Nuclide application robot and use method thereof

Abstract

The invention discloses a nuclide application robot and a using method thereof.The nuclide application robot comprises a camera support, a depth camera, a tail end application actuator, a six-degree-of-freedom mechanical arm and a mobile workstation, the tail end application actuator is installed at the bottom of the camera support, and the depth camera is fixed to an inner frame of the camera support and integrally assembled to a flange at the tail end of the six-degree-of-freedom mechanical arm; the mechanical arm base is fixedly connected to the mobile workstation; the tail end application actuator is provided with an adjustable opening and closing device, and nuclide radiation full-period protection and constant-pressure application can be achieved in cooperation with array type application small rods driven by a micro air pump. A scar image is collected through a depth camera, six-dimensional pose information is generated through a segmentation algorithm and point cloud processing, gears of an opening and closing device are automatically switched, an application mode is selected, and a six-degree-of-freedom mechanical arm drives an actuator to complete automatic application. The method is high in positioning precision and adaptability, can remarkably reduce the artificial radiation exposure risk, improves the treatment efficiency and patient comfort, and is suitable for nuclide application treatment of various forms of scars.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a radionuclide application robot and a method for using the same. BACKGROUND

[0002] Radionuclide application treatment is a treatment method for skin diseases such as keloid, cutaneous hemangioma and chronic eczema by using the beta rays released by radionuclides (such as strontium-90 and phosphorus-32) to target irradiate the skin lesions. The treatment can inhibit the proliferation of lesion tissues and promote tissue repair through the rays, and has the advantages of small trauma, accurate curative effect and convenient operation, and has become one of the commonly used treatment methods in clinical dermatology.

[0003] The radionuclide application treatment currently used in clinical application mainly relies on manual operation of the applicator to achieve the treatment. However, there are the following problems and limitations: the operator can only determine the boundary of the keloid and the application position by visual observation and experience, and it is difficult to achieve accurate matching of the radionuclide irradiation area and the keloid; the shape and size of the keloid are different (such as small circular keloid and large strip-shaped keloid), and the traditional manual application uses a fixed size applicator, which is difficult to adapt to the treatment needs of different shapes of keloids; the operator holds the radionuclide applicator at a close distance to complete the positioning, application and fixation operation, and long-term operation is easy to be exposed to radiation, which is harmful to health, and the manual operation process is complicated and the treatment efficiency is low; the contact pressure between the applicator and the skin cannot be accurately controlled during manual application, and excessive pressure can easily cause discomfort of the patient's skin, and insufficient pressure can affect the stability of the application of the applicator and the skin.

[0004] Therefore, the present application provides a radionuclide application robot and a method for using the same, which has accurate positioning, strong adaptability, high safety and efficiency, and high comfort, improves the efficiency of radionuclide application treatment, and becomes the key to promoting the upgrading of radionuclide application treatment technology. SUMMARY

[0005] In view of the problems existing in the prior art, the present application aims to provide a radionuclide application robot and a method for using the same, which realizes accurate identification of the keloid area, self-adaptive planning of the application track, automatic application and integrated radiation protection by visual positioning and cooperative control of the mechanical arm, combined with a multi-gear opening and closing device and a constant pressure application structure, improves the positioning accuracy, adaptability and operation safety of radionuclide application treatment, reduces the risk of artificial radiation exposure, and at the same time ensures constant application pressure and improves patient comfort.

[0006] To achieve the above-mentioned purpose, the technical solution of the present application is as follows: A kind of isotope application robot, including camera support, depth camera, terminal application executor, six degrees of freedom mechanical arm and mobile workstation, the terminal application executor is fixedly installed in camera support bottom, the depth camera is installed in camera support inner frame, the camera support is installed on the end flange of six degrees of freedom mechanical arm, the six degrees of freedom mechanical arm base is fixedly installed on mobile workstation, under the assistance of visual processing, six degrees of freedom mechanical arm is controlled with terminal application executor and carries out application work.

[0007] Further, the terminal application executor includes a main cavity, a connector and a motor, the inside of the main cavity is installed with an end cover, the top of the main cavity is installed with a top cover, the top cover and the end cover are fixedly connected, a space is left between the top cover and the end cover, the space is provided with a miniature air pump, the miniature air pump is fixed on the end cover, the end cover is provided with an air inlet and an air outlet, the air outlet of the end cover is connected with the air inlet of the miniature air pump through an air inlet pipe, and the air outlet of the miniature air pump is connected with the air inlet of the end cover through an air outlet pipe.

[0008] Further, the inside of the top cover is provided with a bearing, and the outer diameter of the bearing is in interference fit with the top cover. The connector is threadedly connected with the camera support, the motor is installed in the connector, the output shaft of the motor extends out of the connector and is fixedly connected with the top cover, the bottom end of the motor is installed with a motor cover, the motor cover is in interference fit with the inner diameter of the bearing, the lower part of the main cavity is threadedly connected with an applicator bearing base, the inside of the applicator bearing base is provided with a plurality of through holes, each through hole is installed with an application small rod, and the bottom of the main cavity is installed with an opening and closing mechanism.

[0009] Further, sealing filler is installed between the end cover and the main cavity, and the motor is aligned with the hole in the motor cover through the threaded hole in the motor and locked with a screw.

[0010] Further, the application small rod includes a small rod body, the end of the small rod body is installed with a isotope carrier, the isotope carrier is loaded with isotopes, and the small rod body is installed with a sealing ring.

[0011] Further, the opening and closing mechanism includes a base, the inside of the base is provided with an adjusting ring, a plurality of adjusting baffles are arranged between the adjusting ring and the base, the adjusting ring is installed with an internal gear, a rudder is fixedly installed in the rudder slot in the main cavity, the output shaft of the rudder is connected with a pinion, and the pinion is engaged with the internal gear.

[0012] Further, a center hole is formed at the center of the base, a plurality of sliding grooves are arranged around the center hole, the bottom of the adjusting baffle is provided with a guide protrusion, and a notch is formed in the upper surface of the adjusting baffle. A guide column is arranged on the adjusting ring. The guide protrusion of the adjusting baffle is matched with the sliding groove of the base; The guide column of the adjusting ring is slidably matched with the notch of the adjusting baffle, and the rotation of the adjusting ring drives the adjusting baffle to slide along the sliding groove of the base.

[0013] Further, the mobile workstation is provided with a group of adjusting casters at the bottom; the mobile workstation is internally divided into two layers of space, the top layer of which is used to place a keyboard and a mouse, and the bottom layer of which is used to place a mechanical arm control box and a computer host; and a display screen used to display device information and an operation interface is placed on the tabletop of the mobile workstation.

[0014] The application further provides a method for using the radionuclide application robot, which comprises the following steps: Step one: starting the equipment, opening the corresponding program software, completing equipment calibration, and making the patient in a comfortable position, exposing the scar treatment site, and dragging the end of the six-degree-of-freedom mechanical arm to a position above the scar and within the depth camera field of view by a worker; Step two: scar image acquisition and pose calculation, the depth camera (2) acquires RGB and depth images, the computer host (8) program automatically completes RGB image and depth image registration, that is, the RGB image and the depth image have the same resolution; the U-Net semantic segmentation algorithm is used to segment the scar area of the RGB image, the corresponding depth image point cloud data of the segmented area is extracted, and saved as position information P i (X i , Y i , Z i ), i=1, 2, …, n; the PCL library is used to further process the point cloud data, first, the point cloud is filtered and denoised through voxel filtering and statistical filtering, then the surface is smoothed through the moving least square method, the point cloud distribution is optimized, then the normal vector of the optimized point cloud is calculated, the consistency correction algorithm of the normal vector direction is used to make all the normal vectors uniformly point to the center of the scar area; the pose information R i (RX i , RY i , RZ i ) is solved based on the normal vector pose estimation, the position information and the pose information are combined to form complete six-dimensional pose information T i =(X i , Y i , Z i , RX i , RY i , RZ i ), i=1, 2, …, n; Step three: open block setting, the initial state of the end of the application of the patch executor is in the closed state of adjusting the baffle to shield all the openings on the base, which ensures the protection of the exposure of the radionuclide when not working. After clicking on the computer, the actual area size of the scar is calculated according to the internal and external parameters of the depth camera. Then, according to the size of the scar, the corresponding rotation angle instruction is sent to the steering wheel on the end of the application of the patch executor. The rotation of the steering wheel drives the pinion on the output shaft, and the rotation of the internal gear makes the adjusting ring rotate. The adjusting baffle will form different opening sizes due to the rotation angle of the adjusting ring, which is divided into six gears from full closure to maximum opening. The shape of the opening is always a regular octagon in the open state. At this time, the diameter of the inscribed circle corresponding to the opening is greater than or equal to the width of the scar. The corresponding number of small patch rods is exposed in the corresponding gear, and then the small patch rods in this number are applied to the scar operation; Step four: trajectory planning and patch mode selection, adjust the opening size gear, and select the patch execution mode according to the length of the scar; Step five: keep constant pressure patching, before contacting the scar, the exposed small patch rods are in a plane. When contacting the scar, the patch assembly will shrink to different degrees according to the thickness and shape of the scar. Since the micro air pump maintains the set air pressure, the pressure on each small patch rod remains the same despite the different shrinkage degrees of the small patch rods; Step six: operation completion and reset, after the patching reaches the set time, the micro air pump is depressurized, and the small patch rods are retracted. The six-degree-of-freedom robot arm drives the end of the application of the patch executor to reset, and the steering wheel drives the opening and closing mechanism to restore the full closed state.

[0015] Further, the patch execution mode in step four includes mode one and mode two; Mode one, if the length of the scar is less than the diameter of the inscribed circle of the current gear opening, that is, the opening area is greater than the two-dimensional overall area of the scar, then in the six-dimensional pose data obtained, the pose of the geometric center of the scar and the pose data of a small radius circle with the geometric center as the center are taken out for trajectory planning. Then, the coordinate transformation between the depth camera, the end of the application of the patch executor and the six-degree-of-freedom robot arm is done, and the data is sent to the control system of the six-degree-of-freedom robot arm for corresponding execution. The end of the application of the patch executor takes the pose of the geometric center of the scar as the starting point, and then makes circular motion along the specified circle. At the same time, the motor rotates, that is, the end of the application of the patch executor also rotates, so that all the small patch rods rotate around the axis of the end of the application of the patch executor, making the patching more comprehensive; Mode two, if the scar length is longer, in the six-dimensional pose data solved in the scar area, select feature points at fixed intervals, generate "snake-shaped reciprocating" trajectory, then send the planned trajectory data to the control system after processing, the end of the application executor will cover the whole area of long scar through continuous loop back and forth movement, while doing rotation motion, improve the uniformity of application.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows: 1) The present application collects scar RGB and depth image through depth camera, combines segmentation algorithm and point cloud processing technology, realizes accurate identification of scar boundary, and realizes automatic process of radionuclide application treatment through six-degree-of-freedom mechanical arm driving end executor moving according to planned trajectory, reduces the dependence on high-skilled medical personnel, reduces the cost of human resources, reduces the treatment cost, and has the characteristics of accurate matching of radionuclide irradiation area and scar.

[0017] 2) The present application realizes the adaptive treatment of different forms of scars through adjustable opening, double-mode trajectory planning and array layout of application small rods, ensures the treatment demand of multiple scenes while ensuring that there is no dead angle irradiation in the whole area of scar, solves the problem that the existing fixed size applicator cannot adapt to different forms of scars and is easy to appear irradiation overlap or blind area; 3) The present application avoids the problem of radionuclide radiation exposure in non-working state through opening and closing device, reduces unnecessary radiation leakage by adjusting the opening size during work, and improves safety and reliability; 4) The present application constructs a closed air pressure chamber through a micro air pump, applies adjustable constant air pressure to the application small rod, and the application small rod can automatically contract according to the thickness of the scar after contacting the scar, the pressure of each small rod on the skin remains constant, which not only ensures the close contact between radionuclide and skin, but also avoids excessive compression, significantly improves the comfort of patients during treatment. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of the radionuclide application robot; Figure 2 is a schematic diagram of the three-dimensional structure of the radionuclide application robot; Figure 3 is a schematic diagram of the structure of the application small rod; Figure 4 is a schematic diagram of the cross-sectional structure of the end application executor; Figure 5 is a schematic diagram of the separation of the combined parts of the end application executor; Figure 6 is a schematic diagram of the separation of the combined parts of the opening and closing mechanism; Figure 7 is Figure 6 is an enlarged view of detail A in the middle Figure 8 For Figure 6 Detail enlarged view at B; Figure 9 Schematic diagram of full closed state of opening and closing mechanism; Figure 10 Schematic diagram of maximum opening state of opening and closing mechanism; Figure 11 Schematic diagram of non-contact with scar of small stick of end application executor; Figure 12 Schematic diagram of contact with scar of small stick of end application executor; Figure 13 Application flowchart of the present application.

[0019] In the figure: 1, camera support; 2, depth camera; 3, end application executor; 4, six degrees of freedom robot arm; 5, mobile workstation; 6, adjusting caster; 7, robot arm control box; 8, computer host; 9, keyboard; 10, mouse; 11, display screen; 12, connector; 13, motor; 14, motor cover; 15, bearing; 16, top cover; 17, micro air pump; 18, air inlet pipe; 19, air outlet pipe; 20, end cover; 21, main cavity; 22, sealing filler; 23, applicator bearing base; 24, small stick; 241, small stick body; 242, sealing ring; 243, nuclide carrier; 244, nuclide; 25, opening and closing mechanism; 251, steering wheel; 252, pinion; 253, internal gear; 254, adjusting ring; 2541, guide column; 255, adjusting baffle; 2551, guide protrusion; 2552, notch; 256, base; 2561, sliding groove. DETAILED DESCRIPTION

[0020] For the purpose, technical solution and advantages of the implementation of the present application, the technical solution in the embodiment of the present application will be described in more detail below in combination with the drawings. In the drawings, the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The described embodiment is part of the embodiment of the present application, not all.

[0021] Reference Figure 1 A nuclide application robot, comprising a camera support 1, a depth camera 2, an end application executor 3, a six degrees of freedom robot arm 4 and a mobile workstation 5, the end application executor 3 is fixedly installed at the bottom of the camera support 1, the depth camera 2 is installed in the inner frame of the camera support 1 and fixed by bolts, then the camera support 1 is installed on the end flange of the six degrees of freedom robot arm 4, and the base of the six degrees of freedom robot arm 4 is fixedly installed on the mobile workstation 5; under the assistance of visual processing, the six degrees of freedom robot arm 4 with the end application executor 3 is controlled to perform application work.

[0022] Reference Figure 2 The mobile workstation 5 is equipped with four adjustable casters 6 at the bottom, responsible for the movement of the entire device. When the device is in operation, the wheels are generally raised, so that the uprights of the adjustable casters 6 support the entire device to keep it stationary. The mobile workstation 5 is divided into two layers of space, with the keyboard 9 and mouse 10 placed on the top layer, and the mechanical arm control box 7 and computer host 8 placed on the bottom layer. A display screen 11 is placed on the table top to display device information and operation interfaces, etc.

[0023] Preferably, the terminal applicator 3 includes an opening and closing mechanism 25, a connecting head 12, a motor 13, a motor cover 14, a bearing 15, a top cover 16, a micro air pump 17, an air inlet pipe 18, an air outlet pipe 19, an end cover 20, a main cavity 21, sealing filler 22, an applicator bearing base 23, and a plurality of applicator small rods 24. Referring to Figure 3 The applicator small rod 24 includes a small rod body 241, a nuclide carrier 243 mounted at the end of the small rod body 241, and a nuclide 244 loaded on the nuclide carrier 243. A sealing ring 242 is installed on the small rod body 241.

[0024] The end cover 20 is installed inside the main cavity 21, and the top cover 16 is installed at the top of the main cavity 21. The top cover 16 and the end cover 20 are fixedly connected, and the bearing 15 is arranged inside the top cover 16. The outer diameter of the bearing 15 is in interference fit with the top cover 16.

[0025] The connecting head 12 is threadedly connected with the camera support 1, and the motor 13 is installed inside the connecting head 12. The output shaft of the motor 13 extends out of the connecting head 12 and is fixedly connected with the top cover 16. The motor 13 is installed with the motor cover 14 at the bottom end, and the motor cover 14 is in interference fit with the inner diameter of the bearing 15. The applicator bearing base 23 is threadedly connected to the lower part of the main cavity 21, and a plurality of through holes are arranged inside the applicator bearing base 23. Each through hole is installed with an applicator small rod 24, and the main cavity 21 is installed with the opening and closing mechanism 25 at the bottom.

[0026] Reference Figure 4 , 5The connecting head 12 is threadedly connected with the camera support 1, the motor 13 is arranged in the internal space of the connecting head 12, the threaded hole on the motor 13 is aligned with the hole on the motor cover 14, and the motor 13 is locked by a screw, so that the motor 13 is closed and fixed in the connecting head 12, only the output shaft of the motor 13 is exposed, the inner diameter of the motor cover 14 and the bearing 15 is connected by interference fit, the outer diameter of the bearing 15 is installed in the top cover 16 by interference fit, the output shaft of the motor 13 is fixedly connected with the top cover 16, so that when the output shaft of the motor 13 rotates, the top cover 16 is also rotated at the same angular velocity, that is, the motor 13 can control the self-rotation of the end applicator 3, the top cover 16 and the end cover 20 are screw-fixedly connected, and a certain space is formed between the top cover 16 and the end cover 20, a micro air pump 17 is arranged in the space and fixed on the end cover 20, the end cover 20 is provided with an air inlet and an air outlet, the air inlet and the air outlet are communicated with the micro air pump 17 through an air inlet pipe 18 and an air outlet pipe 19, the end cover 20 is fixedly connected with the main cavity 21, and sealing filler 22 is arranged between the end cover 20 and the main cavity 21 to ensure the air tightness of the cavity, the applicator bearing base 23 is threadedly connected with the main cavity 21, a plurality of small through holes are arranged in the applicator bearing base 23, and an applicator small rod 24 is arranged in each through hole, the applicator small rod 24 can axially stretch and retract in the hole to realize adhesion or separation with the scar skin, and the opening and closing mechanism 25 is connected with the bottom of the main cavity 21 by a screw.

[0027] Reference Figures 6-10 The opening and closing mechanism 25 comprises a base 256, an adjusting ring 254 arranged in the base 256, a plurality of adjusting baffles 255 arranged between the adjusting ring 254 and the base 256, an internal gear 253 arranged in the adjusting ring 254, a rudder 251 fixedly arranged in a rudder groove in the main cavity 21, a small gear 252 connected with the output shaft of the rudder 251, and the small gear 252 is engaged with the internal gear 253.

[0028] A central hole is arranged at the center of the base 256, a plurality of sliding grooves 2561 are arranged around the central hole, a guide protrusion 2551 is arranged at the bottom of the adjusting baffle 255, and a notch 2552 is arranged on the upper surface of the adjusting baffle 255; the adjusting ring 254 is provided with a guide column 2541.

[0029] The guide protrusion 2551 of the adjusting baffle 255 is matched with the sliding groove 2561 of the base 256, the guide column 2541 of the adjusting ring 254 is slidingly matched with the notch 2552 of the adjusting baffle 255, that is, the rotation of the adjusting ring 254 drives the eight adjusting baffles 255 to slide along the sliding groove of the base 256, the adjusting baffles 255 are in different relative positions between the adjusting ring 254 and the base 256, and the shielding degree of the opening of the base 256 is also different, so that the size control of the opening is realized, when not working, full sealing can be realized to prevent the external radiation of radionuclides, and when working, the appropriate opening size can reduce the unnecessary radionuclide area and reduce the radiation redundancy caused by the excess radionuclide; the inner gear 253 is connected with the adjusting ring 254 by interference fit, the steering wheel 251 is fixedly arranged in the steering wheel groove in the main cavity 21, the output shaft of the steering wheel 251 is connected with the pinion 252, and the pinion 252 and the inner gear 253 are meshed, therefore, the angle of the output of the steering wheel 251 is controlled, and the opening size control of the terminal application implementer 3 is completed.

[0030] Further, according to the connection of various components, a closed air pressure cavity is formed in the main cavity 21, when the micro air pump 17 applies a certain constant air pressure to the closed cavity through the air inlet, the application small rod 24 will be axially moved and extended outward under the pressure, when the opening is not in the maximum gear state, part of the application small rod 24 is stopped by being blocked when the application small rod 24 is stretched to the position of the adjusting baffle 255, and the application small rod 24 passing through the opening is stretched to the outside through the base 256 and remains in a certain initial position, then the radionuclide application treatment scar process is carried out according to the number of the application small rod 24, that is, the area of the radionuclide 244 is selected, and the unnecessary radionuclide 244 external radiation can be reduced.

[0031] The application also provides a use method of the radionuclide application robot, and specific implementation of data processing and algorithms is not described in detail, such as Figure 13 , and the method comprises the following steps: Step 1: starting the equipment, opening the corresponding program software, completing equipment calibration, the patient being in a comfortable body position, exposing the scar treatment part, and the staff first dragging the end of the six-degree-of-freedom mechanical arm 4 to a position above the scar and within the depth camera 2 field of view; Step 2: scar image acquisition and pose calculation, the depth camera 2 collects RGB and depth images, the computer host 8 program automatically completes RGB image and depth image registration, that is, the RGB image and the depth image have the same resolution; the U-Net semantic segmentation algorithm is used to segment the scar area of the RGB image, the depth image point cloud data corresponding to the segmented area is extracted, and saved as position information P i (X i , Y i , Z i), i = 1, 2, …, n; the point cloud data is further processed by using the PCL library, the point cloud is first filtered and denoised by voxel filtering and statistical filtering, then surface smoothing is performed by the moving least square method, the point cloud distribution is optimized, then the normal vector of the optimized point cloud is calculated, and the normal vector direction consistency correction algorithm is used to make all the normal vectors point to the center of the scar area; the pose information R i (RX i , RY i , RZ i ), i = 1, 2, …, n, the position information and the pose information are combined to form complete six-dimensional pose information T i = (X i , Y i , Z i , RX i , RY i , RZ i ), i = 1, 2, …, n; Step 3: opening position setting, the initial state of the end application executor 3 is in the closed state of adjusting the baffle 255 to shield all the openings on the base 256, which ensures the protection of the exposure of the radionuclide when not working, after clicking on the computer to run, the actual area size of the scar in two dimensions is calculated according to the internal and external parameters of the depth camera 2, then according to the size of the scar, the steering wheel 251 on the end application executor 3 is sent a corresponding rotation angle instruction, the rotation of the steering wheel 251 drives the pinion 252 on the output shaft, since the internal gear 253 and the pinion 252 are engaged, the rotation of the internal gear 253 makes the adjusting ring 254 rotate by the same angle, and the adjusting baffle 255 will form different opening sizes due to the rotation angle of the adjusting ring 254, from full closure to maximum opening, a total of six gears, the shape of the opening in the open state is always a regular octagon, at this time, the diameter of the inscribed circle corresponding to the opening is greater than or equal to the width of the scar, and the opening gear is selected according to the width of the scar, and the corresponding number of application small rods 24 is exposed, then the application small rods 24 in this number are applied to the scar operation; Step 4: trajectory planning and application mode selection, adjust the opening size gear, combined with the length of the scar, select the application execution mode: mode one, if the scar length is less than the inscribed circle diameter of the current gear opening, that is, the opening area is larger than the two-dimensional overall area of the scar, then in the six-dimensional pose data obtained, the pose of the geometric center of the scar and the pose data of a small radius value as a circle with the geometric center as the center are taken out for trajectory planning, and then the trajectory planned pose data is well transformed according to the coordinate transformation relationship between the depth camera 2, the end application executor 3 and the six-degree-of-freedom robot arm 4. The computer host 8 sends the data to the control system of the six-degree-of-freedom robot arm 4 for corresponding execution. The end application executor 3 takes the pose of the geometric center of the scar as the starting point, and then makes circular motion along the specified circumference. At the same time, the motor 13 starts to rotate, that is, the end application executor 3 also makes rotation motion all the time. At this time, all the application small rods 24 will rotate around the axis of the end application executor 3, so that the application is more comprehensive; mode two, if the scar length is long, select feature points in the six-dimensional pose data solved in the scar area according to fixed interval, generate "snake-shaped reciprocating" trajectory (similar to the path of reciprocating line), then send the planned trajectory data to the control system after processing. The end application executor 3 will cover the whole area of the long scar through continuous circular reciprocating motion, and also make rotation motion to improve the uniformity of application. Step 5: constant pressure application, such as Figure 11 Before contacting the scar, the exposed application small rods 24 are in a plane, such as Figure 12 After contacting the scar, according to the thickness and shape of the scar, the application assembly will shrink to different degrees when contacting the scar. Since the micro air pump 17 maintains the set air pressure, even if the application small rods 24 shrink to different degrees, the pressure received by each application small rod 24 remains the same, so that the constant pressure application can be maintained when contacting the scar. Not only can it adapt to scars of different shapes and thicknesses, but also ensures the comfort of application.

[0032] Step 6: operation completion and reset, after the application reaches the set time, the micro air pump 17 is depressurized, and the application small rods 24 are retracted; the six-degree-of-freedom robot arm 4 drives the end application executor 3 to reset, and the steering wheel 251 drives the opening and closing mechanism 25 to restore the full closed state.

Claims

1. A radionuclide application robot, characterized in that... The system includes a camera bracket (1), a depth camera (2), an end effector (3), a six-degree-of-freedom robotic arm (4), and a mobile workstation (5). The end effector (3) is fixedly mounted on the bottom of the camera bracket (1). The depth camera (2) is mounted on the inner frame of the camera bracket (1). The camera bracket (1) is mounted on the end flange of the six-degree-of-freedom robotic arm (4). The base of the six-degree-of-freedom robotic arm (4) is fixedly mounted on the mobile workstation (5). With the assistance of vision processing, the six-degree-of-freedom robotic arm (4) is controlled to carry the end effector (3) to perform the application operation.

2. The radionuclide application robot according to claim 1, characterized in that... The end-application actuator (3) includes a main cavity (21), a connector (12), and a motor (13). An end cap (20) is installed inside the main cavity (21), and a top cap (16) is installed on the top of the main cavity (21). The top cap (16) and the end cap (20) are fixedly connected. There is a space between the top cap (16) and the end cap (20). A micro air pump (17) is provided in this space. The micro air pump (17) is fixed on the end cap (20). An air inlet and an air outlet are provided on the end cap (20). The air outlet of the end cap (20) is connected to the air inlet of the micro air pump (17) through an air inlet pipe (18). The air outlet of the micro air pump (17) is connected to the air inlet of the end cap (20) through an air outlet pipe (19).

3. The radionuclide application robot according to claim 2, characterized in that... The top cover (16) is equipped with a bearing (15) inside, and the outer diameter of the bearing (15) is interference-fitted with the top cover (16); The connector (12) is threadedly connected to the camera bracket (1). The motor (13) is installed inside the connector (12). The output shaft of the motor (13) extends out of the connector (12) and is fixedly connected to the top cover (16). A motor cover (14) is installed at the bottom of the motor (13). The inner diameter of the motor cover (14) and the bearing (15) are interference-fitted. The lower part of the main cavity (21) is threadedly connected to the applicator support base (23). The applicator support base (23) has several through holes inside. An applicator rod (24) is installed in each through hole. An opening and closing mechanism (25) is installed at the bottom of the main cavity (21).

4. The radionuclide application robot according to claim 3, characterized in that... A sealing filler (22) is installed between the end cap (20) and the main cavity (21); the motor (13) and the motor cover (14) are aligned through the threaded hole on the motor (13) and the hole on the motor cover (14) and locked with screws.

5. A radionuclide application robot according to claim 3, characterized in that... The applicator rod (24) includes a rod body (241), a nuclide carrier (243) is installed at the end of the rod body (241), a nuclide (244) is loaded on the nuclide carrier (243), and a sealing ring (242) is installed on the rod body (241).

6. A radionuclide application robot according to claim 3, characterized in that... The opening and closing mechanism (25) includes a base (256), an adjusting ring (254) is provided in the base (256), a plurality of adjusting baffles (255) are provided between the adjusting ring (254) and the base (256), an internal gear (253) is installed in the adjusting ring (254), a servo motor (251) is fixedly installed in the servo motor slot in the main cavity (21), and the output shaft of the servo motor (251) is connected to a pinion (252), which meshes with the internal gear (253).

7. A radionuclide application robot according to claim 6, characterized in that... The base (256) has a central hole at its center, and several sliding grooves (2561) are provided around the central hole. The bottom of the adjusting baffle (255) is provided with a guide protrusion (2551), and the upper surface of the adjusting baffle (255) is provided with a slot (2552). The adjusting ring (254) is provided with a guide post (2541); The guide protrusion (2551) of the adjusting baffle (255) cooperates with the slide groove (2561) of the base (256); The guide post (2541) of the adjusting ring (254) is slidably engaged with the slot (2552) of the adjusting baffle (255). The rotation of the adjusting ring (254) will drive the adjusting baffle (255) to slide along the slide groove (2561) of the base (256). The degree of obstruction of the opening of the base (256) will also be different when the adjusting baffle (255) is in different relative positions with the adjusting ring (254) and the base (256).

8. The radionuclide application robot according to claim 1, characterized in that... The mobile workstation (5) is equipped with a set of adjustable casters (6) at the bottom; the mobile workstation (5) has two layers of space inside, with a keyboard (9) and mouse (10) placed on the top layer, and a robotic arm control box (7) and computer host (8) placed on the bottom layer. A display screen (11) for displaying device information and operation interface is placed on the table of the mobile workstation (5).

9. A method of using a radionuclide application robot as described in any one of claims 1-8, characterized in that... Includes the following steps: Step 1: Start the equipment, open the corresponding program software, complete the equipment calibration, the patient is in a comfortable position, the scar treatment area is exposed, the staff first drags the end of the six-degree-of-freedom robotic arm (4) to a position above the scar and within the field of view of the depth camera (2); Step 2: Scar image acquisition and pose calculation. The depth camera (2) acquires RGB and depth images. The computer host (8) program automatically completes the registration of the RGB and depth images, that is, the RGB and depth images have the same resolution. The scar region is segmented in the RGB image using the U-Net semantic segmentation algorithm. The point cloud data of the depth image corresponding to the segmented region is extracted and saved as location information P. i (X) i Y i Z i ), i = 1, 2, ..., n; The PCL library is used to further process the point cloud data. First, the point cloud is filtered and denoised by voxel filtering and statistical filtering. Then, the surface is smoothed by moving least squares method to optimize the point cloud distribution. Then, the normal vector of the optimized point cloud is calculated. The normal vector direction consistency correction algorithm is used to make all normal vectors point to the centroid of the scar area. Attitude information R is obtained based on normal vector attitude estimation. i (RX i RY i RZ i Let i = 1, 2, ..., n. Combine the position information and attitude information to form a complete six-dimensional pose information T. i =(X i Y i Z i RX i RY i RZ i ), i = 1, 2, ..., n; Step 3: Setting the opening position. The end-application actuator (3) is initially in a closed state where the adjusting baffle (255) completely blocks the opening on the base (256), ensuring protection against radioactive exposure when not in use. After clicking "run" on the computer, the actual area of ​​the scar is calculated based on the internal and external parameters of the depth camera (2). Then, based on the size of the scar, the corresponding rotation angle command is sent to the servo motor (251) on the end-application actuator (3). The rotation of the servo motor (251) drives the small gear (252) on the output shaft. The rotation of the wheel (253) causes the adjustment ring (254) to rotate in the same way. The adjustment baffle (255) will form openings of different sizes due to the rotation angle of the adjustment ring (254). There are six sizes, from fully closed to the largest opening. When the opening is open, the shape of the opening is always a regular octagon. At this time, the diameter of the inscribed circle of the opening is based on the scar width. The opening size is selected to be greater than or equal to the scar width. The corresponding size has a corresponding number of dressing rods (24) exposed. Then, the dressing rods (24) in this number are used to apply the scar. Step 4: Track planning and application mode selection. Adjust the opening size and select the application mode based on the length of the scar. Step 5: Maintain constant pressure application. Before contacting the scar, the exposed application rods (24) are all on the same plane. When they come into contact with the scar, the application components will contract to different degrees depending on the thickness and shape of the scar. Since the micro air pump (17) will maintain the set air pressure, even if the application rods (24) have different degrees of contraction, the pressure on each application rod (24) remains the same. Step 6: Operation completed and reset. After the application time reaches the set time, the micro air pump (17) depressurizes and the application rod (24) retracts. The six-degree-of-freedom robotic arm (4) drives the end application actuator (3) to reset, and the servo motor (251) drives the opening and closing mechanism (25) to restore the fully closed state.

10. A method for using a radionuclide application robot according to claim 9, characterized in that... The application of the patch in step four includes mode one and mode two; In mode 1, if the scar length is less than the diameter of the inscribed circle of the current gear opening, that is, the opening area is greater than the two-dimensional overall area of ​​the scar, then in the obtained six-dimensional pose data, the pose of the geometric center of the scar and the pose data of a circle with a small radius value centered on the geometric center are extracted for trajectory planning. Then, the pose data after trajectory planning is transformed according to the coordinate transformation relationship between the depth camera (2), the end-effector (3) and the six-degree-of-freedom robot (4). The computer host (8) then sends the data to the control system of the six-degree-of-freedom robot (4) for corresponding execution. The end-effector (3) takes the pose of the geometric center of the scar as the starting point and then makes a circular motion along the specified circumference. While making the circular motion, the motor (13) starts to rotate, that is, the end-effector (3) also keeps making a rotational motion. At this time, all the applicator rods (24) will rotate around the axis of the end-effector (3) to make the applicator more comprehensive. Mode 2: If the scar is long, feature points are selected at fixed intervals in the six-dimensional pose data of the scar area to generate a "snake-like" trajectory. The planned trajectory data is then processed and sent to the control system. The end-effector (3) will cover the entire area of ​​the long scar through continuous back-and-forth motion, while rotating to improve the uniformity of the application.

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