Remote function sharing device and method for stereotactic surgical robot for neurosurgery department

Abstract

The invention relates to a neurosurgery stereotactic surgical robot remote function sharing device and method.The device comprises a motion catcher, a local control device, a mechanical arm, a remote positioning part, a remote working part and a remote control device, and the motion catcher and the local control device are located at the local position provided with a surgical robot; the mechanical arm, the remote positioning piece, the remote working piece and the remote control device are located at remote positions; the action capturer is used for capturing pose and motion information of an original positioning piece or a working piece clamped on the surgical robot in real time, and sending the pose and motion information to the remote control device through the local control device; the mechanical arm is used for clamping a remote positioning piece or a working piece, and the remote control device is used for receiving the posture and motion information of the original positioning piece or working piece and controlling the mechanical arm to perform synchronous action. According to the device and the method, related functions can be remotely shared in a scene without a neurosurgery stereotactic surgical robot at low cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to a neurosurgery stereotactic surgery robot remote function sharing device and method. BACKGROUND

[0002] With the rapid development of science and technology, modern medicine is undergoing a profound transformation from evidence-based medicine to precision medicine, focusing on accurate diagnosis, evaluation and treatment of diseases. In this transformation process, neurosurgery stereotactic surgery robot technology as an important driving force plays an invaluable role in precise surgical treatment, greatly improving the accuracy of surgery. The brain is one of the most unique and complex organs in the human body, and its internal structure is both delicate and complex. For intracranial lesions, experienced neurosurgery specialists can accurately design surgical paths based on their deep anatomical knowledge, but for less experienced physicians, subtle deviations may result in inadequate exposure of lesions through surgical incisions, leading to treatment errors. In order to improve this situation, neurosurgery stereotactic technology has emerged, which transforms the brain into a three-dimensional space, using traditional geometric principles and three-dimensional reconstruction techniques to achieve precise positioning of intracranial structures. Since the early 1970s, computer technology and imaging technology have developed rapidly, and these technological achievements have been cleverly integrated into neurosurgery stereotactic technology. By the late 1980s, this trend of integration deepened, and computer-aided stereotactic technology began to be widely used in surgical practice, significantly improving the accuracy and safety of surgery and improving patient outcomes, becoming a milestone in the field of neurosurgery. Numerous clinical applications have confirmed the precision and safety of neurosurgery navigation and surgical robots in the treatment of cerebral hemorrhage, deep brain electrode implantation, and deep brain space occupation.

[0003] However, a significant problem is that the existing neurosurgery stereotactic surgery robots are mainly concentrated in high-level hospitals and high-level neurosurgery centers, and have not been widely popularized to primary hospitals. However, neurosurgeons in primary hospitals may face the challenge of relatively insufficient surgical experience compared to neurosurgeons in high-level hospitals, and may have a more urgent need for surgical assistance equipment. Unfortunately, given the cost of these high-level surgical assistance equipment and the frequency of use in primary hospitals, it is foreseeable that for a considerable period of time in the future, most primary hospitals and medical institutions in underdeveloped areas will still be difficult to configure neurosurgery stereotactic surgery robots. This limits the popularization of technology and the overall improvement of neurosurgery quality.

[0004] In recent years, with the development of technology, remote surgery robot technology has begun to emerge in clinical exploration, allowing surgeons to be in different places to control the robot equipment in the operation site to perform surgical tasks through remote operation platform, and to realize non-contact and high-precision operation. The remote application scheme of the robot can be simply summarized as "allowing the doctor in a different place to remotely operate the local surgical equipment", but since most of the primary hospitals lack neurosurgery navigation and surgical robot equipment, the remote application scheme can solve the problem of medical technical assistance and make up for the lack of experience of primary hospital doctors, but it cannot solve the problem of lack of surgical auxiliary equipment in primary hospitals. SUMMARY

[0005] The purpose of the present application is to provide a neurosurgery stereotactic surgery robot remote function sharing device and method, which can realize remote sharing of related functions in a scenario without neurosurgery stereotactic surgery robot at low cost.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is: a neurosurgery stereotactic surgery robot remote function sharing device, comprising an action capture device, a local control device, a mechanical arm, a remote positioning part, a remote working part and a remote control device, the action capture device and the local control device are located in a local position equipped with a neurosurgery stereotactic surgery robot, the mechanical arm, the remote positioning part, the remote working part and the remote control device are located in a remote position without neurosurgery stereotactic surgery robot; The action capture device is used to capture the pose and motion information of the original positioning part or working part held on the neurosurgery stereotactic surgery robot in real time, and the local control device is used to receive the pose and motion information of the original positioning part or working part and send it to the remote control device; The mechanical arm is used to hold the remote positioning part or remote working part, and the remote control device communicates with the local control device, and is used to receive the pose and motion information of the original positioning part or working part and control the mechanical arm to perform synchronous action.

[0007] Further, the original positioning part and working part held on the neurosurgery stereotactic surgery robot are provided with a positioning module, and the action capture device detects the positioning module to identify the position and attitude of the original positioning part or working part, and then captures the pose and motion information of the original positioning part or working part in real time.

[0008] Further, the action capture device is connected with the local control device, the local control device has a remote communication module thereon, and the local control device is installed with a local control program module for controlling the action capture device to work, acquiring the pose and motion information of the original positioning part or working part, and then sending it to the remote control device through the remote communication module.

[0009] Further, the local control device and the remote control device both have video communication function, and the video communication is established between the local control device and the remote control device to realize the video interaction between the local operator and the remote operator.

[0010] Further, the local video communication equipment is arranged at the local position, and the remote video communication equipment is arranged at the remote position, and the video communication is established between the local video communication equipment and the remote video communication equipment to realize the video interaction between the local operator and the remote operator.

[0011] Further, after the remote positioning member or the work member is clamped by the mechanical arm, the remote control device calculates the pose information of the remote positioning member or the work member according to the current pose information of the mechanical arm; the remote control device receives the pose and motion information of the original positioning member or the work member sent by the local control device, establishes the spatial change relationship between the remote positioning member or the work member and the original positioning member or the work member based on the pose information of the original positioning member or the work member, realizes the pose association between the remote positioning member or the work member and the original positioning member or the work member, then calculates the motion trajectory of the mechanical arm based on the motion information of the remote positioning member or the work member and the established spatial change relationship, and controls the mechanical arm to perform synchronous action, so that the remote positioning member or the work member can follow the original positioning member or the work member in real time.

[0012] Further, the positioning marker is arranged at the remote position and is used for medical image examination positioning and probe positioning; the positioning marker is fixed to the surface of the patient's body during use and can be recognized by a medical image examination system during the medical image examination (MRI / CT).

[0013] Further, the shape, size, model and specification of the remote positioning member or the work member are completely same as those of the original positioning member or the work member, and the clamping position and form of the remote positioning member or the work member by the mechanical arm are completely same as those of the original positioning member or the work member by the mechanical arm of the neurosurgical stereotactic surgery robot.

[0014] Further, the local control device performs wireless communication with the remote control device through a wireless communication network.

[0015] The application further provides a neurosurgical stereotactic surgery robot remote function sharing method based on the above device, which realizes the remote application and function sharing of the neurosurgical stereotactic surgery robot, and includes the following steps: S1, at the local position, obtaining the medical image data of the patient to be operated in the external region for MRI / CT scanning and importing the neurosurgical stereotactic surgery robot to establish a surgical plan; S2, when the patient is ready for surgery in the local position, the original positioning part is clamped on the neurosurgery stereotactic surgery robot, the remote positioning part is clamped on the mechanical arm in the remote position, the neurosurgery stereotactic surgery robot remote function sharing device is started, and initialization is performed to establish the pose association between the remote positioning part and the original positioning part; S3, in the local position, the local operator starts the neurosurgery stereotactic surgery robot registration process; then selects the next positioning marker or positioning mark on the neurosurgery stereotactic surgery robot, and then the local operator pulls the mechanical arm of the neurosurgery stereotactic surgery robot to drive the original positioning part to move, at this time the mechanical arm in the remote position drives the remote positioning part to move synchronously; based on video communication, the remote operator guides the local operator to continuously move the original positioning part until the remote positioning part touches the corresponding positioning marker or positioning mark; at this time the local operator stops moving the original positioning part and confirms that the current positioning marker or positioning mark has been positioned on the neurosurgery stereotactic surgery robot; repeat the above operation until all the positioning markers or positioning marks are positioned, that is, the registration process of the neurosurgery stereotactic surgery robot is completed; S4, in the local position, the original positioning part clamped on the neurosurgery stereotactic surgery robot is replaced by the original working part, and in the remote position, the remote positioning part clamped on the mechanical arm is replaced by the remote working part; then the neurosurgery stereotactic surgery robot can control the original working part to perform related operations according to the surgical plan; In this process, the local control device captures the pose and motion information of the original working part in real time through the motion capture device and sends it to the remote control device, the remote control device receives the pose and motion information of the original working part and controls the mechanical arm to perform synchronous action, so that the remote working part clamped on the mechanical arm follows the original working part in real time; thus the remote sharing of the function of the neurosurgery stereotactic surgery robot is realized without the neurosurgery stereotactic surgery robot in the remote position.

[0016] Compared with the prior art, the present application has the following advantages: the present application provides a neurosurgery stereotactic surgery robot remote function sharing device and method, which can remotely share the functions of the neurosurgery stereotactic surgery robot equipped in the local position, and realizes low cost, not only improves the utilization rate of the neurosurgery stereotactic surgery robot, but also effectively meets the surgical needs of primary hospitals and improves the surgical accuracy and safety of primary hospitals. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic diagram of the neurosurgery stereotactic surgery robot remote function sharing device of the embodiment of the present application.

[0018] In the figure: 1 - motion capture device; 2 - local control device; 3 - mechanical arm; 4 - remote positioning device; 5 - positioning marker; 6 - remote control device; 7 - neurosurgical stereotactic surgery robot; 8 - original positioning device. DETAILED DESCRIPTION

[0019] The application will be further described below in conjunction with the accompanying drawings and examples.

[0020] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0021] It should be noted that the terms used herein are merely for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should be further understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, steps, operations, devices, components and / or combinations thereof.

[0022] As shown in Figure 1 The present embodiment provides a neurosurgical stereotactic surgery robot remote function sharing device, which comprises a motion capture device 1, a local control device 2, a mechanical arm 3, a remote positioning device 4, a remote work device and a remote control device 6. The motion capture device 1 and the local control device 2 are located at a local position equipped with a neurosurgical stereotactic surgery robot 7, and the mechanical arm 3, the remote positioning device 4, the remote work device and the remote control device 6 are located at a remote position not equipped with a neurosurgical stereotactic surgery robot.

[0023] The motion capture device 1 is used to capture the pose and motion information of the original positioning device 8 or work device held on the neurosurgical stereotactic surgery robot 7 in real time, and the local control device 2 is used to receive the pose and motion information of the original positioning device 8 or work device and send it to the remote control device 6.

[0024] The mechanical arm 3 is used to hold the remote positioning device 4 or remote work device, and the remote control device 6 communicates with the local control device 2 for data, and is used to receive the pose and motion information of the original positioning device 8 or work device and control the mechanical arm 3 to perform synchronous action.

[0025] In order to realize the recognition of the positioning member and the working member, in the embodiment, the original positioning member 8 and the working member held on the neurosurgical stereotactic surgery robot 7 are provided with a positioning module, the motion capture device 1 realizes the recognition of the position and the posture of the original positioning member or the working member through the detection of the positioning module, and further realizes the real-time capture of the position and the motion information of the original positioning member or the working member.

[0026] In order to realize the acquisition and transmission of the position and the motion information of the original positioning member or the working member, the motion capture device 1 is connected with the local control device 2, the local control device 2 has a remote communication module, and the local control device 2 is installed with a local control program module for controlling the motion capture device 1 to work, acquiring the position and the motion information of the original positioning member 8 or the working member, and then sending the information to the remote control device 6 through the remote communication module.

[0027] In the embodiment, the local control device 2 and the remote control device 6 both have video communication functions, and the video communication is established between the local control device 2 and the remote control device 6 to realize the video interaction between the local operator and the remote operator.

[0028] In other embodiments, the local video communication equipment can also be arranged at the local position, the remote video communication equipment can also be arranged at the remote position, and the video communication is established between the local video communication equipment and the remote video communication equipment to realize the video interaction between the local operator and the remote operator.

[0029] After the remote positioning member 4 or the working member is held by the mechanical arm 3, the remote control device 6 calculates the position information of the remote positioning member 4 or the working member according to the current position information of the mechanical arm 3; the remote control device 6 receives the position and the motion information of the original positioning member 8 or the working member sent by the local control device 2, establishes the spatial change relationship between the remote positioning member 4 or the working member and the original positioning member 8 or the working member based on the position information of the original positioning member 8 or the working member, realizes the position association between the remote positioning member 4 or the working member and the original positioning member 8 or the working member, then calculates the motion trajectory of the mechanical arm 3 based on the motion information of the remote positioning member 4 or the working member and the established spatial change relationship, and controls the mechanical arm 3 to perform synchronous action, so that the remote positioning member 4 or the working member can follow the original positioning member 8 or the working member in real time.

[0030] In the embodiment, a positioning marker 5 is also provided at the remote location for medical image examination positioning and probe positioning to realize registration of the neurosurgical stereotactic surgery robot. The positioning marker 5 is fixed to the surface of the patient's body during use and can be recognized by the medical image examination system during medical image examination (MRI / CT). Based on the positioning of the positioning marker 5, more accurate registration of the neurosurgical stereotactic surgery robot can be realized. This is a preferred implementation scheme. Of course, if the patient does not set the positioning marker on the surface of the body when performing MRI / CT scanning, the markers under the natural anatomical structure of the human body, such as the corner of the eye, the center of the eyebrow, and the tip of the nose, can also be used as positioning markers. Based on these positioning markers, registration of the neurosurgical stereotactic surgery robot can also be realized.

[0031] In order to ensure the accuracy of navigation recognition registration and movement reproduction of the original positioning element 8 or workpiece by the remote positioning element 4 or workpiece, the shape, size, model, and specifications of the remote positioning element 4 or workpiece should be completely the same as those of the original positioning element 8 or workpiece, and the clamping position and form of the mechanical arm to the remote positioning element 4 or workpiece should be completely the same as those of the neurosurgical stereotactic surgery robot 7 to the original positioning element 8 or workpiece.

[0032] In the embodiment, the local control device 2 performs wireless communication with the remote control 6 through a wireless communication network such as 5G.

[0033] The embodiment also provides a neurosurgical stereotactic surgery robot remote function sharing method. Based on the above device, the remote application and function sharing of the neurosurgical stereotactic surgery robot are realized according to the following steps.

[0034] S1, in the local location, obtain the medical image data of the patient to be operated in the external location for MRI / CT scanning and import the neurosurgical stereotactic surgery robot to establish a surgical plan.

[0035] S2, when the patient to be operated in the external location is in a good surgical position and the head is fixed, in the local location, the original positioning element is clamped by the neurosurgical stereotactic surgery robot, in the remote location, the remote positioning element is clamped by the mechanical arm, the neurosurgical stereotactic surgery robot remote function sharing device is started, initialization is performed, and the pose association between the remote positioning element and the original positioning element is established.

[0036] S3, in the local location, the local operator starts the registration process of the neurosurgical stereotactic surgery robot. Then, the next positioning marker or positioning marker is selected on the neurosurgical stereotactic surgery robot. Then, the local operator pulls the mechanical arm of the neurosurgical stereotactic surgery robot to move the original positioning element, and at this time, the mechanical arm at the remote location moves the remote positioning element synchronously.

[0037] For patients with positioning markers on the head during MRI / CT scanning, the touch is the positioning marker; while for patients without positioning markers on the head during MRI / CT scanning, the touch is the positioning mark on the surface of the patient's body, such as the corner of the eye, the center of the eyebrow, the tip of the nose, etc.

[0038] Based on video communication, the remote operator guides the local operator to continuously move the original positioning member until the remote positioning member touches the corresponding positioning marker or positioning mark; at this time, the local operator stops moving the original positioning member, and confirms on the neurosurgical stereotactic surgery robot that the current positioning marker or positioning mark has been positioned.

[0039] Repeat the above operation until the positioning of all positioning markers or positioning marks is completed, that is, the registration process of the neurosurgical stereotactic surgery robot is completed.

[0040] S4, in the local position, replace the original positioning member clamped on the neurosurgical stereotactic surgery robot with the original working member, and in the remote position, replace the remote positioning member clamped on the mechanical arm with the remote working member; then, the neurosurgical stereotactic surgery robot can control the original working member to perform related operations according to the surgical plan.

[0041] In this process, the local control device captures the pose and motion information of the original working member in real time through the motion capture device and sends it to the remote control device, the remote control device receives the pose and motion information of the original working member and controls the mechanical arm to perform synchronous action, so that the remote working member clamped on the mechanical arm can follow the original working member in real time; thus, the remote sharing of the function of the neurosurgical stereotactic surgery robot is realized without the neurosurgical stereotactic surgery robot in the remote position.

[0042] The neurosurgical stereotactic surgery robot remote function sharing device and method provided by the application realizes an innovative remote application strategy, which allows the local neurosurgical stereotactic surgery robot device to remotely guide the surgery in a different place, and allows the existing neurosurgical navigation and surgery robot without remote guidance capability to realize remote function sharing.

[0043] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technical content to equivalent embodiments. However, any simple modification, equivalent change and modification made according to the technical essence of the present application to the above embodiments, without departing from the technical solution of the present application, still falls within the protection scope of the present application.

Claims

1. A stereotactic neurosurgery robot remote function sharing device, characterized by, The system comprises a motion capture device, a local control device, a mechanical arm, a remote positioning device, a remote working device and a remote control device, wherein the motion capture device and the local control device are located at a local position equipped with a neurosurgical stereotactic surgery robot, and the mechanical arm, the remote positioning device, the remote working device and the remote control device are located at a remote position not equipped with the neurosurgical stereotactic surgery robot. The motion capture device is used to capture the pose and motion information of the original positioning device or working device clamped on the neurosurgical stereotactic surgery robot in real time, and the local control device is used to receive the pose and motion information of the original positioning device or working device and send it to the remote control device. The mechanical arm is used to clamp the remote positioning device or the remote working device, and the remote control device is in data communication with the local control device, used to receive the pose and motion information of the original positioning device or working device and control the mechanical arm to perform synchronous action.

2. The neurosurgical stereotactic surgery robot remote function sharing device according to claim 1, characterized in that, The original positioning device and working device clamped on the neurosurgical stereotactic surgery robot are provided with a positioning module, and the motion capture device realizes the recognition of the position and attitude of the original positioning device or working device through the detection of the positioning module, and then captures the pose and motion information of the original positioning device or working device in real time.

3. The neurosurgical stereotactic surgery robot remote function sharing device according to claim 1, characterized in that, The motion capture device is connected with the local control device, the local control device has a remote communication module, and the local control device is installed with a local control program module for controlling the motion capture device to work, obtaining the pose and motion information of the original positioning device or working device, and then sending it to the remote control device through the remote communication module.

4. The neurosurgical stereotactic surgery robot remote function sharing device according to claim 1, characterized in that, Both the local control device and the remote control device have video communication function, and the local control device and the remote control device establish video communication to realize the video interaction between the local and remote operators.

5. The neurosurgical stereotactic surgery robot remote function sharing device according to claim 1, characterized in that, The local video communication equipment is arranged at the local position, and the remote video communication equipment is arranged at the remote position, and the local video communication equipment and the remote video communication equipment establish video communication to realize the video interaction between the local and remote operators.

6. The neurosurgical stereotactic surgery robot remote function sharing device according to claim 1, characterized in that, After the remote control device clamps the remote positioning device or working device by the mechanical arm, the remote control device calculates the pose information of the remote positioning device or working device according to the current pose information of the mechanical arm; the remote control device receives the pose and motion information of the original positioning device or working device sent by the local control device, establishes the spatial change relationship between the remote positioning device or working device and the original positioning device or working device based on the pose information of the original positioning device or working device, realizes the pose association between the remote positioning device or working device and the original positioning device or working device, then calculates the motion trajectory of the mechanical arm based on the motion information of the remote positioning device or working device and the established spatial change relationship, and controls the mechanical arm to perform synchronous action, so that the remote positioning device or working device can follow the original positioning device or working device in real time.

7. The neurosurgical stereotactic surgery robot remote function sharing device according to claim 1, characterized in that, A positioning marker is arranged at the remote position, used for medical image examination positioning and probe positioning; the positioning marker is fixed on the surface of the patient's body during use and can be recognized by a medical image examination system during medical image examination (MRI / CT).

8. The neurosurgical stereotactic surgery robot remote function sharing device according to claim 1, characterized in that, The shape, size, model and specification of the remote positioning member or working member are completely same as the original positioning member or working member, and the clamping position and form of the mechanical arm to the remote positioning member or working member are completely same as the clamping position and form of the mechanical arm of the stereotactic neurosurgery robot to the original positioning member or working member.

9. The neurosurgical stereotactic surgery robot remote function sharing device according to claim 1, characterized in that, The local control device communicates with the remote control device through a wireless communication network.

10. A neurosurgical stereotactic surgery robot remote function sharing method, characterized by, The device based on any one of claims 1-9 realizes remote application and function sharing of the stereotactic neurosurgery robot, comprising the following steps: S1, in the local position, obtaining the medical image data of the patient to be operated in the remote position by MRI / CT scanning and importing the stereotactic neurosurgery robot to establish the operation plan; S2, when the patient to be operated in the remote position is in the operation position and the head is fixed, in the local position, the original positioning member is clamped by the stereotactic neurosurgery robot, and in the remote position, the remote positioning member is clamped by the mechanical arm, the stereotactic neurosurgery robot remote function sharing device is started, the initialization is established, and the pose association between the remote positioning member and the original positioning member is established; S3, in the local position, the local operator starts the registration process of the stereotactic neurosurgery robot, then selects the next positioning marker or positioning mark on the stereotactic neurosurgery robot, then pulls the mechanical arm of the stereotactic neurosurgery robot, and then drives the original positioning member to move, at this time the mechanical arm in the remote position drives the remote positioning member to move synchronously; based on video communication, the remote operator guides the local operator to continuously move the original positioning member until the remote positioning member touches the corresponding positioning marker or positioning mark; at this time, the local operator stops moving the original positioning member, and confirms that the current positioning marker or positioning mark has been positioned on the stereotactic neurosurgery robot; repeat the above operation until all the positioning markers or positioning marks are positioned, that is, the registration process of the stereotactic neurosurgery robot is completed; S4, in the local position, the original positioning member clamped on the stereotactic neurosurgery robot is replaced by the original working member, and in the remote position, the remote positioning member clamped on the mechanical arm is replaced by the remote working member; then, the stereotactic neurosurgery robot can control the original working member to perform related operations according to the operation plan; In this process, the local control device captures the pose and motion information of the original working member in real time through the motion capture device and sends it to the remote control device, the remote control device receives the pose and motion information of the original working member and controls the mechanical arm to perform synchronous action, so that the remote working member clamped on the mechanical arm follows the original working member in real time; thus, the remote sharing of the function of the stereotactic neurosurgery robot is realized without the stereotactic neurosurgery robot in the remote position.

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