotic arm embodiment of a dual-channel lung lesion biopsy robot;

[0050] Fig. 9 A second robotic arm embodiment of a dual-channel lung lesion biopsy robot;

[0051] Fig.10 This is an embodiment of a dual-channel lung lesion biopsy robot.

[0052] Figure numerals: 1. first robotic arm; 11. first positioning robotic arm; 111. first lifting device; 112. first horizontal rotation joint; 113. cervical joint; 114. shoulder joint; 115. elbow joint; 12. first instrument driving robotic arm; 121. first linear motion device; 122. bronchoscope adjustment device; 2. second robotic arm; 21. second positioning robotic arm; 211. second lifting device; 212. second horizontal rotation joint; 22. second instrument driving robotic arm; 221. rotation joint; 222. second linear motion device; 3. bronchoscope; 4. puncture needle. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] The embodiment of the present invention discloses a dual-mode lung lesion biopsy robot system, which has a dual-arm collaborative robot arm. The robot arm consists of a first robot arm 1 and a second robot arm 2. The first robot arm 1 is used to transport a bronchoscope 3 to the lesion location. The positioning mode of the first robot arm 1 can be automatic or manual. It is positioned at the patient's tracheal intubation position, and then the bronchoscope 3 is controlled by an operating console to reach the target lesion based on real-time image data and digital three-dimensional lung model data, and then the biopsy tool is inserted into the working channel of the bronchoscope 3 to perform a sampling operation on the lesion; the second robot arm 2 is used to control a puncture needle 4 to perform a transthoracic puncture biopsy. The positioning mode of the second robot arm 2 is automatic. The in vitro positioning position data is provided by the motion data of the first robot arm 1, the bronchoscope image and the digital three-dimensional lung model of the patient without the need for an additional detection device. The transbronchial pathway is used for navigation calibration, so that accurate lesion location information can be obtained in real time, the number of CT scans for transthoracic puncture is reduced, and the accuracy of the puncture biopsy is enhanced.

[0055] like Figure 1The main working process of the dual-channel lung lesion biopsy robot system of the present invention is to first obtain the CT lung image of the patient in the inspiratory phase to form a digital three-dimensional lung model. Based on the digital three-dimensional lung model and the location of the lesion, the doctor plans the bronchoscope navigation path through the tracheal intubation and the puncture navigation path through the chest wall. The working mode of the dual-channel lung lesion biopsy robot system is set to the transbronchial mode. The doctor controls the first robot arm 1 to move and locate the patient's tracheal intubation position through the operating console, and moves the bronchoscope 3 according to the bronchoscope navigation path. If it can move to the target lesion position according to the preoperative planning and intraoperative navigation, or the bronchoscope 3 cannot directly reach the target lesion position, but the target lesion position can be located by means of ultrasound probe or X-ray, a biopsy instrument is inserted through the working channel of the bronchoscope 3 to sample the lesion tissue, and then the surgeon judges the obtained biopsy specimen. When the surgeon is satisfied with the biopsy specimen, the transbronchial biopsy operation is completed; if it is difficult to reach the lesion through the transbronchial pathway according to the preoperative planning and intraoperative navigation, or when the surgeon is not satisfied with the biopsy specimen of the transbronchial pathway, the working mode of the lung lesion biopsy robot system is switched to the transthoracic wall mode, and the doctor operates the operating console to control the puncture needle 4 to enter the chest wall, and finally completes the biopsy sampling of the target lesion.

[0056] Figure 2 This is the workflow of the dual-channel lung lesion biopsy robot system of the present invention in the transthoracic wall mode. The second robotic arm 2 can automatically locate to the first puncture position above the patient's lesion (2-3 cm away from the skin) according to the corrected real-time lesion position coordinate data without the need for additional detection and positioning equipment. The doctor operates the puncture actuator of the second robotic arm 2 according to the transthoracic wall navigation path to control the puncture needle 4 to reach the second position (the extrapleural position above the lesion). At this time, a CT scan is performed to confirm the relative position relationship between the puncture needle 4 and the lesion, and then the puncture needle 4 travel path is fine-tuned according to the puncture navigation path through the chest wall and the CT image, and finally moves to the third position of the lesion (the third position depends on the size of the target lesion and the safety distance in front of the lesion), and then the biopsy needle is inserted through the puncture needle 4 channel to complete the biopsy sampling of the target lesion.

[0057] Figure 3It is a system function module of the dual-channel lung lesion biopsy robot system of the present invention. The three-dimensional lung model data processing module is used to generate a digital three-dimensional lung model from the CT image of the lung by a computer image processing method. The model data is transmitted to the preoperative planning module. The preoperative planning module is used by the doctor to mark the target lesion position and the bronchial branch reaching the lesion, and plan the surgical path through the bronchus and the surgical path through the chest wall puncture. The intraoperative navigation module is the control core of the dual-channel lung lesion biopsy robot system, which is used to process the transbronchial path and transthoracic wall puncture navigation path data generated by the preoperative planning module, and receive real-time bronchoscope 3 images or CT images. The mutual conversion of the terminal coordinate system and the three-dimensional lung model coordinate system is realized by the fusion of the preoperative planning path and the real-time image, so as to correct the intraoperative navigation and transmit it to the human-machine interaction module for display in the form of images. The corrected lesion position coordinate data is used to guide the second robotic arm to automatically position. The data processing module is used to receive the motion data of the first mechanical arm 1 and the second mechanical arm 2, establish the terminal coordinate system to describe the position coordinate data of the end of the bronchoscope 3 and the needle tip of the puncture needle 4, and transmit it to the human-computer interaction module for graphical display. The human-computer interaction module is used to graphically display the real-time bronchoscope 3 image, the intraoperative navigation path, the location of the lesion, the location of the end of the bronchoscope and the needle tip of the puncture needle in the intraoperative navigation image, and the operation information of the system. The console module provides the doctor with the function of autonomously selecting the control mode. In different control modes, the doctor can operate two control handles to realize the control of the bronchoscope 3 and the puncture needle 4, wherein the left control handle is used to control the forward or backward movement of the bronchoscope and the puncture needle, and the right control handle is used to control the bending and rotation angle of the bronchoscope and the puncture angle of the puncture needle. The console module digitally processes the position data of the operating handle and sends it to the first mechanical arm control module or the second mechanical arm control module through communication. The first robot arm control module receives the control data to adjust the travel position, bending and rotation angle of the bronchoscope 3, and the second robot arm control module adjusts the insertion position and insertion angle of the puncture needle 4.

[0058] Figure 4This is an embodiment of the console of the dual-channel lung lesion biopsy robot system of the present invention. The console is mainly composed of a working mode selection switch, a forward and backward control handle, a direction control handle and an emergency stop button. The working mode selection switch is used to switch the working mode of the dual-channel lung lesion biopsy robot system from the transbronchial mode to the transthoracic wall mode. The forward and backward control handle has a control function in two directions. In the transbronchial mode, the forward and backward control handle is used to control the linear motion device of the first instrument driving robot arm 12 of the first robot arm 1 to realize the forward and backward motion control of the bronchoscope 3 in the airway; in the transthoracic wall mode, the forward and backward control handle is used to control the linear motion device of the second instrument driving robot arm 22 of the second robot arm 2 to realize the needle insertion and withdrawal motion control of the puncture needle 4. The direction control handle has a 360-degree directional control function. In the transbronchial mode, the direction control handle is used to control the posture adjustment device of the first instrument driving robot arm 12 of the first robot arm 1 to achieve bending control of the distal end of the bronchoscope 3 at any angle in the airway. To further illustrate, when the direction handle is deflected in the direction of 30 degrees, the distal end of the bronchoscope 3 begins to bend in the direction of 30 degrees. The bending angle is related to the amplitude of the deflection of the direction handle in the direction of 30 degrees. When the direction handle is pushed to the end in the direction of 30 degrees, the maximum bending angle of the distal end of the bronchoscope 3 can be adjusted to 220 degrees. In the transthoracic mode, the direction control handle is used to control the posture adjustment device of the second instrument driving mechanical arm 22 of the second mechanical arm 2 to realize the control of the insertion angle of the puncture needle 4. For further example, when the direction handle is deflected in the direction of 30 degrees, the tip of the puncture needle 4 uses the distal point control technology, and the needle rod starts to move in the direction of 30 degrees with the transthoracic insertion point as the center of the circle. The angle of movement is related to the amplitude of the deflection of the direction handle in the direction of 30 degrees. The angle of movement gradually decreases from the initial angle of 90 degrees with the horizontal plane, and the minimum can reach 30 degrees. The console can realize the control of the two instruments, bronchoscope 3 and puncture needle 4, through a two-way control handle and a 360-degree direction control handle, by switching the working mode, with good compatibility, which improves the efficiency of doctors switching between the two surgical procedures. The console is also provided with an emergency stop switch, which is used to stop the accidental movement of the mechanical arm in an emergency to ensure the safety of the patient and the operator. In the embodiment, the console is also provided with a function button for system operation, which is not limited here.

[0059] Figure 5This is an embodiment of the transbronchial access of the dual-channel lung lesion biopsy robot system of the present invention. The transbronchial access is generally performed by tracheal intubation. First, in the transbronchial mode, the first positioning robot arm 11 of the first robot arm 1 positions the bronchoscope 3 to the entrance of the patient's tracheal intubation. In an embodiment, the outlet of the first positioning robot arm 11 of the first robot arm 1 will dock with the entrance of the tracheal intubation inserted in advance, and the bronchoscope 3 enters through the intubation entrance, passes through the carina, the first-level branch, the second-level branch..., the n-th-level branch in turn, and finally reaches the lesion position, and by adjusting the end posture of the bronchoscope 3 to align it with the center of the lesion target, and then inserts the biopsy instrument to achieve sampling of the lesion.

[0060] Figure 6 To illustrate the intraoperative navigation technology embodiment of the dual-channel lung lesion biopsy robot system of the present invention, it is used to locate the puncture needle point of the second robotic arm 2 through the position data information of the first robotic arm 1 and the fusion of navigation data. Establish the terminal coordinate system where the outlet of the first positioning robotic arm 11 of the first robotic arm 1 is connected to the entrance of the endotracheal tube. The X-axis is perpendicular to the patient's airway axis, and the direction is related to the position of the lesion target, that is, when the lesion target is in the right lung, it is toward the patient's right arm side, and when the lesion target is in the left lung, it is toward the patient's left arm side. The Y-axis is consistent with the direction of the patient's airway axis, and the direction is toward the foot side. The Z-axis is perpendicular to the horizontal plane of the patient's bed board, and the direction is downward. In the embodiment, the spatial coordinates of the docking joint of the first positioning robotic arm 11 of the first robotic arm 1 can be recorded as (X1 d , Y1 d , Z1 d ), the spatial coordinates of the protuberance can be recorded as (X 0 , Y 0 , Z 0 ), the spatial position coordinate data of the carina relative to the origin of the coordinates is solved by empirical data. The established empirical data formula can be expressed as a function f(x, y, z) = f(K 1 × weight, K 2 ×Height, K 3 × age), where the parameter K 1 , K 2 , K 3 Obtained through a large amount of experimental data. Mark the spatial position coordinates of the first-level branches as (X 1 , Y 1 , Z 1 ), the spatial position coordinates of the second-level branch are (X 2 , Y 2 , Z 2 ), the spatial position coordinates of the n-th level branch are (X n , Y n , Z n ), the spatial coordinates of the lesion are (X q, Y q , Z q ), and at the same time, the coordinates of the above key points in the lung digital map can be recorded as (U 0 , V 0 , W 0 )、(U 1 , V 1 , W 1 )、(U 2 , V 2 , W 2 )……(U n , V n , W n )、(U q , V q , W q ).

[0061] further, Figure 7 The workflow for realizing the conversion of two coordinate systems is explained. The conversion relationship between the two coordinate systems in three-dimensional space includes displacement, scaling and rotation between the two coordinate systems. First, the control data of the first instrument driving mechanical arm 12 of the first mechanical arm 1 is obtained, that is, the real-time driving data of the bronchoscope 3, including the forward and backward distance, bending angle, and rotation angle. Then, the depth and viewing angle of the virtual camera of the digital three-dimensional lung model image are driven by the above driving data, so that the image of the virtual camera is consistent with the real-time image of the bronchoscope 3, so as to realize the registration of the virtual image of the digital three-dimensional lung model image and the real-time image of the bronchoscope 3. After the registration is completed, the displacement, scaling and rotation parameters in the mapping transformation matrix formula between the two coordinate systems are solved. Based on the existing technology, it will not be repeated here. Furthermore, considering that the main airway has less constraints on the bronchoscope 3, and the bronchoscope 3 has the problem of possible deviation in motion data due to its own flexibility, the displacement, scaling, and rotation parameters in the mapping transformation matrix formula can be further calibrated in the thinner bronchus of the next level, until the digital three-dimensional lung model image of the next level of bronchial bifurcation is completely consistent with the real-time image of the bronchoscope 3, thereby obtaining the position coordinates of each key point of the bronchial bifurcation in the terminal coordinate system, and the position coordinates of the target lesion in the terminal coordinate system. The puncture positioning function of the second positioning robot arm 21 of the second robot arm 2 on the target lesion is realized without additional guiding equipment.

[0062] Figure 8The first robot arm 1 structure of the dual-channel lung lesion biopsy robot system of the present invention is composed of a first positioning robot arm 11 and a first instrument driving robot arm 12, wherein the first positioning robot arm 11 has a first lifting device 111, two first horizontal rotation joints 112, and three rotational degrees of freedom of the neck joint 113, the shoulder joint 114, and the elbow joint 115, which can effectively cover the operation of the operating table. It is convenient for the operator to quickly and flexibly adjust the proximal end of the robot bronchoscope 3 to the patient's tracheal intubation access position. The first instrument driving robot arm 12 is composed of a first linear motion device 121 and a bronchoscope adjustment device 122. The first linear motion device 121 is a telescopic structure. Each motion joint of the first robot arm 1 is provided with an absolute encoder for accurately calculating the spatial position of the first robot arm 1.

[0063] Fig. 9 It is an embodiment of the dual-channel lung lesion biopsy robot system of the present invention. The second mechanical arm 2 is composed of a second positioning mechanical arm 21 and a second instrument driving mechanical arm 22, wherein the second positioning mechanical arm 21 is composed of a second lifting device 211 and three second horizontal rotating joints 212. The second positioning mechanical arm 21 can be retracted to the top of the mechanical arm trolley in a non-working state. When the system switches from the transbronchial working mode to the transthoracic wall working mode, the second positioning mechanical arm 21 automatically moves to the first position above the target target area according to the corrected real-time lesion position coordinates. The second instrument driving mechanical arm 22 is controlled by the operating console to drive the puncture actuator to drive the puncture needle to move to the second position, and a CT scan is performed to confirm the positional relationship between the puncture needle tip position and the target lesion. If there is a deviation, the second mechanical arm 2 can be fine-tuned by the operating console to control the puncture actuator so that the puncture needle is aligned with the target lesion. The second instrument driving mechanical arm 22 is composed of a rotating joint 221 and three second linear motion devices 222, which can realize 360° continuous adjustment of the puncture needle 4 around the puncture point.

[0064] The following are the specific steps of the dual-channel lung lesion biopsy robot control method of the present invention:

[0065] (1) The patient's CT lung image data is imported into the three-dimensional lung model data processing module for processing to form a digital three-dimensional lung model. The doctor plans the biopsy path of the transbronchial biopsy pathway and the transthoracic biopsy pathway based on the three-dimensional model information;

[0066] (2) The digital three-dimensional lung model data is imported into the surgical robot device. The doctor first selects the working mode of the surgical robot device as the transbronchial access mode to perform routine bronchoscopy and selects the optimal path.

[0067] (3) Operate the first robotic arm 1 to quickly position the bronchoscope 3 to the patient's tracheal intubation position, drive the bronchoscope 3 into the patient's airway through the tracheal intubation route through the console, and operate the bronchoscope 3 to reach the lesion location according to the pre-planned travel path. During the movement of the bronchoscope 3, the bronchial mucosa, the lesion, and its surrounding conditions can be observed, and the intraoperative navigation correction can be gradually completed.

[0068] (4) If the preoperative transbronchial pathway is planned to lead to the lesion, the bronchoscope 3 is advanced to the lesion or the bronchus closest to the lesion, the posture of the distal end of the bronchoscope 3 is adjusted to align with the center of the lesion, and then the posture of the distal end of the bronchoscope 3 is locked.

[0069] (5) Insert a radial endobronchial ultrasound probe through the working channel 3 of the bronchoscope, and remove the radial endobronchial ultrasound probe after imaging confirmation of the lesion.

[0070] (6) Insert biopsy tools (biopsy needle, biopsy forceps, cell brush) through the working channel 3 of the bronchoscope to sample the lesion tissue.

[0071] (7) Evaluate the lesion tissue samples.

[0072] (8) If the preoperatively planned transbronchial access cannot directly lead to the lesion, or if the transbronchial biopsy cannot obtain a satisfactory biopsy specimen, the system working mode is switched to transthoracic wall biopsy mode through the operating console.

[0073] (9) The second robotic arm 2 can automatically locate itself at the first position above the needle insertion point according to the corrected real-time lesion position coordinates, and automatically or manually adjust the insertion angle of the puncture needle according to the biopsy path of the transthoracic biopsy pathway. After the adjustment is completed, the puncture needle is operated to the second position through the operating console.

[0074] (10) Perform a CT scan of the lesion to determine the relative position of the lesion and the tip of the puncture needle. Fine-tune the second instrument drive arm through the operating table so that the axial direction of the puncture needle coincides with the puncture path. After the puncture needle continues to advance to the third position, withdraw the needle core, insert the biopsy needle into the lesion at the set distance, and perform a biopsy operation.

[0075] (11) After the biopsy is completed, the puncture needle is withdrawn, the second robotic arm 2 is reset to its initial position, the bronchoscope 3 is withdrawn, and the first robotic arm 1 is reset to its initial position.

[0076] The present invention protects a control method and medical robot configuration for dual-channel biopsy, including a mechanism and control process for realizing lung lesion biopsy by seamlessly switching biopsy channels with dual robotic arms, and the mechanical structure characteristics of a dual-robotic arm collaborative lung lesion biopsy robot.

[0077] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual-channel lung lesion biopsy robot, characterized in that: The invention comprises a first positioning robot arm (11) and a second positioning robot arm (21), a first instrument driving robot arm (12) arranged on the first positioning robot arm (11), a bronchoscope (3) arranged on the first instrument driving robot arm (12), a second instrument driving robot arm (22) arranged on the second positioning robot arm (21), and a puncture needle (4) arranged on the second instrument driving robot arm (22), wherein the first positioning robot arm (11) and the first instrument driving robot arm (12) are used to control the bronchoscope (3) to be positioned at the lesion location, and the second positioning robot arm (21) and the second instrument driving robot arm (22) are used to control the puncture needle (4) to perform a transthoracic puncture biopsy.

2. A dual-channel lung lesion biopsy robot according to claim 1, characterized in that: The invention comprises a three-dimensional lung model data processing module, a preoperative planning module, a data processing module, and a human-computer interaction module; the three-dimensional lung model data processing module is used to generate a digital three-dimensional lung model by computer image processing method from the CT scan image of the lung; the preoperative planning module is used to mark and confirm the location of the target lesion and mark the bronchial branch reaching the lesion, and plan the surgical path through the bronchus and the surgical path through the chest wall puncture; the data processing module is used to receive the first positioning robot arm (11), the first instrument driving robot arm (12 ), the motion data of the second positioning robot arm (21) and the second instrument driving robot arm (22), establish an end coordinate system for describing the position coordinate data of the end of the bronchoscope (3) and the needle tip of the puncture needle (4), and transmit them to the human-computer interaction module for graphical display; the human-computer interaction module is used to graphically display the real-time image of the bronchoscope (3), the intraoperative navigation path, the position of the lesion in the intraoperative navigation image, the position of the end of the bronchoscope and the needle tip of the puncture needle in the intraoperative navigation image, and the operation information of the system.

3. A dual-channel lung lesion biopsy robot according to claim 2, characterized in that: It includes a preoperative planning module and an intraoperative navigation module. The preoperative planning module is used to simultaneously plan the transbronchial surgical path and the transthoracic surgical path on a three-dimensional lung model generated based on CT; The intraoperative navigation module is used to process the transbronchial path and transthoracic puncture navigation path data generated by the preoperative planning module, and receive the bronchoscope image or CT scan image in real time. By establishing a conversion relationship between the end coordinate system and the three-dimensional lung model coordinate system, the fusion of the preoperative planning path and the real-time image is completed, and the correction of the intraoperative navigation is realized. The correction is transmitted to the human-computer interaction module for display in the form of an image. The corrected lesion position coordinates will provide coordinate data for automatic positioning of the end of the second robotic arm (2).

4. A dual-channel lung lesion biopsy robot according to claim 3, characterized in that: The invention comprises a first robot arm control module, a second robot arm control module and a console module, wherein the console module is used to provide a function of autonomously selecting a control mode. In different control modes, two control handles can be operated to control the bronchoscope (3) and the puncture needle (4), wherein the left control handle is used to control the forward or backward movement of the bronchoscope and the puncture needle, and the right control handle is used to control the bending and rotation angle of the bronchoscope and the puncture angle of the puncture needle; the console module digitally processes the position data of the operating handle and sends it to the first robot arm control module or the second robot arm control module through communication; the first robot arm control module adjusts the travel position, bending and rotation angle of the bronchoscope (3) upon receiving the control data, and the second robot arm control module adjusts the insertion position and insertion angle of the puncture needle (4).

5. A control method for a dual-channel lung lesion biopsy robot according to any one of claims 1 to 4, characterized in that: The following steps are involved: Acquiring position data information and a three-dimensional lung model of the first positioning mechanical arm (11) and the first instrument driving mechanical arm (12); The second positioning mechanical arm (21) is automatically positioned to a first position above the lesion according to the corrected real-time lesion position coordinates, and the first position can be set to a position 2-3 cm away from the skin; Acquiring the transthoracic wall puncture navigation path; According to the transthoracic puncture navigation path, the second instrument driving mechanical arm (22) is operated to adjust the insertion angle of the puncture needle (4), and the puncture needle is controlled to reach a second position, and the second position can be set to an extrapleural position above the target lesion; Performing a CT scan to confirm the positional relationship between the puncture needle (4) and the target lesion; Fine-tuning the path of the puncture needle (4) according to the transthoracic puncture navigation path and the CT scan image to move the puncture needle (4) to a third position of the target lesion, wherein the third position depends on the size of the target lesion and the safety distance in front of the lesion; A biopsy tool is inserted through the channel of the puncture needle (4) to complete biopsy sampling of the lesion.

6. A dual-channel lung lesion biopsy robot control method according to claim 5, characterized in that: The process comprises the following steps: registering the three-dimensional lung model with the real-time image of the bronchoscope (3): Acquiring control data of the first positioning mechanical arm (11) and the first instrument driving mechanical arm (12), that is, real-time driving data of the bronchoscope (3), including forward and backward distances, bending angles, and rotation angles; Performing registration of the virtual image of the three-dimensional lung model with the real-time image of the bronchoscope (3) through real-time driving data; Solve the displacement, scaling, and rotation parameters in the mapping transformation matrix formula between two coordinate systems.

7. A dual-channel lung lesion biopsy robot control method according to claim 6, characterized in that: A terminal coordinate system can be established at the junction of the outlet of the first positioning robot arm (11) and the inlet of the endotracheal tube, wherein the X-axis is perpendicular to the patient's airway axis and the direction is related to the position of the lesion target, that is, when the lesion target is in the right lung, it is toward the patient's right arm side, and when the lesion target is in the left lung, it is toward the patient's left arm side. The Y-axis is consistent with the direction of the patient's airway axis and is directed toward the foot side. The Z-axis is perpendicular to the horizontal plane of the patient's bed board and is directed downward.

8. A dual-channel lung lesion biopsy robot control method according to claim 7, characterized in that: Each time the next level of bronchus is entered, the displacement, scaling, and rotation parameters in the mapping transformation matrix formula are further calibrated until the digital lung model image of the next level of bronchial bifurcation is completely consistent with the real-time image of the bronchoscope (3), thereby obtaining the position coordinates of each key point of the bronchial bifurcation in the terminal coordinate system and the position coordinates of the target lesion in the terminal coordinate system.

9. A dual-channel lung lesion biopsy robot control method according to claim 8, characterized in that: The following steps are involved: Obtain the patient's preoperative chest CT images; Form a digital three-dimensional lung model; The transbronchial biopsy path and transthoracic wall biopsy path data were planned according to the location of the lesion.

10. A control method for a dual-channel lung lesion biopsy robot according to any one of claims 1 to 4, characterized in that: The following steps are involved: (1) Importing chest CT image data into a preoperative planning module for processing to form a digital three-dimensional lung model, and planning the biopsy paths of the transbronchial biopsy pathway and the transthoracic wall biopsy pathway according to the three-dimensional lung model; (2) importing the three-dimensional lung model data, selecting a working mode and an optimal travel path; (3) operating the first robotic arm to quickly position the bronchoscope (3) to align the bronchoscope (3) with the patient's tracheal intubation position, driving the bronchoscope (3) through the tracheal intubation route into the patient's airway through the operation console, and operating the bronchoscope (3) to reach the lesion position according to the pre-planned travel path. During the movement of the bronchoscope (3), the bronchial mucosa, the lesion and its surrounding conditions can be observed, and the correction of intraoperative navigation can be gradually completed; (4) when the bronchoscope (3) reaches the lesion location, adjusting the posture of the end of the bronchoscope (3) so that it is aligned with the center of the lesion, and then locking the posture of the end of the bronchoscope (3); (5) If the preoperatively planned transbronchial access has imaging features leading to the lesion, a radial endobronchial ultrasound probe can be inserted through the working channel of the bronchoscope (3), and the radial endobronchial ultrasound probe can be withdrawn after imaging confirmation of the lesion; (6) inserting a biopsy tool through the working channel of the bronchoscope (3) to sample the lesion tissue; (7) Evaluate the lesion tissue samples; (8) If the preoperative transbronchial access cannot directly lead to the lesion or the transbronchial biopsy cannot obtain a satisfactory biopsy specimen, switch the device working mode to the transthoracic biopsy mode; (9) The second robotic arm (2) automatically locates to a first position above the needle insertion point according to the real-time lesion position coordinates after correction, and automatically adjusts the insertion angle of the puncture needle according to the puncture path of the transthoracic biopsy pathway. After the adjustment is completed, the puncture needle is operated to be inserted to the second position through the operating table; (10) performing a CT scan of the lesion to determine the relative position of the target lesion and the tip of the puncture needle, fine-tuning the second instrument driving the mechanical arm through the operating table so that the axial direction of the puncture needle points to the center of the target lesion, operating the puncture needle to continue to advance the needle to a third position, withdrawing the needle core, inserting a biopsy tool at a set distance to perform a biopsy operation on the lesion; (11) After the biopsy is completed, the puncture needle is withdrawn, the second robotic arm (2) is reset to its initial position, the bronchoscope (3) is withdrawn, and the first robotic arm (1) is reset to its initial position.

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