A robotic puncture positioning method and device for bile duct puncture

Abstract

The present invention relates to the field of intelligent medical equipment, and specifically to a robot puncture positioning method and device for bile duct puncture, the method comprising: receiving a scanning request and scanning a scanning target; acquiring an ultrasonic image during scanning, and establishing a one-to-one correspondence between the ultrasonic image and the spatial position at the time of acquisition; defining the ultrasonic image in the ultrasonic image that best matches the planned image layer as the puncture layer; if there is no obstruction on the puncture layer, the point closest to the scanning target and the puncture target point is used as the needle entry point, and the line between the needle entry point and the puncture target point is the planned needle entry trajectory; then, when the needle entry positioning channel is calculated to be not collinear with the planned needle entry trajectory, the needle entry positioning channel is adjusted to be collinear with the planned needle entry trajectory, thereby completing the positioning of the needle entry positioning channel. The present invention is used for positioning the puncture channel, improving the accuracy of puncture positioning, and reducing the number of needle insertions.

Description

Technical Field

[0001] The present invention relates to the field of intelligent medical equipment, and in particular to a robot puncture positioning method and device for bile duct puncture. Background Art

[0002] Biliary interventional surgery is an important procedure for the treatment of bile duct-related diseases such as cholangiography, internal and external biliary drainage, and malignant biliary obstruction. Whether the puncture surgery can successfully penetrate a specific part of the bile duct is crucial to the entire treatment. Accurately hitting the planned target in the bile duct means the smooth establishment of the interventional channel, and subsequent treatment methods including balloon dilatation catheters, dilatation stents, radioactive seed stents, etc. can be carried out smoothly. Before the puncture surgery, the doctor will plan the puncture needle trajectory based on the patient's CT or MRI images. During the puncture surgery, the doctor needs to use image-guided equipment to determine the target position of the puncture. Ultrasound can achieve real-time image guidance without radiation, and its Doppler images can be used to distinguish the bile duct from other cavity structures with rapid fluid flow. Therefore, it is widely used in bile duct puncture surgery.

[0003] When the puncture needle's travel plane is consistent with the preoperative imaging scan level, it is a coplanar puncture. The planning of the coplanar puncture needle path, the avoidance of important tissue structures, and the selection of the sampling area are relatively easy to control. Therefore, after using ultrasound or CT to determine the target area for puncturing the bile duct, puncture is performed preferentially at the imaging level. However, this level may be blocked by bone structures, chest wall vessels, intrathoracic vessels or other normal tissue structures, and is limited by the operator's experience and skills, the influence of the patient's soft tissue deformation (passive), changes in the patient's muscle tension (active), and interference from respiratory movements (active). Therefore, non-coplanar puncture technology is often required, that is, after determining the cross-section of the human body where the target is located, choose to deviate to the head or foot side, find a suitable needle entry point, and plan the needle entry path.

[0004] During coplanar and non-coplanar punctures, the doctor can observe the relative relationship between the target area of the bile duct and the puncture needle in real time under the guidance of ultrasound images. However, it is difficult to judge the relationship between the puncture path and the surrounding tissues based solely on two-dimensional ultrasound images, and hand shaking or bending of the puncture needle can easily cause the puncture needle to exceed the imaging plane, thereby losing the puncture needle, increasing the difficulty of puncture, and increasing patient damage. During non-coplanar puncture, the needle body and needle tip are not visible, and it is easy for the puncture needle to detach and puncture the blood vessel, causing complications and other problems. Furthermore, in the above two puncture scenarios, when determining the puncture needle insertion point and insertion angle, the doctor determines it based on experience, and the distribution of the chest wall and intrathoracic blood vessels in the puncture path cannot be grasped in time. Therefore, the accuracy and risk of the puncture are difficult to control, which brings greater hidden dangers.

[0005] Existing manual punctures primarily rely on the physician's experience and a biopsy holder to determine the insertion point, angle, and depth. CT imaging, due to the high intraoperative radiation exposure, makes it difficult to apply to real-time guidance techniques for non-coplanar punctures. Ultrasound can be used for real-time puncture guidance, but its scanning plane must be aligned with the puncture needle's trajectory to ensure real-time detection of the needle's path. To keep the puncture needle's trajectory aligned with the ultrasound scanning plane, existing biopsy holders secure the ultrasound probe and puncture needle in the same plane, ensuring that no important blood vessels or lesions are punctured along the needle's path. Biopsy holders can be used to adjust the puncture needle's insertion angle, but the degree of adjustment still depends on the clinician's experience. In addition to using biopsy holders, 3D-printed personalized templates can also be used in conjunction with CT imaging to assist in punctures. However, if the puncture target position is inconsistent with the preoperative position, this can increase puncture errors.

[0006] Therefore, in view of the above situation, the prior art still has defects and needs to be improved and developed.

[0007] The present invention aims to utilize the proposed mechanical structure and control mechanism to automatically adjust the insertion point and angle of the puncture needle positioning channel, and to control the autonomous scanning of the ultrasound probe to track the puncture needle tip. The doctor inserts the puncture needle into the patient through the puncture positioning channel, achieving precise puncture and minimizing damage and complications caused by misplaced punctures. Summary of the Invention

[0008] The embodiments of the present invention provide a robot puncture positioning method and device for bile duct puncture, so as to at least solve the technical problem of low puncture positioning accuracy for bile duct puncture in the prior art.

[0009] According to one embodiment of the present invention, a robotic puncture positioning method for bile duct puncture is provided, comprising the following steps:

[0010] receiving a scan request and scanning a scan target, wherein the scan request at least carries a scan signal;

[0011] Based on the scanning signal, an ultrasonic image is acquired during scanning, and a one-to-one correspondence is established between the ultrasonic image and the spatial position at which the ultrasonic image was acquired;

[0012] The ultrasound image is transmitted to a display terminal for display, so as to define the ultrasound image that best matches the planned image layer as the puncture layer;

[0013] Mark the puncture target point on the puncture plane. If there are no obstructions on the puncture plane, the point closest to the scanning target and the puncture target point is used as the needle entry point. The line connecting the needle entry point and the puncture target point is the planned needle insertion trajectory.

[0014] The position information of the needle insertion positioning channel that needs to be moved when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory is calculated, and the needle insertion positioning channel is adjusted to be collinear with the planned needle insertion trajectory based on the position information to complete the positioning of the needle insertion positioning channel.

[0015] Furthermore, after displaying the ultrasound image on the display terminal and defining the ultrasound image that best matches the planned image layer as the puncture layer, the method further includes:

[0016] Mark the puncture target point in the puncture layer. If there is an obstruction on the target image layer, move the scanning area to the selected area.

[0017] Perform in-situ rotation scanning in the selected area, collect ultrasound images in real time, and record the spatial position of the collected ultrasound images;

[0018] Displaying the ultrasound image in a three-dimensional image mode on a display terminal;

[0019] Select the puncture layer and puncture target point from the ultrasound image displayed in the three-dimensional image mode;

[0020] Plan the needle insertion trajectory based on the puncture level and puncture target point;

[0021] When it is calculated that the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, the needle insertion positioning channel is adjusted to be collinear with the planned needle insertion trajectory to complete the positioning of the needle insertion positioning channel.

[0022] Furthermore, after positioning the needle insertion positioning channel, the method further includes:

[0023] The puncture needle insertion operation is performed according to the puncture needle insertion trajectory, which is the needle insertion trajectory after the needle insertion positioning channel completes positioning;

[0024] Real-time monitoring of the working status of the puncture needle along the puncture needle track;

[0025] When the puncture needle bends within the puncture plane, the bending direction of the puncture needle is calculated;

[0026] When the puncture needle bends in the left and right directions of the puncture plane, a scanning rotation is performed to detect the needle tip position of the puncture needle.

[0027] Furthermore, before transmitting the ultrasound image to the display terminal for display, defining the ultrasound image that best matches the planned image layer as the puncture layer, the following steps are also included:

[0028] A planning image layer is preplanned for comparison with the puncture layer.

[0029] Furthermore, after completing the positioning of the needle insertion positioning channel, the method further includes:

[0030] The planned needle insertion trajectory is detected to determine whether there are any interference objects in the planned needle insertion trajectory.

[0031] A robotic puncture positioning device for bile duct puncture, comprising: a manipulator, an image acquisition module, a target recognition module, a state calculation module and a motion control module;

[0032] a motion control module, configured to control the six-degree-of-freedom motion of the manipulator, and to control the manipulator to scan a scanning target based on a received scanning request, wherein the scanning request carries at least a scanning signal;

[0033] An image acquisition module, configured to acquire an ultrasonic image during scanning based on the scanning signal, and establish a one-to-one correspondence between the ultrasonic image and the spatial position at which the ultrasonic image was acquired;

[0034] a target recognition module, configured to transmit the ultrasound image to a display terminal for display, so as to define the ultrasound image that best matches the planned image layer as the puncture layer;

[0035] A state calculation module is used to calculate the position information of the needle insertion positioning channel when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, and adjust the needle insertion positioning channel to be collinear with the planned needle insertion trajectory based on the position information to complete the positioning of the needle insertion positioning channel; wherein the planned needle insertion trajectory is selected from the puncture level;

[0036] The manipulator is used to scan the scanning target and perform puncture work, and the image processing module collects ultrasonic images through scanning.

[0037] Furthermore, the device further comprises:

[0038] The puncture needle detection module is used to monitor the working status of the puncture needle in the puncture needle track in real time, and to monitor the position of the needle tip when the puncture needle is bent.

[0039] Furthermore, the device further comprises:

[0040] The collision detection module is used to detect the planned needle insertion trajectory to determine whether there are any interfering objects in the planned needle insertion trajectory.

[0041] Furthermore, the manipulator includes a manipulator arm and a probe positioning mechanism installed on the manipulator arm.

[0042] Furthermore, the probe positioning mechanism includes a needle angle adjustment mechanism and a first flange, a second flange, a servo motor, a probe fixing frame, and an ultrasonic probe connected in sequence;

[0043] The first flange is rotatably connected to the robotic arm, and the needle angle adjustment mechanism is connected to the first flange;

[0044] The first flange and the second flange are rotatably connected to each other.

[0045] Furthermore, the needle angle adjustment mechanism includes a steering gear fixing part, a servo steering gear, a steering gear gear, a slider fixing part, a slider, a rack, a slide rail and a needle guide;

[0046] The steering gear fixing member is connected to the first flange, the servo steering gear is installed on the steering gear fixing member, and the steering gear is installed on the servo steering gear;

[0047] The slider is connected to the servo fixing part, the slide rail is connected to the slider, and a steel ball is provided in the slider to facilitate the movement of the slider in the slide rail;

[0048] The rack is installed on the slide rail, the servo gear is engaged with the rack, the servo motor drives the servo gear to rotate, and the servo gear drives the rack to move;

[0049] The needle guide is mounted on the rack, and the movement of the rack drives the needle guide to adjust the angle of the needle guide.

[0050] Furthermore, the needle angle adjustment mechanism also includes a guide frame, the guide frame is mounted on the rack, and the needle guide is detachably mounted on the guide frame.

[0051] Furthermore, the motion control module includes:

[0052] The robotic arm control submodule is used to control the movement of the robotic arm in different directions to enable the ultrasonic probe to scan the target;

[0053] The motor control submodule is used to control the rotation of the servo motor and servo steering gear.

[0054] The robot puncture positioning method and device for bile duct puncture in the embodiment of the present invention includes: receiving a scanning request and scanning the scanning target; collecting an ultrasonic image during scanning, and establishing a one-to-one correspondence between the ultrasonic image and the spatial position when the ultrasonic image was collected; defining the ultrasonic image that best matches the planned image layer as the puncture layer; if there is no obstruction on the puncture layer, the point closest to the scanning target and the puncture target point is used as the needle entry point, and the line between the needle entry point and the puncture target point is the planned needle entry trajectory; then, when the needle entry positioning channel is calculated to be collinear with the planned needle entry trajectory, the needle entry positioning channel is adjusted to be collinear with the planned needle entry trajectory to complete the positioning of the needle entry positioning channel. The present invention is used for positioning the puncture channel, improving the accuracy of puncture positioning, and reducing the number of needle insertions. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0056] Figure 1 This is a flow chart of the robot puncture positioning method for bile duct puncture according to the present invention;

[0057] Figure 2 This is a schematic diagram of the robotic puncture positioning device for bile duct puncture according to the present invention;

[0058] Figure 3 The structure of the manipulator of the present invention;

[0059] Figure 4 It is a structural diagram of the probe positioning mechanism of the present invention;

[0060] Figure 5 This is another structural diagram of the probe positioning mechanism of the present invention.

[0061] Figure numerals: 1-first flange, 2-second flange, 3-servo motor, 4-probe fixing, 5-ultrasonic probe, 6-servo gear fixing part, 7-servo servo, 8-servo gear, 9-slider fixing part, 10-slider, 11-rack, 12-slide rail, 13-needle guide, 14-guide frame, 100-puncture needle detection module, 200-image acquisition module, 300-target recognition module, 400-collision detection module, 500-state calculation module, 600-robotic arm control submodule, 700-motor control submodule, 800-robotic arm, 900-probe positioning mechanism. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0063] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] Example 1

[0065] According to one embodiment of the present invention, a robot puncture positioning method for bile duct puncture is provided. Figure 1 and Figure 2 , including the following steps:

[0066] S101: Receive a scan request and scan a scan target, where the scan request at least carries a scan signal;

[0067] S102: Based on the scanning signal, an ultrasonic image is acquired during scanning, and a one-to-one correspondence is established between the ultrasonic image and the spatial position at which the ultrasonic image was acquired;

[0068] S103: transmitting the ultrasound image to a display terminal for display, and defining the ultrasound image that best matches the planned image layer as the puncture layer;

[0069] S104: Marking a puncture target point on the puncture plane. If there is no obstruction on the puncture plane, the point closest to the scanning target and the puncture target point is used as the needle entry point. The line connecting the needle entry point and the puncture target point is the planned needle insertion trajectory.

[0070] S105: Calculate the position information of the needle insertion positioning channel that needs to be moved when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, and adjust the needle insertion positioning channel to be collinear with the planned needle insertion trajectory based on the position information to complete the positioning of the needle insertion positioning channel.

[0071] The robot puncture positioning method and device for bile duct puncture in the embodiment of the present invention includes: receiving a scanning request and scanning the scanning target; collecting an ultrasonic image during scanning, and establishing a one-to-one correspondence between the ultrasonic image and the spatial position when the ultrasonic image was collected; defining the ultrasonic image that best matches the planned image layer as the puncture layer; if there is no obstruction on the puncture layer, the point closest to the scanning target and the puncture target point is used as the needle entry point, and the line between the needle entry point and the puncture target point is the planned needle entry trajectory; then, when the needle entry positioning channel is calculated to be collinear with the planned needle entry trajectory, the needle entry positioning channel is adjusted to be collinear with the planned needle entry trajectory to complete the positioning of the needle entry positioning channel. The present invention is used for positioning the puncture channel, improving the accuracy of puncture positioning, and reducing the number of needle insertions.

[0072] Furthermore, compared with the prior art, the present invention can realize multi-degree-of-freedom ultrasonic scanning and real-time positioning. When the present invention is used for puncture, if coplanar puncture is difficult, for example, there is a rib obstruction, the ultrasonic probe 5 and the puncture positioning device can independently rotate to achieve non-coplanar puncture, and if the puncture needle is bent out of the plane, the ultrasonic probe 5 can move independently and detect the position of the puncture needle tip, thereby more accurately evaluating the relative position of the puncture needle tip and the puncture target; the present invention also adds an image processing unit and a collision detection function, which can be used to provide doctors with multiple decision-making information in the process of determining the lesion and locating the puncture channel, thereby improving positioning accuracy and reducing the number of punctures.

[0073] The following is a detailed description of the robot positioning method for bile duct puncture of the present invention using a specific embodiment:

[0074] Step 1: Move the puncture positioning robot arm 800 to the area above the punctured target, press the autonomous scanning switch, and then the motion control module controls the ultrasound probe 5 on the robot arm 800 to move downward so that the ultrasound probe 5 contacts the skin of the scan target for scanning.

[0075] Step 2: The contact force between the ultrasound probe 5 and the target skin is stabilized at a fixed value. The image acquisition module 200 captures an ultrasound image, which is then displayed clearly on the human-computer interactive target recognition module 300, allowing the operator to observe the internal conditions of the punctured tissue in real time. The human-computer interactive target recognition module 300 is primarily used by the physician to calibrate the puncture target point and the straight line of the needle insertion trajectory on the computer screen.

[0076] The bile duct and other surrounding blood vessels appear as black hollow structures on ultrasound images. The flow of fluid in the bile duct is very slow compared to the blood flow in the blood vessels. Therefore, on Doppler images, the bile duct will still appear black, while doctors can identify the bile duct from the surrounding vascular structures.

[0077] Step 3: The ultrasonic probe 5 scans within a rectangular area containing the target point, moving at a fixed speed while scanning.

[0078] During the scanning process, the image acquisition module 200 captures the ultrasound image of the region of interest and simultaneously records the position of the end of the robotic arm 800, thereby establishing a one-to-one correspondence between the ultrasound image slice and the spatial position. The robotic arm 800 controls the ultrasound probe 5 to scan closely against the skin in a fixed direction until it reaches the boundary of the region of interest.

[0079] Step 4: After the scan is completed, the doctor uses the human-computer interactive target recognition function to view the ultrasound image formed by the scan, and selects the ultrasound image that best matches the preoperatively planned puncture level. This imaging plane is defined as the level where the puncture target is located, which is the puncture level.

[0080] Step 5: Mark the puncture target on the ultrasound image at the puncture level. At this time, it is necessary to confirm whether coplanar puncture or non-coplanar puncture is used; check whether there are any obstructions, such as ribs, on the ultrasound image level where the puncture target is located; if there are no obstructions, use coplanar puncture; if there are obstructions, use non-coplanar puncture.

[0081] The following is a detailed description of the coplanar puncture of the present invention using specific embodiments:

[0082] Based on the patient's preoperative CT scan, the distribution of ribs and large blood vessels within the scanned plane where the puncture target is located can be known. If there are no ribs or large blood vessels in the puncture plane, a coplanar puncture can be performed;

[0083] Step 1: If there is no obstruction at the puncture level, the point on the body surface closest to the puncture target is the needle entry point; the line connecting the needle entry point and the target point is the needle entry trajectory.

[0084] Step 2: The collision detection module 400 detects the safety of the needle insertion trajectory.

[0085] Specifically, a straight line is dragged using the human-computer interaction function of the target recognition module 300 and defined as the puncture needle insertion path. This path is then passed to the collision detection module 400 for collision detection to detect whether the planned puncture path interferes with important blood vessels.

[0086] Specifically, after the doctor selects the needle insertion plane, the motion control module controls the robotic arm 800 to move to the corresponding position based on the spatial position of each ultrasound image previously recorded by the image acquisition module 200. After the ultrasound probe 5 is positioned at the puncture plane, it moves left and right within the plane and scans the body to determine whether the needle insertion point is safe.

[0087] Step 3: The state calculation function in the motion planning unit 102 will calculate the angle that the robotic arm 800 and the servo actuator 7 on the robotic arm 800 need to rotate when the central axis of the puncture needle positioning channel at the end of the robotic arm 800 is collinear with the straight line of the planned puncture needle trajectory, and install the calculation results so that the axis of the puncture needle positioning channel is collinear with the planned needle trajectory.

[0088] Specifically, the motion control module controls the servo motor 7, which drives the gear to rotate, and the gear drives the rack 11 to rotate, thereby adjusting the puncture needle positioning channel to the specified position. After the puncture positioning is completed, the doctor holds the puncture needle and starts puncturing.

[0089] Step 4: During the puncture process, if the puncture needle bends, the needle tip and part of the needle body will disappear. As the puncture needle is inserted, the puncture needle detection module 100 detects or monitors the puncture needle in real time, segments its shape, and calculates its curvature. If the puncture needle bends within the puncture plane, the computer extracts the needle outline and prompts the operator to indicate the direction of the bend. If the puncture needle bends to the left or right of the puncture plane, the motion control module controls the servo motor 3 to rotate, driving the ultrasonic probe 5 to rotate in order to detect the position of the needle tip.

[0090] In an embodiment, after displaying the ultrasound image on the display terminal to define the ultrasound image that best matches the planned image layer as the puncture layer, the method further includes:

[0091] Mark the puncture target point in the puncture layer. If there is an obstruction on the target image layer, move the scanning area to the selected area.

[0092] Perform in-situ rotation scanning in the selected area, collect ultrasound images in real time, and record the spatial position of the collected ultrasound images;

[0093] Displaying the ultrasound image in a three-dimensional image mode on a display terminal;

[0094] Select the puncture layer and puncture target point from the ultrasound image displayed in the three-dimensional image mode;

[0095] Plan the needle insertion trajectory based on the puncture level and puncture target point;

[0096] When it is calculated that the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, the needle insertion positioning channel is adjusted to be collinear with the planned needle insertion trajectory to complete the positioning of the needle insertion positioning channel.

[0097] The present invention can be used for coplanar puncture, but when the puncture level may be obstructed by bony structures, chest wall blood vessels, intrathoracic blood vessels or other normal tissue structures, non-coplanar puncture is usually sampled; in addition, due to the limitations of the operator's experience and techniques, the influence of the patient's soft tissue deformation (passive), the change of the patient's muscle tension (active) and the interference of respiratory movement (active) and other factors, it is often necessary to adopt non-coplanar puncture technology, that is, after determining the cross-section of the human body where the target is located, choose to deviate to the head or foot side, find a suitable needle entry point, and plan the needle entry path.

[0098] The non-coplanar puncture of the present invention is described in detail with reference to specific embodiments below:

[0099] The patient's preoperative CT scan provides information about the distribution of ribs and major blood vessels within the scanned plane where the puncture is to be performed. If there are obstructions such as ribs or major blood vessels within the puncture plane, or if the needle trajectory cannot avoid passing through a major blood vessel, a non-coplanar puncture is performed.

[0100] Step 1: The motion control module controls the robotic arm 800 of the ultrasound probe 5 to move to the target cross-section of the human body selected by the physician. The ultrasound probe 5 then performs a rotational scan, using its own central axis as the rotation centerline, to determine the puncture needle's travel plane during non-coplanar punctures. The image acquisition module 200 in the image processing unit captures ultrasound images in real time and records their spatial locations.

[0101] Step 2: The target is displayed in a 3D graphical format in the human-computer interaction target recognition module 300, and the target and puncture level are selected. The selected puncture level is controlled by the motion control module, which controls the servo motor 3 at the end of the robotic arm 800 to rotate the ultrasound probe 5 to the selected puncture level.

[0102] Step 3: Select the puncture target point and the puncture needle insertion trajectory at the puncture level. It should be noted that to avoid inaccurate selection of the needle insertion trajectory, the scanning target (the person being punctured, or the patient) is required to hold his breath during real-time imaging of the ultrasound probe 5 to prevent the puncture target from moving due to physiological movements.

[0103] Step 4: The generated needle insertion trajectory will be directly transmitted to the motion control module, and the servo motor 7 will be controlled to drive the slide rail 12, so that the axis of the puncture needle insertion positioning channel will coincide with the needle insertion trajectory.

[0104] Step 5: The doctor holds the puncture needle, inserts it into the needle insertion channel, and then pierces the scanning target.

[0105] Step 6: If the puncture needle is bent in or out of the ultrasonic plane, the puncture needle detection module 100 detects the position of the needle tip with reference to the coplanar puncture situation.

[0106] In an embodiment, after positioning the needle insertion positioning channel, the method further includes:

[0107] The puncture needle insertion operation is performed according to the puncture needle insertion trajectory, which is the needle insertion trajectory after the needle insertion positioning channel completes positioning;

[0108] Real-time monitoring of the working status of the puncture needle along the puncture needle track;

[0109] When the puncture needle bends within the puncture plane, the bending direction of the puncture needle is calculated;

[0110] When the puncture needle bends in the left and right directions of the puncture plane, a scanning rotation is performed to detect the needle tip position of the puncture needle.

[0111] After the needle insertion positioning channel is positioned, the puncture work is performed. The coplanar puncture work and the non-coplanar puncture work have been described in detail above and will not be repeated here.

[0112] In an embodiment, before transmitting the ultrasound image to the display terminal for display, defining the ultrasound image that best matches the planned image layer as the puncture layer, the method further includes:

[0113] A planning image layer is preplanned for comparison with the puncture layer.

[0114] After the scan is completed, the target recognition function of human-computer interaction is used to view the ultrasound image formed by the scan, and the ultrasound image that best matches the preoperatively planned puncture level is selected, and this imaging plane is defined as the level where the puncture target is located.

[0115] In an embodiment, after completing the positioning of the needle insertion positioning channel, the method further includes:

[0116] The planned needle insertion trajectory is detected to determine whether there are any interference objects in the planned needle insertion trajectory.

[0117] The collision detection module 400 verifies the safety of the needle insertion trajectory. Specifically, the user uses the human-computer interaction function to view the ultrasound image and drag a straight line to define the puncture needle insertion path. This path is then passed to the motion planning module for collision detection to determine whether the planned puncture path interferes with any important blood vessels.

[0118] Example 2

[0119] According to another embodiment of the present invention, a robotic puncture positioning device for bile duct puncture is provided. Figures 2 to 5 , including: a manipulator, an image acquisition module 200, a target recognition module 300, a collision detection module 400, a state calculation module 500 and a motion control module;

[0120] a motion control module, configured to control the six-degree-of-freedom motion of the manipulator, and to control the manipulator to scan a scanning target based on a received scanning request, wherein the scanning request carries at least a scanning signal;

[0121] An image acquisition module 200 is configured to acquire an ultrasonic image during scanning based on the scanning signal, and establish a one-to-one correspondence between the ultrasonic image and the spatial position at which the ultrasonic image was acquired;

[0122] The target recognition module 300 is used to transmit the ultrasound image to the display terminal for display, so as to define the ultrasound image that best matches the planned image layer as the puncture layer;

[0123] The state calculation module 500 is used to calculate the position information of the needle insertion positioning channel when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, and adjust the needle insertion positioning channel to be collinear with the planned needle insertion trajectory based on the position information to complete the positioning of the needle insertion positioning channel; wherein the planned needle insertion trajectory is selected from the puncture level;

[0124] The manipulator is used to scan the scanning target and perform puncture work, and the image processing module collects ultrasonic images through scanning.

[0125] The robot puncture positioning method and device for bile duct puncture in the embodiment of the present invention includes: receiving a scanning request and scanning the scanning target; collecting an ultrasonic image during scanning, and establishing a one-to-one correspondence between the ultrasonic image and the spatial position when the ultrasonic image was collected; defining the ultrasonic image that best matches the planned image layer as the puncture layer; if there is no obstruction on the puncture layer, the point closest to the scanning target and the puncture target point is used as the needle entry point, and the line between the needle entry point and the puncture target point is the planned needle entry trajectory; then, when the needle entry positioning channel is calculated to be collinear with the planned needle entry trajectory, the needle entry positioning channel is adjusted to be collinear with the planned needle entry trajectory to complete the positioning of the needle entry positioning channel. The present invention is used for positioning the puncture channel, improving the accuracy of puncture positioning, and reducing the number of needle insertions.

[0126] Compared with the prior art, the present application can realize multi-degree-of-freedom ultrasonic scanning and real-time positioning. When the present invention is used for puncture, if coplanar puncture is difficult, the ultrasonic probe 5 and the puncture positioning device can independently rotate to realize non-coplanar puncture, and if the puncture needle is bent out of the plane, the ultrasonic probe 5 can move independently and detect the position of the puncture needle tip, thereby more accurately evaluating the relative position of the puncture needle tip and the puncture target; the present invention also adds an image processing unit and a collision detection function, which can be used to provide doctors with multiple decision-making information in the process of determining lesions and locating puncture channels, thereby improving positioning accuracy and reducing the number of punctures.

[0127] Specifically, the bile duct puncture positioning device provided by the present invention mainly includes an image processing unit, a motion planning unit, and a motion control module; the mechanical structure part mainly includes: a six-degree-of-freedom robotic arm 800, a six-degree-of-freedom main control end, a rotating motor, a needle insertion angle adjustment mechanism, an ultrasonic probe clamping mechanism, and a needle insertion positioning channel for the puncture needle.

[0128] The image processing unit includes an ultrasonic image acquisition module 200, a human-computer interaction target recognition module 300 and a puncture needle detection module 100.

[0129] Image acquisition module 200: mainly used to collect ultrasound images during the operation and allow the operator to observe the situation inside the punctured tissue in real time;

[0130] Target Identification Module 300: This module is primarily used to calibrate the puncture target point and the line along the needle trajectory on the computer screen. The bile duct and surrounding blood vessels appear as black, hollow structures on ultrasound images. Fluid flow in the bile duct is much slower than blood flow in the blood vessels. Therefore, on Doppler images, the bile duct appears black, while the surrounding blood vessels appear red or blue, allowing doctors to identify the bile duct.

[0131] The motion planning unit includes a collision detection module 400 and a puncture needle state calculation module 500 .

[0132] Collision detection module 400: mainly used to detect whether there are any interferences between the planned needle insertion trajectory and the vital organs;

[0133] State calculation module 500: mainly used to adjust the posture of the puncture needle so that it can be collinear with the straight line of the planned needle insertion trajectory.

[0134] The motion control module mainly includes a robotic arm control submodule 600 and a motor control submodule.

[0135] The robotic arm control submodule 600 mainly controls the movement of the robotic arm 800 and the ultrasound probe 5 carried thereon in different directions in space, thereby achieving stable contact between the ultrasound probe 5 and the patient's skin and enabling the ultrasound probe 5 to scan the target to obtain a stable ultrasound image.

[0136] Motor control submodule: It is mainly used to control the movement of the servo motor 3 and the servo steering gear 7 installed on the probe positioning mechanism 900 at the end of the robotic arm 800, and move the puncture needle insertion positioning channel to a predetermined position, so that the doctor can accurately insert the puncture needle into the human body along the puncture needle insertion positioning channel.

[0137] In terms of mechanical structure, the manipulator is mounted on a mobile platform and is primarily responsible for securing the entire mechanism relative to the ground. A six-degree-of-freedom robotic arm 800 is attached to the mobile platform. The physician remotely controls the robotic arm 800 by manipulating the mobile platform, thereby moving the ultrasound probe 5 over the target lesion. The servo motor 3 rotates the ultrasound probe clamping device, which is directly connected to it, thereby rotating the ultrasound scanning surface. The probe positioning mechanism 900 on the six-degree-of-freedom robotic arm 800 can rotate about its central axis.

[0138] If it is a coplanar puncture, the servo motor 3 does not rotate, so that the ultrasonic probe 5 and the probe positioning mechanism 900 rotate together with the rotary joint at the end of the robotic arm 800, ensuring that the plane scanned by the ultrasonic probe 5 and the plane of the needle insertion positioning channel of the puncture needle are consistent.

[0139] For non-coplanar punctures, the probe positioning mechanism 900 at the end of the robotic arm 800 rotates about its own axis, causing the travel plane of the puncture needle positioning channel to rotate, thereby changing the puncture path. Simultaneously, the servo motor 3 rotates in the opposite direction, maintaining the ultrasound probe 5 stationary relative to the scanning target. The puncture needle insertion angle adjustment mechanism is used to adjust the angle at which the puncture needle enters the human body. The ultrasound probe 5 clamping mechanism is used to secure the ultrasound probe 5 to the end of the robotic arm 800. The puncture needle insertion positioning channel ensures that the extension line of the puncture needle is aligned with the planned puncture needle insertion trajectory.

[0140] In an embodiment, the device further comprises:

[0141] The puncture needle detection module 100 is used to monitor the working status of the puncture needle in the puncture needle track in real time, and to detect the needle position of the puncture needle when the puncture needle is bent.

[0142] During the puncture process, if the puncture needle bends, the needle tip and part of the needle body will disappear. As the puncture needle is inserted, the puncture needle detection module 100 detects or monitors the puncture needle in real time, segments its shape, and calculates its curvature. If the puncture needle bends within the puncture plane, the computer extracts the needle outline and prompts the operator to indicate the direction of the bend. If the puncture needle bends to the left or right of the puncture plane, the motion control module controls the servo motor 3 to rotate, driving the ultrasonic probe 5 to rotate in order to detect the position of the needle tip.

[0143] like Figure 4 and Figure 5 As shown, in the embodiment, the manipulator includes a manipulator arm 800 and a probe positioning mechanism 900 installed on the manipulator arm 800 .

[0144] The movement of the robotic arm 800 is controlled by the mechanical control submodule to move the probe positioning mechanism 900 at the end of the robotic arm 800 to a specified position in space for scanning and puncture.

[0145] In the embodiment, the probe positioning mechanism 900 includes a needle angle adjustment mechanism and a first flange 1, a second flange 2, a servo motor 3, a probe fixing frame 4, and an ultrasonic probe 5 connected in sequence;

[0146] The first flange 1 is rotatably connected to the robotic arm 800, and a needle angle adjustment mechanism is fixedly connected to the first flange 1;

[0147] The first flange 1 and the second flange 2 are rotatably connected to each other.

[0148] The probe positioning mechanism 900 primarily comprises a servo motor 3, a probe fixing bracket, a servo servo 7, a gear-and-rack mechanism consisting of a servo gear 8 and a rack 11, and a positioning sheath consisting of a needle guide 13 and a guide frame. This puncture probe positioning mechanism 900 is compatible with ultrasound medical imaging information. The probe fixing bracket is used to secure the ultrasound probe 5. While completing the ultrasound scan, the robot's visualized human-machine interactive target recognition module 300 locates the scan target based on the scan results, provides puncture path planning information, and determines the puncture point and needle insertion angle. The probe positioning mechanism 900 then adjusts the probe's position and establishes an extracorporeal channel for needle insertion through the needle insertion positioning channel. This solution reduces the problem of repeated needle insertions due to inaccurate positioning and improves puncture accuracy.

[0149] In the embodiment, the needle angle adjustment mechanism includes a steering gear fixing part 6, a servo steering gear 7, a steering gear gear 8, a slider 10 fixing part 9, a slider 10, a rack 11, a slide rail 12 and a needle guide 13;

[0150] The steering gear fixing part 6 is connected to the first flange 1, the servo steering gear 7 is installed on the steering gear fixing part 6, and the steering gear gear 8 is installed on the servo steering gear 7;

[0151] The slider 10 is connected to the servo fixing member 6, and the slide rail 12 is connected to the slider 10. A steel ball is provided in the slider 10 so that the slider 10 can move in the slide rail 12;

[0152] The rack 11 is mounted on the slide rail 12, the steering gear 8 is meshed with the rack 11, the servo motor 3 drives the steering gear 8 to rotate, and the steering gear 8 drives the rack 11 to move;

[0153] The needle guide 13 is mounted on the rack 11 , and the movement of the rack 11 drives the needle guide 13 to adjust the angle of the needle guide 13 .

[0154] In the embodiment, the needle angle adjustment mechanism further includes a guide frame 14 . The guide frame 14 is mounted on the rack 11 , and the needle guide 13 is detachably mounted on the guide frame 14 .

[0155] Specifically, the probe positioning mechanism 900 and the servo fixing member 6 are connected to the robotic arm 800 through the first flange 1; wherein, the first flange 1 is connected to the end of the robotic arm 800 by threaded bolts, and the first flange 1 is rigidly connected to the servo fixing member 6. This connection method enables the entire needle angle adjustment mechanism to rotate 360 degrees with the end of the robotic arm 800, thereby realizing multi-plane non-coplanar puncture.

[0156] The second flange 2 is connected to the first flange 1 and the servo motor 3 via threaded bolts, indirectly connecting the servo motor 3 to the rotary joint at the end of the robotic arm 800. The probe mounting bracket is also connected to the servo motor 3 via threaded bolts, and the ultrasonic probe 5 is rigidly fixed to the probe mounting bracket. When the rotary joint at the end of the robotic arm 800 drives the needle angle adjustment mechanism to rotate, the servo motor 3 provides an offsetting rotational motion in the opposite direction, ensuring that the scanning plane of the ultrasonic probe 5 remains unchanged.

[0157] In the needle angle adjustment mechanism, the servo servo 7 is rigidly fixed to the servo fixing member 6, and the servo gear 8 is connected to the servo servo 7 and driven by the servo servo 7; the slider 10 is rigidly connected to the servo fixing member 6 by threaded bolts, and the slide rail 12 is non-rigidly connected to the slider 10. The slider 10 has a ball structure to enable relative movement between the slide rail 12 and the slider 10, and the rack 11 is rigidly fixed to the slide rail 12; when the servo gear 8 and the rack 11 are engaged, the gear-rack 11 kinematic pair can be driven by the servo servo 7 to achieve movement of the rack 11 and the slide rail 12;

[0158] The needle guide 13 is connected to the guide frame 14 by a detachable pin connection. The guide frame 14 is rigidly fixed to the rack 11. When the gear rack 11 motion pair moves, the needle guide 13 can complete the angle adjustment of the needle insertion channel. The angle adjustment range is 0 degrees to 90 degrees.

[0159] The above are only preferred embodiments 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 principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A robotic puncture positioning method for bile duct puncture, characterized in that: The following steps are involved: receiving a scan request and scanning a scan target, wherein the scan request at least carries a scan signal; Based on the scanning signal, an ultrasonic image is acquired during scanning, and a one-to-one correspondence is established between the ultrasonic image and the spatial position of the end of the robotic arm when the ultrasonic image is acquired; transmitting the ultrasound images to a display terminal for display, and defining the ultrasound image that best matches the planned image layer among the ultrasound images as the puncture layer; Marking a puncture target point on the puncture plane. If there is no obstruction on the puncture plane, the point closest to the scanning target and the puncture target point is used as the needle entry point, wherein the line connecting the needle entry point and the puncture target point is the planned needle entry trajectory; calculating position information of the needle insertion positioning channel that needs to be moved when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, and adjusting the needle insertion positioning channel to be collinear with the planned needle insertion trajectory based on the position information to complete positioning of the needle insertion positioning channel; After displaying the ultrasound image on the display terminal and defining the ultrasound image that best matches the planned image layer among the ultrasound images as the puncture layer, the method further includes: Marking a puncture target point in the puncture plane, and moving a scanning area to a selected area if an obstruction exists on the puncture plane; Performing in-situ rotation scanning in the selected area, acquiring ultrasound images in real time, and recording the spatial positions of the acquired ultrasound images; Displaying the ultrasound image obtained by in-situ rotation scanning in a three-dimensional image mode on a display terminal; selecting a puncture layer and a puncture target point from the ultrasound image displayed in the three-dimensional image mode; Selecting and planning a needle insertion trajectory based on a puncture layer and a puncture target point selected from the ultrasound image displayed in the three-dimensional image mode; When it is calculated that the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, the needle insertion positioning channel is adjusted to be collinear with the planned needle insertion trajectory to complete the positioning of the needle insertion positioning channel; Before transmitting the ultrasound image to the display terminal for display, defining the ultrasound image that best matches the planned image layer among the ultrasound images as the puncture layer, the method further includes: A planning image layer is preplanned for comparison with the puncture layer.

2. The robot puncture positioning method for bile duct puncture according to claim 1, characterized in that: After the positioning of the needle insertion positioning channel is completed, the method further includes: The planned needle insertion trajectory is detected to determine whether there is an interference object in the planned needle insertion trajectory.

3. A robotic puncture positioning device for bile duct puncture, characterized in that: The device includes: a manipulator, an image acquisition module, a target recognition module, a state calculation module and a motion control module; the manipulator includes a manipulator arm and a probe positioning mechanism installed on the manipulator arm; The motion control module is configured to control the six-degree-of-freedom motion of the manipulator, and control the manipulator to scan a scanning target based on a received scanning request, wherein the scanning request carries at least a scanning signal; The image acquisition module is used to acquire an ultrasonic image during scanning based on the scanning signal, and establish a one-to-one correspondence between the ultrasonic image and the spatial position of the end of the robotic arm when the ultrasonic image is acquired; The target recognition module is configured to transmit the ultrasound image to a display terminal for display, so as to define the ultrasound image that best matches the planned image layer as the puncture layer; a state calculation module, configured to calculate position information of the needle insertion positioning channel that needs to be moved when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, and adjust the needle insertion positioning channel to be collinear with the planned needle insertion trajectory based on the position information, thereby completing the positioning of the needle insertion positioning channel; wherein the planned needle insertion trajectory is selected from the puncture level; The manipulator is used to scan the scanning target and perform puncture, so that the image acquisition module can acquire the ultrasonic image through scanning; The robot puncture positioning device marks a puncture target point on the puncture plane. If there is no obstruction on the puncture plane, the point closest to the scanning target and the puncture target point is used as the needle entry point. The line connecting the needle entry point and the puncture target point is the planned needle insertion trajectory. If there is an obstruction on the puncture layer, the scanning area is moved to the selected area; Performing in-situ rotation scanning in the selected area, acquiring ultrasound images in real time, and recording the spatial positions of the acquired ultrasound images; Displaying the ultrasound image obtained by in-situ rotation scanning in a three-dimensional image mode on a display terminal; selecting a puncture layer and a puncture target point from the ultrasound image displayed in the three-dimensional image mode; Selecting and planning a needle insertion trajectory based on a puncture layer and a puncture target point selected from the ultrasound image displayed in the three-dimensional image mode; Before transmitting the ultrasound image to the display terminal for display, defining the ultrasound image that best matches the planned image layer among the ultrasound images as the puncture layer, the method further includes: A planning image layer is preplanned for comparison with the puncture layer.

4. The robotic puncture positioning device for bile duct puncture according to claim 3, characterized in that: The device further comprises: The puncture needle detection module is used to monitor the working status of the puncture needle on the planned needle insertion trajectory in real time, and to monitor the needle tip position of the puncture needle when the puncture needle bends.

5. The robotic puncture positioning device for bile duct puncture according to claim 3, characterized in that: The device further comprises: The collision detection module is used to detect the planned needle insertion trajectory to determine whether there is an interference object in the planned needle insertion trajectory.

6. The robotic puncture positioning device for bile duct puncture according to claim 5, characterized in that: The probe positioning mechanism includes a needle angle adjustment mechanism and a first flange, a second flange, a servo motor, a probe fixing frame, and an ultrasonic probe connected in sequence; The first flange is rotatably connected to the robotic arm, and the needle angle adjustment mechanism is connected to the first flange; The first flange and the second flange are rotatably connected to each other.

7. The robotic puncture positioning device for bile duct puncture according to claim 6, characterized in that: The needle angle adjustment mechanism includes a steering gear fixing part, a servo steering gear, a steering gear gear, a slider fixing part, a slider, a rack, a slide rail and a needle guide; The steering gear fixing member is connected to the first flange, the servo steering gear is installed on the steering gear fixing member, and the steering gear is installed on the servo steering gear; The slider is connected to the steering gear fixing member, the slide rail is connected to the slider, and a steel ball is provided in the slider so that the slide rail can move in the slider; The rack is mounted on a slide rail, the steering gear is engaged with the rack, the servo steering drives the steering gear to rotate, and the steering gear drives the rack to move; The needle guide is mounted on the rack, and the movement of the rack drives the needle guide to adjust the angle of the needle guide.

8. The robotic puncture positioning device for bile duct puncture according to claim 7, characterized in that: The needle insertion angle adjustment mechanism further includes a guide frame, which is mounted on the rack, and the needle guide is detachably mounted on the guide frame.

9. The robotic puncture positioning device for bile duct puncture according to claim 7, characterized in that: The motion control module includes: a robotic arm control submodule, configured to control the movement of the robotic arm in different directions so as to enable the ultrasonic probe to scan the scanning target; The motor control submodule is used to control the rotation of the servo motor and the servo steering gear.

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