Control system and method of surgical intervention robot

Abstract

The invention discloses a control system and method of a surgical intervention robot. The control system comprises the surgical intervention robot, imaging equipment and a controller, the imaging device is configured to acquire a first image and send the first image to the controller; the controller is configured to determine an optimal puncture path according to the first image and control the surgical intervention robot to enable a connecting line between the first control point and the second control point to coincide with the optimal puncture path; an included angle between the optimal puncture path and a plumb line penetrating through the to-be-punctured target is not greater than a preset angle, and the distance between the optimal puncture path and the puncture point is minimum. Compared with the prior art, the included angle between the optimal puncture path and the plumb line penetrating through the to-be-punctured target is limited to be not larger than the preset angle, so that it is guaranteed that the puncture needle cannot fall off from the clamping piece. And secondly, the puncture path with the minimum distance to the puncture point is set as the optimal puncture path, so that the puncture depth of the puncture needle is minimum, and damage to a patient is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a control system and method for a surgical intervention robot. Background Art

[0002] Many surgical procedures involve the percutaneous insertion of a needle into a patient's body for biopsy and drug delivery, including placing the needle tip into a lesion, organ, or blood vessel in the body to perform a medical procedure. Examples of surgical procedures that require the insertion of a needle include blood / fluid sampling, regional anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive surgeries (MIS).

[0003] There are currently several methods for inserting a needle into a patient during the above-mentioned surgical procedure. One is for the surgeon to manually perform the process by placing one end of the needle on the patient's skin and repeatedly tilting the other end of the needle based on real-time imaging data to establish alignment between the needle and the target. However, this method is susceptible to human error, and patients and surgical personnel may be exposed to excessive X-ray radiation, posing a potential human hazard. Another method has also proposed surgical automation, introducing medical device systems such as robotic arms (robots) to simulate manual surgical procedures.

[0004] The Chinese invention patent application with publication number CN115645052A discloses a navigation positioning surgical robot, which clamps the puncture needle at the end by two clamps arranged at intervals in the upper and lower parts, and adjusts the angle of the puncture needle by moving the relative positions of the two clamps in multiple directions, so as to align the puncture needle with the target to be punctured. However, the above technology has at least the following technical problems: when the lateral distance between the two clamps is too large, the puncture needle is easy to fall off the clamps, resulting in failure to perform puncture normally. Summary of the invention

[0005] The present invention provides a control system and method for a surgical intervention robot to solve the technical problem in the prior art that when the lateral distance between two clamping members is too large, the puncture needle is easy to fall off, resulting in failure to perform puncture normally.

[0006] To achieve the above object, the present invention adopts the following technical solution.

[0007] On the one hand, a control system for a surgical intervention robot is provided, comprising a surgical intervention robot, an imaging device and a controller; The surgical intervention robot comprises a first arm, a second arm, a first control point, a second control point, a first driving member and a second driving member; the first arm is arranged parallel to and directly above the second arm, the first control point is located at the end of the first arm, and the second control point is located at the end of the second arm; the first driving member is used to drive the first arm to move along its length direction and vertical direction, and the second driving member is used to drive the second arm to move along its length direction and vertical direction; The imaging device is configured to acquire a first image; the first image includes image information of the target to be punctured and image information of the skin contour near the target to be punctured; The controller is configured to receive the first image, determine the optimal puncture path based on the first image, and control the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path; the angle between the optimal puncture path and the plumb line passing through the target to be punctured is not greater than a preset angle, and the distance between the optimal puncture path and the puncture point is the smallest; the puncture point is the point on the skin near the target to be punctured that is closest to the target to be punctured.

[0008] In some embodiments, the first control point and the second control point are both balls with through holes for fixing the puncture needle.

[0009] In some embodiments, a first rotation axis is provided at one end of the first arm away from the first control point, and the first driving member is used to drive the first arm to rotate around the first rotation axis; a second rotation axis is provided at one end of the second arm away from the second control point, and the second driving member is used to drive the second arm to rotate around the second rotation axis.

[0010] In some embodiments, the controller is configured to maintain a vertical distance between the first control point and the second control point during movement between 10 mm and 30 mm. More preferably, the controller is configured to maintain a vertical distance between the first control point and the second control point during movement between 15 mm. If the vertical distance between the first control point and the second control point is too large, the moving distance required for the puncture needle to reach the required angle control point will be increased, and if it is too small, a higher movement accuracy will be required to achieve a small angle adjustment.

[0011] On the other hand, a control method of a surgical intervention robot is provided, which is applied to the control system of the above-mentioned surgical intervention robot, and comprises the following steps: receiving a first image; determining an optimal puncture path according to the first image; The surgical intervention robot is controlled so that a line between the first control point and the second control point coincides with the optimal puncture path.

[0012] In some embodiments, determining the optimal puncture path according to the first image comprises the following steps: Determine the position coordinates of the target to be punctured and the coordinate position of the puncture point according to the first image; Determine an initial puncture path passing through the target to be punctured and the puncture point according to the position coordinates of the target to be punctured and the coordinate position of the puncture point; Determine whether the angle between the initial puncture path and the plumb line passing through the target to be punctured is greater than a preset angle; if not, determine that the initial puncture path is the optimal puncture path; if so, determine that the path that meets the following conditions is the optimal puncture path: passes through the target to be punctured, the angle between the initial puncture path and the plumb line passing through the target to be punctured is less than or equal to the preset angle, and the distance to the puncture point is the smallest.

[0013] In some embodiments, controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path includes the following steps: controlling the surgical intervention robot so that the target to be punctured, the first control point, and the second control point are located in the same plane.

[0014] In some embodiments, the plane is a cross-section of the object to be punctured.

[0015] In some embodiments, controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path comprises the following steps: Controlling the surgical intervention robot so that a line between the first control point and the second control point coincides with the optimal puncture path, and controlling a vertical distance between the first control point and the second control point to be maintained between 10 mm and 30 mm during movement; receiving a second image; Determining, according to the second image, whether a line between the first control point and the second control point coincides with the optimal puncture path; If yes, control the puncture needle to be inserted into the target to be punctured; If not, determine the angle between the line between the first control point and the second control point and the optimal puncture path according to the second image, adjust the positions of the first control point and the second control point according to the angle so that the line between the two coincides with the optimal puncture path, reacquire the second image and determine whether the line between the first control point and the second control point coincides with the optimal puncture path according to the second image; The second image is obtained by the imaging device, and includes image information of the target to be punctured, image information of the skin contour near the target to be punctured, image information of the first control point, and image information of the second control point.

[0016] On the other hand, a computer-readable storage medium is provided, on which a computer program / instruction is stored, and when the computer program / instruction is executed by a processor, the steps of the above method are implemented.

[0017] In yet another aspect, a computer program product is provided, comprising a computer program / instruction, which implements the steps of the above method when executed by a processor.

[0018] The present invention has at least the following technical effects or advantages: by limiting the angle between the optimal puncture path and the plumb line passing through the target to be punctured to be no greater than a preset angle, the puncture needle is ensured not to fall off the clamp. By setting the puncture path with the shortest distance from the puncture point as the optimal puncture path, the puncture depth of the puncture needle is minimized, thereby reducing damage to the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of a control system of a surgical intervention robot in one embodiment of the present invention; Figure 2 It is a structural schematic diagram of the operation process of a control method for a surgical intervention robot in one embodiment of the present invention; Figure 3 It is a schematic diagram of the overall flow of a control method of a surgical intervention robot in one embodiment of the present invention; Figure 4 It is a schematic diagram of a process of determining an optimal puncture path according to a first image in one embodiment of the present invention; Figure 5 It is a schematic diagram of a process of making a line between a first control point and a second control point coincide with an optimal puncture path in one embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0021] Embodiment 1 Figure 1The structural schematic diagram of a control system of a surgical intervention robot provided by the present invention is shown. In the embodiment of the present invention, the control system is described with reference to surgical applications, however, it should be understood that the control system can be used in various other applications that require alignment of the target to be punctured, such as biopsy, ablation and vertebroplasty. In addition, other non-surgical applications (such as non-surgical operations performed in laboratories or industries) can also be envisioned. The targets to be punctured include in vivo inspection targets and treatment targets (commonly known as lesions), such as in vivo targets of blood vessels, tumors, hearts, lungs and kidney stones. For example, in the examination of the vascular system, the condition of the blood vessels can be understood through coronary angiography, pulmonary angiography, carotid angiography, etc.; in interventional tumor embolization therapy and interventional radiotherapy, tumors, vascular malformations and other diseases are treated by radio interventional means; and percutaneous tumor ablation, interventional tumor embolization therapy, etc., treat tumors by interventional means to reduce surgical trauma; cardiac pacemaker implantation, heart valve replacement, etc., treat heart diseases by interventional means to improve heart function.

[0022] like Figure 1 As shown, the present invention provides a control system for a surgical intervention robot, including a surgical intervention robot, an imaging device and a controller, wherein the surgical intervention robot and the imaging device are electrically connected to the controller respectively.

[0023] like Figure 2 As shown, the surgical intervention robot includes a first arm 1, a second arm 2, a first control point 3, a second control point 4, a first driving member (not shown) and a second driving member (not shown). The first arm 1 is arranged parallel to and directly above the second arm 2, the first control point 3 is located at the end of the first arm 1, and the second control point 4 is located at the end of the second arm 2. The first driving member is used to drive the first arm 1 to move along its length direction and vertical direction, and the second driving member is used to drive the second arm 2 to move along its length direction and vertical direction.

[0024] In an embodiment of the present invention, the first control point 3 and the second control point 4 are both balls with through holes for fixing the puncture needle. The ball can complete the angular rotation orientation under the control of the interventional robot actuator. At the same time, the ball can also include a component for stabilizing the puncture needle. The component can be an elastic component so that the puncture needle is tightened and stabilized after the puncture needle is inserted without sliding, and at the same time, the puncture needle can be moved up and down when upward or downward pressure is applied to the puncture needle. In another embodiment of the present invention, the component can also be a clamping mechanism with a movable clamp, for example, which can move up and down, and the clamp can form a clamping (i.e., closed) and a loosening (i.e., loosening) mode. When the clamping mechanism needs to fix the puncture needle, the clamp is in a clamping state to stabilize the puncture needle; when the clamping mechanism needs to move the puncture needle up and down, the clamp switches the clamping and loosening modes according to the received distance control signal until the puncture needle reaches the planned position.

[0025] In an embodiment of the present invention, the interventional robot includes components made of materials with different radiation transmittances. For example, the ball of the interventional robot is made of titanium, which is a radiopaque material to block X-rays, while the remaining components of the interventional robot are made of radiolucent materials. As a result, the image data formed by the interventional robot under the irradiation of the imaging device can accurately identify the position information of the first and second control points, and the remaining components of the interventional robot are made of radiolucent materials so that the interventional robot will not block the target to be punctured below it during operation, further improving the alignment accuracy of the puncture.

[0026] Preferably, a first rotation axis is provided at one end of the first arm away from the first control point, and the first driving member is used to drive the first arm to rotate around the first rotation axis; a second rotation axis is provided at one end of the second arm away from the second control point, and the second driving member is used to drive the second arm to rotate around the second rotation axis. It should be noted that the above-mentioned surgical intervention robot is a prior art, and the present invention does not improve the structure of the surgical intervention robot.

[0027] In an embodiment of the present invention, the imaging device is configured to acquire a first image. The first image includes image information of the target to be punctured 5 and the skin contour near the target to be punctured (i.e. Figure 2 The first image is a cross-sectional view of the patient.

[0028] In an embodiment of the present invention, the imaging device may be a magnetic resonance imaging (MRI) machine, a computer tomography (CT) scanner, a fluoroscopy machine, etc. In the following embodiments of the present invention, the imaging device takes an X-ray fluoroscopy machine as an example, referred to as an X-ray machine. Furthermore, the first image may also include path data from the puncture target to the patient's body surface, and the path data includes data such as blood vessel distribution and other organ tissues. The imaging device sends the acquired first image to the controller, and the controller can plan the puncture path according to the first image, improve the puncture efficiency, and minimize the damage to the skin on the surface of the body and the organs in the body.

[0029] In an embodiment of the present invention, Figure 2As shown, the controller is configured to receive the first image, determine the best puncture path 7 according to the first image, and control the surgical intervention robot to make the line between the first control point 3 and the second control point 4 coincide with the best puncture path 7. The best puncture path 7 needs to meet the following three conditions: 1. Pass through the target 5 to be punctured; 2. The angle between the plumb line passing through the target 5 to be punctured is not greater than the preset angle; 3. The distance from the puncture point 6 is the smallest. The puncture point 6 is the point on the skin near the target to be punctured that is closest to the target to be punctured. It should be noted that after repeated tests, it was found that the puncture needle will not come out of the clamp when the angle between the plumb line is not greater than 45°, so the preset angle can be set to 45°. Preferably, the controller is configured to keep the vertical distance between the first control point and the second control point between 10mm and 30mm during the movement. More preferably, the controller is configured to keep the vertical distance between the first control point and the second control point between 15mm during the movement.

[0030] Embodiment 2 See also Figure 2-Figure 5 A control method for a surgical intervention robot is applied to the control system of the above-mentioned surgical intervention robot, comprising the following steps: S01, receiving a first image; S02, determining an optimal puncture path according to the first image; S03. Control the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path; wherein the angle between the optimal puncture path and the plumb line passing through the target to be punctured is not greater than a preset angle, and the distance between the optimal puncture path and the puncture point is the smallest; the puncture point is the point on the skin near the target to be punctured that is closest to the target to be punctured.

[0031] Preferably, determining the optimal puncture path according to the first image may include the following steps: S021, determining the position coordinates of the target to be punctured and the coordinate position of the puncture point according to the first image; S022, determining an initial puncture path passing through the target to be punctured and the puncture point according to the position coordinates of the target to be punctured and the coordinates of the puncture point ( Figure 2 The dotted line with an arrow in the middle is the initial puncture path. It can be seen that the angle between it and the plumb line passing through the target to be punctured is greater than 45°); S023. Determine whether the angle between the initial puncture path and the plumb line passing through the target to be punctured is greater than a preset angle; if not, determine that the initial puncture path is the optimal puncture path; if so, determine that the path that meets the following conditions is the optimal puncture path: passes through the target to be punctured, the angle between the initial puncture path and the plumb line passing through the target to be punctured is less than or equal to the preset angle, and the distance to the puncture point is the smallest.

[0032] Preferably, before controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path, the following steps may be included: controlling the surgical intervention robot so that the target to be punctured, the first control point and the second control point are located in the same plane; more preferably, the plane is a cross-section of the object to be punctured (patient).

[0033] Preferably, controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path may include the following steps: S031, controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path, and controlling the vertical distance between the first control point and the second control point to be maintained between 10 mm and 30 mm during the movement; S032, receiving a second image; S033, judging whether the line between the first control point and the second control point coincides with the optimal puncture path according to the second image; If yes, control the puncture needle to be inserted into the target to be punctured; If not, determine the angle between the line between the first control point and the second control point and the optimal puncture path according to the second image, adjust the positions of the first control point and the second control point according to the angle so that the line between the two coincides with the optimal puncture path, reacquire the second image and determine whether the line between the first control point and the second control point coincides with the optimal puncture path according to the second image; The second image is acquired by an imaging device, and includes image information of the target to be punctured, image information of the skin contour near the target to be punctured, image information of the first control point, and image information of the second control point.

[0034] Embodiment 3 A computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the following steps: S01, receiving a first image; S02, determining an optimal puncture path according to the first image; S03. Control the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path; wherein the angle between the optimal puncture path and the plumb line passing through the target to be punctured is not greater than a preset angle, and the distance between the optimal puncture path and the puncture point is the smallest; the puncture point is the point on the skin near the target to be punctured that is closest to the target to be punctured.

[0035] Preferably, determining the optimal puncture path according to the first image may include the following steps: S021, determining the position coordinates of the target to be punctured and the coordinate position of the puncture point according to the first image; S022, determining an initial puncture path passing through the target to be punctured and the puncture point according to the position coordinates of the target to be punctured and the coordinate position of the puncture point; S023. Determine whether the angle between the initial puncture path and the plumb line passing through the target to be punctured is greater than a preset angle; if not, determine that the initial puncture path is the optimal puncture path; if so, determine that the path that meets the following conditions is the optimal puncture path: passes through the target to be punctured, the angle between the initial puncture path and the plumb line passing through the target to be punctured is less than or equal to the preset angle, and the distance to the puncture point is the smallest.

[0036] Preferably, before controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path, the following steps may be included: controlling the surgical intervention robot so that the target to be punctured, the first control point and the second control point are located in the same plane; more preferably, the plane is the cross-section of the object to be punctured.

[0037] Preferably, controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path may include the following steps: S031, controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path, and controlling the vertical distance between the first control point and the second control point to be maintained between 10 mm and 30 mm during the movement; S032, receiving a second image; S033, judging whether the line between the first control point and the second control point coincides with the optimal puncture path according to the second image; If yes, control the puncture needle to be inserted into the target to be punctured; If not, determine the angle between the line between the first control point and the second control point and the optimal puncture path according to the second image, adjust the positions of the first control point and the second control point according to the angle so that the line between the two coincides with the optimal puncture path, reacquire the second image and determine whether the line between the first control point and the second control point coincides with the optimal puncture path according to the second image; The second image is acquired by an imaging device, and includes image information of the target to be punctured, image information of the skin contour near the target to be punctured, image information of the first control point, and image information of the second control point.

[0038] Embodiment 4 A computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the following steps: S01, receiving a first image; S02, determining an optimal puncture path according to the first image; S03. Control the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path; wherein the angle between the optimal puncture path and the plumb line passing through the target to be punctured is not greater than a preset angle, and the distance between the optimal puncture path and the puncture point is the smallest; the puncture point is the point on the skin near the target to be punctured that is closest to the target to be punctured.

[0039] Preferably, determining the optimal puncture path according to the first image may include the following steps: S021, determining the position coordinates of the target to be punctured and the coordinate position of the puncture point according to the first image; S022, determining an initial puncture path passing through the target to be punctured and the puncture point according to the position coordinates of the target to be punctured and the coordinate position of the puncture point; S023. Determine whether the angle between the initial puncture path and the plumb line passing through the target to be punctured is greater than a preset angle; if not, determine that the initial puncture path is the optimal puncture path; if so, determine that the path that meets the following conditions is the optimal puncture path: passes through the target to be punctured, the angle between the initial puncture path and the plumb line passing through the target to be punctured is less than or equal to the preset angle, and the distance to the puncture point is the smallest.

[0040] Preferably, before controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path, the following steps may be included: controlling the surgical intervention robot so that the target to be punctured, the first control point and the second control point are located in the same plane; more preferably, the plane is the cross-section of the object to be punctured.

[0041] Preferably, controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path may include the following steps: S031, controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path, and controlling the vertical distance between the first control point and the second control point to be maintained between 10 mm and 30 mm during the movement; S032, receiving a second image; S033, judging whether the line between the first control point and the second control point coincides with the optimal puncture path according to the second image; If yes, control the puncture needle to be inserted into the target to be punctured; If not, determine the angle between the line between the first control point and the second control point and the optimal puncture path according to the second image, adjust the positions of the first control point and the second control point according to the angle so that the line between the two coincides with the optimal puncture path, reacquire the second image and determine whether the line between the first control point and the second control point coincides with the optimal puncture path according to the second image; The second image is acquired by an imaging device, and includes image information of the target to be punctured, image information of the skin contour near the target to be punctured, image information of the first control point, and image information of the second control point.

[0042] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0043] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in less than all of the features of the individual embodiments previously disclosed. Therefore, the claims that follow the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0044] Those skilled in the art will appreciate that the modules or units or groups of the devices in the examples disclosed herein may be arranged in the device as described in the embodiment, or alternatively may be located in one or more devices different from the devices in the example. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0045] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or groups in the embodiments may be combined into one module or unit or group, and in addition they may be divided into a plurality of submodules or subunits or subgroups. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0046] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0047] In addition, some of the embodiments are described herein as methods or combinations of method elements that can be implemented by a processor of a computer system or by other devices that perform the functions. Therefore, a processor with necessary instructions for implementing the method or method elements forms a device for implementing the method or method elements. In addition, the elements described herein of the device embodiments are examples of devices for implementing the functions performed by the elements for the purpose of implementing the invention.

[0048] The various techniques described herein may be implemented in combination with hardware or software, or a combination thereof. Thus, the method and apparatus of the present invention, or some aspects or portions of the method and apparatus of the present invention may be in the form of program codes (i.e., instructions) embedded in a tangible medium, such as a floppy disk, a CD-ROM, a hard disk drive, or any other machine-readable storage medium, wherein when the program is loaded into a machine such as a computer and executed by the machine, the machine becomes a device for practicing the present invention.

[0049] In the case where the program code is executed on a programmable computer, the computing device generally includes a processor, a storage medium readable by the processor (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. The memory is configured to store the program code; the processor is configured to execute the method of the present invention according to the instructions in the program code stored in the memory.

[0050] By way of example and not limitation, computer readable media include computer storage media and communication media. Computer readable media include computer storage media and communication media. Computer storage media stores information such as computer readable instructions, data structures, program modules or other data. Communication media generally embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and includes any information delivery medium. Any combination of the above is also included within the scope of computer readable media.

[0051] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0052] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is selected primarily for readability and teaching purposes, rather than for explaining or defining the subject matter of the present invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is illustrative, not restrictive, with respect to the scope of the present invention, which is defined by the appended claims.

[0053] Finally, it should be noted that the present invention does not explain in detail the common knowledge recognized by technicians in this field. The above is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control system for a surgical intervention robot, characterized in that: Including surgical intervention robots, imaging equipment and controllers; The surgical intervention robot comprises a first arm, a second arm, a first control point, a second control point, a first driving member and a second driving member; the first arm is arranged parallel to and directly above the second arm, the first control point is located at the end of the first arm, and the second control point is located at the end of the second arm; the first driving member is used to drive the first arm to move along its length direction and vertical direction, and the second driving member is used to drive the second arm to move along its length direction and vertical direction; The imaging device is configured to acquire a first image; the first image includes image information of the target to be punctured and image information of the skin contour near the target to be punctured; The controller is configured to receive the first image, determine the optimal puncture path based on the first image, and control the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path; the angle between the optimal puncture path and the plumb line passing through the target to be punctured is not greater than a preset angle, and the distance between the optimal puncture path and the puncture point is the smallest; the puncture point is the point on the skin near the target to be punctured that is closest to the target to be punctured.

2. The control system of the surgical intervention robot according to claim 1, characterized in that: The first control point and the second control point are both balls with through holes for fixing the puncture needle.

3. The control system of the surgical intervention robot according to claim 1 or 2, characterized in that: A first rotation axis is provided at one end of the first arm away from the first control point, and the first driving member is used to drive the first arm to rotate around the first rotation axis; a second rotation axis is provided at one end of the second arm away from the second control point, and the second driving member is used to drive the second arm to rotate around the second rotation axis.

4. A control method for a surgical intervention robot, applied to the control system of the surgical intervention robot according to any one of claims 1 to 3, characterized in that: The steps include: receiving a first image; determining an optimal puncture path according to the first image; The surgical intervention robot is controlled so that a line between the first control point and the second control point coincides with the optimal puncture path.

5. The control method of the surgical intervention robot according to claim 4, characterized in that: Determining the best puncture path according to the first image includes the following steps: Determine the position coordinates of the target to be punctured and the coordinate position of the puncture point according to the first image; Determine an initial puncture path passing through the target to be punctured and the puncture point according to the position coordinates of the target to be punctured and the coordinate position of the puncture point; Determine whether the angle between the initial puncture path and the plumb line passing through the target to be punctured is greater than a preset angle; if not, determine that the initial puncture path is the optimal puncture path; if so, determine that the path that meets the following conditions is the optimal puncture path: passes through the target to be punctured, the angle between the initial puncture path and the plumb line passing through the target to be punctured is less than or equal to the preset angle, and the distance to the puncture point is the smallest.

6. The control method of the surgical intervention robot according to claim 4 or 5, characterized in that: Controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path includes the following steps: controlling the surgical intervention robot so that the target to be punctured, the first control point, and the second control point are located in the same plane.

7. The control method of the surgical intervention robot according to claim 6, characterized in that: The plane is a cross section of the object to be punctured.

8. The control method of the surgical intervention robot according to claim 4 or 5, characterized in that: Controlling the surgical intervention robot so that the line between the first control point and the second control point coincides with the optimal puncture path comprises the following steps: Controlling the surgical intervention robot so that a line between the first control point and the second control point coincides with the optimal puncture path, and controlling a vertical distance between the first control point and the second control point to be maintained between 10 mm and 30 mm during movement; receiving a second image; Determining, according to the second image, whether a line between the first control point and the second control point coincides with the optimal puncture path; If yes, control the puncture needle to be inserted into the target to be punctured; If not, determine the angle between the line between the first control point and the second control point and the optimal puncture path according to the second image, adjust the positions of the first control point and the second control point according to the angle so that the line between the two coincides with the optimal puncture path, reacquire the second image and determine whether the line between the first control point and the second control point coincides with the optimal puncture path according to the second image; The second image is obtained by the imaging device, and includes image information of the target to be punctured, image information of the skin contour near the target to be punctured, image information of the first control point, and image information of the second control point.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 4 to 8 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 4 to 8 are implemented.

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