A robot-assisted electrocoagulation hemostasis system

Abstract

This invention discloses a robot-assisted electrocoagulation hemostasis system, comprising: an image processing module for acquiring preoperative and intraoperative three-dimensional images of the patient's affected area and performing registration; an optical tracking module for acquiring the poses of the patient's optical array, the registered optical array, and the tool's optical array; a navigation registration module for performing navigation registration based on the registration and the poses of each optical array to obtain the positional relationship between the preoperative image and the patient's optical array; an image processing module for acquiring images obtained by endoscopy, identifying and acquiring bleeding points and their corresponding bleeding times; and a planning and execution module for planning the target pose of the robotic arm and the electrocoagulation tool mounted at its end based on telecentric fixed point constraints, and executing accordingly. This invention, through automatic robot navigation control, quickly and accurately guides the system to the bleeding point, reducing the surgeon's workload and avoiding efficiency issues caused by unfamiliar human operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a robot-assisted electrocoagulation hemostasis system. BACKGROUND

[0002] Electrocoagulation hemostasis is commonly used in surgical operations, which uses high-frequency electric current to act on tissues to produce local high temperature to make blood vessel wall protein denature and blood coagulate, thereby achieving hemostasis. In robot-assisted minimally invasive surgery, teleoperation is usually the mainstream, and the surgeon operates the master control console to control the distal slave arm integrated with the electrocoagulation hemostasis tool to manually realize the operation of hemostasis point positioning and electrocoagulation start-stop.

[0003] In actual operation, the electrocoagulation hemostasis mode of manual teleoperation has many drawbacks. The image seen by the surgeon through the 3D viewer of the master control console has great difference in clarity and stereoscopic degree from that seen directly with the naked eye, and the endoscopic field of view lacks tactile feedback, so the surgeon needs to rely on visual speculation of the contact force between the instrument and the tissue, and therefore the operation efficiency is highly dependent on the experience and proficiency of the surgeon; and due to the influence of communication delay, mechanical transmission and other factors, the response of the slave arm has delay, which may delay the best hemostasis opportunity when the bleeding is fast or the amount of bleeding is large, thereby affecting the surgical effect. SUMMARY

[0004] The present application provides a robot-assisted electrocoagulation hemostasis system, which uses optical navigation to position the bleeding point, has strong anti-interference ability, and uses a mechanical arm to assist electrocoagulation hemostasis operation, thereby reducing the operation burden of the surgeon.

[0005] TECHNICAL SOLUTION The present application provides a robot-assisted electrocoagulation hemostasis system, which includes:

[0006] An image processing module is configured to acquire preoperative three-dimensional images and intraoperative three-dimensional images of a patient's affected area and perform registration on the two images;

[0007] An optical tracking module is configured to acquire the poses of a patient optical array installed on the patient's affected area, a registration optical array installed on a three-dimensional image device, and a tool optical array installed on a mechanical arm of a robot;

[0008] A navigation registration module is configured to perform navigation registration according to the registration of the image processing module and the poses of the patient optical array and the registration optical array acquired by the optical tracking module, to obtain the positional relationship between the preoperative images of the patient's affected area and the patient optical array;

[0009] An image processing module is configured to acquire real-time images of the patient's affected area collected by an endoscope, identify and acquire bleeding points and corresponding bleeding moments therein;

[0010] a planning execution module configured to calculate a position relationship of the bleeding point relative to the patient optical array according to the bleeding point and the corresponding bleeding time identified by the image processing module, the endoscope parameter, and the real-time pose of the patient optical array obtained by the optical tracking module;

[0011] The planning execution module obtains the real-time pose of the mechanical arm and the electrocoagulation tool mounted thereon, obtains the patient contour according to the aforementioned navigation registration, and plans the target pose of the mechanical arm and the electrocoagulation tool based on the telecentric fixed point constraint, and executes accordingly.

[0012] Specifically, the navigation registration module obtains the position relationship of the intraoperative image of the known patient affected area relative to the corresponding three-dimensional imaging device, calculates the position relationship between the intraoperative image of the patient affected area and the optical tracking device according to the pose of the registration optical array obtained by the optical tracking module, and calculates the position relationship between the preoperative image of the patient affected area and the patient optical array in combination with the pose of the patient optical array obtained by the registration and optical tracking modules.

[0013] Specifically, the planning execution module obtains the pose of the camera end of the endoscope at the bleeding time relative to the connecting end thereof, calculates the position relationship of the bleeding point relative to the connecting end of the endoscope in combination with the endoscope parameter, and calculates the position relationship of the bleeding point relative to the patient optical array according to the real-time pose of the patient optical array and the tool optical array at the bleeding time obtained by the optical tracking device.

[0014] More specifically, the planning execution module calculates the position relationship of the bleeding point relative to the camera end of the endoscope in combination with the intrinsic parameter in the endoscope parameter according to the bleeding point in the real-time image of the patient affected area collected by the endoscope identified by the image processing module.

[0015] Furthermore, the planning execution module calculates the motion transformation matrix of the camera end of the endoscope relative to the initial position thereof according to the displacement amount of the camera end of the endoscope relative to the initial position thereof along the axial direction thereof and the rotation angle of the camera end of the endoscope relative to the initial position thereof around the axial direction thereof obtained by the sensor on the endoscope, calculates the position relationship between the camera end of the endoscope at the bleeding time and the connecting end of the endoscope in combination with the extrinsic parameter in the endoscope parameter, and further calculates the position relationship of the bleeding point relative to the connecting end of the endoscope.

[0016] Furthermore, the planning execution module calculates the position relationship of the bleeding point relative to the patient optical array according to the pose of the patient optical array at the bleeding time and the real-time pose of the tool optical array obtained by the optical tracking device, in combination with the position relationship of the bleeding point relative to the connecting end of the endoscope and the installation parameter of the tool optical array.

[0017] Specifically, the planning execution module obtains the real-time pose of the electrocoagulation tool head relative to the connecting end of the electrocoagulation tool at the current time according to the sensor arranged on the electrocoagulation tool, and calculates the real-time pose of the electrocoagulation tool in the reference of the patient optical array at the current time in combination with the real-time pose of the patient optical array and the real-time pose of the tool optical array obtained by the optical tracking device and the installation parameters of the tool optical array.

[0018] More specifically, the planning execution module obtains the displacement amount of the axial displacement movement and the rotation angle of the axial rotation movement of the electrocoagulation tool head relative to the connecting end of the electrocoagulation tool at the current time through the sensor arranged on the electrocoagulation tool, and calculates the real-time pose of the electrocoagulation tool head relative to the connecting end of the electrocoagulation tool in combination with the pose at the initial time, and calculates the real-time pose of the electrocoagulation tool in the reference of the patient optical array at the current time in combination with the real-time pose of the patient optical array and the real-time pose of the tool optical array obtained by the optical tracking device and the installation parameters of the tool optical array.

[0019] More specifically, the planning execution module plans the target pose of the mechanical arm and the electrocoagulation tool mounted at the end thereof based on the telecentric fixed point constraint, specifically including the following steps:

[0020] (1) obtaining the contour point cloud of the patient according to the preoperative image of the affected part of the patient, and obtaining the contour point cloud of the patient in the reference of the patient optical array according to the navigation registration;

[0021] (2) obtaining the intersection of the feature vector of the real-time pose of the electrocoagulation tool in the reference of the patient optical array at the current time and the aforementioned contour point cloud of the patient, and obtaining the telecentric fixed point in the reference of the patient optical array;

[0022] (3) taking the line connecting the telecentric fixed point and the bleeding point in the reference of the patient optical array as the fixed axis of the electrocoagulation tool, setting an angle step, and performing traversal sampling, each time obtaining a candidate pose of the electrocoagulation tool relative to the patient optical array and transforming it into the reference of the mechanical arm;

[0023] (4) decomposing each candidate pose of the electrocoagulation tool in the reference of the mechanical arm into a plurality of groups of the pose of the electrocoagulation tool and the pose of the mechanical arm, and calculating the candidate displacement amount and the candidate rotation angle of the electrocoagulation tool and the candidate joint value of the mechanical arm through inverse kinematics;

[0024] (5) calculating the overall movement amount of each group of the pose of the electrocoagulation tool and the pose of the mechanical arm through weighted operation, selecting the pose of the electrocoagulation tool and the pose of the mechanical arm corresponding to the minimum overall movement amount as the target pose of the electrocoagulation tool and the target pose of the mechanical arm, and completing the motion planning of the mechanical arm and the electrocoagulation tool.

[0025] Furthermore, in step (3), the traversal angle range is [-π, π].

[0026] Furthermore, in step (5), the candidate motion quantity consisting of the candidate displacement and the candidate rotation angle of the electrocoagulation tool is defined as σ. i The candidate joint value of the robotic arm is q i Then, the corresponding total motion quantity d is calculated through weighted operations. i as follows:

[0027] ;

[0028] Where q and σ are the initial joint angle values ​​of the robotic arm and the initial motion values ​​of the electrocoagulation tool, respectively, and are the positions of the robotic arm and the electrocoagulation tool obtained during planning; u1 and u2 are the corresponding weighting coefficients, which satisfy the following conditions:

[0029] u1 > 0;

[0030] u2 > 0;

[0031] u1+u2=1;

[0032] Find the total amount of motion d i By finding the minimum value of the candidate motion values ​​of the electrocoagulation tool and the candidate joint values ​​of the robotic arm, the target pose of the electrocoagulation tool and the target pose of the robotic arm can be obtained.

[0033] Beneficial effects: This invention uses a robotic arm to assist in electrocoagulation hemostasis. Through automatic navigation control, the robot can quickly and accurately guide the bleeding point, has strong anti-interference ability, reduces the operator's workload, avoids the execution efficiency problems caused by human unfamiliarity, and improves the surgeon's surgical efficiency. It replaces manual surgical path implementation and, compared with remote operation, reduces the human learning curve and has good consistency. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a flowchart illustrating the operation of the robot-assisted electrocoagulation hemostasis system of the present invention.

[0036] Figure 2 An architecture diagram for navigation registration in this invention;

[0037] Figure 3 This is a diagram illustrating the architecture for bleeding point navigation and localization in this invention.

[0038] Figure 4 This is a flowchart of the planning and execution module of the present invention.

[0039] In the figure, 1 is the patient's affected area, 11 is the bleeding point, 12 is the patient optical array, 2 is the C-arm machine, 21 is the registration optical array, 3 is the optical tracking module, 4 is the robot, 41 is the robotic arm, 42 is the electrocoagulation tool, and 43 is the tool optical array. Detailed Implementation

[0040] To make the objectives, technical solutions and advantages of the present invention clearer, the present application will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0041] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0042] The robot-assisted electrocoagulation hemostasis system of the present invention, such as Figure 2 , 3 As shown, it includes:

[0043] The image processing module is used to acquire preoperative and intraoperative three-dimensional images of the patient's affected area and to register the two images.

[0044] An optical tracking module is used to acquire the pose of a patient optical array mounted on the patient's affected area, a registration optical array mounted on a 3D imaging device, and a tool optical array mounted on a robot's robotic arm.

[0045] The navigation registration module is used to perform navigation registration based on the poses of the patient's optical array and the registered optical array obtained by the image processing module and the optical tracking module, so as to obtain the positional relationship between the preoperative image of the patient's affected area and the patient's optical array.

[0046] The image processing module is used to acquire real-time images of the patient's affected area collected by the endoscope installed at the end of the robotic arm, identify and acquire the bleeding points and the corresponding bleeding time.

[0047] The planning and execution module is used to acquire the real-time pose of the robotic arm and the real-time pose of the endoscope and electrocoagulation tool mounted on the end of the robotic arm relative to the end of the robotic arm. It combines the bleeding point and corresponding bleeding time identified by the image processing module, the endoscope parameters, and the real-time pose of the patient optical array and tool optical array acquired by the optical tracking module to calculate the positional relationship of the bleeding point relative to the patient optical array. Based on the aforementioned navigation registration, it acquires the patient contour, plans the target pose of the robotic arm and the electrocoagulation tool mounted on its end based on the telecentric fixed point constraint, and executes accordingly.

[0048] In this invention, the image processing module can acquire preoperative and intraoperative three-dimensional images of the patient's affected area through three-dimensional imaging devices used to acquire preoperative and intraoperative three-dimensional images of the patient's affected area, respectively. Specifically, the three-dimensional imaging device for acquiring preoperative three-dimensional images of the patient's affected area can be a CT scanner, and the three-dimensional imaging device for acquiring intraoperative three-dimensional images of the patient's affected area can be a C-arm machine.

[0049] In this invention, the patient's affected area is scanned preoperatively using a corresponding 3D imaging device to obtain a preoperative 3D image (img1). During the surgery, after setting up the surgical scene, the patient's affected area is scanned again using the corresponding 3D imaging device to obtain an intraoperative 3D image (img2). The image processing module identifies and extracts the vertebral segment contour features from both the preoperative and intraoperative 3D images (img1 and img2), thereby registering the preoperative and intraoperative 3D images to determine their positional relationship. .

[0050] In this invention, the image processing module extracts the vertebral segment contour features from the preoperative three-dimensional image img1 and the intraoperative three-dimensional image img2 of the patient's affected area, specifically as follows: The image processing module identifies the vertebral segments in the preoperative three-dimensional image img1 and the intraoperative three-dimensional image img2 of the patient's affected area using an existing vertebral segment recognition model, and then extracts their contour features.

[0051] In this invention, reference can be made to Figure 2 The surgical scene is set up during the operation, which includes the patient 1, a three-dimensional imaging device such as a C-arm 2, and an optical tracking module 3. The patient optical array 12 is positioned at the patient's affected area 1, and the registration optical array 21 is positioned on the C-arm of the C-arm 2. In this invention, theoretically, the patient optical array 12 and the patient's affected area 1 are physically rigidly connected, and the registration optical array 21 and the three-dimensional imaging device such as the C-arm 2 are physically rigidly connected.

[0052] In this invention, the navigation registration module acquires the positional relationship between the known intraoperative image of the patient's affected area and its corresponding three-dimensional imaging device. Based on the pose of the registered optical array on the three-dimensional imaging device acquired by the optical tracking module, and combined with the installation parameters of the registered optical array, the positional relationship between the intraoperative image of the patient's affected area and the optical tracking device is calculated. Based on the aforementioned registration calculation, the positional relationship between the preoperative image of the patient's affected area and the optical tracking module is obtained. Furthermore, based on the pose of the patient's optical array acquired by the optical tracking module, the positional relationship between the preoperative image of the patient's affected area and the patient's optical array is calculated.

[0053] Specifically, the positional relationship between the intraoperative image of the patient's affected area and its corresponding 3D imaging device is as follows: The pose of the registered optical array on the 3D imaging device acquired by the optical tracking module is... This allows us to obtain the positional relationship between the intraoperative images of the patient's affected area and the optical tracking device. ,as follows:

[0054] ;

[0055] This allows us to obtain the positional relationship between the preoperative images of the patient's affected area and the optical tracking module. ,as follows:

[0056] ;

[0057] Then, the pose of the patient's optical array can be obtained from the optical tracking module. The positional relationship between the preoperative image of the patient's affected area and the patient's optical array was calculated as follows:

[0058] .

[0059] In this invention, the image processing module acquires real-time images under the endoscopic field of view, identifies bleeding points in the real-time images under the endoscopic field of view based on the existing bleeding point recognition model, and then determines the bleeding status of the patient's lesion. Under the bleeding status, the bleeding points are identified, thus completing the bleeding identification and localization. At the same time, the bleeding time is obtained based on the image corresponding to the identified bleeding point.

[0060] In this invention, both the endoscope and the electrocoagulation tool are mounted at the end of a robotic arm. Specifically, the connecting ends of both the endoscope and the electrocoagulation tool are connected to the flange at the end of the robotic arm. The camera end of the endoscope can move axially and rotate about its axis relative to its connecting end, and a sensor is provided on it to acquire the displacement of the camera end along its axis and the rotation angle of its rotation about its axis, respectively. The same applies to the electrocoagulation tool.

[0061] In this invention, after the endoscope enters the patient's affected area through a minimally invasive incision, it acquires real-time images of the affected area.

[0062] In this invention, the endoscope parameters have been calibrated. The calibration method can be any existing method, which will not be described in detail here.

[0063] In this invention, the planning and execution module can obtain the bleeding point and corresponding bleeding time identified and acquired by the image processing module, acquire the pose of the camera end of the endoscope relative to its connection end, and calculate the positional relationship of the bleeding point relative to the connection end of the endoscope by combining the endoscope parameters and the displacement of the camera end of the endoscope along its axis and the rotation angle of the rotational motion around its axis relative to its initial position at the bleeding time. Based on the pose of the patient optical array and the tool optical array at the bleeding time acquired by the optical tracking device, and combined with the installation parameters of the tool optical array, the positional relationship of the bleeding point relative to the patient optical array is calculated. At the same time, the planning and execution module acquires the real-time pose of the electrocoagulation head relative to the connection end of the electrocoagulation tool by the sensor set on the electrocoagulation tool. Based on this, and combined with the installation parameters of the tool optical array and the real-time pose of the patient optical array and the tool optical array acquired by the optical tracking device, the real-time pose of the electrocoagulation tool at the current time with reference to the patient optical array is calculated. Based on the aforementioned navigation registration, the patient contour is acquired, and combined with the real-time pose of the robotic arm and the electrocoagulation tool at its end, the target pose of the robotic arm and the electrocoagulation tool installed at its end is planned based on the constraints of the telecentric fixed point.

[0064] Specifically, the planning and execution module identifies bleeding points in real-time images of the patient's affected area captured by the endoscope, as determined by the image processing module. This is combined with intrinsic parameters from the endoscope parameters, specifically the mapping relationship between points on the image identified by the endoscope and the camera end of the endoscope. The positional relationship between the bleeding point and the camera end of the endoscope was calculated. The details are as follows:

[0065] ;

[0066] in, The positional relationship between the bleeding point and the real-time image of the patient's affected area obtained by endoscopy at the moment of bleeding;

[0067] Furthermore, the planning and execution module can determine the positional relationship between the camera end and the endoscope connection end at the initial position based on the extrinsic parameters in the endoscope parameters. Based on the sensors on the endoscope, the displacement along the axial direction and the rotation angle around the axial direction of the camera end relative to its initial position at the time of bleeding are obtained, and the motion transformation matrix of the camera end of the endoscope relative to its initial position is calculated. This allows us to calculate the positional relationship between the camera end and the connecting end of the endoscope at the moment of bleeding. This allows us to calculate the positional relationship between the bleeding point and the endoscope's connecting end. The details are as follows:

[0068] ;

[0069] Specifically, the planning and execution module uses the pose of the patient's optical array acquired by the optical tracking device at the moment of bleeding. pose of tool optical array The positional relationship between the tool optical array and the end effector of the robotic arm is calculated based on the installation parameters of the tool optical array. Since the endoscope's connecting end is connected to the flange at the end of the robotic arm, the positional relationship between the bleeding point and the endoscope's connecting end, obtained earlier, can be used as a basis. The positional relationship between the bleeding point and the patient's optical array can be calculated. This involves completing the navigation and location of the bleeding point, as detailed below:

[0070] ;

[0071] In this invention, the planning and execution module can obtain the displacement of the electrocautery cutter head relative to the connecting end of the electrocautery tool along its axial direction and the rotation angle of its rotational motion about its axial direction at the current moment through sensors installed on the electrocautery tool. Combined with its initial pose, the module can calculate the real-time pose of the electrocautery cutter head relative to the connecting end of the electrocautery tool. Since the connection end of the electrocoating tool is connected to the flange at the end of the robotic arm, the positional relationship of the tool optical array relative to the end of the robotic arm is calculated based on the installation parameters of the tool optical array. Then, the real-time pose of the patient's optical array obtained by the optical tracking device... Real-time pose of tool optical array This allows us to calculate the real-time pose of the electrocoagulation tool relative to the patient's optical array at the current moment. The details are as follows:

[0072] ;

[0073] In this invention, the planning and execution module plans the target pose of the robotic arm and the electrocoagulation tool mounted at its end effector based on the constraints of the telecentric fixed point, as follows:

[0074] (1) Obtain the patient's contour point cloud based on the preoperative images of the affected area, denoted as {suf}. img1The patient's contour point cloud is transformed based on the navigation registration module to obtain the patient's contour point cloud {suf} under the reference of the patient's optical array. PM ;

[0075] Specifically as follows:

[0076] {suf} PM = {suf} img1 ;

[0077] (2) Determine the real-time pose of the electrocoagulation tool with reference to the patient's optical array at the current moment. eigenvectors The aforementioned patient contour point cloud {suf} referenced by the patient optical array. PM The intersection point can be used to obtain the telecentric fixed point in reference to the patient's optical array. ;

[0078] Specifically, the real-time pose of the electrocoagulation tool, referenced by the patient's optical array, is calculated at the current moment. eigenvectors The details are as follows:

[0079] Based on the real-time pose of the electrocoagulation tool with reference to the patient's optical array, obtained from the planning and execution module. The current rotation matrix of the electrocoagulation tool can be obtained with reference to the patient's optical array. ,as follows:

[0080] ;

[0081] in, Refers to the current rotation matrix The element in the i-th row and j-th column;

[0082] Then we can obtain the following vector:

[0083] ;

[0084] The intersection point of this vector with the human body contour can then be calculated: ;

[0085] in, The intersection operator for a three-dimensional vector and an irregular surface.

[0086] (3) Based on the aforementioned positional relationship between the bleeding points and the patient's optical array The bleeding point can be calculated under the reference of the patient's optical array. Then the telecentric fixed point With bleeding points The connection is the stationary axis V of the electrocoagulation tool. With the stationary axis V of the electrocoagulation tool as the axis, the angle step size is set, and traversal sampling is performed. Each sampling obtains a candidate pose of the electrocoagulation tool relative to the patient's optical array, and transforms it to the reference of the robotic arm.

[0087] In this invention, the traversal angle range is [-π, π].

[0088] In this invention, the planning and execution module can obtain the joint values ​​of the robotic arm at the current moment, calculate the real-time pose of the robotic arm through forward kinematics calculations, and thus obtain the positional relationship between the patient's optical array and the robotic arm at the current moment. The details are as follows:

[0089] ;

[0090] in, This represents the real-time pose of the robotic arm, calculated using the forward kinematics of the robotic arm.

[0091] Therefore, the candidate poses of all electrocoagulation tools relative to the patient's optical array can be transformed to the reference of the robotic arm.

[0092] (4) Each candidate pose of the electrocoagulation tool obtained above under the reference of the robotic arm can be decomposed into several sets of poses of the electrocoagulation tool and poses of the robotic arm. The candidate displacement and candidate rotation angle of the electrocoagulation tool and the candidate joint value of the robotic arm are calculated by inverse kinematics.

[0093] (5) Calculate the total motion of the poses of each group of electrocoagulation tools and the robot arm through weighted calculation, select the pose of the electrocoagulation tool and the robot arm with the smallest total motion as the target pose of the electrocoagulation tool and the robot arm, and complete the motion planning of the robot arm and the electrocoagulation tool.

[0094] In this invention, the candidate motion quantity consisting of the candidate displacement and the candidate rotation angle of the electrocoagulation tool is defined as σ. i The candidate joint value of the robotic arm is q i Then, the corresponding total motion quantity d is calculated through weighted operations. i as follows:

[0095] ;

[0096] Where q and σ are the initial joint angle values ​​of the robotic arm and the initial motion values ​​of the electrocoagulation tool, respectively, and are the positions of the robotic arm and the electrocoagulation tool obtained during planning; u1 and u2 are the corresponding weighting coefficients, which satisfy the following conditions:

[0097] u1 > 0;

[0098] u2 > 0;

[0099] u1+u2=1;

[0100] Find the total amount of motion d i By finding the candidate motion values ​​of the electrocoagulation tool and the candidate joint values ​​of the robotic arm corresponding to the minimum value, the target pose of the electrocoagulation tool and the target pose of the robotic arm can be obtained, thus completing the electrocoagulation target planning.

[0101] In this invention, during execution, the planning and execution module, based on the fixed point principle, interpolates the movement trajectory points of the robotic arm and the electrocoagulation head according to the target pose of the electrocoagulation tool and the target pose of the robotic arm, as well as their initial positions, and executes the movement of the robotic arm and the electrocoagulation head accordingly to complete the electrocoagulation hemostasis work. Afterward, the electrocoagulation tool is withdrawn.

[0102] In this invention, the planning and execution module controls the robotic arm and the electrocoagulation head to enter the patient's affected area in sequence. The movement trajectory of the robotic arm is tracked in real time based on the optical tracking device, and its real-time posture is corrected when it deviates from the plan, until the electrocoagulation head reaches the bleeding point. After the electrocoagulation head reaches the target, the electrocoagulation knife power is activated to perform the electrocoagulation operation. At the same time, the corresponding real-time images are obtained through the endoscope.

[0103] This invention relies on multimodal image fusion and optical positioning technology to locate blood points using optical navigation. It boasts strong anti-interference capabilities and, compared to teleoperation, is unaffected by subsequent bleeding blurring, thus solving the problem of bleeding point location after blood shadow blurring. Furthermore, this invention uses a robotic arm to assist in electrocoagulation hemostasis. Through automatic robot navigation control, it quickly and accurately guides the bleeding point, reducing the surgeon's workload, avoiding efficiency issues caused by unfamiliar human operation, and improving surgical efficiency. It replaces manual surgical path implementation and, compared to teleoperation, reduces the human learning curve and offers better consistency.

[0104] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of the invention as described above, which are not provided in the details for the sake of brevity.

[0105] The embodiments of this invention are intended to cover all such substitutions, modifications, and variations falling within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this invention should be included within the protection scope of this invention.

Claims

1. A robot-assisted electrocoagulation hemostasis system, characterized in that, The application relates to a navigation system for a robot, comprising: an image processing module, used for acquiring preoperative three-dimensional images and intraoperative three-dimensional images of a patient's affected part and performing registration on the two images; an optical tracking module, used for acquiring the poses of a patient optical array installed on the patient's affected part, a registration optical array installed on a three-dimensional image device and a tool optical array installed on a mechanical arm of a robot; a navigation registration module, used for performing navigation registration according to the registration of the image processing module and the poses of the patient optical array and the registration optical array acquired by the optical tracking module, so as to obtain the positional relationship between the preoperative images of the patient's affected part and the patient optical array; an image processing module, used for acquiring real-time images of the patient's affected part collected by an endoscope, identifying and acquiring bleeding points and corresponding bleeding time points in the real-time images; a planning execution module, used for calculating the positional relationship of the bleeding points relative to the patient optical array according to the bleeding points and the corresponding bleeding time points identified by the image processing module, endoscope parameters and the real-time poses of the patient optical array acquired by the optical tracking module; the planning execution module acquires the real-time poses of the mechanical arm and the electrocoagulation tool installed thereon, acquires the patient contour point cloud according to the preoperative images of the patient's affected part and the navigation registration, obtains the telecentric immobile point under the reference of the patient optical array by seeking the intersection of the feature vector of the real-time pose of the electrocoagulation tool at the current time and the aforementioned patient contour point cloud, takes the connecting line of the telecentric immobile point and the bleeding point as the immobile axis of the electrocoagulation tool, sets an angle step, performs traversal sampling, obtains the candidate pose of the electrocoagulation tool under the reference of the mechanical arm each time the sampling is performed, decomposes the candidate pose into a plurality of groups of the pose of the electrocoagulation tool and the pose of the mechanical arm, calculates the candidate displacement amount and the candidate rotation angle of the electrocoagulation tool and the candidate joint value of the mechanical arm through inverse kinematics, calculates the overall motion amount of each group of the pose of the electrocoagulation tool and the pose of the mechanical arm through weighted operation, selects the corresponding pose of the electrocoagulation tool and the pose of the mechanical arm corresponding to the minimum overall motion amount as the target pose of the corresponding mechanical arm and electrocoagulation tool, and executes the target pose.

2. The robotically-assisted electrocoagulation hemostasis system of claim 1, wherein, The navigation registration module acquires the positional relationship between the intraoperative images of the patient's affected part and the corresponding three-dimensional image device, calculates the positional relationship between the intraoperative images of the patient's affected part and the optical tracking device according to the pose of the registration optical array acquired by the optical tracking module, and combines the registration and the pose of the patient optical array acquired by the optical tracking module to calculate the positional relationship between the preoperative images of the patient's affected part and the patient optical array.

3. The robotically-assisted electrocoagulation hemostasis system of claim 1, wherein, The planning execution module acquires the pose of the camera end of the endoscope relative to the connecting end at the bleeding time, calculates the positional relationship of the bleeding point relative to the connecting end of the endoscope according to the endoscope parameters, and calculates the positional relationship of the bleeding point relative to the patient optical array according to the real-time poses of the patient optical array and the tool optical array at the bleeding time acquired by the optical tracking device.

4. The robotically-assisted electrocoagulation hemostasis system of claim 3, wherein, The planning execution module calculates the positional relationship of the bleeding point relative to the camera end of the endoscope according to the bleeding point in the real-time images of the patient's affected part collected by the endoscope and the internal parameters in the endoscope parameters.

5. The robotically-assisted electrocoagulation hemostasis system of claim 4, wherein, The planning execution module calculates a motion transformation matrix of the camera end of the endoscope compared with its initial position according to the displacement amount of the camera end of the endoscope along its axial direction and the rotation angle of the camera end of the endoscope around its axial direction at the bleeding time obtained by the sensor on the endoscope, and calculates the positional relationship between the camera end of the endoscope and the connecting end of the endoscope at the bleeding time in combination with the external parameter in the endoscope parameter, and further calculates the positional relationship of the bleeding point relative to the connecting end of the endoscope.

6. The robotically-assisted electrocoagulation hemostasis system of claim 5, wherein, The planning execution module calculates the positional relationship of the bleeding point relative to the patient optical array according to the pose of the patient optical array at the bleeding time and the real-time pose of the tool optical array obtained by the optical tracking device respectively, in combination with the positional relationship of the bleeding point relative to the connecting end of the endoscope and the installation parameter of the tool optical array.

7. The robotically-assisted electrocautery hemostasis system of claim 1, wherein, The planning execution module calculates the real-time pose of the electrocoagulation tool under the reference of the patient optical array at the current time according to the real-time pose of the electrocoagulation tool head relative to the connecting end of the electrocoagulation tool obtained by the sensor on the electrocoagulation tool, in combination with the real-time pose of the patient optical array and the real-time pose of the tool optical array obtained by the optical tracking device and the installation parameter of the tool optical array.

8. The robotically-assisted electrocoagulation hemostasis system of claim 7, wherein, The planning execution module calculates the real-time pose of the electrocoagulation tool head relative to the connecting end of the electrocoagulation tool according to the displacement amount of the displacement motion of the electrocoagulation tool head along the axial direction of the electrocoagulation tool and the rotation angle of the rotation motion around the axial direction of the electrocoagulation tool at the current time obtained by the sensor on the electrocoagulation tool, in combination with the pose at the initial time, and calculates the real-time pose of the electrocoagulation tool under the reference of the patient optical array at the current time in combination with the real-time pose of the patient optical array and the real-time pose of the tool optical array obtained by the optical tracking device and the installation parameter of the tool optical array.

9. The robotically-assisted electrocautery hemostasis system of claim 1, wherein, The traversed angle range is [-π, π].

10. The robotically-assisted electrocautery hemostasis system of claim 1, wherein, A candidate motion amount σ composed of a candidate displacement amount and a candidate rotation angle of the coagulation tool is defined i A candidate joint value q of the robot arm is defined i A corresponding total motion amount d is calculated by a weighted operation i As follows: ； Wherein, q, σ are the initial value of the joint angle of the mechanical arm and the initial value of the motion of the electrocoagulation tool respectively, and are the positions of the mechanical arm and the electrocoagulation tool obtained at the planning time; u1, u2 are corresponding weighting coefficients, and both satisfy the following conditions: u1＞0； u2＞0； u1+u2=1; The minimum value of the total motion amount d i corresponding to the candidate motion amount of the electrosurgical tool and the candidate joint value of the robot arm, i.e. the target pose of the electrosurgical tool and the target pose of the robot arm.

Images