Positioning method and system of minimally invasive interventional operation navigation robot

Abstract

The invention relates to the technical field of robot positioning, and discloses a positioning method and system of a minimally invasive interventional operation navigation robot, an optical coordinate system, an electromagnetic coordinate system and a robot coordinate system are established, the established three coordinate values are unified in a matrix conversion mode, vector coordinate data of operation of the robot are calculated, and the vector coordinate data are used for positioning the robot. The method comprises the steps that the body position height of a patient during breathing is predicted, the deformation curvature K of the patient is calculated, and according to the predicted body position height of the patient, the specific position of vector coordinate data in a coordinate system is determined after compensation is conducted through the deformation curvature K of the patient. The position precision can be ensured in different environments, and on the basis of ensuring the position precision of the robot, the precision of the robot during minimally invasive interventional operation is higher by predicting the body position height of the patient during breathing and compensating the deformation curvature K of the robot during working.

Description

Technical Field

[0001] This invention relates to the field of robot positioning technology, and more specifically to a positioning method and system for a minimally invasive interventional surgical navigation robot. Background Technology

[0002] Minimally invasive interventional surgery is an advanced technology that enters the body through tiny incisions or natural cavities, guided by imaging equipment, to precisely treat diseases. Its core advantages include minimal trauma, rapid recovery, and fewer complications. It is applicable to the diagnosis and treatment of cardiovascular, oncological, and nervous system diseases, and has become an important direction for the development of modern medicine. Compared to traditional open surgery, minimally invasive interventional surgery does not require extensive tissue incision. Instead, it uses instruments such as catheters, needles, and guidewires, combined with imaging technologies such as ultrasound, CT, and DSA, to directly reach the lesion site and complete the procedure. Only a few millimeters of incision is needed, or the procedure can be performed through natural channels such as the mouth or blood vessels. Postoperative pain is less, scarring is less noticeable, and hospital stay is significantly shortened. Image guidance allows for precise lesion localization, minimizing damage to surrounding healthy tissues. In modern minimally invasive interventional surgery, when using robots for navigation and positioning, the line of sight to the instrument markers is unobstructed. During the operation, signal loss can easily occur due to the doctor's operation or equipment obstruction. Furthermore, there are cumulative errors in the long-distance instrument end-effector posture calculation, which makes the positioning position inaccurate and reduces the positioning accuracy. Patients' respiratory movements cause displacement of target organs in the chest and abdomen by 10-30 mm. Currently, it is impossible to make good respiratory predictions during navigation and positioning. When the positioning robot works, it will also cause certain deformation after contacting the patient's body. All of these factors will make the positioning accuracy of the robot insufficient. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present invention provide a positioning method and system for a minimally invasive interventional surgical navigation robot to solve the technical problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a positioning method for a minimally invasive interventional surgical navigation robot, comprising the following steps: Step S1: Establish the optical coordinate system, electromagnetic coordinate system, and robot coordinate system; Step S2: Unify the matrix transformation method of the three established coordinate values; Step S3: Calculate the vector coordinate data for the robot's operation; Step S4: Predict the patient's body position height when breathing, and calculate the self-deformation curvature K of the robot when performing minimally invasive surgery; Step S5: Based on the predicted height of the patient's body position, after compensation using its own deformation curvature K, the specific position of the vector coordinate data in the coordinate system is determined, and the robot is controlled to perform its work.

[0005] In a preferred embodiment, a positioning system for a minimally invasive interventional surgical navigation robot includes an optical unit, an electromagnetic unit, a robotic unit, a conversion unit, a motion unit, a breathing unit, a deformation unit, a central unit, and an execution unit. The optical unit establishes an optical coordinate system, the electromagnetic unit establishes an electromagnetic coordinate system, the robotic unit establishes a robotic coordinate system, the conversion unit converts and unifies all coordinate systems, the breathing unit determines the patient's body position and height after breathing, the deformation unit calculates the robot's own deformation curvature K, the central unit receives all data information and determines the specific position of the robot's movement, and the execution unit controls the robot to move to the specific position determined by the central unit. The transformation unit uses a transformation matrix to establish the coordinate system. The transformation matrix is ​​as follows: The transformation receives the optical coordinate system, electromagnetic coordinate system, and robot coordinate system and performs matrix transformation to unify them.

[0006] In a preferred embodiment, the optical unit uses an infrared camera array on the top of the operating room to track the patient's body surface and instrument reference points, and establishes a coordinate system with the optical center of the infrared camera as the origin. The electromagnetic unit uses a miniature magnetic field generator integrated into the end of the instrument, and establishes a coordinate system with the center of the magnetic field generator as the origin. The robotic unit uses a MEMS gyroscope and accelerometer embedded in the proximal end of the instrument to measure the robot's own position, and establishes a coordinate system with the base of the robotic arm as the origin.

[0007] In a preferred embodiment, the transformation unit receives the coordinate system established by the optical unit, the electromagnetic unit, and the robot unit, and establishes a transformation matrix. The transformation matrix established by the transformation unit is: In the formula This is a transformation from the optical coordinate system to the robot coordinate system. This is a transformation from the electromagnetic coordinate system to the robot coordinate system. The transformation unit sends the resulting coordinate system to the central unit after transforming the optical coordinate system to the electromagnetic coordinate system.

[0008] In a preferred embodiment, the action unit receives data collected by the optical unit, electromagnetic unit, and robotic unit, and calculates the vector coordinate data for the robot's operation. The formula for calculating the vector coordinate data is as follows: In the formula To calculate the six-dimensional vector of the robot's movement, For optical data weights, For electromagnetic data weights, As the robot's current data weight, The instrument position determined for the optical unit. The instrument position determined by the electromagnetic unit. To determine the robot's movement position, the action unit sends the calculated vector coordinate data of the robot's movement to the central unit.

[0009] In a preferred embodiment, the respiratory unit collects the respiratory rate within the most recent minute. After extracting the time corresponding to each respiratory rate of the patient, the respiratory unit collects the body position height of the patient during each respiratory rate. The respiratory unit predicts the body position height of the patient during the next breath based on the average body position height of the patient during the most recent minute. The central unit sends the predicted body position height of the patient to the central unit.

[0010] In a preferred embodiment, the deformation unit calculates the self-deformation curvature K of the robot during operation, and the formula for calculating the self-deformation curvature K is as follows: In the formula This represents the change in angular displacement of the robot during movement. The deformation unit sends its calculated deformation curvature K to the central unit to determine the working segment length of the robot.

[0011] In a preferred embodiment, the central unit receives the coordinate system generated by the transformation unit, the vector coordinate data calculated by the action unit, the patient's body position height predicted by the breathing unit, and the self-deformation curvature K of the deformation unit. The central unit first uses the predicted patient's body position height as the surgical position when the robot is working.

[0012] In a preferred embodiment, after the central unit determines the surgical location, the central unit generates a compensation value for the vector coordinate data using its own deformation curvature K. After compensating the vector coordinate data, the central unit determines the specific position of the vector coordinate data in the coordinate system. The central unit sends the determined specific position to the execution unit. After receiving the specific position, the execution unit controls the robot to perform minimally invasive interventional surgery.

[0013] The technical effects and advantages of this invention are as follows: This invention determines the robot's position using three methods: optical coordinate system, electromagnetic coordinate system, and robot's own coordinate system, ensuring the accuracy of the robot's position. This accuracy can be maintained in different environments. In addition to ensuring the robot's own position accuracy, the invention predicts the patient's body position height during breathing and compensates for the robot's own deformation curvature K during operation, thereby making the robot more accurate when performing minimally invasive interventional surgery. This invention employs an infrared camera array mounted on the ceiling of the operating room to track the patient's body surface and instrument reference points. A coordinate system is established with the optical center of the infrared camera as the origin. This optical coordinate system is suitable for positioning under unobstructed conditions. A miniature magnetic field generator integrated into the end of the instrument is used to establish a coordinate system with the center of the magnetic field generator as the origin. A transformation matrix is ​​used to unify the above three coordinate systems, ensuring that the three coordinate systems are all within a single final coordinate system. This avoids coordinate system confusion and enables precise positioning of the robot, allowing for positioning under various conditions. This invention uses data from the most recent minute to predict the patient's respiratory state in the future. By understanding the patient's breathing status during subsequent breathing, the invention can determine the patient's body position and height, allowing the robot to be controlled to perform surgical operations in the precise location. The invention also calculates the robot's deformation curvature K to understand the degree of deformation and compensate for it, ensuring the accuracy of the robot's surgical procedures. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the positioning method of the present invention.

[0015] Figure 2 This is a schematic diagram of the positioning system of the present invention. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The positioning method and system of the minimally invasive interventional surgical navigation robot involved in the present invention are not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Reference Figure 1 This invention provides a positioning method for a minimally invasive interventional surgical navigation robot, characterized by the following steps: Step S1: Establish the optical coordinate system, electromagnetic coordinate system, and robot coordinate system; Step S2: Unify the matrix transformation method of the three established coordinate values; Step S3: Calculate the vector coordinate data for the robot's operation; Step S4: Predict the patient's body position height when breathing, and calculate the self-deformation curvature K of the robot when performing minimally invasive surgery; Step S5: Based on the predicted height of the patient's body position, after compensation using its own deformation curvature K, the specific position of the vector coordinate data in the coordinate system is determined, and the robot is controlled to perform its work.

[0018] In this embodiment, the robot position is determined by three methods: optical coordinate system, electromagnetic coordinate system, and robot's own coordinate system, ensuring the accuracy of the robot position. The position accuracy can be guaranteed in different environments. On the basis of ensuring the accuracy of the robot's own position, the robot's body position height during breathing is predicted and the robot's own deformation curvature K during operation is compensated, thereby making the robot more accurate when performing minimally invasive interventional surgery.

[0019] Reference Figure 2 A positioning system for a minimally invasive interventional surgical navigation robot includes an optical unit, an electromagnetic unit, a robotic unit, a conversion unit, a motion unit, a breathing unit, a deformation unit, a central unit, and an execution unit. The optical unit establishes an optical coordinate system, the electromagnetic unit establishes an electromagnetic coordinate system, the robotic unit establishes a robotic coordinate system, the conversion unit converts and unifies all coordinate systems, the breathing unit determines the patient's body position and height after breathing, the deformation unit calculates the robot's own deformation curvature K, the central unit receives all data information and determines the robot's specific position, and the execution unit controls the robot to move to the specific position determined by the central unit.

[0020] In this embodiment, the optical unit establishes an optical coordinate system, the electromagnetic unit establishes an electromagnetic coordinate system, and the robot unit establishes a robot coordinate system. Using these three coordinate systems, the robot's own position can be accurately located. Furthermore, the three coordinate systems are transformed and unified into one coordinate system, thus avoiding unclear position reception. After the coordinates are determined, the height of the patient's body position after breathing is predicted, and compensation is made for the robot's own deformation curvature K. Ultimately, the robot is controlled to move to a more precise position, improving the success rate of minimally invasive interventional surgery and enhancing the quality of the surgery.

[0021] Reference Figure 2The optical unit uses an infrared camera array located on the ceiling of the operating room to track the patient's body surface and instrument reference points, establishing a coordinate system with the optical center of the infrared camera as the origin. The electromagnetic unit uses a miniature magnetic field generator integrated into the end of the instrument, establishing a coordinate system with the center of the magnetic field generator as the origin. The robotic unit uses a MEMS gyroscope and accelerometer embedded near the instrument to measure the robot's own position, establishing a coordinate system with the robotic arm base as the origin. The transformation unit receives the coordinate systems established by the optical unit, electromagnetic unit, and robotic unit and establishes a transformation matrix. The transformation matrix established by the transformation unit is... In the formula This is a transformation from the optical coordinate system to the robot coordinate system. This is a transformation from the electromagnetic coordinate system to the robot coordinate system. The transformation unit sends the resulting coordinate system to the central unit after transforming the optical coordinate system to the electromagnetic coordinate system.

[0022] In this embodiment, an infrared camera array on the ceiling of the operating room is used to track the patient's body surface and instrument reference points. A coordinate system is established with the optical center of the infrared camera as the origin. The optical coordinate system is suitable for positioning under unobstructed conditions. A micro magnetic field generator integrated into the end of the instrument is used, and a coordinate system is established with the center of the magnetic field generator as the origin. The electromagnetic coordinate system can assist in positioning when there is obstruction. A coordinate system is established with the base of the robotic arm as the origin, which can accurately determine the robot's own position. Furthermore, a transformation matrix is ​​used to unify the above three coordinate systems, so that the three coordinate systems are in a final coordinate system, avoiding the situation of coordinate system confusion. After unifying the above three coordinate systems, the robot can be accurately positioned and can be positioned under different conditions.

[0023] Reference Figure 2 The action unit receives data collected by the optical unit, electromagnetic unit, and robotic unit, and calculates the vector coordinate data for the robot's operation. The formula for calculating the vector coordinate data is as follows: In the formula To calculate the six-dimensional vector for the robot's operation, the six dimensions of this vector are the vectors for the X, Y, and Z axes, as well as the rotation angle vectors for the X, Y, and Z axes. For optical data weights, For electromagnetic data weights, As the robot's current data weight, The instrument position determined for the optical unit. The instrument position determined by the electromagnetic unit. To determine the robot's movement position, the action unit sends the calculated vector coordinate data of the robot's movement to the central unit.

[0024] In this embodiment, the vector coordinate data of the robot's operation is calculated. Based on a unified coordinate system, the vector coordinate data of the robot's operation is calculated, which enables precise control of the robot. Furthermore, when calculating the vector coordinate data, data from the optical unit, electromagnetic unit, and robot unit are used for comprehensive calculation, which ensures the accuracy of the calculation.

[0025] Reference Figure 2 The respiratory unit collects the respiratory rate within the most recent minute. After extracting the time corresponding to each respiratory rate of the patient, the respiratory unit collects the body position height of the patient during each respiratory rate. The respiratory unit predicts the body position height of the patient during the next breath based on the average body position height of the patient during the next breath in the most recent minute. The central unit sends the predicted body position height of the patient to the central unit.

[0026] In this embodiment, when a patient is under anesthesia during surgery, the patient's breathing is stable. Therefore, by using the data from the most recent minute, it is possible to predict the patient's breathing status in the future. This allows us to understand the patient's body position and height, and control the robot to perform the surgical operation at the precise location.

[0027] Reference Figure 2 The deformation unit calculates the self-deformation curvature K of the robot when it is working. The formula for calculating the self-deformation curvature K is as follows: In the formula This represents the change in angular displacement of the robot during movement. The deformation unit sends its calculated deformation curvature K to the central unit to determine the working segment length of the robot.

[0028] In this embodiment, when the robot performs minimally invasive interventional surgery, it will deform to a certain extent when it comes into contact with the patient's body. This will cause the robot, which is originally accurate in positioning, to have a certain degree of error when performing the surgery. Therefore, this application calculates its own deformation curvature K to understand the degree of change of the robot, and then compensates for the deformation to ensure the accuracy of the robot in performing the surgery.

[0029] Reference Figure 2The central unit receives the coordinate system generated by the transformation unit, the vector coordinate data calculated by the action unit, the patient's body position height predicted by the breathing unit, and the deformation curvature K of the deformation unit. The central unit first uses the predicted patient's body position height as the surgical position when the robot works. After determining the surgical position, the central unit uses its own deformation curvature K to generate a compensation value for the vector coordinate data. After compensating the vector coordinate data, the central unit determines the specific position of the vector coordinate data in the coordinate system. The central unit sends the determined specific position to the execution unit. After receiving the specific position, the execution unit controls the robot to perform minimally invasive interventional surgery.

[0030] In this embodiment, before controlling the robot to perform surgical operations, the predicted height of the patient's body position is first used as the surgical position for the robot. At this time, the position where the robot needs to perform surgery can be known. After knowing the surgical position, the compensation value of the vector coordinate data is generated by the robot's own deformation curvature K. This can avoid the robot itself from deforming and causing problems in the surgery. After these preparatory works that may cause errors are completed, the specific position of the vector coordinate data in the coordinate system is determined. The robot is controlled to perform minimally invasive interventional surgery using the determined specific position, and the robot is accurately navigated and positioned to ensure the quality of the surgery.

[0031] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented in software, the above embodiments can be implemented, in whole or in part, as a computer program product. The units and algorithm steps of the various examples described in the embodiments can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0032] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0033] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0034] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A positioning method for a minimally invasive interventional surgical navigation robot, characterized in that: Includes the following steps: Step S1: Establish the optical coordinate system, electromagnetic coordinate system, and robot coordinate system; Step S2: Unify the matrix transformation method of the three established coordinate values; Step S3: Calculate the vector coordinate data for the robot's operation; Step S4: Predict the patient's body position height when breathing, and calculate the self-deformation curvature K of the robot when performing minimally invasive surgery; Step S5: Based on the predicted height of the patient's body position, after compensation using its own deformation curvature K, the specific position of the vector coordinate data in the coordinate system is determined, and the robot is controlled to perform its work.

2. The positioning system for a minimally invasive interventional surgical navigation robot according to claim 1, characterized in that: The positioning method of a minimally invasive interventional surgical navigation robot as described in claim 1 includes an optical unit, an electromagnetic unit, a robot unit, a conversion unit, a motion unit, a breathing unit, a deformation unit, a central unit, and an execution unit. The optical unit is used to establish an optical coordinate system, the electromagnetic unit establishes an electromagnetic coordinate system, the robot unit establishes a robot coordinate system, the conversion unit converts and unifies all coordinate systems, the breathing unit determines the height of the patient's body after breathing, the deformation unit calculates the robot's own deformation curvature K, the central unit receives all data information and determines the specific position of the robot's movement, and the execution unit controls the robot to move to the specific position determined by the central unit. The transformation unit uses a transformation matrix to establish the coordinate system. The transformation matrix is ​​as follows: The transformation receives the optical coordinate system, electromagnetic coordinate system, and robot coordinate system and performs matrix transformation to unify them.

3. The positioning system for a minimally invasive interventional surgical navigation robot according to claim 2, characterized in that: The optical unit uses an infrared camera array on the top of the operating room to track the patient's body surface and instrument reference points, and establishes a coordinate system with the optical center of the infrared camera as the origin. The electromagnetic unit uses a miniature magnetic field generator integrated into the end of the instrument, and establishes a coordinate system with the center of the magnetic field generator as the origin. The robotic unit uses a MEMS gyroscope and accelerometer embedded in the proximal end of the instrument to measure the robot's own position, and establishes a coordinate system with the base of the robotic arm as the origin.

4. The positioning system for a minimally invasive interventional surgical navigation robot according to claim 2, characterized in that: The transformation unit receives the coordinate systems established by the optical unit, electromagnetic unit, and robot unit, and establishes a transformation matrix. The transformation matrix established by the transformation unit is: In the formula This is a transformation from the optical coordinate system to the robot coordinate system. This is a transformation from the electromagnetic coordinate system to the robot coordinate system. The transformation unit sends the resulting coordinate system to the central unit after transforming the optical coordinate system to the electromagnetic coordinate system.

5. The positioning system for a minimally invasive interventional surgical navigation robot according to claim 2, characterized in that: The action unit receives data collected by the optical unit, electromagnetic unit, and robotic unit, and calculates the vector coordinate data for the robot's operation. The formula for calculating the vector coordinate data is as follows: In the formula To calculate the six-dimensional vector of the robot's movement, For optical data weights, For electromagnetic data weights, As the robot's current data weight, The instrument position determined for the optical unit. The instrument position determined by the electromagnetic unit. To determine the robot's movement position, the action unit sends the calculated vector coordinate data of the robot's movement to the central unit.

6. The positioning system for a minimally invasive interventional surgical navigation robot according to claim 2, characterized in that: The respiratory unit collects the respiratory rate within the most recent minute. After extracting the time corresponding to each respiratory rate of the patient, the respiratory unit collects the body position height of the patient during each respiratory rate. The respiratory unit predicts the body position height of the patient during the next breath based on the average body position height of the patient during the next breath in the most recent minute. The central unit sends the predicted body position height of the patient to the central unit.

7. The positioning system for a minimally invasive interventional surgical navigation robot according to claim 2, characterized in that: The deformation unit calculates the self-deformation curvature K of the robot during operation. The formula for calculating the self-deformation curvature K is as follows: In the formula This represents the change in angular displacement of the robot during movement. The deformation unit sends its calculated deformation curvature K to the central unit to determine the working segment length of the robot.

8. The positioning system for a minimally invasive interventional surgical navigation robot according to claim 2, characterized in that: The central unit receives the coordinate system generated by the transformation unit, the vector coordinate data calculated by the action unit, the patient's body position height predicted by the breathing unit, and the self-deformation curvature K of the deformation unit. The central unit first uses the predicted patient's body position height as the surgical position when the robot is working.

9. The positioning system for a minimally invasive interventional surgical navigation robot according to claim 8, characterized in that: After determining the surgical location, the central unit generates a compensation value for the vector coordinate data using its own deformation curvature K. After compensating the vector coordinate data, the central unit determines the specific position of the vector coordinate data in the coordinate system. The central unit sends the determined specific position to the execution unit. After receiving the specific position, the execution unit controls the robot to perform minimally invasive interventional surgery.

Images