An ear surgery robot

Abstract

The application discloses an ear surgery robot. The device comprises: an ultrasonic device for collecting first head scan data; a cone beam projection computer recombined tomography device for collecting second head scan data; a robot main body comprising a data processing module, the data processing module comprising a first head three-dimensional model generation unit, a second head three-dimensional model generation unit and a head three-dimensional model fusion unit; the first head three-dimensional model generation unit is used for generating a first head three-dimensional model based on the first head scan data; the second head three-dimensional model generation unit is used for generating a second head three-dimensional model based on the second head scan data; and the head three-dimensional model fusion unit is used for fusing the first head three-dimensional model and the second head three-dimensional model to obtain a fused head three-dimensional model. By fusing the ultrasonic scan data and the cone beam projection computer recombined tomography device scan data, the accuracy and reliability of the head scan data are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical robots, and particularly relates to an ear surgery robot. BACKGROUND

[0002] With the continuous development of robot technology, robots are widely used in the medical field.

[0003] At present, the ear surgery robot has limited surgery-related information in the process of assisting surgery, and has the problems of low surgery accuracy and safety. SUMMARY

[0004] The present application provides an ear surgery robot, which fuses ultrasonic scanning data and cone beam projection computerized tomography scanning data, improves the accuracy and reliability of head scanning data, and improves the accuracy and safety of surgery.

[0005] According to an aspect of the present application, an ear surgery robot is provided, comprising:

[0006] an ultrasonic device for collecting first head scanning data;

[0007] a cone beam projection computerized tomography device for collecting second head scanning data;

[0008] a robot body comprising a data processing module, which is electrically connected to the ultrasonic device and the cone beam projection computerized tomography device;

[0009] The data processing module comprises a first head three-dimensional model generation unit, a second head three-dimensional model generation unit and a head three-dimensional model fusion unit.

[0010] The first head three-dimensional model generation unit is configured to generate a first head three-dimensional model based on the first head scanning data.

[0011] The second head three-dimensional model generation unit is configured to generate a second head three-dimensional model based on the second head scanning data.

[0012] The head three-dimensional model fusion unit is configured to fuse the first head three-dimensional model and the second head three-dimensional model to obtain a fused head three-dimensional model.

[0013] Optionally, the first head three-dimensional model generation unit comprises:

[0014] a first head scanning data filtering subunit configured to filter the first head scanning data to obtain filtered first head scanning data;

[0015] The first head region segmentation subunit is configured to perform region segmentation based on the filtered first head scan data to obtain first head tissue block features.

[0016] The first head three-dimensional reconstruction subunit is configured to perform three-dimensional reconstruction on the first head tissue block features to obtain a first head three-dimensional model.

[0017] Optionally, the second head three-dimensional model generation unit comprises:

[0018] The second head scan data filtering subunit is configured to perform filtering processing on the second head scan data to obtain filtered second head scan data.

[0019] The second head region segmentation subunit is configured to perform region segmentation based on the filtered second head scan data to obtain second head tissue block features.

[0020] The second head three-dimensional reconstruction subunit is configured to perform three-dimensional reconstruction on the second head tissue block features to obtain a second head three-dimensional model.

[0021] Optionally, the data processing module further comprises:

[0022] The surgical safety warning unit is configured to acquire a surgical instrument position, and in a case where the surgical instrument position exceeds a first preset safety area range, a warning prompt is performed, wherein the warning prompt mode comprises a sound prompt, a vibration prompt and / or a light prompt.

[0023] Optionally, the data processing module further comprises:

[0024] The surgical safety braking unit is configured to acquire a surgical instrument position, and in a case where the surgical instrument position exceeds a second preset safety area range, the joints of the mechanical arm are locked.

[0025] Optionally, the data processing module further comprises:

[0026] The instrument position compensation unit is configured to acquire a surgical instrument position, compare the surgical instrument position with a surgical instrument target position, and if the surgical instrument position has not reached the surgical instrument target position, control the surgical instrument to move to the surgical instrument target position.

[0027] Optionally, the data processing module further comprises:

[0028] The head tissue segmentation unit is configured to input the head scan data into a pre-trained head segmentation model to obtain a head segmentation result, wherein the head segmentation result comprises one or more head tissues.

[0029] Optionally, the ear surgery robot further comprises:

[0030] An image trolley is connected in communication with the data processing module and used to display the fused head three-dimensional model.

[0031] Optionally, the ear surgery robot further comprises:

[0032] The surgical bed comprises a transverse horizontal linear motion mechanism, a pitch rotation mechanism, a lifting column, a circular ring type guide rail and a head support, and the head support comprises a head fixing structure and a positioning connecting structure.

[0033] Optionally, the ear surgery robot further comprises:

[0034] An image capturing device is used to capture a captured image at a head surgery position, and an image display device is used to display the captured image at the head surgery position.

[0035] The ear surgery robot comprises: an ultrasonic device, used to acquire first head scan data; a cone beam projection computerized tomography device, used to acquire second head scan data; a robot main body, comprising a data processing module, which is electrically connected with the ultrasonic device and the cone beam projection computerized tomography device; the data processing module comprises a first head three-dimensional model generation unit, a second head three-dimensional model generation unit and a head three-dimensional model fusion unit; the first head three-dimensional model generation unit is used to generate a first head three-dimensional model based on the first head scan data; the second head three-dimensional model generation unit is used to generate a second head three-dimensional model based on the second head scan data; and the head three-dimensional model fusion unit is used to fuse the first head three-dimensional model and the second head three-dimensional model to obtain a fused head three-dimensional model. The above technical solution fuses ultrasonic scan data and cone beam projection computerized tomography device scan data, improves the accuracy and reliability of the head scan data, and thus improves the precision and safety of surgery.

[0036] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 is a structural schematic diagram of an ear surgery robot according to an embodiment of the present application;

[0039] Figure 2 is a structural schematic diagram of a robot body according to an embodiment of the present application;

[0040] Figure 3 is a structural schematic diagram of an ear surgery robot according to an embodiment of the present application;

[0041] Figure 4 is a structural schematic diagram of an ear surgery robot according to an embodiment of the present application;

[0042] Figure 5A is a structural schematic diagram of a surgery bed according to an embodiment of the present application;

[0043] Figure 5B is a structural schematic diagram of a surgery bed according to an embodiment of the present application;

[0044] Figure 6 is a structural schematic diagram of an ear surgery robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the personnel in the art better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0046] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing and the like of data in the technical scheme of the present application comply with the relevant provisions of national laws and regulations.

[0047] Figure 1This is a schematic diagram of the structure of an ear surgery robot provided in an embodiment of the present invention. This embodiment is applicable to ear surgery and other surgical procedures. Figure 1 As shown, the device includes: an ultrasound device 110 for acquiring first head scan data; a cone-beam computed tomography (CBCT) imaging device 120 for acquiring second head scan data; a robot body 130, including a data processing module, which is electrically connected to the ultrasound device 110 and the CBCT imaging device 120 respectively; the data processing module includes a first head 3D model generation unit, a second head 3D model generation unit, and a head 3D model fusion unit; the first head 3D model generation unit is used to generate a first head 3D model based on the first head scan data; the second head 3D model generation unit is used to generate a second head 3D model based on the second head scan data; the head 3D model fusion unit is used to fuse the first head 3D model and the second head 3D model to obtain a fused head 3D model.

[0048] The technical solution in this embodiment improves the accuracy and reliability of the three-dimensional head model by integrating ultrasound scanning data and cone-beam computed tomography imaging data, thereby enhancing the precision and safety of the surgery.

[0049] In this embodiment, the ultrasound device 110 can be used to acquire real-time head ultrasound scan data, i.e., the first head scan data is ultrasound scan data such as the position and shape of the skull. The cone beam computed tomography (CBCT) device 120 can be used to acquire scan data such as the skull and internal organs, i.e., the first head scan data refers to the brain structure data obtained by scanning the user's skull and internal organs. The robot body 130 may include, but is not limited to, a robot base, a robotic arm, surgical instruments, and a data processing module, wherein the data processing module is electrically connected to the ultrasound device 110 and the CBCT device 120, i.e., the data processing module can receive the first head scan data transmitted by the ultrasound device 110 and the second head scan data transmitted by the CBCT device 120.

[0050] After the data processing module receives the first head scan data and the second head scan data, the first head three-dimensional model generating unit can generate a first head three-dimensional model based on the first head scan data; the second head three-dimensional model generating unit can generate a second head three-dimensional model based on the second head scan data; and then the head three-dimensional model fusion unit registers and fuses the first head three-dimensional model and the second head three-dimensional model to obtain a fused head three-dimensional model. In this embodiment, the final fused head three-dimensional model can be used for surgical path planning to ensure that the surgical instrument avoids the target tissue structure in the head and reduces the risk of surgery.

[0051] Figure 2 A structural schematic diagram of a robot body provided in an embodiment of the present application is shown in FIG. 1. The robot body 130 further comprises a mechanical arm 131, and a surgical instrument adapter is arranged at the end of the mechanical arm 131, which is used to install a surgical instrument 132. The surgical instrument 132 can include, but is not limited to, a communication grinding or drilling device, and the like, which is not specifically limited herein. The mechanical arm 131 can be an active device or a passive device. In the case of the active device, all joints of the mechanical arm 131 are driven by input-output double closed-loop, and an output torque sensor is integrated. In the case of the passive device, the user needs to drag the mechanical arm 131 or the surgical instrument 132 to realize movement.

[0052] In some embodiments, an absolute value encoder is arranged inside each joint of the mechanical arm 131, which can be used to measure the absolute rotation angle of each joint of the mechanical arm 131. In some embodiments, the connecting part of the mechanical arm 131 can be a quick-release mortise and tenon structure, and the electrical connection part can use a pluggable plug and socket structure.

[0053] Optionally, the cone beam projection computerized tomography imaging device 120 is arranged in front of the robot body and comprises a rotation degree of freedom and a lifting degree of freedom.

[0054] Specifically, the cone beam projection computerized tomography imaging device 120 is rotated and / or lifted to realize accurate scanning of the head position.

[0055] Optionally, the first head three-dimensional model generating unit comprises a first head scan data filtering subunit, which is used to filter the first head scan data to obtain filtered first head scan data; a first head region segmentation subunit, which is used to perform region segmentation based on the filtered first head scan data to obtain first head tissue block features; and a first head three-dimensional reconstruction subunit, which is used to perform three-dimensional reconstruction on the first head tissue block features to obtain a first head three-dimensional model.

[0056] Exemplarily, the first head scan data can be filtered by the first head scan data filtering subunit through Gaussian filtering, median filtering, bilateral filtering or the like, to obtain filtered first head scan data, and then the first head tissue block feature can be obtained by the first head region segmentation subunit based on the filtered first head scan data through region segmentation, which can include but is not limited to threshold segmentation, Otus method, region growing, level set method or image segmentation method such as graph cut; and then the first head three-dimensional model can be obtained by the first head three-dimensional reconstruction subunit through three-dimensional reconstruction processing such as volume rendering, surface reconstruction or Delaunay triangulation on the first head tissue block feature.

[0057] Optionally, the second head three-dimensional model generation unit comprises: a second head scan data filtering subunit configured to filter the second head scan data to obtain filtered second head scan data; a second head region segmentation subunit configured to perform region segmentation based on the filtered second head scan data to obtain second head tissue block features; and a second head three-dimensional reconstruction subunit configured to perform three-dimensional reconstruction on the second head tissue block features to obtain a second head three-dimensional model.

[0058] Exemplarily, the second head scan data can be filtered by the second head scan data filtering subunit through Gaussian filtering, median filtering, bilateral filtering or the like, to obtain filtered second head scan data, and then the second head tissue block feature can be obtained by the second head region segmentation subunit based on the filtered second head scan data through region segmentation, which can include but is not limited to threshold segmentation, Otus method, region growing, level set method or image segmentation method such as graph cut; and then the second head three-dimensional model can be obtained by the second head three-dimensional reconstruction subunit through three-dimensional reconstruction processing such as volume rendering, surface reconstruction or Delaunay triangulation on the second head tissue block feature.

[0059] Optionally, the data processing module further comprises a surgical safety warning unit configured to acquire a surgical instrument position and to give a warning prompt if the surgical instrument position is out of a first preset safety area range, wherein the warning prompt mode comprises sound prompt, vibration prompt and / or light prompt.

[0060] Exemplarily, the surgical safety warning unit can determine whether the surgical instrument exceeds the surgical safety area according to the surgical instrument position, and if the surgical instrument position exceeds the surgical safety area, sound, light and / or vibration or the like are given to warn.

[0061] Optionally, the data processing module further comprises a surgical safety braking unit configured to acquire a surgical instrument position and to lock the joints of the mechanical arm if the surgical instrument position is out of a second preset safety area range.

[0062] Illustratively, the surgical safety brake unit can determine whether the surgical instrument exceeds the surgical safety area according to the surgical instrument position, and if the surgical instrument position exceeds the surgical safety area, start braking and lock the joints of the mechanical arm to prevent harm to the patient.

[0063] Optionally, the data processing module further includes: an instrument position compensation unit for obtaining the surgical instrument position, comparing the surgical instrument position with the surgical instrument target position, and if the surgical instrument position has not reached the surgical instrument target position, controlling the surgical instrument to move to the surgical instrument target position.

[0064] Illustratively, the surgical instrument position can be obtained by a binocular camera or other positioning device, and if the surgical instrument position has not reached the surgical instrument target position, the surgical instrument is controlled to move to the surgical instrument target position through PID compensation.

[0065] Optionally, the data processing module further includes: a head tissue segmentation unit for inputting the head scan data to a pre-trained head segmentation model to obtain a head segmentation result, wherein the head segmentation result includes one or more head tissues.

[0066] The head segmentation model refers to a pre-trained neural network model, for example, the head segmentation model can be a convolutional neural network model based on U-Net.

[0067] Specifically, a large amount of head scan sample data and tissue category labels corresponding to the head scan sample data can be obtained, the head scan sample data is input into an initial neural network, the initial neural network outputs a predicted tissue category, a model loss is determined based on the predicted tissue category and the tissue category label, the initial neural network parameters are adjusted based on the model loss, until a model training stop condition is met, and a head segmentation model is obtained.

[0068] Optionally, the ear surgery robot further includes: an image capturing device 140 and an image display device 150, the image capturing device 140 is used to capture the shooting image at the head surgery position; the image display device 150 is used to display the shooting image at the head surgery position.

[0069] Illustratively, Figure 3 A structural schematic diagram of an ear surgery robot is provided for the embodiments of the present application. The image capturing device 140 can include but is not limited to an endoscope, an endoscope holding device, an extracorporeal mirror, an optical microscope or an electron microscope, etc., which is not specifically limited here. Specifically, the shooting image at the user's head surgery position can be obtained through the image capturing device 140, and the shooting image at the head surgery position is transmitted to the image display device 150 for the doctor to view the user's surgery position.

[0070] Optionally, the ear surgery robot further comprises a surgery bed 160, which comprises a horizontal linear motion mechanism, a pitch rotation mechanism, a lifting column, a circular ring guide rail, and a headrest, and the headrest comprises a head fixing structure and a positioning connecting structure.

[0071] Exemplarily, Figure 4 A structure schematic diagram of an ear surgery robot is provided for an embodiment of the present application. Figure 5A and Figure 5B A structure schematic diagram of a surgery bed is provided for an embodiment of the present application. The surgery bed 160 comprises a horizontal linear motion mechanism 161, a pitch rotation mechanism 162, a lifting column 163, a circular ring guide rail 164, and a headrest 165, and the headrest 165 comprises a head fixing structure 1651 and a positioning connecting structure 1652. Specifically, the user’s head can be moved to the surgery area in the horizontal direction by the horizontal linear motion mechanism 161. The pitch angle of the user’s head can be adjusted by the pitch rotation mechanism 162. The height of the surgery bed can be raised or lowered by the lifting column 163. The user can be turned over by rotating the circular ring guide rail 164, so as to perform surgery on the user. The headrest 165 comprises the head fixing structure 1651 and the positioning connecting structure 1652. The head fixing structure 1651 is composed of a groove that fits the head, so that the user’s head is limited within the pre-set range of the groove. The positioning connecting structure 1652 is used to connect with a specific part of the surgery bed, so as to keep the headrest fixed with the surgery bed. In some embodiments, the headrest can be replaced according to different users or different surgery requirements.

[0072] Optionally, the ear surgery robot further comprises an image trolley 170, which is in communication connection with the data processing module and is used to display the fused head three-dimensional model.

[0073] Exemplarily, Figure 6 A structure schematic diagram of an ear surgery robot is provided for an embodiment of the present application. Specifically, the image trolley 170 displays the fused head three-dimensional model, so as to assist the user in performing surgery.

[0074] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An ear surgery robot, characterized in that, The ear surgery robot comprises: an ultrasonic device for collecting first head scan data; a cone beam projection computerized tomography device for collecting second head scan data; a robot body comprising a data processing module electrically connected with the ultrasonic device and the cone beam projection computerized tomography device; the data processing module comprises a first head three-dimensional model generation unit, a second head three-dimensional model generation unit and a head three-dimensional model fusion unit; the first head three-dimensional model generation unit is configured to generate a first head three-dimensional model based on the first head scan data; the second head three-dimensional model generation unit is configured to generate a second head three-dimensional model based on the second head scan data; the head three-dimensional model fusion unit is configured to fuse the first head three-dimensional model and the second head three-dimensional model to obtain a fused head three-dimensional model.

2. The ear surgery robot of claim 1, wherein, The first head three-dimensional model generation unit comprises: a first head scan data filtering subunit configured to filter the first head scan data to obtain filtered first head scan data; a first head region segmentation subunit configured to perform region segmentation based on the filtered first head scan data to obtain first head tissue block features; a first head three-dimensional reconstruction subunit configured to perform three-dimensional reconstruction on the first head tissue block features to obtain a first head three-dimensional model.

3. The ear surgery robot of claim 1, wherein, The second head three-dimensional model generation unit comprises: a second head scan data filtering subunit configured to filter the second head scan data to obtain filtered second head scan data; a second head region segmentation subunit configured to perform region segmentation based on the filtered second head scan data to obtain second head tissue block features; a second head three-dimensional reconstruction subunit configured to perform three-dimensional reconstruction on the second head tissue block features to obtain a second head three-dimensional model.

4. The ear surgery robot of claim 1, wherein, The data processing module further comprises: a surgical safety warning unit configured to obtain a surgical instrument position and to provide a warning prompt if the surgical instrument position exceeds a first preset safety area range, wherein the warning prompt mode comprises sound prompt, vibration prompt and / or light prompt.

5. The ear surgery robot of claim 1, wherein, The data processing module further comprises: a surgical safety braking unit configured to obtain a surgical instrument position and to lock the joints of the mechanical arm if the surgical instrument position exceeds a second preset safety area range.

6. The ear surgery robot of claim 1, wherein, The data processing module further comprises: an instrument position compensation unit configured to obtain a surgical instrument position, compare the surgical instrument position with a surgical instrument target position, and control the movement of the surgical instrument to the surgical instrument target position if the surgical instrument position has not reached the surgical instrument target position.

7. The ear surgery robot of claim 1, wherein, The data processing module further comprises: a head tissue segmentation unit configured to input the head scan data into a pre-trained head segmentation model to obtain a head segmentation result, wherein the head segmentation result comprises one or more head tissues.

8. The ear surgery robot of claim 1, wherein, The ear surgery robot further comprises: An image trolley is connected with the data processing module in communication, and is used for displaying the fused head three-dimensional model.

9. The ear surgery robot of claim 1, wherein, The ear surgery robot further comprises: The surgical bed comprises a transverse horizontal linear motion mechanism, a pitch rotation mechanism, a lifting column, a circular ring guide rail and a head support, and the head support comprises a head fixing structure and a positioning connecting structure.

10. The ear surgery robot of claim 1, wherein, The ear surgery robot further comprises: An image capturing device is used for capturing a captured image at a head surgery position, and an image display device is used for displaying the captured image at the head surgery position.

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