Remote telechiric step puncture robot system and operation method

Abstract

The application discloses a kind of remote control step puncture robot systems, including front-end robot trolley, calibration mark module, optical depth navigation camera, remote control terminal module, patient fixation device, front-end robot trolley is connected with optical depth navigation camera by cable or wireless communication mode communication, the application also provides a kind of remote control step puncture robot system operation method.Compared with prior art, when using the puncture positioning of remote control needle insertion mechanism in the system of the application, the doctor can return to scanning control room without being in the X-ray radiation range all the time, operates needle insertion mechanism in control room and can view the actual image returned by CT machine, if there is deviation, puncture angle can be adjusted in time, the application can enable the doctor to operate outside CT room to avoid receiving the radiation of X-ray, while also conveniently realize accurate puncture, improve the operation efficiency, reduce the risk of secondary injury of patient during operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a remote control step-by-step puncture robot system and an operating method. BACKGROUND

[0002] Traditional percutaneous interventional puncture surgery is a minimally invasive surgery in which a doctor sends a small surgical instrument, such as a puncture needle, into a patient's body under the guidance of a CT machine device to detect or treat a lesion. Like other minimally invasive surgeries, percutaneous interventional minimally invasive puncture surgery has the advantages of small wound, fast recovery, and fewer postoperative complications.

[0003] When performing percutaneous puncture, the doctor determines the appropriate needle entry point and direction by judging the two-dimensional or three-dimensional scan image near the lesion, and then manually adjusts the puncture channel to complete the puncture operation by experience. In conventional X-ray fluoroscopy, the doctor needs to repeatedly manually adjust the operation several times to accurately puncture the needle into the patient's body according to the CT machine X-ray image, and sometimes the doctor needs to perform puncture under fluoroscopy at the risk of radiation. Patent "A robot device for CT fluoroscopy guided remote control real-time puncture" (publication number: CN104983467A) introduces a remote control real-time puncture robot, but its method is to output the puncture needle image captured by the camera directly to the display, and the doctor completely adjusts the puncture angle according to the video image. The robot is not involved in the steps of three-dimensional reconstruction of patient images, surgical planning, and optical navigation camera monitoring of surgical planning and remote execution. There is still a risk of inaccuracy and excessive bleeding during surgery due to patient movement. SUMMARY

[0004] In view of the above defects in the prior art, the present application provides a remote control step-by-step puncture robot system as follows:

[0005] The technical solution of the present application is as follows:

[0006] A remote control step-by-step puncture robot system, comprising the following components:

[0007] A front-end robot trolley, comprising a front terminal device running control software, a mechanical arm, a remote control needle insertion mechanism, and a foot pedal controller, the remote control needle insertion mechanism is arranged at the end of the mechanical arm, the front terminal device controls and connects the mechanical arm and the remote control needle insertion mechanism, and the remote control needle insertion mechanism is provided with a force sensor, an electric clamp jaw, and an optical marker;

[0008] A calibration marker module for CT coordinate system and camera coordinate system registration and unification;

[0009] An optical depth navigation camera for monitoring whether the puncture needle movement trajectory is consistent with the path designed in the path planning.

[0010] The mechanical arm is used to realize a planned puncture path, the remote needle insertion mechanism is used to push the puncture needle into the human body, the force sensor is used to sense the force received by the puncture needle during the puncture process, the electric clamping jaw is used to loosen or lock the puncture needle, and the optical mark on the remote needle insertion mechanism is used to register the remote needle insertion mechanism and the camera coordinate system,

[0011] The remote terminal module includes a rear remote terminal running a remote desktop and a remote needle insertion button, and the rear remote terminal and the remote needle insertion button are connected through a cable or wireless communication. The rear remote terminal is communicatively connected to the front robot trolley through a cable or wireless communication, and controls the front robot mechanical arm to drive the remote needle insertion mechanism to move.

[0012] The patient fixing device is used to fix the patient on the CT bed plate to prevent the patient from having a large body position movement.

[0013] The front robot trolley is communicatively connected to the optical depth navigation camera through a cable or wireless communication.

[0014] The rear remote terminal connects the front terminal device through a remote desktop, so that the rear remote terminal and the front terminal device share one control operation interface, and the priority of the mechanical arm control action of the front terminal device is higher than that of the rear remote terminal.

[0015] Preferably, the calibration mark module includes two horizontally vertically staggered structural members, which form four horizontal structural members with different side lengths after staggering, and a vertical structural member is arranged upward at the staggered point. The horizontal structural member and the vertical structural member are made of non-metallic materials, and each free end point of the horizontal structural member and the vertical structural member is provided with a metal ball. The surface of the metal ball is coated with infrared reflective paint.

[0016] Preferably, the patient fixing device includes a fixing bandage or a plastic fixing cover adapted to the shape of the human body.

[0017] A remote control step puncture robot system operation method includes the following steps:

[0018] 1) Fix the patient on the CT bed plate with the patient fixing device; start scanning;

[0019] 2) The doctor imports the patient image into the front terminal device, performs three-dimensional reconstruction, segments the tissue organs and lesions, and determines the puncture path. After the doctor determines the puncture path, the doctor controls the software to control the mechanical arm to form a channel pointing to the puncture target near the puncture site of the patient.

[0020] 3) The doctor will put the puncture needle into the remote control needle insertion mechanism at the end of the mechanical arm and lock it with the electric clamping jaw. At least one CT scan of the lesion is performed to determine the latest position of the lesion. The control software in the front terminal device updates the pose of the mechanical arm according to the latest position of the lesion. After the doctor confirms, the control software controls the front-end robot trolley arm to extend into the rack to reach the updated target pose;

[0021] 4) The doctor remotely controls and observes the situation outside the CT room, presses the needle insertion button or needle insertion pedal, and performs the needle insertion operation until the puncture is completed.

[0022] Preferably, the needle insertion operation is that: every time the needle insertion button or needle insertion pedal is pressed, the remote control needle insertion mechanism at the end of the mechanical arm steps a small distance, and after a plurality of distances are punctured according to the specific situation of the patient's lesion position, the CT scan is restarted to obtain updated patient CT data and superimposed display the current pose of the puncture needle. The doctor determines whether there is a problem through the CT data, and continues to press the needle insertion button or needle insertion pedal to insert the needle if there is no problem; if there is a problem, the puncture angle is adjusted, and the remote needle insertion is continued after the angle is adjusted until the puncture is completed.

[0023] Preferably, the needle insertion includes a front segment process and a rear segment process, and the step distance of the front segment process is 2-5mm, and the step distance of the rear segment process is 0.1-2mm.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] The remote control step puncture robot system and operation method of the present application can make the doctor operate outside the CT room or behind the lead glass baffle in the CT room to avoid receiving X-ray radiation, and can also conveniently realize precise puncture, improve the operation efficiency, and reduce the risk of secondary injury to the patient during the operation. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 It is a structural schematic diagram of the front-end robot trolley of the present application;

[0027] Fig. 2 It is a structural schematic diagram of the calibration marker module of the present application;

[0028] Fig. 3 It is a structural schematic diagram of the optical depth navigation camera of the present application;

[0029] Fig. 4This is a schematic diagram of the calibration mark module of the present invention;

[0030] Fig. 5 This is a diagram illustrating a field implementation of Embodiment 1 of the present invention;

[0031] Fig. 6 This is a diagram illustrating the on-site implementation of Embodiment 2 of the present invention.

[0032] In the diagram: front-end robot trolley 100, front-end terminal device 110, robotic arm 120, remote-controlled needle insertion mechanism 130, force sensor 140, electric gripper 150, calibration mark module 200, horizontal structural component 210, vertical structural component 220, metal ball 230, optical depth navigation camera 300, remote-controlled terminal module 400, rear remote-controlled terminal 410, and remote-controlled needle insertion pedal 420. Detailed Implementation

[0033] The present invention will now be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention.

[0034] like Figs. 1 to 4 As shown, a remote-controlled stepping puncture robot system includes the following components:

[0035] A front-end robot trolley 100 includes a front-end terminal device 110 for running control software, a robotic arm 120, a remote-controlled needle insertion mechanism 130, and a foot controller. The remote-controlled needle insertion mechanism 130 is located at the end of the robotic arm 120. The front-end terminal device 110 controls and connects the robotic arm 120 and the remote-controlled needle insertion mechanism 130. The remote-controlled needle insertion mechanism 130 is equipped with a force sensor 140, an electric gripper 150, and an optical marker. The front-end terminal device 110 is a control computer.

[0036] The calibration marker module 200 is used for preoperative CT scanning. The control software acquires the CT scan data of the calibration marker module and the image of the optical depth navigation camera at the same time, and registers and unifies the CT coordinate system and the camera coordinate system.

[0037] An optical depth navigation camera 300 is used to monitor the movement trajectory of optical markers on the needle insertion mechanism, and then determine whether the movement trajectory of the puncture needle is consistent with the path planning design. The optical depth navigation camera 300 can be an optical binocular navigation camera.

[0038] The robotic arm 120 is used to plan the puncture path, the remote-controlled needle insertion mechanism 130 is used to advance the puncture needle into the human body, and the force sensor 140 is used to sense the force on the puncture needle during the puncture process.

[0039] A remote terminal module 400, which comprises a rear remote terminal 410 running a remote desktop and a remote needle insertion button or a remote needle insertion pedal 420, the rear remote terminal 410 and the remote needle insertion button being connected through a cable or wireless communication, the rear remote terminal 410 being communicatively connected with the front robot trolley 100 through a cable or wireless communication to control the front robot arm to drive the remote needle insertion mechanism to move;

[0040] A patient fixing device for fixing a patient on a CT bed plate,

[0041] The front robot trolley 100 is communicatively connected with the optical depth navigation camera 300 through a cable or wireless communication,

[0042] The rear remote terminal 410 is connected with the front terminal device 110 through a remote desktop, so that the rear remote terminal 410 and the front terminal device 110 share one control operation interface, and the priority of the mechanical arm control action front terminal device 110 is higher than that of the rear remote terminal 410.

[0043] The calibration marker module 200 comprises two horizontally vertically staggered structural members, and after staggering, four horizontal structural members 210 with different side lengths are formed, the staggered points are provided with vertical structural members 220 upwardly, the horizontal structural members 210 and the vertical structural members 220 are non-metal materials, each free end point of the horizontal structural members 210 and the vertical structural members 220 is provided with a metal ball 230, and the surface of the metal ball 230 is coated with infrared reflective paint.

[0044] The patient fixing device comprises a fixing bandage or a plastic fixing cover adapted to the shape of a human body.

[0045] The application also provides a remote control step puncture robot system operation method, which comprises the following steps:

[0046] 1) fixing a patient on a CT bed plate by using a patient fixing device; and starting scanning

[0047] 2) a doctor imports a patient image into a front terminal device, performs three-dimensional reconstruction, divides tissues, organs and lesions, and determines a puncture path, the doctor determines the puncture path, and then controls software to control a mechanical arm to form a channel pointing to a puncture target near a puncture site of the patient;

[0048] 3) the doctor puts a puncture needle into a remote needle insertion mechanism at the end of the mechanical arm and locks the puncture needle by using an electric clamp jaw, at least performs CT scanning on a lesion to determine a latest position of the lesion, control software in the front terminal device updates a pose of the mechanical arm according to the latest position of the lesion, and the doctor confirms the updated pose, and then controls software to control a front robot trolley arm to extend into a rack to reach the updated target pose;

[0049] 4) Doctor controls and observes the situation outside the CT room, presses the needle insertion button or pedal, and performs the needle insertion operation until the puncture is completed.

[0050] The needle insertion operation is that the mechanical arm end remote control needle insertion mechanism steps a small distance each time the needle insertion button or pedal is pressed, and after a number of distances are punctured according to the specific situation of the patient's lesion position, the CT scan is restarted, the updated patient CT data is obtained and the current pose of the puncture needle is superimposed and displayed, and the doctor determines whether there is a problem through the CT data to continue pressing the needle insertion button or pedal to insert the needle; if there is a problem, the puncture angle is adjusted, and the needle insertion is continued after the angle is adjusted until the puncture is completed.

[0051] The needle insertion includes a front needle insertion process and a rear needle insertion process, the step distance of the front needle insertion process is 2-5mm, and the step distance of the rear needle insertion process is 0.1-2mm. In some preferred embodiments, the step distance of the front needle insertion process is 2mm, and the step distance of the rear needle insertion process is 1mm.

[0052] For the remote control step puncture robot system operation method, the application provides two embodiments,

[0053] Embodiment one, as shown in Fig. 5

[0054] The optical depth navigation camera is temporarily fixed on the navigation camera trolley and remotely controlled to step puncture in the CT machine rack.

[0055] If the optical depth navigation camera is not fixedly installed, the optical depth navigation camera is fixed on the navigation camera trolley. The front end robot trolley position is placed near the CT machine rack and fixed, and the optical depth navigation camera is placed at a position where the optical mark on the front end robot remote control needle insertion mechanism and the CT machine rack can be observed and fixed. Then the calibration mark module is placed on the CT bed plate for scanning. When scanning, the optical depth navigation camera shoots the metal ball on the calibration mark module and the optical mark on the remote control needle insertion mechanism. According to the information of the metal ball in the optical depth navigation camera image and the CT data information, as well as the spatial arrangement information of the metal ball and the information of the optical mark in the camera image, the CT coordinate system, the optical depth navigation camera coordinate system and the mechanical arm coordinate system can be unified. If the front end robot trolley position and the optical depth navigation camera position do not change, this calibration step does not need to be done again.

[0056] ​The patient lies on the CT bed, and is fixed in position with a bandage. Then, optical marker points are attached to the patient near the lesion. The doctor imports the patient image into the control computer, and performs three-dimensional reconstruction, segmentation of tissue organs and lesions, and determination of the puncture path. The doctor then performs skin opening positioning outside the CT gantry. After the doctor determines the position, the control software controls the mechanical arm to form a channel pointing to the puncture target near the patient's puncture site. The doctor uses a scalpel to manually open a hole at the contact point between the puncture channel and the human skin, to avoid movement of the needle insertion point caused by difficulty in penetrating the skin when the needle is remotely inserted. Then, the doctor places the puncture needle into the remote needle insertion mechanism at the end of the mechanical arm, and locks it with an electric clamp. The patient's lesion is moved into a position that can be scanned by the CT gantry, and a CT scan is performed to determine the updated position of the lesion. The control software updates the pose of the mechanical arm according to the latest position of the lesion, and detects that the movement path of the mechanical arm with the puncture needle will not collide with the CT gantry and the patient. After the doctor confirms, the control software controls the front-end robot trolley mechanical arm to extend into the gantry to reach the updated target pose. The control software determines that the patient's position has not moved and that the mechanical arm has reached the preset pose according to the optical markers on the front end of the mechanical arm and the markers on the patient's body. The doctor presses the needle insertion button on the remote control terminal outside the CT room. Each press of the button causes the needle insertion mechanism at the front end of the mechanical arm to step 2 mm. The doctor remotely controls the puncture based on experience, and approaches the large blood vessel position after a puncture of 3 mm. At this time, the doctor restarts the CT scan to obtain updated CT data of the patient and superimpose the current pose of the puncture needle. The doctor determines that there is no problem, continues to press the needle insertion button, and adjusts the step distance to 1 mm. The doctor continues to remotely control the stepwise needle insertion until the puncture is complete.

[0057] In example two, as shown in Fig. 6 ,

[0058] When the permanent fixation method of the optical depth navigation camera is selected, the optical depth navigation camera is installed on the CT room ceiling opposite the CT gantry. The remote stepwise puncture is performed outside the CT gantry, and the registration method and basic steps are similar to those in example one. However, the puncture is performed outside the CT gantry. When scanning verification is required, the electric clamp on the remote needle insertion mechanism of the mechanical arm is opened, the puncture needle is released, the patient is moved into the gantry for scanning, and after the scanning is completed, the patient is moved back to the puncture position. The electric clamp on the needle insertion mechanism locks the puncture needle, and the remote stepwise puncture is continued.

[0059] According to the structure and operation process of the present application, when the remote control needle insertion mechanism in the system is used for puncture positioning, the doctor can return to the scanning control room without being in the CT room in the X-ray radiation range all the time, and can operate the needle insertion mechanism in the control room and view the actual image returned by the CT machine in real time. If there is deviation, the puncture angle can be adjusted in time, and if there is no deviation, the needle insertion path planned before the operation is followed step by step until the puncture target is completed. The present application can enable the doctor to operate outside the CT room or behind the lead glass baffle in the CT room, thereby avoiding receiving X-ray radiation, and can also conveniently realize accurate puncture, improve the operation efficiency, and reduce the risk of secondary injury to the patient during the operation.

Claims

1. A remotely controlled stepping puncture robot system, characterized in that, Includes the following components: The front-end robot trolley includes a front-end terminal device for running control software, a robotic arm, a remote-controlled needle insertion mechanism, and a foot controller. The front-end terminal device controls and connects the robotic arm and the remote-controlled needle insertion mechanism. The remote-controlled needle insertion mechanism is located at the end of the robotic arm and is equipped with a force sensor, an electric gripper, and an optical marker. The calibration mark module is used for the unified registration of the CT coordinate system and the camera coordinate system. It includes two structural components that are perpendicularly intersecting in the horizontal direction. After intersecting, four horizontal structural components with different side lengths are formed. A vertical structural component is provided above the intersection point. Each free end point of the horizontal and vertical structural components is provided with a metal ball. An optical depth navigation camera is used to monitor whether the movement trajectory of the puncture needle is consistent with the path planned in the path design. The calibration mark module is placed on the CT bed for scanning. During the scan, the optical depth navigation camera captures the metal ball on the calibration mark module and the optical mark on the remote needle insertion mechanism. Based on the information of the metal ball in the optical depth navigation camera image, the CT data information, the spatial arrangement information of the metal ball, and the information of the optical mark in the camera image, the CT coordinate system, the optical depth navigation camera coordinate system, and the robotic arm coordinate system are unified. The robotic arm is used to plan the puncture path, the remote-controlled needle insertion mechanism is used to advance the puncture needle into the human body, the force sensor is used to sense the force on the puncture needle during the puncture process, the electric gripper is used to release or lock the puncture needle, and the optical mark on the remote-controlled needle insertion mechanism is used for the registration of the remote-controlled needle insertion mechanism and the camera coordinate system. Optical markers are placed near the patient's lesion. The patient's position is determined to be unchanged based on the optical markers of the remote-controlled needle insertion mechanism and the markers on the patient's body. The remote control terminal module includes a rear remote control terminal that runs a remote desktop and a remote needle insertion button. The rear remote control terminal and the remote needle insertion button are connected by a cable or wireless communication. The rear remote control terminal communicates with the front robot trolley by a cable or wireless communication and controls the front robot arm to drive the remote needle insertion mechanism to move. Patient fixation devices are used to secure the patient to the CT scan bed. The front-end robotic trolley communicates with the optical depth navigation camera via cable or wireless communication. The rear remote control terminal connects to the front terminal device via a remote desktop, allowing the two terminals to share a single control interface. The front terminal device has higher priority than the rear remote control terminal in controlling the robotic arm's movements. Each press of the needle insertion button or foot pedal causes the remote-controlled needle insertion mechanism at the end of the robotic arm to advance a small distance. After puncturing several distances depending on the patient's lesion location, the CT scan is restarted to acquire updated CT data and overlay the current position of the puncture needle. If the doctor confirms there are no issues based on the CT data, they continue pressing the needle insertion button or foot pedal; if there are issues, the puncture angle is adjusted, and remote-controlled needle insertion continues until the puncture is complete.

2. The remote-controlled stepping puncture robot system as described in claim 1, characterized in that, The horizontal and vertical structural components are made of non-metallic materials, and the surface of the metal ball is coated with infrared reflective paint.

3. The remote-controlled stepping puncture robot system as described in claim 2, characterized in that, The patient fixation device includes a fixation bandage or a plastic fixation cover that conforms to the shape of the human body.

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