Handheld puncture robot system based on data driving and control method thereof

Abstract

The invention discloses a handheld puncture robot system based on data driving and a control method thereof, and belongs to the technical field of auxiliary puncture robot control. The system comprises a handheld puncture robot body, a control upper computer module and a navigation module. The handheld puncture robot body is used for performing a puncture operation under the operation or guidance of a doctor; the control upper computer module is used for collecting, monitoring and controlling state information of the puncture robot and a patient and providing an interactive interface; the navigation module is used for providing real-time surgical navigation information for doctors, tracking the position relation between the puncture needle and the patient in real time and automatically planning the optimal puncture path. Parameters are dynamically adjusted through a tuning algorithm, nonlinear characteristics of the system are learned, and puncture accuracy and stability of the handheld puncture robot under complex conditions are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of auxiliary puncture robot control, and specifically relates to a data-driven handheld puncture robot system and a control method thereof. Background Art

[0002] In the field of modern medicine, prostate cancer, as a disease that seriously threatens human health, has a high incidence and mortality rate, which brings a heavy burden to patients. If early prostate cancer can be detected and treated in time, the cure rate is high, but late prostate cancer often has a poor prognosis and a high mortality rate. Therefore, accurate early diagnosis has become the key to improving the survival rate of prostate cancer patients. As the "gold standard" for the diagnosis of prostate cancer, puncture biopsy currently relies mainly on doctors to manually determine the puncture location and obtain tissue samples by reaching the target with a puncture needle. It has the advantages of less trauma and faster recovery. However, due to different physical conditions of patients, different technical levels of medical technicians and different surgical conditions, deep small organ puncture surgery such as the prostate still faces many challenges and risks.

[0003] Traditional puncture surgery requires the doctor to hold a biopsy gun and perform puncture based on the imaging system and experience. However, due to the relatively long operation time and manual operation, especially when performing multiple punctures of deep small organs, the puncture stroke is long, the operator's concentration is concentrated, and fatigue is easy to occur, resulting in reduced puncture accuracy.

[0004] The handheld puncture robot has obvious advantages in prostate cancer puncture biopsy, but there are also problems. Compared with traditional manual puncture, it uses high-precision mechanical structure and advanced sensors to avoid the doctor's operational errors caused by experience, fatigue, emotions and other factors, achieve precise positioning and stable operation, and improve puncture accuracy and repeatability. Its flexible and lightweight design makes it convenient for doctors to adjust the puncture angle and depth in a small surgical space, increase operational freedom, and improve the success rate of surgery. However, the nonlinear characteristics of human tissue, the time-varying system parameters caused by changes in tissue density, and the disturbances caused by physiological activities such as breathing and heartbeat bring challenges to the control of handheld puncture robots. Traditional control algorithms are difficult to adapt to these complex situations, resulting in poor puncture accuracy and stability.

[0005] The tuning algorithm brings hope for solving the control problem of handheld puncture robots. The algorithm can dynamically adjust the control parameters according to the real-time operating status and historical data of the system to adapt to system changes and uncertainties. Compared with the traditional fixed parameter control algorithm, the tuning algorithm has outstanding advantages in dealing with the complex situations faced by handheld puncture robots. In the face of nonlinear problems, it learns the nonlinear characteristics of the system by monitoring the input and output data, and adjusts the parameters to better track the puncture trajectory, while the traditional algorithm is prone to control deviation. In dealing with the problem of time-varying system parameters, the tuning algorithm can adjust the strategy in time according to the parameter changes to ensure stable puncture performance, which is difficult for traditional algorithms to deal with. For disturbances in physiological activities, the tuning algorithm is highly robust and can quickly adjust the control signal to suppress the influence of disturbances. At the same time, the algorithm can better adapt to the characteristics of repetitive operations of puncture robots and meet the safety control requirements under actual physical constraints. It provides a new solution for improving the overall performance of puncture robots and has important practical significance for promoting the development of prostate cancer puncture biopsy technology. Summary of the invention

[0006] In view of the deficiencies in the prior art, an object of the present invention is to provide a data-driven handheld puncture robot system and a control method thereof, so as to improve the puncture accuracy and stability of the handheld puncture robot in complex situations.

[0007] The object of the present invention is achieved through the following technical solutions: A data-driven handheld puncture robot system, comprising:

[0008] The handheld puncture robot body is used to accurately perform puncture surgery under the operation or guidance of the doctor. Its design is light and flexible, which is convenient for the doctor to operate flexibly during the operation, while ensuring the stability and safety of the operation;

[0009] The control host computer module is used to collect, monitor and control the status information of the puncture robot and the patient, and provide an interactive interface for analyzing the condition and formulating surgical strategies;

[0010] The navigation module is used to provide doctors with real-time surgical navigation information. By building a three-dimensional anatomical structure model of the patient, it tracks the position relationship between the puncture needle and the patient in real time and automatically plans the best puncture path to help doctors perform precise operations and avoid damaging important tissues and organs.

[0011] The handheld puncture robot body comprises:

[0012] The human-computer interaction module is used to provide an interactive interface between the user and the handheld puncture robot, including forward and backward, up and down, left and right movement instructions, power switch, and automatic triggering function of the biopsy gun;

[0013] The execution module is obtained by integrating an electrical component and a structural component; the electrical component includes three DC motors, a linear push rod, a linear guide rail, and a drive control element for stimulating the biopsy gun; the structural component includes a sensor array for capturing motion parameters of each module;

[0014] The control module is used to process signals and integrates part of the driving circuit to reduce the size of the device;

[0015] The system support module is used to provide basic protection for the puncture robot, including power management, circuit protection, status monitoring and equipment disinfection, to ensure the stable operation and sanitary safety of the handheld puncture robot body.

[0016] Furthermore, the control module includes a communication interface, which is connected to a host computer and is used to monitor and analyze the overall operating status of the equipment.

[0017] Furthermore, the control host computer module includes:

[0018] The communication interface module is used to realize the information flow between the host computer and the robot system and navigation components to achieve signal interaction at the physical level;

[0019] The core processing unit is used to provide tools for controlling the robot and navigation components, including adjusting device parameters, formulating treatment plans, providing interactive control paths, and displaying the working status of each subsystem of the puncture robot;

[0020] The industrial control computer is used to execute the core algorithm of the automatic control of the puncture robot, collect data from each module through the communication link, and build a bridge for the interaction between the control host module and the hardware level.

[0021] Furthermore, the navigation module includes:

[0022] The sensor component integrates an electromagnetic positioning subsystem and an ultrasonic detection subsystem, and integrates the information of the electromagnetic positioning subsystem and the ultrasonic detection subsystem to improve the positioning accuracy of the system, so as to collect patient-related data and achieve the description of the patient's puncture environment and the status of the puncture instrument;

[0023] A graphics processing workstation is used to receive, process and forward the patient-related data collected by the sensor component, execute a fusion algorithm to extract target information, and upload the processing results to the control host computer module; provide users with a real-time positioning visualization interface to facilitate users to adjust treatment plans according to actual needs;

[0024] The communication interface module is used to communicate with other modules and transmit the status of patients and equipment during surgery.

[0025] The present invention also provides a control method for a data-driven handheld puncture robot system, comprising the following steps:

[0026] (1) Define the parameters of the handheld puncture robot system. Suppose the discrete sampling time of the system is ;

[0027] Input vector: Define three input vectors ,in, and Corresponding to the control input of two rotating joints, affecting the joint angles and , Indicates the extended length of the puncture needle ;

[0028] Output vector: three output vectors , represents the coordinates of the robot end in three-dimensional space, ;

[0029] Reference input vector: , represents the desired robot end coordinates;

[0030] Error vector: ;

[0031] Controller parameter vector: , the input-output relationship of the controller is ,in Represents a parameterized controller structure;

[0032] (2) Define the correlation function and cross-correlation function: Define the output error vector With the reference input vector The cross-correlation function matrix ,in is the time delay, N represents the total length of the time series;

[0033] ;

[0034] Use finite time estimates:

[0035] ;

[0036] in, is the number of sampled data; is a The matrix whose elements are ;

[0037] (3) Constructing the objective function : ;

[0038] in, represents the maximum time delay, Represents the trace operation of a matrix;

[0039] (4) Update the controller parameters using the gradient descent method to minimize the objective function ;

[0040] Calculate the objective function with respect to the controller parameters Gradient ; According to the chain rule, we get:

[0041] ;

[0042] in, represents the mth component of the controller parameter, represents the partial derivative of the cross-correlation function with respect to the controller parameters;

[0043] The update formula of the controller parameters is: ;

[0044] in, Represents the learning rate, which is used to control the step size of parameter update;

[0045] (5) Assume that the output of the system is , where F is the dynamic function of the system; according to the chain rule, we get:

[0046] ;

[0047] ;

[0048] ;

[0049] By continuously updating the controller parameters , so that the objective function Gradually reduce and reduce the correlation between the output error and the reference input to achieve accurate tracking of the robot's end coordinates to the reference coordinates.

[0050] The present invention also provides an electronic device, comprising a memory and a processor, wherein the memory is coupled to the processor; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the control method of the data-driven handheld puncture robot system.

[0051] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the control method of the data-driven handheld puncture robot system is implemented.

[0052] The beneficial effects of the present invention are: the tuning algorithm dynamically adjusts parameters to improve the ability of the handheld puncture robot to adapt to unknown and complex conditions; by learning the nonlinear characteristics of the system, the tuning algorithm achieves more accurate puncture trajectory tracking; the tuning algorithm quickly responds to disturbances, shortens the recovery and stabilization time, and improves puncture efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a schematic diagram of the handheld puncture robot system of the present invention;

[0054] Figure 2 This is a diagram showing the main body of the handheld puncture robot of the present invention;

[0055] Figure 3 Schematic diagram of the structure of the handheld puncture robot of the present invention; wherein (a) is a detailed diagram of the structure of the handheld puncture robot, and (b) is a simplified diagram of the structure of the handheld puncture robot. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0057] like Figure 1 As shown, an embodiment of the present invention provides a data-driven handheld puncture robot system, which is divided into three parts, namely a handheld puncture robot body, a control host computer module and a navigation module. The system can interact with the device through manual operation. In addition, after the advanced auxiliary puncture function is started, the control module navigation module can be controlled to perform automatic puncture.

[0058] The main structure of the handheld puncture robot body is composed of four core components, as follows: Figure 2 As shown, the components include a human-computer interaction module, an execution module, a control module and a system support module.

[0059] The human-computer interaction module adopts a streamlined and efficient combination of buttons, which improves the intuitiveness and comprehensibility of the operation. The button combination covers the front and back, up and down, left and right movement instructions, the power switch and the automatic triggering function of the biopsy gun. The execution module is integrated with the electrical components and the structural components. The electrical components are designed according to the system architecture and cover three DC motors, a linear push rod and a linear guide rail, as well as the drive control element for stimulating the biopsy gun. The communication mechanism adopts a bus architecture to reduce the complexity of the wiring harness. At the same time, the execution component is equipped with a sensor array to capture the motion parameters of each module, which is not only conducive to the real-time monitoring of the terminal state, but also provides data support for the fault diagnosis of the entire puncture device. The control module not only undertakes the task of signal processing, but also integrates part of the drive circuit. This design effectively reduces the overall volume of the device; in addition, the module adds a communication interface with the host computer, which is convenient for doctors and developers to monitor and analyze the overall operation status of the device. The system support module provides a comprehensive basic guarantee for the puncture robot system. Its functions cover power management, circuit protection, status monitoring, equipment disinfection and other aspects, ensuring the stable operation and hygienic safety of the robot body.

[0060] The control host computer module is responsible for collecting, monitoring and controlling the status information of the puncture robot and the patient, and provides an interactive interface for the physician to analyze the condition and formulate surgical strategies. This module is subdivided into three components: the core processing unit (i.e., the host), the industrial control computer (IPC), and the communication interface module. The communication interface module is responsible for realizing the information flow between the host computer and the robot system and navigation components, ensuring that the signal interaction at the physical level can be realized. As a key node for human-computer interaction, the host provides the necessary tools for physicians and technicians to control the robot and navigation components, allowing the adjustment of equipment parameters and supporting medical technicians to formulate treatment plans. It provides physicians with an interactive control method and can instantly display the working status of each subsystem of the puncture robot. The IPC focuses on executing the core algorithm of the robot's automatic control, collects data from each module through the communication link, and builds a bridge for the interaction between the host computer and the hardware level. Compared with the host computer, the IPC exhibits higher stability and has the ability to communicate directly with a variety of hardware devices. It is a key interface for realizing hardware interaction.

[0061] The navigation module is subdivided into three core components: a sensor component, a graphics processing workstation, and a communication interface module. The sensor component integrates an electromagnetic positioning subsystem and an ultrasonic detection subsystem. Although the ultrasonic module can obtain image information of internal human tissues in real time, it has certain limitations in the positioning accuracy of the puncture needle. By fusing the information of the ultrasonic module and the electromagnetic positioning module, the positioning accuracy of the entire system can be significantly improved, thereby achieving a more accurate depiction of the patient's puncture environment and the state of the puncture instrument. The graphics processing workstation is mainly responsible for receiving, processing and forwarding patient-related data collected by the sensor component, executing a fusion algorithm to extract target information, and uploading the processing results to the host computer system. In addition, the workstation also provides physicians with a real-time positioning visualization interface, allowing physicians to flexibly adjust treatment plans according to actual needs. The communication interface module mainly communicates with other modules of the system to transmit the status of patients and equipment during surgery.

[0062] The embodiment of the present invention also provides a control method of a data-driven handheld puncture robot system, comprising the following steps:

[0063] Step 1: Model building

[0064] Next, we will introduce the basic principles of the handheld puncture robot and build a system model:

[0065] The handheld puncture robot targeted by the present invention is as follows Figure 3 As shown in Figures (a) and (b), A and B are the planes where the two branches are located, and the driving , and It can make RCM located at point O. Among them, Respectively The direction vector of the axis, It represents the direction vector of the line between the connecting rods. Since planes A and B coincide with the axis of the puncture needle, we can establish the input , and output , The relationship between.

[0066] Planes A and B intersect at Axis, its corresponding normal vector can be expressed as:

[0067] ;

[0068] .

[0069] in, , .

[0070] Determine the puncture needle axis direction vector for:

[0071] .

[0072] Sure , and The relationship between:

[0073] ;

[0074] get:

[0075] .

[0076] in, .

[0077] Determine the analytical solution to the forward kinematics of the piercing robot ,make :

[0078] .

[0079] in, .

[0080] Determining the analytical solution to the inverse kinematics of the piercing robot ,make , we can get:

[0081] ;

[0082] .

[0083] Determine the rod length of the puncture robot , , according to the geometric relationship of the robot structure, we can get:

[0084] .

[0085] in, Design parameters for the robotic system. , Perpendicular to the normal vectors of each plane, we get:

[0086] ;

[0087] ;

[0088] .

[0089] Combining this model, we can see that the output of the system is the coordinates of the needle tip The three inputs are , and the puncture needle extension length . The needle tip coordinates are:

[0090] .

[0091] Step 2: Controller design based on tuning algorithm

[0092] 2.1. Symbol Definition

[0093] Assume that the discrete sampling time of the system is .

[0094] Input vector: Define three input vectors ,in and Corresponding to the control input of two rotating joints , , The extended length of the puncture needle .

[0095] Output vector: three output vectors , represents the coordinates of the robot end in three-dimensional space, .

[0096] Reference input vector: , are the desired robot end coordinates.

[0097] Error vector: .

[0098] Controller parameter vector: , the input-output relationship of the controller is ,in is a parameterized controller structure.

[0099] 2.2. Related function definitions

[0100] Cross-correlation function: Define the output error vector With the reference input vector The cross-correlation function matrix ,in is the time delay, and N is the total length of the time series.

[0101] .

[0102] In practice, finite-time estimates are used:

[0103] .

[0104] in, is the number of sampled data. is a The matrix whose elements are .

[0105] 2.3. Objective Function of Correlation Tuning

[0106] The goal of correlation tuning is to minimize the correlation between the output error and the reference input, constructing the objective function as follows:

[0107] .

[0108] in is the maximum time delay, Represents the trace operation of a matrix.

[0109] 2.4. Controller parameter update formula

[0110] In order to minimize the objective function , the controller parameters are updated using the gradient descent method. First, the objective function is calculated with respect to the controller parameters Gradient .

[0111] According to the chain rule, we get:

[0112] .

[0113] in, represents the mth component of the controller parameter, represents the partial derivatives of the cross-correlation function with respect to the controller parameters.

[0114] The update formula of the controller parameters is:

[0115] .

[0116] in is the learning rate, which is used to control the step size of parameter updates.

[0117] 2.5. Treatment of partial derivatives in specific calculations

[0118] To calculate ,because Elements in With error vector about, and Through the dynamics of the system and Assume that the output of the system can be expressed as , where F is the dynamic function of the system. By using the chain rule, we can get:

[0119] ;

[0120] ;

[0121] .

[0122] The above formulas constitute the core content of the control of the three-input and three-output handheld piercing robot using the correlation tuning algorithm. , so that the objective function Gradually decreases, that is, the correlation between the output error and the reference input decreases, thereby achieving accurate tracking of the robot's end coordinates to the reference coordinates.

[0123] An embodiment of the present invention also provides an electronic device, including a memory and a processor, wherein the memory is coupled to the processor; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the control method of the data-driven handheld puncture robot system.

[0124] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the control method of the data-driven handheld puncture robot system is implemented.

[0125] The computer-readable storage medium may be an internal storage unit of any device with data processing capability described in any of the aforementioned embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be any device with data processing capability, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash card, etc. equipped on the device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of any device with data processing capability and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capability, and may also be used to temporarily store data that has been output or is to be output.

[0126] Those skilled in the art will readily appreciate other embodiments of the present application after considering the description and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application. The description and examples are intended to be exemplary only.

[0127] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A data-driven handheld puncture robot system, characterized in that: include: The handheld puncture robot body is used to perform puncture surgery under the operation or guidance of a doctor; The control host computer module is used to collect, monitor and control the status information of the puncture robot and the patient, and provide an interactive interface for analyzing the condition and formulating surgical strategies; The navigation module is used to provide doctors with real-time surgical navigation information. By building a three-dimensional anatomical structure model of the patient, it tracks the position relationship between the puncture needle and the patient in real time and automatically plans the best puncture path. The handheld puncture robot body comprises: The human-computer interaction module is used to provide an interactive interface between the user and the handheld puncture robot, including forward and backward, up and down, left and right movement instructions, power switch, and automatic triggering function of the biopsy gun; The execution module is obtained by integrating an electrical component and a structural component; the electrical component includes three DC motors, a linear push rod, a linear guide rail, and a drive control element for stimulating the biopsy gun; the structural component includes a sensor array for capturing motion parameters of each module; The control module is used to process signals and integrates part of the driving circuit to reduce the size of the device; The system support module is used to provide basic protection for the puncture robot, including power management, circuit protection, status monitoring and equipment disinfection, to ensure the stable operation and sanitary safety of the handheld puncture robot body.

2. A data-driven handheld puncture robot system according to claim 1, characterized in that: The control module includes a communication interface, which is connected to a host computer and is used to monitor and analyze the overall operating status of the device.

3. A data-driven handheld puncture robot system according to claim 1, characterized in that: The control host computer module includes: The communication interface module is used to realize the information flow between the host computer and the robot system and navigation components to achieve signal interaction at the physical level; The core processing unit is used to provide tools for controlling the robot and navigation components, including adjusting device parameters, formulating treatment plans, providing interactive control paths, and displaying the working status of each subsystem of the puncture robot; The industrial control computer is used to execute the core algorithm of the automatic control of the puncture robot, collect data from each module through the communication link, and build a bridge for the interaction between the control host module and the hardware level.

4. A data-driven handheld puncture robot system according to claim 1, characterized in that: The navigation module includes: The sensor component integrates an electromagnetic positioning subsystem and an ultrasonic detection subsystem, and integrates the information of the electromagnetic positioning subsystem and the ultrasonic detection subsystem to improve the positioning accuracy of the system, so as to collect patient-related data and achieve the description of the patient's puncture environment and the status of the puncture instrument; A graphics processing workstation is used to receive, process and forward the patient-related data collected by the sensor component, execute a fusion algorithm to extract target information, and upload the processing results to the control host computer module; providing users with a real-time positioning visualization interface; The communication interface module is used to communicate with other modules and transmit the status of patients and equipment during surgery.

5. A control method for a data-driven handheld puncture robot system according to any one of claims 1 to 4, characterized in that: The steps include: (1) Define the parameters of the handheld puncture robot system. Suppose the discrete sampling time of the system is ; Input vector: Define three input vectors ,in, and Corresponding to the control input of two rotating joints, affecting the joint angles and , Indicates the extended length of the puncture needle ; Output vector: three output vectors , represents the coordinates of the robot end in three-dimensional space, ; Reference input vector: , represents the desired robot end coordinates; Error vector: ; Controller parameter vector: , the input-output relationship of the controller is ,in Represents a parameterized controller structure; (2) Define relevant functions; Cross-correlation function: Define the output error vector With the reference input vector The cross-correlation function matrix ,in is the time delay, N represents the total length of the time series; ； Use finite time estimates: ； in, is the number of sampled data; is a The matrix whose elements are ; (3) Constructing the objective function : ; in, represents the maximum time delay, Represents the trace operation of a matrix; (4) Update the controller parameters using the gradient descent method to minimize the objective function ; Calculate the objective function with respect to the controller parameters Gradient ; According to the chain rule, we get: ； in, represents the mth component of the controller parameter, represents the partial derivative of the cross-correlation function with respect to the controller parameters; The update formula of the controller parameters is: ; in, Represents the learning rate, which is used to control the step size of parameter update; (5) Assume that the output of the system is , where F is the dynamic function of the system; according to the chain rule, we get: ； ； ； By continuously updating the controller parameters , so that the objective function Gradually decrease to achieve the tracking of the robot's end coordinates to the reference coordinates.

6. An electronic device comprising a memory and a processor, characterized in that: The memory is coupled to the processor; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the control method of the data-driven handheld puncture robot system as described in claim 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the control method of the data-driven handheld puncture robot system according to claim 5 is implemented.

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