Percutaneous puncture surgical robot system based on quantum multi-dimensional sensor and control method

Abstract

The invention relates to the technical field of medical control, in particular to a percutaneous puncture surgical robot system based on a quantum multi-dimensional sensor and a control method. The method comprises the following steps that a magnetic field sensor based on a superconducting quantum interference device is used for conducting puncture magnetic field change detection and puncture needle position determination on the puncture process, and the puncture needle position distribution of the percutaneous puncture operation is obtained. Meanwhile, the system is based on an advanced technical architecture and provides precise support for various percutaneous paracentesis modes, and the modes cover the fields of percutaneous puncture tumor minimally invasive surgery, spine minimally invasive surgery, external minimally invasive surgery and the like. The device is wide in adaptation diseases including soft tissue, spine and craniocerebral related diseases, and can deal with various operations such as tumor ablation, scoliosis screw implantation, electrode implantation of Alzheimer's disease and epilepsy, cerebral hemorrhage drainage and the like. According to the invention, the accuracy and safety of puncture can be ensured.

Description

Technical Field

[0001] The present invention relates to the field of medical control technology, and in particular to a percutaneous puncture surgical robot system and a control method based on a quantum multidimensional sensor. Background Art

[0002] In recent years, percutaneous surgical robots have gradually become a research hotspot. Existing percutaneous surgical robot technology solutions include magnetic navigation, near-infrared navigation, and the more advanced structured light navigation. These devices still have a lot of room for improvement in risk control, surgical accuracy, and real-time operation. Quantum multidimensional sensors are greatly improving many problems in the medical field by providing unprecedented accuracy and functions. This type of sensor uses the principles of quantum mechanics, such as superposition and entanglement, to achieve high sensitivity, high accuracy, high resolution, high response rate, high perspective, and non-human damage measurement methods that were previously unattainable. Through these characteristics, it provides new possibilities for the development of percutaneous surgical robots. At present, traditional percutaneous surgical navigation technology mainly relies on imaging methods such as ultrasound imaging, CT imaging, and X-ray fluoroscopy to guide the puncture needle. Although these methods can improve puncture accuracy to a certain extent, they also have problems such as difficulty in positioning and weak anti-interference ability. They cannot be quantified during the operation, and percutaneous puncture surgery cannot be standardized, homogenized, and normalized, which makes the learning curve for doctors relatively long. Summary of the invention

[0003] Based on this, it is necessary for the present invention to provide a percutaneous puncture surgical robot system and control method based on quantum multidimensional sensors to solve at least one of the above technical problems.

[0004] To achieve the above purpose, a control method for a percutaneous puncture surgical robot system based on a quantum multidimensional sensor comprises the following steps:

[0005] Step S1: using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface to detect the change of the puncture magnetic field during the puncture process of the percutaneous puncture surgery robot, so as to obtain a distribution field of the magnetic field change during the percutaneous puncture surgery; based on the distribution field of the magnetic field change during the percutaneous puncture surgery, determining the position of the puncture needle during the puncture process of the percutaneous puncture surgery robot, so as to obtain the distribution of the puncture needle position during the percutaneous puncture surgery;

[0006] Step S2: by real-time monitoring the respiratory movement changes and body displacement changes of the patient during the puncture process corresponding to the percutaneous puncture surgery robot, and performing puncture depth correction analysis on the percutaneous puncture surgery puncture needle position distribution based on the respiratory movement changes and body displacement changes of the patient, the percutaneous puncture surgery needle depth distribution is obtained;

[0007] Step S3: using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle to detect the tumor displacement distribution of the puncture process corresponding to the percutaneous puncture surgical robot, and obtaining the tumor displacement distribution of the percutaneous puncture patient; determining the corresponding percutaneous puncture needle reaching the target area position distribution according to the tumor displacement distribution of the percutaneous puncture patient;

[0008] Step S4: Based on the position distribution of the percutaneous puncture needle reaching the target area, the percutaneous puncture needle insertion depth distribution is controlled to generate a percutaneous puncture needle insertion navigation path to perform corresponding percutaneous puncture robot puncture navigation adjustment work.

[0009] Further, step S1 includes the following steps:

[0010] Step S11: using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface to collect puncture magnetic field fluctuations during the puncture process of the percutaneous puncture surgical robot, and obtaining weak magnetic field distribution fluctuations corresponding to each moment during the percutaneous puncture process;

[0011] Step S12: performing magnetic field spatial gradient analysis on the weak magnetic field distribution fluctuation corresponding to each moment during the percutaneous puncture process to obtain the magnetic field spatial distribution gradient corresponding to each spatial distribution position during the percutaneous puncture process;

[0012] Step S13: performing a puncture space distribution analysis on the puncture process corresponding to the percutaneous puncture surgical robot to obtain the puncture space distribution between the puncture needle and the surrounding tissues of the human body during the percutaneous puncture process;

[0013] Step S14: performing magnetic field change distribution coupling processing on the puncture space distribution between the puncture needle and the surrounding tissues of the human body during the percutaneous puncture process based on the magnetic field space distribution gradient corresponding to each spatial distribution position during the percutaneous puncture process, so as to obtain the magnetic field change distribution field of the percutaneous puncture surgery;

[0014] Step S15: determining the position of the puncture needle for the puncture process corresponding to the percutaneous puncture surgery robot based on the percutaneous puncture surgery magnetic field change distribution field, and obtaining the percutaneous puncture surgery puncture needle position distribution.

[0015] Further, step S15 includes the following steps:

[0016] Step S151: analyzing the electromagnetic characteristics of the tissues surrounding the surgical area during the puncture process of the percutaneous puncture surgical robot to obtain the electromagnetic characteristics of the tissues surrounding the surgical area, including the electrical conductivity and dielectric constant of the surrounding tissues;

[0017] Step S152: performing magnetic field disturbance time series decomposition on the magnetic field change distribution field of the percutaneous puncture surgery to obtain the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process;

[0018] Step S153: based on the electromagnetic characteristics of the tissues around the percutaneous puncture surgery area, the relative position of the puncture is estimated based on the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process to obtain the relative position distribution of the puncture needle tip during the percutaneous puncture surgery;

[0019] Step S154: obtaining the stress reaction and puncture force between the puncture needle tip and the surrounding tissue through the puncture process corresponding to the percutaneous puncture surgical robot;

[0020] Step S155: Based on the stress reaction between the puncture needle tip and the surrounding tissue and the puncture force, the puncture position deviation of the relative position distribution of the puncture needle tip of the percutaneous puncture surgery is corrected to obtain the puncture needle position distribution of the percutaneous puncture surgery.

[0021] Further, step S153 includes the following steps:

[0022] The electromagnetic flow and dielectric effect of the puncture needle are analyzed based on the electrical conductivity and dielectric coefficient of the tissues around the percutaneous puncture surgery area, and the electromagnetic flow and dielectric effect between the percutaneous puncture needle and the tissues around the surgery area are obtained;

[0023] The time domain and frequency domain analysis is performed on the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process to extract the relative position feature points corresponding to the percutaneous puncture needle tip at each time point, and obtain the magnetic field relative position feature point set caused by the movement of the percutaneous puncture needle tip;

[0024] Based on the electromagnetic flow and dielectric effect between the percutaneous puncture needle and the surrounding tissues of the surgical area, the relative position of each relative position feature point in the magnetic field relative position feature point set caused by the movement of the percutaneous puncture needle tip is estimated to obtain the relative position distribution of the percutaneous puncture needle tip.

[0025] Further, step S155 includes the following steps:

[0026] The stress field modeling is performed on the stress reaction between the puncture needle tip and the surrounding tissue to simulate the local stress distribution generated when the puncture needle tip contacts the surrounding tissue during the puncture process, and the corresponding stress coupling distribution model between the puncture needle tip and the surrounding tissue is generated;

[0027] Perform stress gradient analysis on the stress coupling distribution model between the puncture needle tip and the surrounding tissue to obtain the stress change gradient between the puncture needle tip and the surrounding tissue;

[0028] According to the puncture force between the puncture needle tip and the surrounding tissue, the corresponding puncture process is analyzed for the tissue puncture elastic modulus to obtain the corresponding tissue puncture elastic modulus between the puncture needle tip and the surrounding tissue;

[0029] Based on the corresponding stress change gradient between the puncture needle tip and the surrounding tissue and the tissue puncture elastic modulus, the puncture position deviation of the relative position distribution of the puncture needle tip in percutaneous puncture surgery is corrected to obtain the puncture needle position distribution in percutaneous puncture surgery.

[0030] Further, step S2 includes the following steps:

[0031] Step S21: Real-time monitoring of the patient's respiratory movement changes during the puncture process corresponding to the percutaneous puncture surgical robot is performed through a preset pressure sensor array, so as to convert the body surface pressure change signal generated by the patient's respiratory movement into an electrical signal, and perform respiratory movement statistical analysis on the electrical signal to obtain the patient's respiratory movement changes, including the patient's corresponding respiratory cycle, tidal volume, respiratory frequency and respiratory phase change parameters;

[0032] Step S22: performing a three-dimensional scan of the patient's body contour in a preoperative static state with the operating table as the coordinate origin to generate a human body displacement reference atlas;

[0033] Step S23: synchronously start a preset laser radar scanning device to perform real-time monitoring of the human body three-dimensional point cloud of the puncture process corresponding to the percutaneous puncture surgical robot, so as to obtain the three-dimensional real-time point cloud data of the human body during the percutaneous puncture process; based on the human body displacement reference map and using an iterative closest point algorithm, calculate the human body relative displacement change of the corresponding three-dimensional feature points in the three-dimensional real-time point cloud data of the human body during the percutaneous puncture process, so as to obtain the patient's body displacement change;

[0034] Step S24: based on the changes in the patient's respiratory movement and the patient's body displacement, the puncture path deviation of the puncture process corresponding to the percutaneous puncture surgical robot is calculated using the puncture needle tip path deviation calculation formula to obtain the puncture path deviation vector between the puncture needle tip and the ideal target point at each moment;

[0035] Step S25: performing a puncture depth correction analysis on the percutaneous puncture needle position distribution according to the puncture path deviation vector between the puncture needle tip and the ideal target point at each moment, and obtaining the percutaneous puncture needle depth distribution.

[0036] Furthermore, the calculation formula of the puncture needle tip path deviation in step S24 is specifically:

[0037]

[0038] In the formula, is the puncture path deviation vector between the puncture needle tip and the ideal target at time t, t0 is the initial puncture time, T is the patient's corresponding respiratory cycle, i is the item index of the coordinate axis direction, where 1 represents the x-axis direction in the Cartesian coordinate system, 2 represents the y-axis direction in the Cartesian coordinate system, and 3 represents the z-axis direction in the Cartesian coordinate system. is the change in the patient's body displacement in the direction of the i-th coordinate axis at time t, k i is the second-order nonlinear deviation weight corresponding to the i-th coordinate axis direction, c i is the first-order nonlinear deviation weight corresponding to the direction of the i-th coordinate axis, m i is the linear deviation weight corresponding to the direction of the i-th coordinate axis, α i is the attenuation coefficient corresponding to the direction of the i-th coordinate axis, ω is the patient's corresponding respiratory frequency, is the patient's corresponding respiratory phase, is the tidal unit direction vector corresponding to the patient at time t.

[0039] Further, step S3 includes the following steps:

[0040] Step S31: using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle to perform magnetic resonance measurement of the puncture needle during the puncture process of the percutaneous puncture surgical robot, so as to generate a magnetic resonance signal change of the nitrogen vacancy center of the percutaneous puncture needle;

[0041] Step S32: based on the change of the magnetic resonance signal of the nitrogen vacancy center of the percutaneous puncture needle, the percutaneous puncture surgical robot performs tracking analysis on the micro displacement of the puncture needle during the puncture process, and obtains the micro dynamic displacement trajectory of the percutaneous puncture needle;

[0042] Step S33: obtaining a magnetic resonance image of the tumor tissue corresponding to the percutaneous puncture needle during the puncture process through a magnetic resonance imaging sensor based on a nitrogen vacancy center, and performing spatial distribution analysis of the puncture needle and the tumor based on the magnetic resonance image of the tumor tissue corresponding to the percutaneous puncture needle during the puncture process, so as to generate a spatial distribution relationship between the percutaneous puncture needle and the tumor tissue position during the puncture process;

[0043] Step S34: Based on the micro-dynamic displacement trajectory of the percutaneous puncture needle and combined with dynamic simulation and physical modeling, the spatial distribution relationship between the percutaneous puncture needle and the tumor tissue position during the puncture process is detected to eliminate the mechanical influence of different puncture angles and speeds of the percutaneous puncture needle and local tissue deformation generated during needle puncture on the tumor displacement, and obtain the tumor displacement distribution of the percutaneous puncture patient;

[0044] Step S35: determining the corresponding percutaneous puncture needle position distribution at the target area according to the percutaneous puncture patient's tumor displacement distribution.

[0045] Further, step S4 includes the following steps:

[0046] Step S41: quantifying the difference between the needle insertion depth distribution and the target area distribution of the percutaneous puncture needle based on the position distribution of the percutaneous puncture needle reaching the target area, and obtaining the distribution position distance difference between the percutaneous puncture needle insertion depth and the puncture reaching the target area;

[0047] Step S42: performing needle insertion navigation control on the needle insertion path of the percutaneous puncture surgical robot in the corresponding puncture process according to the distribution position distance difference between the percutaneous puncture needle insertion depth and the puncture reaching the target area, and generating a percutaneous puncture surgical needle insertion navigation path;

[0048] Step S43: Generate corresponding percutaneous puncture surgery navigation control instructions through percutaneous puncture surgery needle insertion navigation path response and act on the percutaneous puncture surgery robot to perform corresponding percutaneous puncture surgery robot puncture navigation adjustment work.

[0049] Furthermore, the present invention also provides a percutaneous puncture surgical robot system based on a quantum multidimensional sensor, which is used to execute the control method of the percutaneous puncture surgical robot system based on a quantum multidimensional sensor as described above. The percutaneous puncture surgical robot system based on a quantum multidimensional sensor includes:

[0050] The percutaneous puncture needle position determination module is used to detect the change of the puncture magnetic field during the puncture process of the percutaneous puncture surgery robot using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface, so as to obtain the distribution field of the magnetic field change during the percutaneous puncture surgery; based on the distribution field of the magnetic field change during the percutaneous puncture surgery, the puncture needle position is determined during the puncture process of the percutaneous puncture surgery robot, so as to obtain the distribution of the puncture needle position during the percutaneous puncture surgery;

[0051] The percutaneous puncture needle insertion depth correction module is used to monitor the patient's respiratory movement changes and body displacement changes during the puncture process corresponding to the percutaneous puncture surgical robot in real time, and perform puncture needle insertion depth correction analysis on the percutaneous puncture surgical needle position distribution based on the patient's respiratory movement changes and body displacement changes, thereby obtaining the percutaneous puncture surgical needle insertion depth distribution;

[0052] The module for determining the position of the target area is used to detect the tumor displacement distribution of the puncture process corresponding to the percutaneous puncture surgical robot using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle, and obtain the tumor displacement distribution of the percutaneous puncture patient; and determine the corresponding percutaneous puncture needle position distribution in the target area according to the tumor displacement distribution of the percutaneous puncture patient;

[0053] The percutaneous needle puncture navigation control module is used to perform needle puncture navigation control on the needle insertion depth distribution of percutaneous puncture surgery based on the position distribution of the percutaneous puncture needle reaching the target area, generate the percutaneous puncture surgery needle puncture navigation path, and execute the corresponding percutaneous puncture surgery robot puncture navigation adjustment work.

[0054] Beneficial effects of the present invention:

[0055] 1. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor proposed in the present invention has the beneficial effect compared with the prior art in that a magnetic field sensor based on a superconducting quantum interference device is placed near the patient's body surface and detects the change of the puncture magnetic field. This high-precision magnetic field sensor can keenly capture extremely subtle magnetic field fluctuations, and its detection accuracy can reach the pico-Tesla level, far exceeding traditional magnetic field detection methods. When the puncture needle is advanced in the body, due to the magnetic properties of the puncture needle material and the weak influence of the surrounding tissue environment on the magnetic field, a unique magnetic field change pattern will be generated. By monitoring these changes in real time, the percutaneous puncture surgery magnetic field change distribution field constructed is like drawing a detailed "magnetic field map" for the surgical area, accurately presenting the strength of each magnetic field. Weak and changing trends, at the same time, the position of the puncture needle is determined based on the distribution field of the magnetic field change. The previous positioning methods are limited by factors such as tissue occlusion and human movement, and there are certain deviations. This technology breaks through these limitations with the help of the penetration and stability of the magnetic field. The puncture needle is equivalent to a traceable "magnetic mark" in the magnetic field. No matter how it moves or turns, the magnetic field sensor can quickly calculate its three-dimensional coordinates according to the law of magnetic field changes, thereby obtaining accurate percutaneous puncture needle position distribution, which not only greatly improves the first hit rate of puncture, reduces unnecessary trauma to patients caused by repeated punctures, but also shortens the overall operation time and reduces surgical risks. It lays a solid foundation for puncture positioning in subsequent surgical processes, thereby solving the problem of difficult positioning during percutaneous puncture surgery. Secondly, real-time monitoring of the patient's respiratory movement changes and body displacement changes during the puncture process is a key link in ensuring the accuracy of surgical puncture needle insertion. In the natural state, the human body's respiratory movement will cause tiny fluctuations and displacements of the chest, abdomen and even the whole body. In percutaneous puncture surgery, even millimeter-level changes can cause the puncture needle to deviate from the predetermined path. By adopting advanced monitoring technologies, such as high-precision optical tracking, inertial measurement units and other combined means, all-round monitoring of respiratory movement can be carried out, and dynamic parameters such as respiratory frequency, depth, and duration of inhalation and exhalation can be accurately recorded, as well as the real-time displacement vectors of various parts of the human body in three-dimensional space. When the puncture is corrected based on these changes, When the needle position distribution is used for correction analysis of the puncture depth, it is like equipping the surgical operation with an intelligent "navigator". It fully considers the dynamic changes of the human body and uses complex mathematical models and algorithms to convert respiratory movement and human displacement data into adjustment instructions for the puncture needle depth. For example, when the patient inhales, the chest cavity expands, causing organs such as the liver to move upward. At this time, the needle depth of the lesion near the liver must be fine-tuned accordingly to avoid puncturing too deep or too shallow. This process effectively compensates for the puncture error caused by the dynamic changes of the patient's body, ensuring that the puncture needle always reaches the target accurately along the ideal trajectory, thereby making percutaneous puncture surgery standardized, homogenized, and normalized.Then, by using a magnetic resonance imaging sensor based on nitrogen vacancy centers placed near the puncture needle to detect the tumor displacement distribution, the nitrogen vacancy center magnetic resonance imaging technology has ultra-high spatial resolution, and can clearly distinguish the boundaries, morphology and internal structure changes between tumor tissue and surrounding normal tissue at a microscopic scale. During the puncture process, the position of the tumor is not fixed due to its own physiological characteristics, changes in the force of surrounding tissues, and slight movements of the patient's body. The real-time acquisition of the percutaneous puncture patient's tumor displacement distribution by the sensor is like giving the surgeon a pair of "X-ray glasses" to accurately understand the tumor's every move. This real-time dynamic positioning method greatly improves the targeting of the puncture, allowing the puncture needle to respond at the moment the tumor is displaced, adjust the path, and accurately hit the core area of ​​the tumor or a specific treatment target, thereby improving the percutaneous puncture surgical robot's anti-interference ability during the puncture process. Finally, the needle insertion navigation control is performed on the percutaneous puncture surgical needle insertion depth distribution based on the position distribution of the percutaneous puncture needle reaching the target area. After the current position of the puncture needle relative to the target area is clarified, it is combined with the pre-planned needle insertion depth distribution. Using advanced navigation algorithms and intelligent control systems, the generated percutaneous puncture surgical needle insertion navigation path is like a "highway" tailored for the puncture needle. This navigation path fully considers various variables in the puncture process, such as the elastic deformation of the tissue, the respiratory movement monitored in the previous steps, the human body displacement, and the tumor displacement, and optimizes the needle insertion direction and depth in real time. When performing the corresponding percutaneous puncture surgical robot puncture navigation adjustment work, the robot can quickly and accurately move the puncture needle according to the navigation path instructions to ensure that each step of the puncture operation is accurate. This not only improves the accuracy and efficiency of the operation, but also reduces the errors caused by factors such as hand shaking and fatigue caused by human operation, thereby improving the corresponding puncture accuracy of the percutaneous puncture surgical robot.

[0056] 2. The percutaneous puncture surgical robot system based on quantum multidimensional sensors proposed in the present invention, during the actual operation process, the system works with the help of quantum multidimensional sensors. This sensor can obtain multidimensional data of the target tissue under the guidance of imaging equipment such as CT, MRI, and ultrasound, specifically covering key information such as the three-dimensional spatial position, elastic properties, and density distribution of the tissue. Subsequently, the above data is processed using a high-precision quantum algorithm to generate an accurate tissue model, and the model will be updated synchronously in real time. The model is composed of a percutaneous puncture needle position determination module, a percutaneous puncture needle depth correction module, a target area position determination module and a percutaneous needle puncture navigation control module. It can realize the control method of any percutaneous puncture surgical robot system based on a quantum multidimensional sensor as described in the present invention, and is used to combine the operations between computer programs running on each module to realize the control method of any percutaneous puncture surgical robot system based on a quantum multidimensional sensor. The internal structures of the system cooperate with each other, which can greatly reduce repetitive work and manpower investment, and can quickly and effectively provide a more accurate and efficient control process of a percutaneous puncture surgical robot system based on a quantum multidimensional sensor, thereby simplifying the operation process of a percutaneous puncture surgical robot system based on a quantum multidimensional sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments thereof made with reference to the following drawings:

[0058] Figure 1 It is a schematic diagram of the steps of the control method of the percutaneous puncture surgical robot system based on the quantum multi-dimensional sensor of the present invention;

[0059] Figure 2 for Figure 1 Detailed step flow diagram of step S1;

[0060] Figure 3 for Figure 2 Detailed step flow chart of step S15 in FIG. DETAILED DESCRIPTION

[0061] The technical method of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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 technicians in this field without creative work are within the scope of protection of the present invention.

[0062] To achieve this, please refer to Figures 1 to 3 The present invention provides a control method for a percutaneous puncture surgical robot system based on a quantum multidimensional sensor, the method comprising the following steps:

[0063] Step S1: using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface to detect the change of the puncture magnetic field during the puncture process of the percutaneous puncture surgery robot, so as to obtain a distribution field of the magnetic field change during the percutaneous puncture surgery; based on the distribution field of the magnetic field change during the percutaneous puncture surgery, determining the position of the puncture needle during the puncture process of the percutaneous puncture surgery robot, so as to obtain the distribution of the puncture needle position during the percutaneous puncture surgery;

[0064] Step S2: by real-time monitoring the respiratory movement changes and body displacement changes of the patient during the puncture process corresponding to the percutaneous puncture surgery robot, and performing puncture depth correction analysis on the percutaneous puncture surgery puncture needle position distribution based on the respiratory movement changes and body displacement changes of the patient, the percutaneous puncture surgery needle depth distribution is obtained;

[0065] Step S3: using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle to detect the tumor displacement distribution of the puncture process corresponding to the percutaneous puncture surgical robot, and obtaining the tumor displacement distribution of the percutaneous puncture patient; determining the corresponding percutaneous puncture needle reaching the target area position distribution according to the tumor displacement distribution of the percutaneous puncture patient;

[0066] Step S4: Based on the position distribution of the percutaneous puncture needle reaching the target area, the percutaneous puncture needle insertion depth distribution is controlled to generate a percutaneous puncture needle insertion navigation path to perform corresponding percutaneous puncture robot puncture navigation adjustment work.

[0067] In the embodiment of the present invention, please refer to Figure 1 FIG. 1 is a schematic diagram of the steps of the control method of the percutaneous puncture surgical robot system based on the quantum multidimensional sensor of the present invention. In this example, the control method of the percutaneous puncture surgical robot system based on the quantum multidimensional sensor includes the following steps:

[0068] Step S1: using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface to detect the change of the puncture magnetic field during the puncture process of the percutaneous puncture surgery robot, so as to obtain a distribution field of the magnetic field change during the percutaneous puncture surgery; based on the distribution field of the magnetic field change during the percutaneous puncture surgery, determining the position of the puncture needle during the puncture process of the percutaneous puncture surgery robot, so as to obtain the distribution of the puncture needle position during the percutaneous puncture surgery;

[0069] In an embodiment of the present invention, magnetic field sensors based on superconducting quantum interference devices (SQUIDs) are placed at specific locations on the patient's body surface to monitor weak magnetic field fluctuations during the puncture process. These sensors can accurately sense the magnetic field fluctuations caused by the interaction between the puncture needle and the surrounding tissues of the human body. In order to ensure that the sensor can accurately capture the required data, the sensor position should be in an area at a certain distance from the puncture point. The sensitivity of the sensor is set to be able to detect weak magnetic field changes between the surface of the skin and deep tissues. Usually, the resolution of the sensor is nanoT (nT) to pT (pT). At every moment in the entire puncture process, the weak magnetic field distribution fluctuations corresponding to each moment in the percutaneous puncture process are obtained. By performing spatial gradient analysis on the previously acquired magnetic field distribution fluctuations, the magnetic field gradient refers to the rate of change of the magnetic field intensity in space, which reflects the spatial distribution of the magnetic field change, and by analyzing the spatial distribution during the puncture process, firstly, based on the real-time control information of the surgical robot, the needle position and its motion trajectory during the puncture process are obtained, and at the same time, combined with the previously obtained magnetic field spatial gradient data, the relative position relationship between the puncture needle and the patient's tissue is judged, and the spatial position distribution of the puncture needle on the entire puncture path is analyzed through an accurate kinematic model. At the same time, based on the magnetic field spatial gradient information obtained by the previous analysis, the spatial position distribution of the puncture needle on the entire puncture path is coupled. First, a mathematical model between the magnetic field change during the puncture process and the contact relationship between the puncture needle and the surrounding tissue is established, and the magnetic field change generated when the puncture needle contacts the tissue is simulated, and combined with the actual magnetic field gradient data, the influence of the magnetic field change on the contact between the needle and the tissue is calculated. The finite element analysis (FEA) or computational fluid dynamics (CFD) method can be used to simulate the magnetic field change during the puncture process, and the spatial distribution relationship between the needle and the surrounding tissue is accurately estimated through model inversion, thereby obtaining the magnetic field change distribution field of the percutaneous puncture surgery. Then, the position of the puncture needle is accurately determined based on the previously obtained magnetic field change distribution field. First, the puncture spatial distribution data obtained by the previous analysis is combined with the magnetic field change distribution field, and an inverse algorithm or an optimization algorithm is used to determine the position of the puncture needle at each moment in the puncture process. Specifically, based on the spatial distribution characteristics of the magnetic field change distribution field, a global optimization model is constructed. This model optimizes the spatial positioning of the puncture needle by minimizing the magnetic field error during the puncture process. At this time, the position of the needle can be continuously adjusted through the position feedback control algorithm in combination with the current motion state and target trajectory of the puncture robot to ensure that the needle accurately enters the target tissue without deviating from the trajectory, and is displayed in real time on the surgical interface, and finally the position distribution of the puncture needle for percutaneous puncture surgery is obtained.

[0070] Step S2: by real-time monitoring the respiratory movement changes and body displacement changes of the patient during the puncture process corresponding to the percutaneous puncture surgery robot, and performing puncture depth correction analysis on the percutaneous puncture surgery puncture needle position distribution based on the respiratory movement changes and body displacement changes of the patient, the percutaneous puncture surgery needle depth distribution is obtained;

[0071] In the embodiment of the present invention, an array of 16 high-precision piezoresistive pressure sensors is used, and these sensors are closely attached to the patient's body surface according to the anatomical distribution of the key respiratory motion sensing areas of the human chest and abdomen to ensure seamless contact between the sensor and the skin. When the patient breathes, the chest and abdomen rise and fall, driving the air pressure change. The piezoresistive sensitive element of the sensor is deformed by force, and the surface pressure change is converted into an electrical signal based on the piezoresistive effect. The electrical signal is amplified and pre-processed by the filtering circuit and transmitted to a hardware module with a built-in dedicated statistical analysis algorithm. The module uses a sampling frequency of 100 Hz. The electrical signal is collected, and the corresponding breathing cycle of the patient is accurately calculated through peak detection and cycle recognition algorithms, with an accuracy of up to 0.1 seconds; the tidal volume is calculated using an integral algorithm, with an error controlled within 5%; the respiratory frequency is obtained based on the inverse of the cycle, and the respiratory phase change parameters are extracted through a phase comparison algorithm, thereby obtaining changes in respiratory movement and human body displacement. Before the operation begins, when the patient is in a static and flat position, a scanning device based on structured light 3D scanning technology is started. The device evenly arranges 4 high-precision projectors and 8 high-resolution cameras around the operating table, and is constructed with the operating table as the coordinate origin. The projector projects a specially coded structured light stripe pattern onto the patient's body surface. The camera captures the stripe deformation images synchronously from different angles. The multi-view images collected are subjected to feature extraction, matching and triangulation calculations. A human body displacement reference map is constructed with an accuracy of 1 mm, which fully presents the human body contour and spatial position information of the patient in a static state before the operation. Three laser radar scanning devices installed at an angle of 120 degrees to each other are synchronously turned on. They are fixed on an adjustable bracket above the operating table to ensure that the scanning field of view covers the patient's entire body. The laser radar scans the patient at a pulse frequency of 1000 times per second. The laser beam is emitted, and the laser is reflected by the human body surface. After the reflected light is received, it undergoes photoelectric conversion and signal processing to generate real-time three-dimensional point cloud data of the human body during percutaneous puncture. At the same time, a pre-constructed human body displacement reference map is input. The chip uses the algorithm to accurately match and compare the coordinates of the three-dimensional feature points of the human body in the two sets of data, such as the shoulder, elbow, hip and other key joints, calculate the relative displacement of each feature point in the three-dimensional space, and realize the puncture path deviation estimation of the corresponding puncture process of the percutaneous puncture surgical robot, and accurately obtain the puncture path deviation vector between the puncture needle tip and the ideal target point at each moment.Then, by utilizing the needle insertion depth correction model based on finite element analysis, the model is constructed based on a large amount of clinical puncture case data and a human tissue mechanical property library, and the puncture path deviation vector between the puncture needle tip and the ideal target at each moment obtained by previous quantitative calculation is input into the model. The model simulates the force conditions of the puncture needle when encountering tissue resistance and elastic deformation based on the principle of tissue mechanics conduction, and considers the influence of the deviation vector direction and size on the needle insertion depth. For example, when the deviation vector points to a harder tissue area, the model will appropriately reduce the needle insertion depth to avoid puncture difficulties; on the contrary, if it points to loose tissue, the needle insertion depth will be reasonably increased. The puncture needle position distribution of percutaneous puncture surgery is subjected to puncture depth correction analysis with a correction accuracy of 0.05 mm, and finally the percutaneous puncture surgery needle insertion depth distribution is obtained.

[0072] Step S3: using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle to detect the tumor displacement distribution of the puncture process corresponding to the percutaneous puncture surgical robot, and obtaining the tumor displacement distribution of the percutaneous puncture patient; determining the corresponding percutaneous puncture needle reaching the target area position distribution according to the tumor displacement distribution of the percutaneous puncture patient;

[0073] In an embodiment of the present invention, a magnetic resonance imaging sensor based on a nitrogen vacancy center is installed near the puncture needle to monitor the movement of the puncture needle during percutaneous puncture in real time. The nitrogen vacancy center (NV center) has a high magnetic sensitivity and can respond to small changes in the external magnetic field. The sensor obtains a magnetic resonance signal of the nitrogen vacancy center by detecting small changes in the magnetic field around the puncture needle, generates a magnetic resonance signal related to the position change of the puncture needle, and performs real-time tracking and analysis of the small displacement of the puncture needle based on the previously acquired magnetic resonance signal change of the nitrogen vacancy center. The specific implementation is to identify the position change of the puncture needle during the puncture process by performing time domain and frequency domain analysis on the magnetic resonance signal. The analysis process uses a high-precision signal processing algorithm, including fast Fourier transform (FFT) and Kalman filtering, etc., to process and denoise the sensor signal. By comparing the magnetic resonance signal data obtained at different time points, the displacement trajectory of the puncture needle is tracked to obtain the dynamic displacement information of the puncture needle during the puncture process. At the same time, the magnetic resonance imaging sensor based on the nitrogen vacancy center is used to obtain the position change of the puncture needle during the puncture. The corresponding magnetic resonance image of the tumor tissue during the process. The specific operation is that the sensor not only monitors the movement of the puncture needle, but also generates high-resolution magnetic resonance images of the puncture needle and its surrounding areas through its highly sensitive magnetic resonance imaging capability, forming clear spatial distribution information of the tumor tissue, the relative position relationship between the tumor tissue and the puncture needle, and the path of the puncture needle in the tumor tissue, and combines the tiny dynamic displacement trajectory of the puncture needle with dynamic simulation and physical modeling to detect the displacement of the tumor. The specific operation is first, according to the previously obtained dynamic displacement trajectory data of the puncture needle, combined with the physical effect of the puncture needle on the tissue during the puncture process, the tumor displacement is simulated, and the angle, speed and puncture depth of the puncture needle are physically modeled using numerical simulation methods such as finite element analysis (FEA) and computational fluid dynamics (CFD), and the mechanical influence of the movement of the puncture needle on the surrounding tumor tissue is simulated. The simulation takes into account the local tissue deformation generated by the puncture needle during the puncture process to analyze the possible displacement range of the tumor tissue under different puncture angles and speeds, thereby obtaining the tumor displacement distribution of percutaneous puncture patients. Then, based on the previously obtained tumor displacement distribution, the position distribution of the puncture needle reaching the target area is further analyzed. Specifically, based on the tumor displacement distribution map, the changing trend of the tumor tissue during the puncture process is analyzed. Combined with the current position and puncture direction of the puncture needle, multiple target positions that the puncture needle may reach during the puncture process are determined. Through optimization algorithms, such as particle swarm optimization (PSO) or genetic algorithm (GA), the optimal path and final target position of the puncture needle are determined based on the relationship between the puncture needle and the tumor position. In this process, the puncture angle and puncture speed need to be adjusted in real time to ensure that the puncture needle can accurately reach the target area, and finally the position distribution of the percutaneous puncture needle reaching the target area is obtained.

[0074] Step S4: Based on the position distribution of the percutaneous puncture needle reaching the target area, the percutaneous puncture needle insertion depth distribution is controlled to generate a percutaneous puncture needle insertion navigation path to perform corresponding percutaneous puncture robot puncture navigation adjustment work.

[0075] In an embodiment of the present invention, a percutaneous puncture needle is used to accurately reach a predetermined target area, and a quantum sensor is used to detect the state of the puncture needle at different depths in real time, and the spatial position difference between the puncture depth and the target area is calculated by comparing the current depth of the puncture needle with the spatial position distribution of the target area. The multidimensional measurement capability of the quantum multidimensional sensor allows the acquisition of data including but not limited to needle insertion depth, lateral displacement, longitudinal displacement, and angle change, forming a high-dimensional target area position distribution. Based on these data, a specific algorithm (such as the least squares method or the Bayesian inference method) is used to quantify the distance difference between the current position of the puncture needle and the target area, and the puncture depth and the target area are calculated by comparing the spatial position distribution of the target area with the current depth of the puncture needle. The next step is to accurately navigate and control the needle insertion path during percutaneous puncture based on the quantification results of the distribution position differences between regions. Specifically, the system generates the optimal puncture path by utilizing the target area position distribution difference data combined with the robot control algorithm (such as path planning methods based on genetic algorithms, artificial neural networks or PID control). This path not only takes into account the spatial distribution of the target area, but also the operational stability, flexibility and accuracy of the puncture needle. The quantum sensor provides real-time feedback on the tiny displacement between the puncture needle and the target area, and generates real-time adjustment instructions for the puncture needle insertion path to ensure precise control of the needle insertion depth, angle and direction during the puncture process, thereby generating a percutaneous puncture surgical needle insertion navigation path. Based on the previously generated percutaneous puncture surgical navigation path, the system accurately calculates the control instructions for each step of the operation, generates specific navigation control instructions, and applies them to the percutaneous puncture surgical robot. In the specific implementation process, after receiving the navigation path, the robot control system generates specific motion instructions through the built-in kinematic model and dynamic model. These control instructions include but are not limited to the needle insertion rate, needle insertion angle, needle insertion depth, and needle insertion rotation angle, and are accurately executed through the robot drive system. The real-time data feedback provided by the quantum multidimensional sensor (such as the real-time position of the puncture needle, the reflection signal of the target area, etc.) continuously corrects the navigation path in real time and adjusts the control instructions to ensure that the puncture needle can accurately reach the target area and correct the path deviation in real time. When the deviation of the puncture needle exceeds the predetermined tolerance range, the robot control system will automatically adjust the needle insertion path, recalculate the motion instructions, and further correct the error. The surgical robot continuously adjusts the direction and depth of the needle to complete the precise puncture of the target area, and finally performs the corresponding percutaneous puncture surgical robot puncture navigation adjustment work.

[0076] Further, as an embodiment of the present invention, refer to Figure 2 As shown, Figure 1 Detailed step flow diagram of step S1 in FIG. 1 , in this embodiment, step S1 includes the following steps:

[0077] Step S11: using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface to collect puncture magnetic field fluctuations during the puncture process of the percutaneous puncture surgical robot, and obtaining weak magnetic field distribution fluctuations corresponding to each moment during the percutaneous puncture process;

[0078] In an embodiment of the present invention, a magnetic field sensor based on a superconducting quantum interference device (SQUID) is placed at a specific position on the patient's body surface to monitor weak magnetic field fluctuations during the puncture process. These sensors can accurately sense the magnetic field fluctuations caused by the interaction between the puncture needle and the surrounding tissues of the human body. In order to ensure that the sensor can accurately capture the required data, the sensor position should be in an area at a certain distance from the puncture point. The specific distance can be determined according to factors such as the surgical site and the puncture depth. The sensitivity of the sensor is set to be able to detect weak magnetic field changes between the surface of the skin and deep tissues. The resolution of the sensor is usually nanoT to pT. At each moment during the entire puncture process, the magnetic field sensor will continuously record the changes in the magnetic field to obtain magnetic field fluctuation data with time marks, forming a sequence of changes in magnetic field intensity over time during the puncture process, and finally obtaining the weak magnetic field distribution fluctuations corresponding to each moment during the percutaneous puncture process.

[0079] Step S12: performing magnetic field spatial gradient analysis on the weak magnetic field distribution fluctuation corresponding to each moment during the percutaneous puncture process to obtain the magnetic field spatial distribution gradient corresponding to each spatial distribution position during the percutaneous puncture process;

[0080] In an embodiment of the present invention, a spatial gradient analysis is performed on the previously acquired magnetic field fluctuation data. The magnetic field gradient refers to the rate of change of the magnetic field intensity in space, which reflects the spatial distribution of the magnetic field change. First, the magnetic field distribution data at each moment is spatially sampled, and the gradient of the magnetic field at different positions is calculated by a numerical calculation method (such as a finite difference method or a gradient calculation method). Specifically, the measurement data of the magnetic field sensor at different positions in space is used to calculate the rate of change of the magnetic field intensity along different directions. To this end, it is necessary to accurately calibrate the sensor position, and based on the changing characteristics of the magnetic field during the puncture process and the geometric structure of the human body tissue, the magnetic field gradient distribution at each position is inferred, and a set of spatiotemporal distribution data on the magnetic field gradient at each spatial position during the puncture process is obtained, which reflects the magnetic field changes generated when the puncture needle interacts with the surrounding tissue, and finally the magnetic field spatial distribution gradient corresponding to each spatial distribution position during the percutaneous puncture process is obtained.

[0081] Step S13: performing a puncture space distribution analysis on the puncture process corresponding to the percutaneous puncture surgical robot to obtain the puncture space distribution between the puncture needle and the surrounding tissues of the human body during the percutaneous puncture process;

[0082] In an embodiment of the present invention, by analyzing the spatial distribution during the puncture process, firstly, based on the real-time control information of the surgical robot, the needle position and its motion trajectory during the puncture process are obtained, and at the same time, combined with the previously obtained magnetic field spatial gradient data, the relative position relationship between the puncture needle and the patient's tissue is judged, and the spatial position distribution of the puncture needle on the entire puncture path is analyzed through an accurate kinematic model. At this time, not only the change of the puncture needle in the depth direction (such as the X-axis direction) is considered, but also the distance and relative position between the puncture needle and the surrounding tissue (such as muscle, fat, blood vessels, etc.) need to be paid attention to. In addition, the contact relationship between the puncture needle and different tissue interfaces is modeled to accurately infer the contact space distribution between the needle and the surrounding tissue during the puncture process, and finally the puncture space distribution between the puncture needle and the surrounding tissue of the human body during percutaneous puncture is obtained.

[0083] Step S14: performing magnetic field change distribution coupling processing on the puncture space distribution between the puncture needle and the surrounding tissues of the human body during the percutaneous puncture process based on the magnetic field space distribution gradient corresponding to each spatial distribution position during the percutaneous puncture process, so as to obtain the magnetic field change distribution field of the percutaneous puncture surgery;

[0084] In an embodiment of the present invention, the magnetic field changes during the puncture process and the relationship between the puncture needle and the human tissue are coupled based on the magnetic field spatial gradient information obtained by the previous analysis. First, a mathematical model between the magnetic field changes during the puncture process and the contact relationship between the puncture needle and the surrounding tissue is established. The magnetic field changes generated when the puncture needle contacts the tissue are simulated, and the influence of the magnetic field changes on the contact between the needle and the tissue is calculated in combination with the actual magnetic field gradient data. In order to complete the coupling process, it is necessary to perform a weighted average on the magnetic field change field to ensure that the response characteristics of different tissues to the magnetic field changes (such as differences in the conductivity and magnetism of the tissue) are taken into account. In this process, finite element analysis (FEA) or computational fluid dynamics (CFD) methods can be used to simulate the magnetic field changes during the puncture process, and the spatial distribution relationship between the needle and the surrounding tissue is accurately estimated by model inversion. Through this coupling process, a complete magnetic field change distribution field during the puncture process is obtained, and finally a magnetic field change distribution field for percutaneous puncture surgery is obtained.

[0085] Step S15: determining the position of the puncture needle for the puncture process corresponding to the percutaneous puncture surgery robot based on the percutaneous puncture surgery magnetic field change distribution field, and obtaining the percutaneous puncture surgery puncture needle position distribution.

[0086] In an embodiment of the present invention, the position of the puncture needle is accurately determined based on the previously obtained magnetic field change distribution field. First, the puncture spatial distribution data obtained by the previous analysis is combined with the magnetic field change distribution field, and an inverse algorithm or an optimization algorithm is used to determine the position of the puncture needle at each moment in the puncture process. Specifically, based on the spatial distribution characteristics of the magnetic field change distribution field, a global optimization model is constructed. The model optimizes the spatial positioning of the puncture needle by minimizing the magnetic field error during the puncture process. At this time, the position of the needle can be continuously adjusted through the position feedback control algorithm in combination with the current motion state and target trajectory of the puncture robot to ensure that the needle accurately enters the target tissue without deviating from the trajectory. In order to ensure the position accuracy, in the process of algorithm implementation, the real-time data of the sensor is also required to dynamically correct the needle position to compensate for possible errors. The position distribution of the puncture needle can be accurately determined and displayed in real time on the surgical interface, and finally the position distribution of the puncture needle for percutaneous puncture surgery is obtained.

[0087] Further, as an embodiment of the present invention, refer to Figure 3 As shown, Figure 2 Detailed step flow diagram of step S15 in FIG. 1 , in this embodiment, step S15 includes the following steps:

[0088] Step S151: analyzing the electromagnetic characteristics of the tissues surrounding the surgical area during the puncture process of the percutaneous puncture surgical robot to obtain the electromagnetic characteristics of the tissues surrounding the surgical area, including the electrical conductivity and dielectric constant of the surrounding tissues;

[0089] In an embodiment of the present invention, the electromagnetic characteristics of the tissues around the surgical area are analyzed by using high-frequency electromagnetic field detection technology. Specifically, a multi-band electromagnetic sensor is used to non-invasively scan the surgical area to measure the conductivity and dielectric constant of different positions in the area. The electromagnetic sensor interacts with the surrounding tissues through high-frequency electromagnetic waves to detect the reflection or transmission characteristics of the electromagnetic waves. This information can reflect the conductivity and dielectric constant of the tissues, and by modeling the electromagnetic responses of different tissue types (such as skin, fat, muscle, blood vessels, etc.), the electromagnetic characteristics of each tissue can be accurately obtained. These data are processed by signal processing and inversion. The algorithm is used to obtain the specific conductivity and dielectric constant of each tissue. Taking liver tissue as an example, in the frequency range of 100kHz-10MHz, the dielectric constant is roughly between 40-60, which means that liver tissue can store relatively more electrical energy under the electromagnetic field of this frequency. This is related to its complex cell structure, intracellular components and the electrical properties of intercellular fluid. The dielectric constant of skin tissue varies according to the different layers of the epidermis and dermis. The dielectric constant of the epidermis is generally 20-30, and the dielectric constant of the dermis is about 30-40 due to the influence of water content, collagen and other components. Finally, the electromagnetic properties of the tissues around the percutaneous puncture surgery area are obtained.

[0090] Step S152: performing magnetic field disturbance time series decomposition on the magnetic field change distribution field of the percutaneous puncture surgery to obtain the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process;

[0091] In an embodiment of the present invention, a quantum multidimensional sensor or a high-precision magnetic field sensor is used to monitor the magnetic field changes in the surgical area during the puncture process in real time, and the sensor is used to record the changes in the magnetic field strength and direction of the puncture area at different time points. After these change information are digitized, the magnetic field disturbances of different frequencies and time scales are extracted through a time series decomposition algorithm. For example, the time domain signal is analyzed in the frequency domain using a fast Fourier transform (FFT) to obtain the magnetic field change characteristics at each moment. Through this decomposition process, a dynamic magnetic field change distribution diagram is obtained, which can show in detail the magnetic field disturbances generated at different time points during the puncture process, and finally the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process is obtained.

[0092] Step S153: based on the electromagnetic characteristics of the tissues around the percutaneous puncture surgery area, the relative position of the puncture is estimated based on the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process to obtain the relative position distribution of the puncture needle tip during the percutaneous puncture surgery;

[0093] In an embodiment of the present invention, the precise position of the puncture needle tip during the operation is calculated by combining the electromagnetic characteristics and the magnetic field disturbance data. First, based on the previously obtained tissue electromagnetic characteristics and combined with the obtained magnetic field disturbance data, the relative position of the puncture needle tip is calculated using an inversion algorithm or a mathematical model (such as finite element analysis, orthogonal analysis). By modeling the correspondence between the electromagnetic response and the magnetic field change, the position change of the puncture needle tip during the operation can be calculated. At this time, through multiple calculations and iterative optimization, the position of the puncture needle is gradually corrected to ensure that it can be accurately guided to the target area during the operation and reduce the influence of errors and deviations. As a result, the relative position distribution of the puncture needle tip at each time point is obtained, and finally the relative position distribution of the puncture needle tip in percutaneous puncture surgery is obtained.

[0094] Step S154: obtaining the stress reaction and puncture force between the puncture needle tip and the surrounding tissue through the puncture process corresponding to the percutaneous puncture surgical robot;

[0095] In an embodiment of the present invention, the interaction force between the puncture needle tip and the surrounding tissue is monitored in real time by a sensor. The specific operation includes installing a force sensor and a strain sensor near the puncture needle tip. These sensors can measure in real time the stress and puncture force generated when the needle tip contacts the tissue during the puncture process. The stress sensor detects the deformation and stress borne by the tissue surface during the puncture process, and the puncture force sensor can sense the resistance of the puncture needle when entering the tissue. These real-time data are collected and processed by a robot control system to generate a dynamic stress response curve and a puncture force time series diagram. During the puncture process, the change trend of these data can reflect the contact between the puncture needle and the surrounding tissue, whether the puncture force is within a reasonable range, and whether the puncture is carried out smoothly, and finally the stress response and puncture force between the puncture needle tip and the surrounding tissue are obtained.

[0096] Step S155: Based on the stress reaction between the puncture needle tip and the surrounding tissue and the puncture force, the puncture position deviation of the relative position distribution of the puncture needle tip of the percutaneous puncture surgery is corrected to obtain the puncture needle position distribution of the percutaneous puncture surgery.

[0097] In an embodiment of the present invention, by integrating the previously acquired stress response and puncture force data and combining them with the obtained relative position distribution of the puncture needle tip for analysis, the robot system first analyzes whether there is a position deviation of the puncture needle based on the puncture force and stress response data. If the sensor detects that the puncture force is too large or too small, or the stress distribution is different from the expected, it indicates that the puncture needle has a position deviation. By comparing the error between the current puncture needle tip position and the target position, the system uses an error correction algorithm (such as a PID control algorithm or a Kalman filter algorithm) to dynamically adjust the relative position of the puncture needle. This correction process takes into account different time points in the puncture process, the electromagnetic properties of different tissues, and the corresponding mechanical feedback, and can adjust the position of the puncture needle in real time during the puncture process to ensure that the puncture needle can accurately reach the target area and effectively puncture the target tissue during the operation, thereby improving the success rate and accuracy of the puncture operation. The corrected puncture needle position distribution map is presented, and finally the percutaneous puncture needle position distribution is obtained.

[0098] Further, step S153 includes the following steps:

[0099] The electromagnetic flow and dielectric effect of the puncture needle are analyzed based on the electrical conductivity and dielectric coefficient of the tissues around the percutaneous puncture surgery area, and the electromagnetic flow and dielectric effect between the percutaneous puncture needle and the tissues around the surgery area are obtained;

[0100] In an embodiment of the present invention, the conductivity and dielectric constant of the percutaneous puncture surgical area and its surrounding tissues are measured by quantum multidimensional sensors. These sensors use advanced quantum sensing technology and can capture the electrical properties of tissues with high precision. Specifically, the sensor transmits the electromagnetic wave signal in the puncture needle area to the sensor for real-time analysis, thereby obtaining the conductivity and dielectric constant data in the area. These data are not only used to evaluate the difference in electromagnetic properties between the puncture needle and the surrounding tissues, but also reflect the physical properties of different tissues, such as the conductivity difference of soft tissues such as muscle, fat or blood vessels. Based on these parameters, the electromagnetic flow and dielectric effect between the puncture needle and the surgical area are modeled using a numerical simulation method. Specifically, the electromagnetic interaction between the puncture needle and the target tissue is solved by an electromagnetic field simulation tool (such as COMSOL Multiphysics), and a complete electromagnetic flow and dielectric effect distribution map is obtained. The map shows how the electromagnetic flow propagates in the tissue during the insertion of the puncture needle, and how different tissues affect the electric field and magnetic field distribution around the puncture needle, and finally the electromagnetic flow and dielectric effect between the percutaneous puncture needle and the tissues around the surgical area are obtained.

[0101] Preferably, the time domain and frequency domain analysis is performed on the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process to extract the relative position feature points corresponding to the percutaneous puncture needle tip at each time point, and obtain the magnetic field relative position feature point set caused by the movement of the percutaneous puncture needle tip;

[0102] In an embodiment of the present invention, by recording the magnetic field changes of the puncture needle tip at each time point, the quantum multidimensional sensor can measure the local magnetic field disturbance in the movement of the puncture needle tip in real time and collect magnetic field data at each time point. These data contain the time domain fluctuations of the magnetic field intensity. After time domain analysis, the time-varying characteristics of the magnetic field disturbance caused by the change in the position of the puncture needle tip can be obtained, and the frequency domain analysis method such as Fourier transform is used to perform frequency spectrum analysis on the magnetic field disturbance, and extract the frequency feature points related to the relative position change of the puncture needle tip. These feature points represent the relative position of the puncture needle at different time points, especially when the puncture needle interacts with the surrounding tissue, the area where the magnetic field changes most significantly. By analyzing the magnetic field disturbance pattern at each moment, the spatial position experienced by the puncture needle tip during the movement and its corresponding electromagnetic effect can be effectively extracted. Further, by using the data fitting method, combined with the known electromagnetic field model and tissue dielectric properties, the magnetic field disturbance at each moment is matched with the precise relative position of the puncture needle, and finally a set of magnetic field relative position feature points caused by the movement of the percutaneous puncture needle tip is obtained.

[0103] Preferably, the relative position of the puncture is estimated for each relative position feature point in the magnetic field relative position feature point set caused by the movement of the percutaneous puncture needle tip based on the electromagnetic flow and dielectric effect between the percutaneous puncture needle and the tissue around the surgical area, so as to obtain the relative position distribution of the percutaneous puncture needle tip.

[0104] In the embodiment of the present invention, the relative position of the puncture needle tip at each moment is further estimated based on the analysis of the aforementioned electromagnetic flow and dielectric effect. By using the previously obtained electromagnetic flow and dielectric effect information, the electric field and magnetic field interaction model between the puncture needle and each tissue in the surgical area can be obtained. By performing numerical calculations at each time point in the feature point set, combining the electrical characteristics of the tissue and the puncture needle position, and using inverse problem solving techniques (such as the least squares optimization algorithm), the relative position distribution of the puncture needle tip is obtained. The calculation process is repeated at a certain time interval, thereby updating the precision of the puncture needle tip in real time. The key to this process lies in the feedback of real-time sensor data and the computational modeling of the puncture needle's motion trajectory. The position estimation result of the puncture needle is adjusted through a precise electromagnetic model to ensure that it is consistent with the actual situation. In this way, the relative position distribution of the puncture needle can be accurately corrected at each moment, further improving the accuracy and safety of the surgical process. The relative position information of the puncture needle tip is integrated with the positioning data of the surgical target area to obtain a complete puncture process path to ensure that the puncture needle can be accurately inserted into the target area according to the predetermined trajectory, and finally the relative position distribution of the puncture needle tip in percutaneous puncture surgery is calculated.

[0105] Further, step S155 includes the following steps:

[0106] The stress field modeling is performed on the stress reaction between the puncture needle tip and the surrounding tissue to simulate the local stress distribution generated when the puncture needle tip contacts the surrounding tissue during the puncture process, and the corresponding stress coupling distribution model between the puncture needle tip and the surrounding tissue is generated;

[0107] In an embodiment of the present invention, a contact model between the puncture needle tip and the surrounding tissue is established. Specifically, the stress distribution between the puncture needle tip and the surrounding tissue is modeled using the finite element analysis (FEA). First, a geometric model of the puncture needle is constructed and the physical properties of the needle tip, such as the shape and material (usually stainless steel or alloy) of the needle tip, and the initial position of the contact between the needle tip and the tissue are defined. Then, the geometric model of the surrounding tissue is extracted using medical imaging data (such as CT or MRI images). Based on the different properties of the tissue (such as soft tissue, muscle, fat, blood vessels, etc.), the corresponding elastic modulus, Poisson's ratio and other physical parameters are assigned to it. Through numerical simulation, the stress distribution when the needle tip contacts the tissue is calculated, including the local stress concentration at the needle tip and the stress diffusion of the surrounding tissue. In this process, the contact mechanical behavior between the needle tip and the tissue must be accurately modeled, considering the contact friction, the nonlinear elastic response of the tissue and the strain gradient, and finally generating a stress coupling distribution model between the puncture needle tip and the surrounding tissue.

[0108] Preferably, a stress gradient analysis is performed on the stress coupling distribution model corresponding to the stress action between the puncture needle tip and the surrounding tissue to obtain a stress action change gradient corresponding to the stress action between the puncture needle tip and the surrounding tissue;

[0109] In an embodiment of the present invention, after completing the stress field modeling, a stress gradient analysis is performed. The key to this step is to analyze the stress change between the puncture needle tip and the surrounding tissue by a numerical simulation method (such as a finite difference method or a finite element method). First, the local stress distribution diagram when the needle tip contacts the surrounding tissue is calculated by the model, including the stress response of the tip of the needle tip and the surrounding tissue. Then, the stress distribution diagram is processed using a gradient analysis algorithm to calculate the gradient of stress change with distance. Specifically, the stress change rate of each point around the needle tip can be calculated by a numerical differentiation method, and then the stress change gradient of the needle tip contact area can be obtained. The analysis result helps to understand the deformation of the tissue during the puncture process, so as to avoid damage to the tissue or needle displacement error during the puncture process due to excessive or insufficient local stress, and finally obtain the corresponding stress change gradient between the puncture needle tip and the surrounding tissue.

[0110] Preferably, the tissue puncture elastic modulus analysis is performed on the corresponding puncture process according to the puncture force between the puncture needle tip and the surrounding tissue, so as to obtain the corresponding tissue puncture elastic modulus between the puncture needle tip and the surrounding tissue;

[0111] In an embodiment of the present invention, the puncture force during the puncture process is analyzed and combined with the aforementioned stress gradient to further calculate the puncture elastic modulus of the surrounding tissue. First, during the puncture operation, the puncture force will change with the increase of the needle tip insertion depth. The puncture force applied to the needle tip during the puncture process is monitored in real time by a high-precision force sensor (such as a pressure sensor or a torque sensor). Secondly, through numerical modeling, according to the measured relationship between the puncture force and the needle tip insertion depth, combined with the stress distribution of the contact between the needle tip and the tissue, the local elastic modulus of the tissue is calculated using mechanical formulas (such as Hooke's law, etc.). Specifically, there is a linear or nonlinear relationship between the puncture force and the degree of deformation of the tissue. Therefore, it is necessary to iteratively calculate the puncture force and the tissue elastic modulus at different depths to obtain an accurate elastic modulus value, which reflects the resistance characteristics of the surrounding tissue to the puncture needle during the puncture process, and finally obtains the corresponding tissue puncture elastic modulus between the puncture needle tip and the surrounding tissue.

[0112] Preferably, the puncture position deviation of the puncture needle tip relative position distribution of the percutaneous puncture surgery is corrected based on the corresponding stress change gradient between the puncture needle tip and the surrounding tissue and the tissue puncture elastic modulus to obtain the percutaneous puncture surgery puncture needle position distribution.

[0113] In an embodiment of the present invention, by combining the results of the aforementioned stress gradient and puncture force analysis, the puncture position deviation is corrected. First, by analyzing the real-time position and direction of the puncture needle during the puncture process, the deviation of the needle tip relative to the target tissue is calculated based on the feedback signal of the quantum multidimensional sensor. On this basis, the stress gradient between the needle tip and the tissue and the elastic modulus of the tissue are combined to determine the possible sources of deviation during the puncture process, such as the local unbalanced force of the needle tip in contact with the tissue, incorrect insertion angle of the needle tip, etc. To correct these deviations, an adaptive algorithm (such as a PID control algorithm or a model predictive control) is first used to adjust the position and angle of the puncture needle according to real-time feedback to ensure that the needle tip accurately reaches the target position. Secondly, according to the elastic properties of the tissue, the puncture force is adjusted to avoid further deviation of the puncture position due to excessive or insufficient puncture force. Through this correction method, it is ensured that the puncture needle can maintain accurate positioning throughout the puncture process, reduce surgical errors, and improve surgical accuracy and safety. This step also requires real-time monitoring of the stress reaction between the needle tip and the tissue to ensure that no excessive stress concentration or tissue damage occurs during the puncture process, and finally obtain the position distribution of the puncture needle for percutaneous puncture surgery.

[0114] Further, step S2 includes the following steps:

[0115] Step S21: Real-time monitoring of the patient's respiratory movement changes during the puncture process corresponding to the percutaneous puncture surgical robot is performed through a preset pressure sensor array, so as to convert the body surface pressure change signal generated by the patient's respiratory movement into an electrical signal, and perform respiratory movement statistical analysis on the electrical signal to obtain the patient's respiratory movement changes, including the patient's corresponding respiratory cycle, tidal volume, respiratory frequency and respiratory phase change parameters;

[0116] In an embodiment of the present invention, an array of 16 high-precision piezoresistive pressure sensors is used, and these sensors are closely attached to the patient's body surface according to the anatomical distribution of the key respiratory motion sensing areas of the human chest and abdomen, ensuring seamless contact between the sensor and the skin. When the patient breathes, the chest and abdomen rise and fall, driving the air pressure change, and the piezoresistive sensitive element of the sensor is deformed by force. The surface pressure change is converted into an electrical signal according to the piezoresistive effect. The electrical signal is amplified and pre-processed by a filtering circuit and then transmitted to a hardware module with a built-in dedicated statistical analysis algorithm. The module collects electrical signals at a sampling frequency of 100 Hz, and accurately calculates the patient's corresponding respiratory cycle through peak detection and cycle recognition algorithms, with an accuracy of up to 0.1 seconds; the tidal volume is calculated using an integral algorithm, and the error is controlled within 5%; the respiratory frequency is obtained based on the inverse of the cycle, and the respiratory phase change parameters are extracted through a phase comparison algorithm, and finally the patient's respiratory movement changes are obtained, including the patient's corresponding respiratory cycle, tidal volume, respiratory frequency and respiratory phase change parameters.

[0117] Step S22: performing a three-dimensional scan of the patient's body contour in a preoperative static state with the operating table as the coordinate origin to generate a human body displacement reference atlas;

[0118] In an embodiment of the present invention, before the operation begins, when the patient is in a static and lying state, a scanning device based on structured light three-dimensional scanning technology is started. The device evenly arranges four high-precision projectors and eight high-resolution cameras around the operating table, and constructs a three-dimensional measurement coordinate system with the operating table as the coordinate origin. The projector projects a specifically coded structured light stripe pattern onto the patient's body surface, and the camera synchronously captures the stripe deformation image from different angles. The image data is transmitted in real time to a workstation equipped with powerful graphics processing capabilities via a high-speed data transmission line. The workstation runs a three-dimensional reconstruction algorithm based on the principle of stereoscopic vision, performs feature extraction, matching and triangulation calculations on the collected multi-view images, and constructs a human body displacement benchmark map with an accuracy of 1 mm, fully presenting the human body contour and spatial position information of the patient in a static state before the operation, and finally constructs a human body displacement benchmark map.

[0119] Step S23: synchronously start a preset laser radar scanning device to perform real-time monitoring of the human body three-dimensional point cloud of the puncture process corresponding to the percutaneous puncture surgical robot, so as to obtain the three-dimensional real-time point cloud data of the human body during the percutaneous puncture process; based on the human body displacement reference map and using an iterative closest point algorithm, calculate the human body relative displacement change of the corresponding three-dimensional feature points in the three-dimensional real-time point cloud data of the human body during the percutaneous puncture process, so as to obtain the patient's body displacement change;

[0120] In an embodiment of the present invention, three laser radar scanning devices installed at an angle of 120 degrees to each other are synchronously turned on and fixed to an adjustable bracket above the operating table to ensure that the scanning field of view covers the patient's entire body. The laser radar emits a laser beam to the patient at a pulse frequency of 1000 times per second. The laser is reflected by the surface of the human body. After the reflected light is received, it is converted into photoelectricity and processed by signal to generate real-time three-dimensional point cloud data of the human body during the percutaneous puncture process. The accuracy of the point cloud data can reach 0.5 mm. These data are transmitted to a dedicated computing chip that runs an iterative nearest point algorithm, and a pre-constructed human body displacement reference map is input at the same time. The chip uses the algorithm to accurately match and compare the coordinates of the three-dimensional feature points of the human body in the two sets of data, such as key joints such as shoulders, elbows, and hips, and calculates the relative displacement of each feature point in the three-dimensional space, thereby obtaining the patient's human body displacement change. The displacement calculation accuracy reaches 0.2 mm, and the patient's human body displacement change is finally obtained.

[0121] Step S24: based on the changes in the patient's respiratory movement and the patient's body displacement, the puncture path deviation of the puncture process corresponding to the percutaneous puncture surgical robot is calculated using the puncture needle tip path deviation calculation formula to obtain the puncture path deviation vector between the puncture needle tip and the ideal target point at each moment;

[0122] In an embodiment of the present invention, a suitable puncture needle tip path deviation calculation formula is formed by combining the initial puncture moment, the patient's corresponding respiratory cycle, the patient's corresponding human body displacement change, the second-order nonlinear deviation weight, the first-order nonlinear deviation weight, the linear deviation weight, the attenuation coefficient, the patient's corresponding respiratory frequency, the respiratory phase and the tidal unit direction vector to calculate the puncture path deviation of the puncture process corresponding to the percutaneous puncture surgical robot, and accurately obtain the puncture path deviation vector between the puncture needle tip and the ideal target at each moment, and finally obtain the puncture path deviation vector between the puncture needle tip and the ideal target at each moment.

[0123] Step S25: performing a puncture depth correction analysis on the percutaneous puncture needle position distribution according to the puncture path deviation vector between the puncture needle tip and the ideal target point at each moment, and obtaining the percutaneous puncture needle depth distribution.

[0124] In an embodiment of the present invention, a needle insertion depth correction model based on finite element analysis is utilized. The model is constructed based on a large amount of clinical puncture case data and a human tissue mechanical property library, and the puncture path deviation vector between the puncture needle tip and the ideal target point at each moment obtained by previous quantitative calculation is input into the model. The model simulates the force conditions of the puncture needle when encountering tissue resistance and elastic deformation based on the principle of tissue mechanics conduction, and considers the influence of the deviation vector direction and size on the needle insertion depth. For example, when the deviation vector points to a harder tissue area, the model will appropriately reduce the needle insertion depth to avoid puncture difficulties; on the contrary, if it points to loose tissue, the needle insertion depth will be reasonably increased, and the puncture needle position distribution of percutaneous puncture surgery is subjected to puncture depth correction analysis with a correction accuracy of 0.05 mm, and finally the percutaneous puncture surgery needle insertion depth distribution is obtained.

[0125] Furthermore, the calculation formula of the puncture needle tip path deviation in step S24 is specifically:

[0126]

[0127] In the formula, is the puncture path deviation vector between the puncture needle tip and the ideal target at time t, t0 is the initial puncture time, T is the patient's corresponding respiratory cycle, i is the item index of the coordinate axis direction, where 1 represents the x-axis direction in the Cartesian coordinate system, 2 represents the y-axis direction in the Cartesian coordinate system, and 3 represents the z-axis direction in the Cartesian coordinate system. is the change in the patient's body displacement in the direction of the i-th coordinate axis at time t, k i is the second-order nonlinear deviation weight corresponding to the i-th coordinate axis direction, c i is the first-order nonlinear deviation weight corresponding to the direction of the i-th coordinate axis, m i is the linear deviation weight corresponding to the direction of the i-th coordinate axis, α i is the attenuation coefficient corresponding to the direction of the i-th coordinate axis, ω is the patient's corresponding respiratory frequency, is the patient's corresponding respiratory phase, is the tidal unit direction vector corresponding to the patient at time t.

[0128] The present invention obtains a puncture needle tip path deviation calculation formula by using a specific mathematical model and verification, which is used to calculate the puncture path deviation of the puncture process corresponding to the percutaneous puncture surgical robot. The formula fully considers the puncture path deviation vector between the puncture needle tip and the ideal target point at time t. The initial time of puncture is t0, the patient's corresponding breathing cycle is T, the item index i in the coordinate axis direction, where 1 represents the x-axis direction in the Cartesian coordinate system, 2 represents the y-axis direction in the Cartesian coordinate system, and 3 represents the z-axis direction in the Cartesian coordinate system. The change in the patient's body displacement in the i-th coordinate axis direction at time t The second-order nonlinear bias weight k corresponding to the i-th coordinate axis direction i , the first-order nonlinear deviation weight c corresponding to the i-th coordinate axis direction i , the linear deviation weight m corresponding to the i-th coordinate axis direction i , the corresponding attenuation coefficient α in the direction of the i-th coordinate axis i , the patient's corresponding respiratory frequency ω, the patient's corresponding respiratory phase The tidal unit direction vector corresponding to the patient at time t According to the puncture path deviation vector between the puncture needle tip and the ideal target at time t The correlation between the above parameters forms a functional relationship:

[0129]

[0130] The formula can realize the puncture path deviation calculation process of the percutaneous puncture surgical robot. At the same time, the puncture needle tip path deviation calculation formula calculates the patient's corresponding human body displacement change in the three coordinate axes of x, y, and z in the Cartesian coordinate system (corresponding to i=1, 2, and 3, respectively). The consideration can fully reflect the position change of the human body in different spatial directions, avoiding the problem of focusing on a single direction and ignoring the impact of displacement in other directions on the puncture path deviation, making the calculation of the puncture path deviation more in line with the actual complex spatial motion state of the human body. By introducing the patient's corresponding respiratory cycle T, respiratory frequency ω, and respiratory phase and the moisture unit direction vector In the percutaneous puncture surgery, the patient's respiratory movement will inevitably cause the body to rise and fall, micro-movement, etc., thus affecting the puncture path. Incorporating these parameters into the formula can accurately capture the deviation caused by respiratory movement and more accurately calculate the puncture path deviation. In addition, by setting the second-order nonlinear deviation weight, the first-order nonlinear deviation weight and the linear deviation weight, the influence of deviations of different natures is considered for different coordinate axis directions (x, y, and z axis directions corresponding to i), which means that the role of different types of deviations in the formation of puncture path deviation can be carefully distinguished. For example, the nonlinear deviation has a more significant effect in some directions, while the linear deviation is dominant in other directions, which helps to more accurately quantify and analyze the root cause of puncture path deviation. In addition, the formula also includes an attenuation coefficient, which corresponds to different coordinate axis directions and takes into account the attenuation of the deviation over time. In the actual puncture process, the deviation caused by some factors will gradually weaken over time. The introduction of this coefficient can simulate this dynamic change process more realistically, making the calculation result of puncture path deviation more reasonable and accurate over time.

[0131] Further, step S3 includes the following steps:

[0132] Step S31: using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle to perform magnetic resonance measurement of the puncture needle during the puncture process of the percutaneous puncture surgical robot, so as to generate a magnetic resonance signal change of the nitrogen vacancy center of the percutaneous puncture needle;

[0133] In an embodiment of the present invention, a magnetic resonance imaging sensor based on a nitrogen vacancy center is installed near the puncture needle to monitor the movement of the puncture needle during the percutaneous puncture in real time. The nitrogen vacancy center (NV center) has a high magnetic sensitivity and can respond to small changes in the external magnetic field. The sensor obtains the nitrogen vacancy center magnetic resonance signal by detecting small changes in the magnetic field around the puncture needle. The specific operation is firstly to install the nitrogen vacancy center magnetic resonance imaging sensor on a special bracket of the puncture needle or its vicinity, and during the puncture process, the sensor is used to sense the magnetic field disturbance of the puncture needle to generate a magnetic resonance signal related to the position change of the puncture needle, and the displacement of the puncture needle is sampled and analyzed each time by high-precision magnetic resonance imaging technology, so as to capture the small magnetic resonance signal changes during the puncture process, and finally generate the magnetic resonance signal changes of the nitrogen vacancy center of the percutaneous puncture needle.

[0134] Step S32: based on the change of the magnetic resonance signal of the nitrogen vacancy center of the percutaneous puncture needle, the percutaneous puncture surgical robot performs tracking analysis on the micro displacement of the puncture needle during the puncture process, and obtains the micro dynamic displacement trajectory of the percutaneous puncture needle;

[0135] In an embodiment of the present invention, the minute displacement of the puncture needle is tracked and analyzed in real time based on the change of the magnetic resonance signal of the nitrogen vacancy center previously acquired. Specifically, the position change of the puncture needle during the puncture process is identified by performing time domain and frequency domain analysis on the magnetic resonance signal. The analysis process uses a high-precision signal processing algorithm, including fast Fourier transform (FFT) and Kalman filtering techniques, to process and denoise the sensor signal. By comparing the magnetic resonance signal data acquired at different time points, the displacement trajectory of the puncture needle is tracked to obtain the dynamic displacement information of the puncture needle during the puncture process. This dynamic displacement trajectory can accurately reflect the movement changes of the puncture needle in space, and finally obtain the minute dynamic displacement trajectory of the percutaneous puncture needle.

[0136] Step S33: obtaining a magnetic resonance image of the tumor tissue corresponding to the percutaneous puncture needle during the puncture process through a magnetic resonance imaging sensor based on a nitrogen vacancy center, and performing spatial distribution analysis of the puncture needle and the tumor based on the magnetic resonance image of the tumor tissue corresponding to the percutaneous puncture needle during the puncture process, so as to generate a spatial distribution relationship between the percutaneous puncture needle and the tumor tissue position during the puncture process;

[0137] In an embodiment of the present invention, a magnetic resonance image of the tumor tissue corresponding to the puncture needle during the puncture process is obtained by a magnetic resonance imaging sensor based on nitrogen vacancy centers. The specific operation is that the sensor not only monitors the movement of the puncture needle, but also generates a high-resolution magnetic resonance image of the puncture needle and its surrounding area through its highly sensitive magnetic resonance imaging capability. In order to accurately locate the tumor tissue, a three-dimensional spatial distribution image of the puncture needle and the tumor tissue is obtained on the path of the puncture needle through high magnetic field excitation and induction technology, and by using a specific scanning protocol, the sensor can dynamically obtain real-time magnetic resonance images of the tumor tissue during the puncture process. These images are processed by an image reconstruction algorithm to form clear spatial distribution information of the tumor tissue, the relative position relationship between the tumor tissue and the puncture needle, and the path of the puncture needle in the tumor tissue, and finally generate the spatial distribution relationship between the percutaneous puncture needle and the tumor tissue position during the puncture process.

[0138] Step S34: Based on the micro-dynamic displacement trajectory of the percutaneous puncture needle and combined with dynamic simulation and physical modeling, the spatial distribution relationship between the percutaneous puncture needle and the tumor tissue position during the puncture process is detected to eliminate the mechanical influence of different puncture angles and speeds of the percutaneous puncture needle and local tissue deformation generated during needle puncture on the tumor displacement, and obtain the tumor displacement distribution of the percutaneous puncture patient;

[0139] In an embodiment of the present invention, tumor displacement is detected by combining the micro-dynamic displacement trajectory of the puncture needle with dynamic simulation and physical modeling. The specific operation is first, based on the previously obtained dynamic displacement trajectory data of the puncture needle, combined with the physical effect of the puncture needle on the tissue during the puncture process, the tumor displacement is simulated, and the angle, speed and puncture depth of the puncture needle are physically modeled using numerical simulation methods such as finite element analysis (FEA) and computational fluid dynamics (CFD) to simulate the mechanical effect of the movement of the puncture needle on the surrounding tumor tissue. The simulation takes into account the local tissue deformation caused by the puncture needle during the puncture process, thereby analyzing the possible displacement range of the tumor tissue at different puncture angles and speeds. Through multiple simulations, a distribution map of tumor displacement is generated, thereby predicting the overall displacement of the tumor during the puncture process, and finally obtaining the tumor displacement distribution of percutaneous puncture patients.

[0140] Step S35: determining the corresponding percutaneous puncture needle position distribution at the target area according to the percutaneous puncture patient's tumor displacement distribution.

[0141] In an embodiment of the present invention, the position distribution of the puncture needle reaching the target area is further analyzed based on the previously obtained tumor displacement distribution. Specifically, based on the tumor displacement distribution map, the change trend of the tumor tissue during the puncture process is analyzed, and the current position and puncture direction of the puncture needle are combined to determine multiple target positions that the puncture needle may reach during the puncture process. Through an optimization algorithm, such as particle swarm optimization (PSO) or genetic algorithm (GA), the optimal path and final target position of the puncture needle are determined based on the position relationship between the puncture needle and the tumor. In this process, the puncture angle and puncture speed need to be adjusted in real time to ensure that the puncture needle can accurately reach the target area, and finally the position distribution of the percutaneous puncture needle reaching the target area is obtained.

[0142] Further, step S4 includes the following steps:

[0143] Step S41: quantifying the difference between the needle insertion depth distribution and the target area distribution of the percutaneous puncture needle based on the position distribution of the percutaneous puncture needle reaching the target area, and obtaining the distribution position distance difference between the percutaneous puncture needle insertion depth and the puncture reaching the target area;

[0144] In an embodiment of the present invention, in a percutaneous puncture surgical robot system based on a quantum multidimensional sensor, firstly, a percutaneous puncture needle is used to accurately reach a predetermined target area, and the state of the puncture needle at different depth positions is detected in real time by using a quantum sensor, and the spatial position difference between the puncture depth and the target area is calculated by comparing the current depth of the puncture needle with the spatial position distribution of the target area. The multidimensional measurement capability of the quantum multidimensional sensor allows the acquisition of data including but not limited to needle insertion depth, lateral displacement, longitudinal displacement, and angle change, forming a high-dimensional target area position distribution. Based on these data, a specific algorithm (such as the least squares method or the Bayesian inference method) is used to quantify the distance difference between the current position of the puncture needle and the target area, and the error between the needle insertion path and the target position is derived through spatial coordinates and time changes, and the statistical distribution of the error is obtained to form a quantitative result of the position difference between the needle insertion depth and the target area. This difference quantification process can help further optimize the needle insertion path of percutaneous puncture surgery, and finally obtain the distribution position distance difference between the percutaneous puncture needle insertion depth and the puncture reaching the target area.

[0145] Step S42: performing needle insertion navigation control on the needle insertion path of the percutaneous puncture surgical robot in the corresponding puncture process according to the distribution position distance difference between the percutaneous puncture needle insertion depth and the puncture reaching the target area, and generating a percutaneous puncture surgical needle insertion navigation path;

[0146] In an embodiment of the present invention, by quantifying the distribution position difference between the puncture depth and the target area obtained previously, the next step is to perform precise navigation control on the needle insertion path during percutaneous puncture. Specifically, the system generates an optimal puncture path by utilizing the target area position distribution difference data and combining it with a robot control algorithm (e.g., a path planning method based on a genetic algorithm, an artificial neural network, or PID control). The path not only takes into account the spatial distribution of the target area, but also takes into account the operational stability, flexibility, and accuracy of the puncture needle. The quantum sensor provides real-time feedback on the tiny displacement between the puncture needle and the target area, and generates real-time adjustment instructions for the puncture needle insertion path to ensure precise control of the needle insertion depth, angle, and direction during the puncture process. Specifically, the robot system will correct the needle insertion path in real time based on the calculated needle insertion-target area distribution position difference to ensure that the puncture needle enters the target area along the shortest and most accurate path. In this process, the surgical system adjusts the angle of the robot joint, controls the advancement speed of the puncture needle, and adjusts the needle insertion direction to ultimately generate a percutaneous puncture surgical needle insertion navigation path.

[0147] Step S43: Generate corresponding percutaneous puncture surgery navigation control instructions through percutaneous puncture surgery needle insertion navigation path response and act on the percutaneous puncture surgery robot to perform corresponding percutaneous puncture surgery robot puncture navigation adjustment work.

[0148] In an embodiment of the present invention, based on the previously generated percutaneous puncture surgical navigation path, the system accurately calculates the control instructions for each step of the operation, generates specific navigation control instructions, and applies them to the percutaneous puncture surgical robot. In the specific implementation process, after the robot control system receives the navigation path, it generates specific motion instructions through the built-in kinematic model and dynamic model. These control instructions include but are not limited to the needle insertion rate, needle insertion angle, needle insertion depth, and needle insertion rotation angle, and are accurately executed by the robot drive system. The real-time data feedback provided by the quantum multidimensional sensor (such as the real-time position of the puncture needle, the reflection signal of the target area, etc.) continuously corrects the navigation path in real time and adjusts the control instructions to ensure that the puncture needle can accurately reach the target area and correct the path deviation in real time. When the deviation of the puncture needle exceeds the predetermined tolerance range, the robot control system will automatically adjust the needle insertion path, recalculate the motion instructions, and further correct the error. The surgical robot continuously adjusts the direction and depth of the needle to complete the precise puncture of the target area, and finally performs the corresponding percutaneous puncture surgical robot puncture navigation adjustment work.

[0149] Furthermore, the present invention also provides a percutaneous puncture surgical robot system based on a quantum multidimensional sensor, which is used to execute the control method of the percutaneous puncture surgical robot system based on a quantum multidimensional sensor as described above. The percutaneous puncture surgical robot system based on a quantum multidimensional sensor includes:

[0150] The percutaneous puncture needle position determination module is used to detect the change of the puncture magnetic field during the puncture process of the percutaneous puncture surgery robot using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface, so as to obtain the distribution field of the magnetic field change during the percutaneous puncture surgery; based on the distribution field of the magnetic field change during the percutaneous puncture surgery, the puncture needle position is determined during the puncture process of the percutaneous puncture surgery robot, so as to obtain the distribution of the puncture needle position during the percutaneous puncture surgery;

[0151] The percutaneous puncture needle insertion depth correction module is used to monitor the patient's respiratory movement changes and body displacement changes during the puncture process corresponding to the percutaneous puncture surgical robot in real time, and perform puncture needle insertion depth correction analysis on the percutaneous puncture surgical needle position distribution based on the patient's respiratory movement changes and body displacement changes, thereby obtaining the percutaneous puncture surgical needle insertion depth distribution;

[0152] The module for determining the position of the target area is used to detect the tumor displacement distribution of the puncture process corresponding to the percutaneous puncture surgical robot using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle, and obtain the tumor displacement distribution of the percutaneous puncture patient; and determine the corresponding percutaneous puncture needle position distribution in the target area according to the tumor displacement distribution of the percutaneous puncture patient;

[0153] The percutaneous needle puncture navigation control module is used to perform needle puncture navigation control on the needle insertion depth distribution of percutaneous puncture surgery based on the position distribution of the percutaneous puncture needle reaching the target area, generate the percutaneous puncture surgery needle puncture navigation path, and execute the corresponding percutaneous puncture surgery robot puncture navigation adjustment work.

[0154] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A control method for a percutaneous puncture surgical robot system based on a quantum multidimensional sensor, characterized in that: in, The quantum multidimensional sensor includes a magnetic field sensor based on a superconducting quantum interference device and a magnetic resonance imaging sensor based on a nitrogen vacancy center. The control method of the percutaneous puncture surgical robot system based on the quantum multidimensional sensor includes the following steps: Step S1: using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface to detect the change of the puncture magnetic field during the puncture process of the percutaneous puncture surgery robot, so as to obtain a distribution field of the magnetic field change during the percutaneous puncture surgery; based on the distribution field of the magnetic field change during the percutaneous puncture surgery, determining the position of the puncture needle during the puncture process of the percutaneous puncture surgery robot, so as to obtain the distribution of the puncture needle position during the percutaneous puncture surgery; Step S2: by real-time monitoring the respiratory movement changes and body displacement changes of the patient during the puncture process corresponding to the percutaneous puncture surgery robot, and performing puncture depth correction analysis on the percutaneous puncture surgery puncture needle position distribution based on the respiratory movement changes and body displacement changes of the patient, the percutaneous puncture surgery needle depth distribution is obtained; Step S3: using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle to detect the tumor displacement distribution of the puncture process corresponding to the percutaneous puncture surgical robot, and obtaining the tumor displacement distribution of the percutaneous puncture patient; determining the corresponding percutaneous puncture needle reaching the target area position distribution according to the tumor displacement distribution of the percutaneous puncture patient; Step S4: Based on the position distribution of the percutaneous puncture needle reaching the target area, the percutaneous puncture needle insertion depth distribution is controlled to generate a percutaneous puncture needle insertion navigation path to perform corresponding percutaneous puncture robot puncture navigation adjustment work.

2. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor according to claim 1 is characterized in that: Step S1 includes the following steps: Step S11: using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface to collect puncture magnetic field fluctuations during the puncture process of the percutaneous puncture surgical robot, and obtaining weak magnetic field distribution fluctuations corresponding to each moment during the percutaneous puncture process; Step S12: performing magnetic field spatial gradient analysis on the weak magnetic field distribution fluctuation corresponding to each moment during the percutaneous puncture process to obtain the magnetic field spatial distribution gradient corresponding to each spatial distribution position during the percutaneous puncture process; Step S13: performing a puncture space distribution analysis on the puncture process corresponding to the percutaneous puncture surgical robot to obtain the puncture space distribution between the puncture needle and the surrounding tissues of the human body during the percutaneous puncture process; Step S14: performing magnetic field change distribution coupling processing on the puncture space distribution between the puncture needle and the surrounding tissues of the human body during the percutaneous puncture process based on the magnetic field space distribution gradient corresponding to each spatial distribution position during the percutaneous puncture process, so as to obtain the magnetic field change distribution field of the percutaneous puncture surgery; Step S15: determining the position of the puncture needle for the puncture process corresponding to the percutaneous puncture surgery robot based on the percutaneous puncture surgery magnetic field change distribution field, and obtaining the percutaneous puncture surgery puncture needle position distribution.

3. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor according to claim 2 is characterized in that: Step S15 includes the following steps: Step S151: analyzing the electromagnetic characteristics of the tissues surrounding the surgical area during the puncture process of the percutaneous puncture surgical robot to obtain the electromagnetic characteristics of the tissues surrounding the surgical area, including the electrical conductivity and dielectric constant of the surrounding tissues; Step S152: performing magnetic field disturbance time series decomposition on the magnetic field change distribution field of the percutaneous puncture surgery to obtain the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process; Step S153: based on the electromagnetic characteristics of the tissues around the percutaneous puncture surgery area, the relative position of the puncture is estimated based on the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process to obtain the relative position distribution of the puncture needle tip during the percutaneous puncture surgery; Step S154: obtaining the stress reaction and puncture force between the puncture needle tip and the surrounding tissue through the puncture process corresponding to the percutaneous puncture surgical robot; Step S155: Based on the stress reaction between the puncture needle tip and the surrounding tissue and the puncture force, the puncture position deviation of the relative position distribution of the puncture needle tip of the percutaneous puncture surgery is corrected to obtain the puncture needle position distribution of the percutaneous puncture surgery.

4. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor according to claim 3 is characterized in that: Step S153 includes the following steps: The electromagnetic flow and dielectric effect of the puncture needle are analyzed based on the electrical conductivity and dielectric coefficient of the tissues around the percutaneous puncture surgery area, and the electromagnetic flow and dielectric effect between the percutaneous puncture needle and the tissues around the surgery area are obtained; The time domain and frequency domain analysis is performed on the magnetic field change disturbance distribution generated at each time point during the percutaneous puncture process to extract the relative position feature points corresponding to the percutaneous puncture needle tip at each time point, and obtain the magnetic field relative position feature point set caused by the movement of the percutaneous puncture needle tip; Based on the electromagnetic flow and dielectric effect between the percutaneous puncture needle and the surrounding tissues of the surgical area, the relative position of each relative position feature point in the magnetic field relative position feature point set caused by the movement of the percutaneous puncture needle tip is estimated to obtain the relative position distribution of the percutaneous puncture needle tip.

5. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor according to claim 3 is characterized in that: Step S155 includes the following steps: The stress field modeling is performed on the stress reaction between the puncture needle tip and the surrounding tissue to simulate the local stress distribution generated when the puncture needle tip contacts the surrounding tissue during the puncture process, and the corresponding stress coupling distribution model between the puncture needle tip and the surrounding tissue is generated; Perform stress gradient analysis on the stress coupling distribution model between the puncture needle tip and the surrounding tissue to obtain the stress change gradient between the puncture needle tip and the surrounding tissue; According to the puncture force between the puncture needle tip and the surrounding tissue, the corresponding puncture process is analyzed for the tissue puncture elastic modulus to obtain the corresponding tissue puncture elastic modulus between the puncture needle tip and the surrounding tissue; Based on the corresponding stress change gradient between the puncture needle tip and the surrounding tissue and the tissue puncture elastic modulus, the puncture position deviation of the relative position distribution of the puncture needle tip in percutaneous puncture surgery is corrected to obtain the puncture needle position distribution in percutaneous puncture surgery.

6. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor according to claim 1 is characterized in that: Step S2 includes the following steps: Step S21: Real-time monitoring of the patient's respiratory movement changes during the puncture process corresponding to the percutaneous puncture surgical robot is performed through a preset pressure sensor array, so as to convert the body surface pressure change signal generated by the patient's respiratory movement into an electrical signal, and perform respiratory movement statistical analysis on the electrical signal to obtain the patient's respiratory movement changes, including the patient's corresponding respiratory cycle, tidal volume, respiratory frequency and respiratory phase change parameters; Step S22: performing a three-dimensional scan of the patient's body contour in a preoperative static state with the operating table as the coordinate origin to generate a human body displacement reference atlas; Step S23: synchronously start a preset laser radar scanning device to perform real-time monitoring of the human body three-dimensional point cloud of the puncture process corresponding to the percutaneous puncture surgical robot, so as to obtain the three-dimensional real-time point cloud data of the human body during the percutaneous puncture process; based on the human body displacement reference map and using an iterative closest point algorithm, calculate the human body relative displacement change of the corresponding three-dimensional feature points in the three-dimensional real-time point cloud data of the human body during the percutaneous puncture process, so as to obtain the patient's body displacement change; Step S24: based on the changes in the patient's respiratory movement and the patient's body displacement, the puncture path deviation of the puncture process corresponding to the percutaneous puncture surgical robot is calculated using the puncture needle tip path deviation calculation formula to obtain the puncture path deviation vector between the puncture needle tip and the ideal target point at each moment; Step S25: performing a puncture depth correction analysis on the percutaneous puncture needle position distribution according to the puncture path deviation vector between the puncture needle tip and the ideal target point at each moment, and obtaining the percutaneous puncture needle depth distribution.

7. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor according to claim 6 is characterized in that: The calculation formula of the puncture needle tip path deviation in step S24 is specifically: In the formula, is the puncture path deviation vector between the puncture needle tip and the ideal target at time t, t0 is the initial puncture time, T is the patient's corresponding respiratory cycle, i is the item index of the coordinate axis direction, where 1 represents the x-axis direction in the Cartesian coordinate system, 2 represents the y-axis direction in the Cartesian coordinate system, and 3 represents the z-axis direction in the Cartesian coordinate system. is the change in the patient's body displacement in the direction of the i-th coordinate axis at time t, k i is the second-order nonlinear deviation weight corresponding to the i-th coordinate axis direction, c i is the first-order nonlinear deviation weight corresponding to the direction of the i-th coordinate axis, m i is the linear deviation weight corresponding to the direction of the i-th coordinate axis, α i is the attenuation coefficient corresponding to the direction of the i-th coordinate axis, ω is the patient's corresponding respiratory frequency, is the patient's corresponding respiratory phase, is the tidal unit direction vector corresponding to the patient at time t.

8. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor according to claim 1 is characterized in that: Step S3 includes the following steps: Step S31: using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle to perform magnetic resonance measurement of the puncture needle during the puncture process of the percutaneous puncture surgical robot, so as to generate a magnetic resonance signal change of the nitrogen vacancy center of the percutaneous puncture needle; Step S32: based on the change of the magnetic resonance signal of the nitrogen vacancy center of the percutaneous puncture needle, the percutaneous puncture surgical robot performs tracking analysis on the micro displacement of the puncture needle during the puncture process, and obtains the micro dynamic displacement trajectory of the percutaneous puncture needle; Step S33: obtaining a magnetic resonance image of the tumor tissue corresponding to the percutaneous puncture needle during the puncture process through a magnetic resonance imaging sensor based on a nitrogen vacancy center, and performing spatial distribution analysis of the puncture needle and the tumor based on the magnetic resonance image of the tumor tissue corresponding to the percutaneous puncture needle during the puncture process, so as to generate a spatial distribution relationship between the percutaneous puncture needle and the tumor tissue position during the puncture process; Step S34: Based on the micro-dynamic displacement trajectory of the percutaneous puncture needle and combined with dynamic simulation and physical modeling, the spatial distribution relationship between the percutaneous puncture needle and the tumor tissue position during the puncture process is detected to eliminate the mechanical influence of different puncture angles and speeds of the percutaneous puncture needle and local tissue deformation generated during needle puncture on the tumor displacement, and obtain the tumor displacement distribution of the percutaneous puncture patient; Step S35: determining the corresponding percutaneous puncture needle position distribution at the target area according to the percutaneous puncture patient's tumor displacement distribution.

9. The control method of the percutaneous puncture surgical robot system based on quantum multidimensional sensor according to claim 1 is characterized in that: Step S4 includes the following steps: Step S41: quantifying the difference between the needle insertion depth distribution and the target area distribution of the percutaneous puncture needle based on the position distribution of the percutaneous puncture needle reaching the target area, and obtaining the distribution position distance difference between the percutaneous puncture needle insertion depth and the puncture reaching the target area; Step S42: performing needle insertion navigation control on the needle insertion path of the percutaneous puncture surgical robot in the corresponding puncture process according to the distribution position distance difference between the percutaneous puncture needle insertion depth and the puncture reaching the target area, and generating a percutaneous puncture surgical needle insertion navigation path; Step S43: Generate corresponding percutaneous puncture surgery navigation control instructions through percutaneous puncture surgery needle insertion navigation path response and act on the percutaneous puncture surgery robot to perform corresponding percutaneous puncture surgery robot puncture navigation adjustment work.

10. A percutaneous puncture surgical robot system based on quantum multidimensional sensor, characterized in that: A control method for executing a percutaneous puncture surgical robot system based on a quantum multidimensional sensor as claimed in claim 1, wherein the percutaneous puncture surgical robot system based on a quantum multidimensional sensor comprises: The percutaneous puncture needle position determination module is used to detect the change of the puncture magnetic field during the puncture process of the percutaneous puncture surgery robot using a magnetic field sensor based on a superconducting quantum interference device placed near the patient's body surface, so as to obtain the distribution field of the magnetic field change during the percutaneous puncture surgery; based on the distribution field of the magnetic field change during the percutaneous puncture surgery, the puncture needle position is determined during the puncture process of the percutaneous puncture surgery robot, so as to obtain the distribution of the puncture needle position during the percutaneous puncture surgery; The percutaneous puncture needle insertion depth correction module is used to monitor the patient's respiratory movement changes and body displacement changes during the puncture process corresponding to the percutaneous puncture surgical robot in real time, and perform puncture needle insertion depth correction analysis on the percutaneous puncture surgical needle position distribution based on the patient's respiratory movement changes and body displacement changes, thereby obtaining the percutaneous puncture surgical needle insertion depth distribution; The module for determining the position of the target area is used to detect the tumor displacement distribution of the puncture process corresponding to the percutaneous puncture surgical robot using a magnetic resonance imaging sensor based on a nitrogen vacancy center placed near the puncture needle, and obtain the tumor displacement distribution of the percutaneous puncture patient; and determine the corresponding percutaneous puncture needle position distribution in the target area according to the tumor displacement distribution of the percutaneous puncture patient; The percutaneous needle puncture navigation control module is used to perform needle puncture navigation control on the needle insertion depth distribution of percutaneous puncture surgery based on the position distribution of the percutaneous puncture needle reaching the target area, generate the percutaneous puncture surgery needle puncture navigation path, and execute the corresponding percutaneous puncture surgery robot puncture navigation adjustment work.

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