Puncture robot system based on flexible marker and non-invasive positioning method thereof

Abstract

The invention provides a puncture robot system based on a flexible marker and a non-intrusive positioning method thereof, and relates to the technical field of puncture surgical robotics.The system comprises a collaborative robot which comprises a robot body and an actuator, and the actuator comprises a linear driver and a puncture needle; a plurality of flexible pasting type tracking marks; positioning the tool pen; the visual system is used for scanning and acquiring position information; the processor is connected with the visual system and the collaborative robot, and the processor is used for determining that a puncture inlet point coordinate of a puncture needle reaches a focus point coordinate and controlling the collaborative robot to drive the puncture inlet point of the puncture needle to reach the focus point. Wherein the position from the puncture inlet point coordinate of the puncture needle to the focus point coordinate is determined according to the following method. The device has the beneficial effects that the accuracy of puncture positioning is improved, and the number and size of surgical wounds are reduced; positioning and planning can be carried out without damaging tissues and bones of a patient, and secondary damage in the positioning process is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture surgical robots, and in particular to a puncture surgical robot system based on flexible markers and a non-invasive positioning method thereof. Background Art

[0002] Safe and accurate puncture positioning is a key step in minimally invasive spinal surgery and one of the technical difficulties of this procedure. The accuracy of puncture positioning directly affects the final clinical effect of the surgery. Compared with traditional open surgery under direct vision, percutaneous puncture surgery has limited positioning methods. Commonly used puncture surgical equipment uses methods such as repeated fluoroscopic positioning based on guide wires and positioning methods based on rigid frames to locate lesions.

[0003] The repeated fluoroscopic positioning method based on the guidewire is to perform puncture through preoperative X-ray fluoroscopy combined with guidewire marking of the puncture line. After puncture, another fluoroscopy is required to determine whether the target has been punctured. The puncture needle must be adjusted multiple times during the entire puncture process. This method increases the radiation dose and probability of complications for doctors and patients.

[0004] The positioning method based on the rigid frame is to fix the rigid markers that do not develop under X-rays to the patient's bones with screws, and use infrared optical positioning methods to track the position of the rigid frame. The fixed frame requires drilling holes in the patient's bones and requires a large window area for the anatomical tissue, which is no less than traditional open surgery. It causes greater secondary damage to the patient and paraspinal muscles, and may require the destruction of important joint ligaments and other structures, and is prone to complications. Summary of the invention

[0005] In view of this, in order to solve the above-mentioned problem of locating the lesion point by the puncture surgical equipment in minimally invasive spinal surgery, an embodiment of the present invention provides a puncture robot system based on a flexible marker and a non-invasive positioning method thereof.

[0006] An embodiment of the present invention provides a puncture robot system based on a flexible marker, comprising:

[0007] A collaborative robot, comprising a robot body and an actuator, wherein the actuator comprises a linear drive and a puncture needle, wherein the linear drive is mounted at the end of the robot body, and the puncture needle is mounted on the linear drive and is driven by the linear drive to move;

[0008] multiple flexible stick-on tracking markers;

[0009] Positioning tool pen;

[0010] A vision system for scanning and obtaining position information;

[0011] and a processor connected to the visual system and the collaborative robot, the processor being used to determine that the coordinates of the puncture entry point of the puncture needle reach the coordinates of the lesion point, and controlling the collaborative robot to drive the puncture entry point of the puncture needle to reach the lesion point, wherein the coordinates of the puncture entry point of the puncture needle reach the coordinates of the lesion point according to the following method:

[0012] Acquire lumbar CT data, the CT data including the lumbar vertebra and a plurality of the flexible adhesive tracking markers attached near the lumbar vertebra, establish a three-dimensional model based on the CT data, and ct Determine the position P of each flexible adhesive tracking mark ct (m), puncture entry point and lesion points location;

[0013] When the robot body moves at the end, the visual system scans the robot body in the visual system coordinate system O. eye Determine the actuator coordinate system O corresponding to the K points moved by the end of the robot body end The origin position P end (i) At the same time, determine the actuator coordinate system O end The origin of the base coordinate system O base Position P base (i) Calculate the visual system coordinate system O eye To the base coordinate system O base The transformation matrix

[0014] When the tip of the positioning tool pen touches each of the flexible adhesive tracking marks, the visual system scans and locates each of the flexible adhesive tracking marks in the visual system coordinate system O eye Position P pen (m) and in the three-dimensional model coordinate system O ct Position P ct (m), calculate the three-dimensional model coordinate system O ct To the visual system coordinate system O eye The transformation matrix

[0015] Simultaneous transformation matrix and the transformation matrix Calculate the three-dimensional model coordinate system O ct To the base coordinate system O base The transformation matrix According to the transformation matrix The puncture entry point and lesion points The position coordinates are converted into the base coordinate system O base The puncture entry point and lesion points The location coordinates of .

[0016] Furthermore, it also includes a marking plate fixedly mounted on the linear drive, and a plurality of positioning marks are provided on the marking plate.

[0017] Furthermore, the positioning mark is a sphere, one side of the marking plate is mounted on the bottom of the linear actuator, and each positioning mark is located on both sides of the linear actuator.

[0018] Furthermore, the flexible adhesive tracking mark is provided with a positioning hole, and the tip of the positioning tool pen can be inserted into the positioning hole.

[0019] Furthermore, the flexible adhesive tracking mark includes a hard chassis and an adhesive layer, the adhesive layer is arranged on one side of the hard chassis, and the positioning hole is arranged on the other side of the hard chassis.

[0020] Furthermore, a plurality of calibration marks are provided at the rear end of the positioning tool pen.

[0021] Furthermore, the robot body is a six-degree-of-freedom robot, the linear drive includes a linear motor and a sliding bracket, the sliding bracket is installed on a sliding seat of the linear motor, and the sliding bracket is connected to the puncture needle.

[0022] Furthermore, the sliding bracket is connected to the puncture needle through a puncture needle chuck, and the puncture needle chuck is a three-claw chuck.

[0023] Furthermore, the visual system includes an adjustable tripod and a camera mounted on the adjustable tripod.

[0024] In addition, an embodiment of the present invention further provides a non-invasive positioning method for the above-mentioned flexible marker-based puncture robot system, comprising the following steps:

[0025] S1. Stick all flexible adhesive tracking markers on both sides of the lumbar spine;

[0026] S2, obtaining lumbar CT data, wherein the CT data includes the lumbar vertebra and a plurality of the flexible adhesive tracking markers attached near the lumbar vertebra, establishing a three-dimensional model based on the CT data, and ct Determine the position P of each flexible adhesive tracking mark ct (m), puncture entry point and lesion points location;

[0027] S3, controlling the end of the robot body to move within the field of view of the visual system, scanning the end of the robot body through the visual system, and eye Determine the actuator coordinate system O corresponding to the K points moved by the end of the robot body end The origin position P end (i) At the same time, determine the actuator coordinate system O end The origin of the base coordinate system O base Position P base (i) Calculate the visual system coordinate system O eye To the base coordinate system O base The transformation matrix

[0028] S4, controlling the tip of the positioning tool pen to touch each of the flexible adhesive tracking marks respectively, and scanning through the visual system, according to the position P of each of the flexible adhesive tracking marks in the visual system coordinate system pen (m) and in the three-dimensional model coordinate system O ct Position P ct (m), calculate the three-dimensional model coordinate system O ct To the visual system coordinate system O eye The transformation matrix

[0029] S5. Simultaneous transformation matrix and the transformation matrix Calculate the three-dimensional model coordinate system O ct To the base coordinate system O base The transformation matrix According to the transformation matrix The puncture entry point and lesion points The position coordinates are converted into the base coordinate system O base The puncture entry point and lesion points The location coordinates of .

[0030] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention are:

[0031] 1. The flexible marker-based puncture robot system and its non-invasive positioning method of the present invention, by pasting flexible adhesive tracking markers on the skin surface on both sides of the lumbar spine, using CT data to establish a three-dimensional model to associate the position of the flexible adhesive tracking marker, the puncture entry point, and the position of the lesion point, and then using a visual system to track the movement of the flexible adhesive tracking marker and the end of the robot body, establish a conversion relationship from the three-dimensional model coordinate system to the base coordinate system, and finally convert the puncture entry point and lesion point position coordinates in the three-dimensional model coordinate system into the puncture entry point and lesion point position coordinates in the base coordinate system, so as to determine the puncture motion trajectory of the puncture needle, improve the accuracy of puncture positioning, reduce the number and size of surgical wounds, thereby reducing soft tissue damage, surgical infection rate, recovery time and postoperative pain, while reducing the doctor's physical labor and radiation exposure, thereby reducing the risk to themselves and patients.

[0032] 2. The flexible marker-based puncture robot system and its non-invasive positioning method of the present invention place flexible adhesive tracking markers on the patient's skin, so that positioning and planning can be performed without damaging the patient's tissues and bones, avoiding secondary damage in the positioning process, and reducing the doctor's three-dimensional imagination ability and learning curve, thereby achieving rapid preoperative planning. In addition, since the flexible adhesive tracking markers are attached to the skin surface, they will move with physiological movements such as breathing during the operation, and can detect and adapt to the patient's physiological movements in real time, thereby reducing positioning errors.

[0033] 3. The flexible marker-based puncture robot system and its non-invasive positioning method of the present invention are based on the specific needs of the puncture surgery and combined with the patient's CT data obtained before the operation, so that doctors can directly plan the puncture angle and distance in three-dimensional space, assisting doctors to perform percutaneous puncture conveniently, efficiently and safely, and establish a new diagnosis and treatment method, which solves the problems of steep learning curve, high requirements for three-dimensional imagination ability, difficult planning, and complex positioning principles in traditional positioning methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram of a puncture robot system based on a flexible marker according to the present invention;

[0035] Figure 2 is a schematic diagram of a collaborative robot;

[0036] Figure 3 is a schematic diagram of the actuator;

[0037] Figure 4 is a schematic diagram of the marking board;

[0038] Figure 5 It is a transformation diagram of each coordinate in a non-invasive positioning method of a puncture robot system based on a flexible marker of the present invention.

[0039] In the figure: 1. Robot body; 2. Adapter flange; 3. Actuator; 4. Linear motor; 5. Puncture needle chuck; 6. Slide; 7. Computer; 8. Puncture needle; 9. Flexible adhesive tracking marker; 10. Positioning tool pen; 11. Calibration mark; 12. Camera; 13. Adjustable tripod; 14. Sliding bracket; 15. Roller; 16. Socket; 17. Mobile base; 18. Marking plate; 19. Positioning mark; 100. Lumbar vertebrae. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in conjunction with the accompanying drawings. The following is a preferred embodiment of the present invention, which is intended to provide a basic understanding of the present invention, but is not intended to confirm the key or decisive elements of the present invention or to limit the scope of protection.

[0041] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0043] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0044] It should be further explained that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Please refer to Figure 1 The embodiment of the present invention provides a puncture robot system based on flexible markers, which is applied to minimally invasive spinal surgery, and more specifically, applied to positioning puncture of lesions on the lumbar spine. The puncture robot system based on flexible markers mainly includes a collaborative robot, a plurality of flexible adhesive tracking markers 9, a positioning tool pen 10, a visual system, and a processor.

[0046] like Figure 2 As shown, the collaborative robot mainly includes a robot body 1 and an actuator 3. The robot body 1 is generally a multi-degree-of-freedom robot that can move in multiple degrees of freedom. As described in this embodiment, the robot body 1 is a six-degree-of-freedom robot. The robot body 1 is generally installed on a mobile base 17, and a roller 15 is installed at the bottom of the mobile base 17, so that the robot body 1 can move freely to the working position.

[0047] like Figure 3 As shown, the actuator 3 includes a linear drive and a puncture needle 8. The linear drive is installed at the end of the robot body 1. The puncture needle 8 is installed on the linear drive and is driven by the linear drive to move.

[0048] The linear drive can be selected from various existing linear drive mechanisms, as long as it can drive the puncture needle to move linearly. In this embodiment, the linear drive includes a linear motor 4 and a sliding bracket 14, the sliding bracket 14 is installed on the slide 6 of the linear motor 4, and the sliding bracket 14 is connected to the puncture needle 8. The linear motor 4 is installed at the end of the robot body 1. Figure 3 As shown, an adapter flange 2 is installed at the end of the robot body 1, and the bottom of the linear motor 4 is fixedly installed on the adapter flange 2.

[0049] The sliding bracket 14 is connected to the puncture needle 8 through the puncture needle chuck 5, and the axis of the puncture needle 8 is parallel to the movement direction of the linear motor 4. The puncture needle chuck 5 can be a three-claw chuck, and the puncture needle chuck 5 can be closed to clamp the puncture needle 8, and the puncture needle chuck 5 can be opened to release the puncture needle 8.

[0050] In order to facilitate accurate positioning of the end of the robot body 1 when scanning the actuator 3, the puncture robot system based on flexible markers also includes a marking plate 18 fixedly mounted on the linear drive, and a plurality of positioning marks 19 are provided on the marking plate 18. The positioning marks 19 can be set to various markers that can be scanned by the visual system. Figure 4 As shown, in this embodiment, the positioning mark 19 is a sphere, one side of the marking plate 18 is installed at the bottom of the linear motor 4, and each positioning mark 19 is located on both sides of the linear motor 4.

[0051] The flexible adhesive tracking markers 9 can be directly attached to the patient's skin surface. The number of the flexible adhesive tracking markers 9 can be flexibly selected according to the actual application scenario, generally four or more, such as five in this embodiment.

[0052] The flexible adhesive tracking marker 9 can be set to various markers that can be scanned by the visual system. As in the present embodiment, the flexible adhesive tracking marker 9 includes a hard chassis and an adhesive layer, the hard chassis is a stainless steel disc, and the adhesive layer is arranged on one side of the hard chassis. The adhesive layer is made of gel material, and the adhesive layer can ensure that the flexible adhesive tracking marker 9 is effectively fixed on the skin during the operation. Preferably, in some other embodiments, a tearable protective film is provided on the surface of the adhesive layer facing away from the hard chassis, and the protective film is torn off when the flexible adhesive tracking marker needs to be pasted to avoid failure of the adhesive layer.

[0053] The positioning tool pen 10 is used to cooperate with the flexible adhesive tracking mark 9 to track the position change of the flexible adhesive tracking mark 9. Generally, the flexible adhesive tracking mark 9 is provided with a positioning hole, the positioning hole is arranged on the side of the hard chassis away from the adhesive layer, the positioning hole is arranged at the center of the hard chassis, and the pen tip of the positioning tool pen 10 can be inserted into the positioning hole.

[0054] In order to facilitate accurate positioning of the tip of the positioning tool pen 10 when scanning the actuator 3, a plurality of calibration marks 11 are provided at the rear end of the positioning tool pen 10. The calibration marks 11 can be set to various markers that can be scanned by the visual system. In this embodiment, the calibration mark 11 is set as a disc mark. Two forked branches are provided at the rear end of the positioning tool pen 10, and a calibration mark 11 is provided at the end of each branch, and a calibration mark 11 is provided on both sides of the middle of the positioning tool pen 10.

[0055] The top of the sliding bracket 14 is provided with a plurality of sockets 16, which are conical circular holes and are symmetrically arranged one by one relative to the center line of the sliding bracket 14. The tip of the positioning tool pen 10 can be inserted into the socket 16, providing a stable initial calibration plane for the positioning tool pen 10.

[0056] The visual system is used to scan and obtain position information. The visual system generally includes an adjustable tripod 13 and a camera 12 mounted on the adjustable tripod 13. The position of the camera 12 can be adjusted by the adjustable tripod 13 so that the camera 12 can obtain a desired field of view. The camera 12 can be an infrared camera, a bifocal camera or a stereoscopic infrared camera.

[0057] The processor is connected to the visual system and the collaborative robot respectively. The processor is generally selected as a computer 7, and the computer 7 is connected to the robot body 1, the linear motor 4 and the camera 12 respectively through an Ethernet interface. The processor is used to determine that the coordinates of the puncture needle puncture entry point reach the coordinates of the lesion point, and control the collaborative robot to drive the puncture needle puncture entry point to reach the lesion point.

[0058] like Figure 5 As shown, the coordinates of the puncture entry point of the puncture needle reaching the lesion point are determined according to the following method:

[0059] Acquire lumbar CT data, which includes the lumbar vertebrae and the plurality of flexible adhesive tracking markers pasted near the lumbar vertebrae. m flexible adhesive tracking markers 9 are pasted and fixed on the skin surface of the waist in advance, ensuring that the flexible adhesive tracking markers do not interfere with the planned puncture area, and are distributed on both sides of the lumbar vertebrae 100. The lumbar vertebrae 100 of the patient is scanned by a CT scanning device, and the lumbar CT data including the flexible adhesive tracking markers can be obtained.

[0060] A three-dimensional model is established based on the CT data, and a three-dimensional model coordinate system is defined in FIG. ct Determine the position P of m flexible adhesive tracking markers ct (m), puncture entry point and lesion points location.

[0061] When the end of the robot body 1 moves, the visual system scans to ensure that each of the flexible adhesive tracking markers 9 is within the field of view of the visual system. eye Determine the actuator coordinate system O corresponding to the K points moved at the end of the robot body 1 end The origin position P end (i) At the same time, determine the actuator coordinate system O end The origin of the base coordinate system O base Position P base (i), the actuator coordinate system O end The origin is the end position of the robot body.

[0062] According to the end of the robot body 1 in the visual system coordinate system O eye K positions P within end (i), i = 1...k and its coordinate system O base The K coordinates P under base (i), i = 1…k, calculate the visual system coordinate system O eye To the base coordinate system O base The transformation matrix

[0063] Move the positioning tool pen 10 into the visual system field of view, and insert the positioning tool pen tip 10 into the socket 16, ensuring that the positioning tool pen 10 faces the visual system, and use the visual system to establish the positioning tool pen coordinate system. pen .

[0064] The tip of the positioning tool pen 10 is controlled to be inserted into the positioning hole of the flexible adhesive tracking mark 9 in sequence, and when the tip of the positioning tool pen 10 touches each of the flexible adhesive tracking marks 9, the visual system scans the m flexible adhesive tracking marks 9 according to the positions of the m flexible adhesive tracking marks 9 in the visual system coordinate system O. eye Position P pen (m) and in the three-dimensional model coordinate system O ct Position P ct (m) When the tip of the positioning tool pen is sequentially inserted into the positioning hole of the flexible adhesive tracking mark, the position of the tip of the positioning tool pen is the position of the flexible adhesive tracking mark.

[0065] According to the m flexible adhesive tracking markers 9, the visual system coordinate system O eye Position P pen (m) and its coordinate system in the three-dimensional model O ct Position P ct (m), calculate the three-dimensional model coordinate system O ct To the visual system coordinate system O eye The transformation matrix

[0066] Simultaneous transformation matrix and the transformation matrix Calculate the three-dimensional model coordinate system O ct To the base coordinate system O base The transformation matrix According to the transformation matrix The puncture entry point and lesion points The position coordinates are converted into the base coordinate system O base The puncture entry point and lesion points The location coordinates of .

[0067] According to the puncture entry point and lesion points The robot body 1 plans the puncture motion trajectory at the position, and when it reaches the designated puncture entry point, adjusts the posture so that the puncture needle 8 is aligned with the point. and Point The formed vectors are collinear, and the processor controls the linear motor to move forward, driving the sliding bracket to move, so that the puncture needle 8 passes through the puncture entry point and reaches the lesion point.

[0068] In addition, if Figure 5 As shown, an embodiment of the present invention further provides a non-invasive positioning method for the above-mentioned flexible marker-based puncture robot system, comprising the following steps:

[0069] S1. Stick all the flexible adhesive tracking markers 9 on both sides of the lumbar vertebrae 100: stick and fix m flexible adhesive tracking markers 9 on the skin surface of the waist to ensure that the flexible adhesive tracking markers 9 do not interfere with the planned puncture area and are distributed on both sides of the lumbar vertebrae 100.

[0070] Establish each reference coordinate system, the base coordinate system of the collaborative robot base The processor establishes the actuator coordinate system O according to the plurality of positioning marks. end , visual system coordinate system O eye Based on the camera focal plane of the visual system, the three-dimensional model coordinate system O ct Built on CT scanning equipment.

[0071] S2, obtaining lumbar CT data, the CT data including the lumbar spine and the plurality of flexible adhesive tracking markers attached near the lumbar spine. The lumbar spine 100 of the patient is scanned by a CT scanning device to obtain lumbar CT data including the flexible adhesive tracking markers. A three-dimensional model is established based on the CT data, and the three-dimensional model coordinate system is set as S2. ct Determine the position P of each flexible adhesive tracking mark ct (m), puncture entry point and lesion points location.

[0072] S3, control the end of the robot body 1 to move within the field of view of the visual system, ensure that each of the flexible adhesive tracking markers 9 is within the field of view of the visual system, and scan the end of the robot body 1 through the visual system. eye Determine the actuator coordinate system O corresponding to the K points moved by the robot body end 1 end The origin position P end (i) At the same time, determine the actuator coordinate system O end The origin of the base coordinate system O base Position P base (i), the actuator coordinate system O end The origin is the end position of the robot body.

[0073] According to the end of the robot body 1 in the visual system coordinate system O eye K positions P within end (i), i = 1...k and its coordinate system O base The K coordinates P under base (i), i = 1…k, calculate the visual system coordinate system O eye To the base coordinate system O base The transformation matrix

[0074] S4, move the positioning tool pen 10 into the visual system field of view, and insert the tip of the positioning tool pen 10 into the socket, ensure that the positioning tool pen 10 faces the visual system, and use the visual system to establish the positioning tool pen coordinate system. pen .

[0075] The tip of the positioning tool pen 10 is controlled to be inserted into the positioning hole of the flexible adhesive tracking mark 9 in sequence, and when the tip of the positioning tool pen 10 touches each of the flexible adhesive tracking marks 9, the visual system scans the m flexible adhesive tracking marks 9 according to the positions of the m flexible adhesive tracking marks 9 in the visual system coordinate system O. eye Position P pen (m) and in the three-dimensional model coordinate system O ct Position P ct (m) When the tip of the positioning tool pen 10 is inserted into the positioning hole of the flexible adhesive tracking mark 9 in sequence, the position of the tip of the positioning tool pen 10 is the position of the flexible adhesive tracking mark 9.

[0076] According to the m flexible adhesive tracking markers 9, the visual system coordinate system O eye Position P pen (m) and its coordinate system in the three-dimensional model O ct Position P ct (m), calculate the three-dimensional model coordinate system O ct To the visual system coordinate system O eye The transformation matrix

[0077] S5. Simultaneous transformation matrix and the transformation matrix Calculate the three-dimensional model coordinate system O ct To the base coordinate system O base The transformation matrix According to the transformation matrix The puncture entry point and lesion points The position coordinates are converted into the base coordinate system O base The puncture entry point and lesion points The position coordinates of the puncture entry point and the lesion point can be located.

[0078] In this article, the directional words such as front, back, top, and bottom involved are defined by the positions of the parts in the drawings and the positions of the parts relative to each other, just for the sake of clarity and convenience in expressing the technical solution. It should be understood that they are relative concepts and can change accordingly according to different ways of use and placement, and the use of the directional words should not limit the scope of protection claimed in this application.

[0079] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible marker-based puncture robot system, characterized in that: include: A collaborative robot, comprising a robot body and an actuator, wherein the actuator comprises a linear drive and a puncture needle, wherein the linear drive is mounted at the end of the robot body, and the puncture needle is mounted on the linear drive and is driven by the linear drive to move; multiple flexible stick-on tracking markers; Positioning tool pen; A vision system for scanning and obtaining position information; and a processor connected to the visual system and the collaborative robot, the processor being used to determine that the coordinates of the puncture entry point of the puncture needle reach the coordinates of the lesion point, and controlling the collaborative robot to drive the puncture entry point of the puncture needle to reach the lesion point, wherein the coordinates of the puncture entry point of the puncture needle reach the coordinates of the lesion point according to the following method: Acquire lumbar CT data, the CT data including the lumbar vertebra and a plurality of the flexible adhesive tracking markers attached near the lumbar vertebra, establish a three-dimensional model based on the CT data, and ct Determine the position P of each flexible adhesive tracking mark ct (m), puncture entry point and lesion points location; When the robot body moves at the end, the visual system scans the robot body in the visual system coordinate system O. eye Determine the actuator coordinate system O corresponding to the K points moved by the end of the robot body end The origin position P end (i) At the same time, determine the actuator coordinate system O end The origin of the base coordinate system O base Position P base (i) Calculate the visual system coordinate system O eye To the base coordinate system O base The transformation matrix When the tip of the positioning tool pen touches each of the flexible adhesive tracking marks, the visual system scans and locates each of the flexible adhesive tracking marks in the visual system coordinate system O eye Position P pen (m) and in the three-dimensional model coordinate system O ce Position P ct (m), calculate the three-dimensional model coordinate system O ct To the visual system coordinate system O eye The transformation matrix Simultaneous transformation matrix and the transformation matrix Calculate the three-dimensional model coordinate system O ct To the base coordinate system O base The transformation matrix According to the transformation matrix The puncture entry point and lesion points The position coordinates are converted into the base coordinate system O base The puncture entry point and lesion points The location coordinates of .

2. The flexible marker-based puncture robot system according to claim 1, characterized in that: It also includes a marking plate fixedly mounted on the linear drive, and a plurality of positioning marks are arranged on the marking plate.

3. The flexible marker-based puncture robot system according to claim 2, characterized in that: The positioning mark is a sphere, one side of the marking plate is installed on the bottom of the linear drive, and each positioning mark is located on both sides of the linear drive.

4. The flexible marker-based puncture robot system according to claim 1, characterized in that: The flexible adhesive tracking mark is provided with a positioning hole, and the tip of the positioning tool pen can be inserted into the positioning hole.

5. The flexible marker-based puncture robot system according to claim 4, characterized in that: The flexible adhesive tracking mark comprises a hard chassis and an adhesive layer, wherein the adhesive layer is arranged on one side of the hard chassis, and the positioning hole is arranged on the other side of the hard chassis.

6. The flexible marker-based puncture robot system according to claim 1, characterized in that: A plurality of calibration marks are arranged at the rear end of the positioning tool pen.

7. The flexible marker-based puncture robot system according to claim 1, characterized in that: The robot body is a six-degree-of-freedom robot, the linear drive comprises a linear motor and a sliding bracket, the sliding bracket is mounted on a sliding seat of the linear motor, and the sliding bracket is connected to the puncture needle.

8. The flexible marker-based puncture robot system according to claim 7, characterized in that: The sliding bracket is connected to the puncture needle through a puncture needle chuck, and the puncture needle chuck is a three-claw chuck.

9. The flexible marker-based puncture robot system according to claim 1, characterized in that: The visual system includes an adjustable tripod and a camera mounted on the adjustable tripod.

10. The non-invasive positioning method of a puncture robot system based on a flexible marker according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Stick all flexible adhesive tracking markers on both sides of the lumbar spine; S2, obtaining lumbar CT data, wherein the CT data includes the lumbar vertebra and a plurality of the flexible adhesive tracking markers attached near the lumbar vertebra, establishing a three-dimensional model based on the CT data, and ct Determine the position P of each flexible adhesive tracking mark ct (m), puncture entry point and lesion points location; S3, controlling the end of the robot body to move within the field of view of the visual system, scanning the end of the robot body through the visual system, and eye Determine the actuator coordinate system O corresponding to the K points moved by the end of the robot body end The origin position P end (i) At the same time, determine the actuator coordinate system O end The origin of the base coordinate system O base Position P base (i) Calculate the visual system coordinate system O eye To the base coordinate system O base The transformation matrix S4, controlling the tip of the positioning tool pen to touch each of the flexible adhesive tracking marks respectively, and scanning through the visual system, according to each of the flexible adhesive tracking marks in the visual system coordinate system O eye Position P pen (m) and in the three-dimensional model coordinate system O ct Position P ct (m), calculate the three-dimensional model coordinate system O ct To the visual system coordinate system O eye The transformation matrix S5. Simultaneous transformation matrix and the transformation matrix Calculate the three-dimensional model coordinate system O ct To the base coordinate system O base The transformation matrix According to the transformation matrix The puncture entry point and lesion points The position coordinates are converted into the base coordinate system O base The puncture entry point and lesion points The location coordinates of .

Images