Intelligent medical robot based on low-intensity focused ultrasound technology

Abstract

The present invention relates to the field of intelligent medical technology, and in particular, to an intelligent medical robot based on low-intensity focused ultrasound technology. It includes a correction path planning module and a habitual posture positioning module. The present invention plans the correction path of characteristic medical instruments in advance through the correction path planning module, adjusts the characteristic medical instruments and therapeutic medical instruments to the treatment position area according to the correction path, and cooperates with the head position following adjustment module to use a head traction device to cooperate with the ultrasonic treatment bed to limit the patient's head area, synchronously correct the patient's head, intelligently adjust the patient's treatment state, reduce the workload of medical staff, and at the same time obtain the habitual posture of each patient through the habitual posture positioning module, and adjust the treatment medical instrument position area according to the habitual posture to adapt to the patient's habitual posture, intelligently improve the patient's comfort effect, and improve the treatment effect.

Description

Technical Field

[0001] The present invention relates to the field of intelligent medical technology, and in particular to an intelligent medical robot based on low-intensity focused ultrasound technology. Background Art

[0002] Low-intensity focused ultrasound technology is a non-invasive neuromodulation method that uses low-intensity focused ultrasound to precisely target and stimulate the brain, thereby modulating specific brain areas. This technology uses the physical properties of ultrasound, such as frequency, amplitude and wavelength, as well as the propagation characteristics of ultrasound in biological tissues to affect the activity of nerve cells.

[0003] Nowadays, more and more types of chronic diseases are emerging, especially those involving the patient's brain nerves. Conventional drug treatment is ineffective, and surgical treatment will increase the risk. Therefore, the use of low-intensity focused ultrasound technology for targeted treatment has become a popular trend. Conventional treatment methods generally include the following steps:

[0004] Step 1: Position the patient in a lying position;

[0005] The second step is to obtain the location of the patient's lesion by combining the patient's CT image and the examination results of other medical instruments;

[0006] The third step is to manually adjust the position of the low-intensity focused ultrasound instrument according to the patient's lying posture and the location of the lesion to perform treatment.

[0007] Since one treatment device needs to treat multiple patients and chronic diseases require long-term and multiple treatments, medical personnel are required to make multiple adjustments to the device during rotation treatments, and each adjustment requires simultaneous correction of the patient, which greatly increases the workload of the operator.

[0008] In order to address the above problems, there is an urgent need for intelligent medical robots based on low-intensity focused ultrasound technology. Summary of the invention

[0009] The purpose of the present invention is to provide an intelligent medical robot based on low-intensity focused ultrasound technology to solve the problems raised in the above background technology.

[0010] To achieve the above purpose, an intelligent medical robot based on low-intensity focused ultrasound technology is provided, including an identity recognition module, a treatment area positioning module, a correction path planning module, a head position following adjustment module and a habitual posture positioning module;

[0011] The identity recognition module adjusts the characteristic medical instrument to locate the patient's posture, collects the patient's identity characteristics, and obtains the patient's identity information;

[0012] The treatment area positioning module combines the patient's identity information with the patient's historical treatment information to obtain the characteristic medical instrument, the treatment location area of ​​the treatment medical instrument, and the patient's treatment area;

[0013] The correction path planning module is used to plan the correction path of the medical instrument, adjust the characteristic medical instrument according to the correction path, and treat the medical instrument to the treatment position area;

[0014] The head position following adjustment module uses a head traction device in cooperation with the ultrasonic treatment bed to limit the patient's head area, and uses the head traction device to follow the characteristic medical instrument correction path to synchronously correct the patient's head area until it is adjusted to the patient's treatment area;

[0015] The habitual posture positioning module collects treatment postures of the same patient in different time periods, obtains the habitual posture, and adjusts the position area of ​​the treatment medical instrument according to the habitual posture.

[0016] As a further improvement of the present technical solution, the characteristic medical instrument in the identity recognition module adopts an iris recognition probe, which captures the patient's iris image through a built-in digital camera device, and extracts characteristic information of the iris from the iris image, and compares the extracted characteristic information with the iris characteristics stored in the database to determine the patient's identity. The treatment medical instrument in the treatment area positioning module adopts an ultrasonic treatment probe, which performs treatment by emitting low-intensity focused ultrasonic waves to the patient's lesion location.

[0017] As a further improvement of the technical solution, the method for obtaining characteristic medical instruments and treatment position areas of treatment medical instruments in the treatment area positioning module comprises the following steps:

[0018] S1. Combine historical treatment information to obtain the initial positions of the iris recognition probe and the ultrasound treatment probe under treatment status ;

[0019] S2. Obtain the adjusted position of the iris recognition probe after it identifies the patient, locate the adjusted position of the current ultrasound therapy probe, and obtain the adjusted position and initial position of the iris recognition probe The angle between ;

[0020] S3. Obtaining the adjustment position and initial position of the ultrasound treatment probe The offset angle .

[0021] As a further improvement of the present technical solution, the correction path planning module includes a correction direction positioning unit, which combines the adjustment position and initial position of the iris recognition probe and the ultrasonic treatment probe. , take the adjusted position as the starting point, the initial position As an end point, the iris recognition probe is positioned and the ultrasound therapy probe is oriented in the correct direction.

[0022] As a further improvement of the technical solution, the correction path planning module also includes a correction unit quantity planning unit and a correction speed planning unit;

[0023] The correction unit quantity planning unit plans the iris recognition probe to adjust the unit quantity according to the correction direction. ;

[0024] The correction speed planning unit plans the iris recognition probe adjustment speed according to the correction direction. .

[0025] As a further improvement of the technical solution, the method for planning the correction path of the medical instrument by the correction path planning module comprises the following steps:

[0026] S10, obtaining the patient's physical condition, and matching the corresponding iris recognition probe to the patient according to the physical condition to adjust the unit quantity And the iris recognition probe adjustment speed ;

[0027] S20, adjust the unit amount according to the correction direction and iris recognition probe And the iris recognition probe adjustment speed Make position adjustments;

[0028] S30, each time the unit quantity is adjusted , real-time feedback of the iris image obtained by the iris recognition probe, and secondary unit measurement after identification as the current patient Adjustment.

[0029] As a further improvement of the technical solution, the method for obtaining the habitual posture in the habitual posture positioning module includes the following steps:

[0030] S100, define unit statistical time ;

[0031] S200: Initially obtain the patient's position by combining the iris recognition probe and mark it as the initial recognition position , in unit statistical time Get different initial identification positions for the same patient The probability of occurrence ;

[0032] S300, combined with patient treatment feedback, will be fed back as a comfortable initial recognition position Mark and compare the corresponding occurrence probability , the probability of occurrence Highest initial recognition position The corresponding patient posture is marked as habitual posture.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] In this intelligent medical robot based on low-intensity focused ultrasound technology, the correction path of the characteristic medical instrument is planned in advance through the correction path planning module, and the characteristic medical instrument and the treatment medical instrument are adjusted to the treatment position area according to the correction path. The head position following adjustment module adopts the head traction device and the ultrasonic treatment bed to limit the patient's head area, and the patient's head is corrected synchronously, and the patient's treatment status is adjusted intelligently to reduce the workload of medical staff. At the same time, the habitual posture of each patient is obtained through the habitual posture positioning module, and the treatment medical instrument position area is adjusted according to the habitual posture to adapt to the patient's habitual posture, so as to intelligently improve the patient's comfort effect and improve the treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is the overall system block diagram of the present invention;

[0036] Figure 2 This is a first simulation schematic diagram of the intelligent medical robot of the present invention;

[0037] Figure 3 This is the second simulation schematic diagram of the intelligent medical robot of the present invention;

[0038] Figure 4 This is a structural block diagram of the correction path planning module of the present invention.

[0039] The meaning of each number in the figure is:

[0040] 10. Identity recognition module;

[0041] 20. Treatment area positioning module;

[0042] 30. Correction path planning module; 310. Correction direction positioning unit; 320. Correction unit quantity planning unit; 330. Correction speed planning unit;

[0043] 40. Head position following adjustment module;

[0044] 50. Habitual posture positioning module. DETAILED DESCRIPTION

[0045] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] See also Figure 1 As shown, an intelligent medical robot based on low-intensity focused ultrasound technology is provided, including an identity recognition module 10, a treatment area positioning module 20, a correction path planning module 30, a head position following adjustment module 40 and a habitual posture positioning module 50;

[0047] The identity recognition module 10 adjusts the characteristic medical instrument to locate the patient's posture, collects the patient's identity characteristics, and obtains the patient's identity information;

[0048] The treatment area positioning module 20 combines the patient's identity information with the patient's historical treatment information to obtain the characteristic medical instrument, the treatment location area of ​​the treatment medical instrument, and the patient's treatment area;

[0049] The correction path planning module 30 is used to plan the correction path of the medical instrument, adjust the characteristic medical instrument according to the correction path, and treat the medical instrument to the treatment position area;

[0050] The head position following adjustment module 40 uses a head traction device in cooperation with the ultrasonic treatment bed to limit the patient's head area, and synchronously corrects the patient's head area by following the characteristic medical instrument correction path through the head traction device until it is adjusted to the patient's treatment area;

[0051] The habitual posture positioning module 50 collects treatment postures of the same patient in different time periods, obtains the habitual posture, and adjusts the position area of ​​the treatment medical instrument according to the habitual posture.

[0052] When used specifically, during the treatment process using low-intensity focused ultrasound technology, since the lesion areas of each patient are different, after preliminary examination, the patient's brain lesion position, that is, the low-intensity focused ultrasound treatment area, can be located. At this time, the identity recognition module 10 is used to adjust the characteristic medical instrument to locate the patient's posture, collect the patient's identity characteristics, and obtain the patient's identity information. The lesion location corresponding to each patient is different, so the corresponding lesion location can be directly obtained after the patient's identity is identified;

[0053] After completing the patient identification work, the treatment area positioning module 20 combines the patient's identity information to retrieve the patient's historical treatment information, obtain the characteristic medical instrument, the treatment position area of ​​the treatment medical instrument and the patient's treatment area, that is, the position of the treatment medical instrument during the treatment process and the patient's head deflection posture, so that the treatment medical instrument can directly reach the patient's lesion area;

[0054] Although the patient needs to undergo multiple treatments, there is a period of time between two treatments, so that when the patient undergoes the second treatment, the original treatment posture has long been forgotten. Therefore, there will be deviations in the lying posture each time. At this time, it is necessary to plan the correction path of the medical instrument through the correction path planning module 30, and adjust the characteristic medical instrument and the treatment medical instrument to the treatment position area according to the correction path. In this process, in order to synchronize the patient's treatment posture, the head position following adjustment module 40 adopts a head traction device to cooperate with the ultrasonic treatment bed to limit the patient's head area, and the head traction device follows the correction path of the characteristic medical instrument to synchronously correct the patient's head area until it is adjusted to the patient's treatment area. That is, during the adjustment process, the patient's identity is captured in real time by the medical instrument to ensure that the adjustment work is carried out synchronously. When the characteristic medical instrument reaches the treatment position area, the patient's head reaches the treatment area at the same time;

[0055] Since the physical conditions of different patients are different, and the patients are required to maintain the treatment posture for a long time during the treatment process, in order to improve the patient's comfort and ensure the normal progress of the treatment process, it is necessary to collect the treatment postures of the same patient in different time periods through the habitual posture positioning module 50, obtain the habitual posture, and adjust the treatment medical instrument position area according to the habitual posture. When the patient adopts the same lying posture for many times, it indicates that the posture is a comfortable lying posture for the patient. As long as the treatment medical instrument can adjust its own position at this time so that it can capture the patient's lesion area, it can be used as the treatment posture of the current patient by binding the current habitual posture and the medical instrument position area.

[0056] In addition, the characteristic medical instrument in the identity recognition module 10 adopts an iris recognition probe, which captures the patient's iris image through a built-in digital camera device, and extracts characteristic information of the iris, such as spots, filaments, stripes, etc., from the iris image. Finally, the extracted characteristic information is compared with the iris features stored in the database to determine the patient's identity. The treatment medical instrument in the treatment area positioning module 20 adopts an ultrasonic treatment probe, which performs treatment by emitting low-intensity focused ultrasonic waves to the patient's lesion location.

[0057] When used specifically, during treatment, such as Figure 2-Figure 3As shown, the patient lies on the ultrasonic treatment bed, and his head is limited by the head traction device. In the present invention, an elastic band is used for limiting, which not only ensures that sufficient activity space is reserved for the patient's head during the initial lying process, but also can cooperate with the rotating head traction device to adjust the position of the patient's head during the later head position correction process. The iris recognition probe and the ultrasonic treatment probe are both arranged on the inner side of the treatment table, and are respectively preset with arc-shaped slide rails. When the patient's head is driven by the ultrasonic treatment bed to extend into the inner side of the treatment table, the iris recognition probe moves in a circle on the slide rail to capture the patient's iris image and obtain corresponding feature information to identify the current patient's identity. Through historical treatment data, that is, medical staff perform on-site control and combine the patient's examination results to adjust the position of the ultrasonic treatment probe in real time, so that the low-intensity focused ultrasound emitted by it can directly reach the patient's lesion position, and record the current positions of the iris recognition probe and the ultrasonic treatment probe as a reference for later adjustment.

[0058] Furthermore, the method for obtaining the characteristic medical instrument and the treatment position area of ​​the treatment medical instrument in the treatment area positioning module 20 includes the following steps:

[0059] S1. Combine historical treatment information to obtain the initial positions of the iris recognition probe and the ultrasound treatment probe under treatment status ;

[0060] S2. Obtain the adjusted position of the iris recognition probe after it identifies the patient, locate the adjusted position of the current ultrasound therapy probe, and obtain the adjusted position and initial position of the iris recognition probe The angle between ;

[0061] S3. Obtaining the adjustment position and initial position of the ultrasound treatment probe The offset angle .

[0062] like Figure 4 As shown, the correction path planning module 30 includes a correction direction positioning unit 310, which combines the adjustment position and the initial position of the iris recognition probe and the ultrasonic treatment probe. , take the adjusted position as the starting point, the initial position As the end point, the iris recognition probe is positioned and the correct direction of the ultrasound treatment probe is corrected;

[0063] The correction path planning module 30 further includes a correction unit quantity planning unit 320 and a correction speed planning unit 330;

[0064] The correction unit quantity planning unit 320 plans the iris recognition probe adjustment unit quantity according to the correction direction. ;

[0065] The correction speed planning unit 330 plans the iris recognition probe adjustment speed according to the correction direction. ;

[0066] The method for planning a correction path of a medical device by the correction path planning module 30 comprises the following steps:

[0067] S10, obtaining the patient's physical condition, and matching the corresponding iris recognition probe to the patient according to the physical condition to adjust the unit quantity And the iris recognition probe adjustment speed ;

[0068] S20, adjust the unit amount according to the correction direction and iris recognition probe And the iris recognition probe adjustment speed Make position adjustments;

[0069] S30, each time the unit quantity is adjusted , real-time feedback of the iris image obtained by the iris recognition probe, and secondary unit measurement after identification as the current patient Adjustment.

[0070] In specific use, during the process of medical instrument position correction, since the corresponding iris recognition probe and ultrasound treatment probe positions will change each time a patient is changed, during the treatment of a new patient, it is first necessary to combine the historical treatment information to obtain the initial positions of the iris recognition probe and ultrasound treatment probe under the treatment state. At this time, the ultrasound treatment probe can just emit low-intensity focused ultrasound to the patient's lesion location. At the same time, the iris recognition probe also just captures the patient's iris image and identifies the patient's identity. Then, the adjusted position of the iris recognition probe after identifying the patient's identity is obtained, and the adjusted position of the current ultrasound treatment probe is located, and the adjusted position and initial position of the iris recognition probe are obtained. The angle between , and finally obtain the adjustment position and initial position of the ultrasound treatment probe The offset angle , the angle between With offset angle It serves as the basis for later correction of the position of the iris recognition probe and ultrasound treatment probe;

[0071] In the specific correction process, due to the different physical conditions of different patients, some patients have normal positions above the neck, mainly because they have neurological diseases. At this time, external head correction can adapt to them. However, for some patients with surgical diseases other than the neck, the conventional correction speed may make them unable to adapt. Therefore, it is necessary to use the correction direction positioning unit 310 in combination with the adjustment position and initial position of the iris recognition probe and the ultrasonic treatment probe. , take the adjusted position as the starting point, the initial position As the end point, the iris recognition probe and the correction direction of the ultrasound treatment probe are located, and the correction unit quantity planning unit 320 plans the iris recognition probe to adjust the unit quantity At the same time, the correction speed planning unit 330 plans the iris recognition probe adjustment speed according to the correction direction. According to the patient's physical condition, adjust the corresponding adjustment unit for the patient and adjust the speed In order to ensure the accuracy of the adjustment, the iris image of the patient needs to be fed back in real time through the iris recognition probe every time a unit adjustment is made. Because the head traction device is adjusted synchronously with the iris recognition probe, the patient's head position will be adjusted every time the iris recognition probe is adjusted. After the iris recognition probe completes the recognition, it means that the unit adjustment is successful, and the second unit adjustment can be performed until the iris recognition probe reaches the initial position. , complete the position correction of the iris recognition probe, ultrasound treatment probe and the patient's head.

[0072] Furthermore, the method for acquiring the habitual posture in the habitual posture positioning module 50 includes the following steps:

[0073] S100, define unit statistical time ;

[0074] S200: Initially obtain the patient's position by combining the iris recognition probe and mark it as the initial recognition position , in unit statistical time Get different initial identification positions for the same patient The probability of occurrence ;

[0075] S300, combined with patient treatment feedback, will be fed back as a comfortable initial recognition position Mark and compare the corresponding occurrence probability , the probability of occurrence Highest initial recognition position The corresponding patient posture is marked as habitual posture.

[0076] When used in practice, during the specific treatment process, due to the different physical conditions of different patients, their corresponding comfortable lying and standing postures will also be different. In addition, the treatment process requires lesion positioning, equipment parameter adjustment, etc., so the patient needs to maintain the same posture for a period of time. In order to ensure the comfort level during the treatment and reduce the operation process, it is first necessary to record the treatment process of the same patient in real time and define the unit statistical time. , combined with the iris recognition probe to initially obtain the patient's position, marked as the initial recognition position , in unit statistical time Get different initial identification positions for the same patient The probability of occurrence , that is, each initial recognition position Corresponding to the patient's lying posture, after the treatment, it is necessary to obtain the patient's treatment feedback in time and feedback as a comfortable initial recognition position Mark and finally compare the corresponding probability of occurrence , the probability of occurrence Highest initial recognition position The corresponding patient posture is marked as the habitual posture, that is, the posture that the patient is accustomed to and comfortable with is the optimal treatment posture.

[0077] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent medical robot based on low-intensity focused ultrasound technology, characterized by: It comprises an identity recognition module (10), a treatment area positioning module (20), a correction path planning module (30), a head position following adjustment module (40) and a habitual posture positioning module (50); The identity recognition module (10) adjusts the characteristic medical instrument to locate the patient's posture, collects the patient's identity characteristics, and obtains the patient's identity information; The characteristic medical instrument in the identity recognition module (10) adopts an iris recognition probe; The treatment area positioning module (20) retrieves the patient's historical treatment information in combination with the patient's identity information, and obtains the characteristic medical instrument, the treatment position area of ​​the treatment medical instrument, and the patient's treatment area; The therapeutic medical instrument in the treatment area positioning module (20) adopts an ultrasonic therapeutic probe; The method for obtaining characteristic medical instruments and treatment position areas of the treatment medical instruments in the treatment area positioning module (20) comprises the following steps: S1. Combine historical treatment information to obtain the initial positions of the iris recognition probe and the ultrasound treatment probe under treatment status ; S2. Obtain the adjusted position of the iris recognition probe after it identifies the patient, locate the adjusted position of the current ultrasound therapy probe, and obtain the adjusted position and initial position of the iris recognition probe The angle between ; S3. Obtaining the adjustment position and initial position of the ultrasound treatment probe The offset angle ; The correction path planning module (30) is used to plan a correction path for the medical instrument, adjust the characteristic medical instrument according to the correction path, and treat the medical instrument to a treatment position area; The correction path planning module (30) comprises a correction direction positioning unit (310), wherein the correction direction positioning unit (310) is combined with the adjustment position and initial position of the iris recognition probe and the ultrasonic treatment probe. , take the adjusted position as the starting point, the initial position As the end point, the iris recognition probe is positioned and the correct direction of the ultrasound treatment probe is corrected; The head position following adjustment module (40) uses a head traction device in cooperation with the ultrasonic treatment bed to limit the patient's head area, and synchronously corrects the patient's head area by following the characteristic medical instrument correction path through the head traction device until it is adjusted to the patient's treatment area; The habitual posture positioning module (50) collects treatment postures of the same patient in different time periods, obtains the habitual posture therein, and adjusts the position area of ​​the treatment medical instrument according to the habitual posture.

2. The intelligent medical robot based on low-intensity focused ultrasound technology according to claim 1, characterized in that: The characteristic medical instrument in the identity recognition module (10) uses an iris recognition probe to capture the patient's iris image through a built-in digital camera device, and extracts iris characteristic information from the iris image, and compares the extracted characteristic information with the iris characteristics stored in the database to determine the patient's identity. The treatment medical instrument in the treatment area positioning module (20) uses an ultrasonic treatment probe to perform treatment by emitting low-intensity focused ultrasonic waves to the patient's lesion location.

3. The intelligent medical robot based on low-intensity focused ultrasound technology according to claim 1, characterized in that: The correction path planning module (30) further includes a correction unit quantity planning unit (320) and a correction speed planning unit (330); The correction unit quantity planning unit (320) plans the iris recognition probe adjustment unit quantity according to the correction direction. ; The correction speed planning unit (330) plans the adjustment speed of the iris recognition probe according to the correction direction. .

4. The intelligent medical robot based on low-intensity focused ultrasound technology according to claim 3, characterized in that: The method for the correction path planning module (30) to plan the correction path of a medical instrument comprises the following steps: S10, obtaining the patient's physical condition, and matching the corresponding iris recognition probe to the patient according to the physical condition to adjust the unit quantity And the iris recognition probe adjustment speed ; S20, adjust the unit amount according to the correction direction and iris recognition probe And the iris recognition probe adjustment speed Make position adjustments; S30, each time the unit quantity is adjusted , real-time feedback of the iris image obtained by the iris recognition probe, and secondary unit measurement after identification as the current patient Adjustment.

5. The intelligent medical robot based on low-intensity focused ultrasound technology according to claim 1, characterized in that: The method for acquiring the habitual posture in the habitual posture positioning module (50) comprises the following steps: S100, define unit statistical time ; S200: Initially obtain the patient's position by combining the iris recognition probe and mark it as the initial recognition position , in unit statistical time Get different initial identification positions for the same patient The probability of occurrence ; S300, combined with patient treatment feedback, will be fed back as a comfortable initial recognition position Mark and compare the corresponding occurrence probability , the probability of occurrence Highest initial recognition position The corresponding patient posture is marked as habitual posture.

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