Surgical operation device

Abstract

The utility model provides a surgical operation device, which comprises an operation part, a fixing part and a fixing part, an ultrasonic probe mounted on the operation member; the calibration module is detachably installed on the operation part, the calibration module comprises a plurality of calibration lines of an N-shaped structure, and the calibration lines are arranged opposite to the ultrasonic probe. Through the technical scheme provided by the utility model, the technical problem of inaccurate position detection of the ultrasonic probe in the prior art can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical operating devices, in particular to a surgical operating device. Background Art

[0002] Currently, percutaneous puncture is a minimally invasive surgical procedure widely used in tumor treatments such as biopsy, ablation, and seed implantation. With the assistance of medical imaging, a puncture needle is inserted percutaneously into the target area, establishing a viable channel for interventional surgery or biopsy sampling, thereby diagnosing or treating the disease. In traditional puncture procedures, under ultrasound guidance, the doctor typically holds the ultrasound probe in one hand and the puncture needle in the other, using ultrasound images to identify the lesion area and manually inserting the needle into the body.

[0003] However, due to the varying shapes of ultrasound probes used in different hospitals, existing techniques can cause probe angle and position deviations during the clamping process. Since surgical robots use ultrasound images as a reference for positioning, deviations in the clamping angle and position of the ultrasound probe can significantly affect puncture accuracy. Utility Model Content

[0004] The main purpose of the present invention is to provide a surgical operating device to solve the technical problem in the prior art that the deviation of the clamping angle and position of the ultrasonic probe has a significant impact on the puncture accuracy.

[0005] In order to achieve the above-mentioned object, the present invention provides a surgical operation device, which includes:

[0006] An operating component, the operating component is movably arranged;

[0007] an ultrasonic probe mounted on the operating component;

[0008] The calibration module is detachably mounted on the operating component. The calibration module includes a plurality of calibration lines with N-shaped structures. The calibration lines are arranged opposite to the ultrasonic probe.

[0009] Furthermore, the calibration module also includes:

[0010] The mounting body is detachably mounted on the operating component. The mounting body has a first mounting side wall and a second mounting side wall that are relatively arranged. The first mounting side wall is provided with a plurality of first through-holes, and the second mounting side wall is provided with a plurality of second through-holes. The marking line is passed back and forth between the plurality of first through-holes and the plurality of second through-holes to form a plurality of N-shaped structures.

[0011] Furthermore, the calibration module also includes:

[0012] The first disassembly arm and the second disassembly arm are arranged at intervals, and the first disassembly arm and the second disassembly arm are arranged on both sides of the installation body relatively. The first disassembly arm and the second disassembly arm are respectively used to be clamped on both sides of the ultrasonic probe and detachably connected to the ultrasonic probe. The installation body is located below the detection head of the ultrasonic probe.

[0013] Furthermore, the ultrasound probe includes a mounting body and a probe portion connected to each other, the mounting body having a mounting channel, the probe portion being mounted on the mounting body, a portion of the probe portion being located within the mounting channel, and another portion of the probe portion being arranged to extend out of the mounting channel; the mounting body having a fixed end and an opening and closing end spaced apart, the opening and closing end being rotatably arranged relative to the fixed end;

[0014] wherein the fitting surfaces of the fixed end and the opening and closing end coincide with the central plane of the probe portion; and / or,

[0015] The surgical operating device further includes a puncture needle, which is located at the center plane of the probe part.

[0016] Furthermore, the surgical operating device further includes a puncture needle; the operating components include:

[0017] An angle control module, wherein a driving portion of the angle control module is rotatably arranged relative to a main body of the angle control module, and an ultrasonic probe is mounted on the main body of the angle control module;

[0018] The depth control module and the driving portion of the angle control module are drivingly connected to the depth control module. The driving end of the depth control module is movably arranged along a preset direction, and the driving end of the depth control module is drivingly connected to the puncture needle.

[0019] Furthermore, the angle control module includes a slider and a connecting rod, wherein the slider is movably arranged on the body of the angle control module along a predetermined direction; the connecting rod forms a driving part of the angle control module, one end of the connecting rod is hinged to the slider, and the other end of the connecting rod is hinged to the depth control module; and / or,

[0020] The depth control module includes a screw guide rail module and a drive block. The screw guide rail module is rotatably arranged. The drive block is passed through the screw guide rail module and is threadedly connected to the screw guide rail module to drive the drive block to move in a predetermined direction when the screw guide rail module rotates.

[0021] Furthermore, the surgical operation device further includes a micro-motion control module installed on the operating component, and the micro-motion control module is used to adjust the angle control module and the depth control module; and / or,

[0022] The operating component has an initial state and an operating state for puncture; when the operating component is in the initial state, the angle control module and the depth control module are arranged in a close fit.

[0023] Furthermore, the surgical operating device further includes a puncture needle and a quick-release structure, the puncture needle is mounted on the quick-release structure, and the quick-release structure is detachably mounted on the operating component.

[0024] Furthermore, the quick-release structure includes a base and a quick-release plate, wherein the quick-release plate is movably disposed on the base to move to a clamping position disposed opposite to at least a portion of the base and clamping the puncture needle, and a disassembly position for avoiding the base;

[0025] Wherein, a first clamping structure is provided on the base, and a second clamping structure adapted to the first clamping structure is provided on the quick release plate; when the quick release plate is in the clamping position, the first clamping structure is clamped with the second clamping structure; the quick release structure further includes an elastic member, which is provided on the first clamping structure or the second clamping structure, and is located between the first clamping structure and the second clamping structure; and / or,

[0026] The puncture needle includes a mounting portion and a needle body. A first mounting groove adapted to the mounting portion is provided on the base, and a second mounting groove adapted to the mounting portion is provided on the quick-release plate. When the quick-release plate moves to the clamping position, the first mounting groove and the second mounting groove are spliced to surround the periphery of the mounting portion, and the needle body extends out of the quick-release structure.

[0027] Furthermore, the surgical operating device further comprises:

[0028] The isolation plate is detachably mounted on the operating component, and the puncture needle is detachably mounted on a side of the isolation plate away from the operating component.

[0029] Applying the technical solution of the present utility model, by obtaining the first conversion relationship matrix It is possible to easily calculate the second conversion relationship matrix based on the second conversion relationship matrix This facilitates determining the physical spatial positional deviation between the base of the surgical operating device and the ultrasonic probe due to the clamping angle and position based on the second transformation relationship matrix, thereby improving the puncture accuracy of the ultrasonic probe and the operating accuracy of the surgical operating device. Therefore, the technical solution provided by the present utility model can solve the technical problem in the prior art where the deviation of the ultrasonic probe's clamping angle and position significantly affects the puncture accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0031] Figure 1 A flow chart of a calibration method provided according to an embodiment of the present utility model is shown;

[0032] Figure 2 A schematic diagram showing the positions of four coordinate systems of a surgical operating device provided according to an embodiment of the present utility model is shown;

[0033] Figure 3 A schematic structural diagram of a surgical operating device according to an embodiment of the present utility model is shown;

[0034] Figure 4 A schematic structural diagram of an ultrasonic probe provided according to an embodiment of the present utility model is shown;

[0035] Figure 5 FIG2 shows a schematic structural diagram of a calibration module provided according to an embodiment of the present utility model;

[0036] Figure 6 A schematic diagram of the intersection between the ultrasound imaging plane and the N line of the ultrasound probe provided according to an embodiment of the present utility model is shown;

[0037] Figure 7 A schematic diagram showing another angle of the intersection between the ultrasound imaging plane of the ultrasound probe and the N line provided according to an embodiment of the present utility model;

[0038] Figure 8 shows an ultrasonic imaging image of an ultrasonic probe provided according to an embodiment of the present utility model;

[0039] Figure 9 FIG1 shows a schematic structural diagram of a surgical operating device provided in an embodiment of the present utility model in an initial position;

[0040] Figure 10 A schematic structural diagram of the angle control module of the surgical operation device provided by an embodiment of the present utility model when it is rotated to a certain angle is shown;

[0041] Figure 11 FIG2 shows a schematic structural diagram of a depth control module provided according to an embodiment of the present utility model;

[0042] Figure 12 A schematic structural diagram of a quick-release structure provided according to an embodiment of the present utility model is shown;

[0043] Figure 13 A schematic structural diagram of the quick-release structure provided in an embodiment of the present utility model when opened is shown;

[0044] Figure 14 A schematic structural diagram of an isolation plate provided according to an embodiment of the present utility model is shown.

[0045] The above drawings include the following reference numerals:

[0046] 10. Operating component; 11. Angle control module; 111. Main body; 112. Slider; 113. Connecting rod; 114. Motor; 115. Screw guide rail assembly; 12. Depth control module; 121. Screw guide rail module; 122. Drive block; 123. Drive motor; 124. Main synchronous pulley; 125. Synchronous belt; 126. Slave synchronous pulley;

[0047] 20. Ultrasonic probe; 21. Mounting body; 211. Mounting channel; 22. Probe portion;

[0048] 30. Calibration module; 31. Calibration line; 32. Installation body; 33. First disassembly arm; 34. Second disassembly arm;

[0049] 40. Puncture needle; 41. Mounting portion; 42. Needle body;

[0050] 50. Micro-control module;

[0051] 60. Quick-release structure; 61. Base; 611. First mounting slot; 62. Quick-release plate; 621. Second mounting slot; 63. First clamping structure; 64. Second clamping structure; 65. Elastic member;

[0052] 70. Isolation plate; 71. Adapter plate; 72. Plug-in structure; 73. Pressing structure. DETAILED DESCRIPTION

[0053] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0054] like Figure 3-Figure 5 as well as Figures 9-14 As shown, the fourth embodiment of the present invention provides a surgical operating device suitable for the calibration method provided above. The surgical operating device includes: an operating part 10, an ultrasonic probe and a calibration module 30. The operating part 10 is movably arranged; the ultrasonic probe is installed on the operating part 10; the calibration module 30 is detachably installed on the operating part 10. The calibration module 30 includes a plurality of calibration lines 31 having an N-shaped structure, and the calibration lines 31 are arranged opposite to the ultrasonic probe. With such a structural arrangement, the calibration module 30 is installed on the operating part 10 before the surgical operating device performs surgical puncture. The ultrasonic probe is calibrated by the cooperation between the ultrasonic probe and the calibration module 30. After the calibration is completed, the calibration module 30 can be removed from the operating part 10. This avoids the influence of the calibration module 30 on the surgical operating device during the specific puncture process, thereby ensuring the operational accuracy of the surgical operating device.

[0055] In this embodiment, the calibration module 30 further includes a mounting body 32, which is detachably mounted on the operating component 10. The mounting body 32 has a first mounting sidewall and a second mounting sidewall disposed opposite each other. The first mounting sidewall is provided with a plurality of first through-holes, and the second mounting sidewall is provided with a plurality of second through-holes. The calibration line 31 is passed back and forth between the plurality of first through-holes and the plurality of second through-holes to form a plurality of N-shaped structures. This structural arrangement facilitates the passage of the calibration line 31, thereby forming a plurality of N-shaped structures and facilitating subsequent calibration operations.

[0056] Specifically, the calibration module 30 also includes a first and second detachable arms 33, 34 spaced apart from each other. The first and second detachable arms 33, 34 are positioned opposite each other on either side of a mounting body 32. The first and second detachable arms 33, 34 are respectively configured to be clamped onto and detachably connected to the ultrasound probe. The mounting body 32 is located below the detection head of the ultrasound probe. This facilitates installation and removal of the calibration module 30.

[0057] Specifically, two first connecting arms parallel to each other are arranged at intervals on the first disassembly arm 33, and two second connecting arms parallel to each other are arranged at intervals on the second disassembly arm 34. The two first connecting arms and the two second connecting arms are arranged opposite to each other, and the two first connecting arms are each provided with a first disassembly hole, and the two second connecting arms are each provided with a second disassembly hole. The installation and disassembly of the ultrasonic probe are achieved through the two first disassembly holes and the two second disassembly holes.

[0058] In this embodiment, the ultrasound probe includes a mounting body 21 and a probe portion 22, which are connected to each other. The mounting body 21 has a mounting channel 211. The probe portion 22 is mounted on the mounting body 21, with a portion of the probe portion 22 located within the mounting channel 211 and another portion extending out of the mounting channel 211. The mounting body 21 has a fixed end and an opening end, which are spaced apart. The opening end is rotatable relative to the fixed end to facilitate adaptive adjustment of the angle of the probe portion 22. Specifically, the probe portion 22 can be a B-ultrasound probe 22.

[0059] Among them, the fitting surfaces of the fixed end and the opening and closing end coincide with the center plane of the probe part 22, so as to ensure that the rotating plane coincides with the center plane of the probe part 22, and ensure that the relative relationship between the probe part 22 and the mounting body 21 is not offset during the rotation process of the mounting body 21.

[0060] Specifically, the opening and closing end opens and closes in a rotating manner. In order to ensure that the ultrasound probe and the puncture needle are coplanar, the fitting surfaces of the fixed end and the opening and closing end are set on the plane where the puncture needle is located. In this way, the ultrasound probe and the puncture needle can be coplanar, thereby effectively improving the accuracy of puncture.

[0061] Specifically, the surgical operating device further includes a puncture needle 40, which is located at the center plane of the probe portion 22. This structural arrangement ensures that the probe portion 22 and the puncture needle 40 are coplanar, allowing the probe portion 22 to more accurately determine the position of the puncture needle 40, thereby improving the accuracy of the position determination.

[0062] In this embodiment, the surgical operating device also includes a puncture needle 40; the operating component 10 includes an angle control module 11 and a depth control module 12. The driving portion of the angle control module 11 is rotatably disposed relative to the main body 111 of the angle control module 11, and the ultrasonic probe 20 is mounted on the main body 111 of the angle control module 11. The driving portion of the angle control module 11 is drivingly connected to the depth control module 12. The driving end of the depth control module 12 is movable along a predetermined direction, and the driving end of the depth control module 12 is drivingly connected to the puncture needle 40. This structural arrangement facilitates control of the rotation angle and insertion depth of the puncture needle 40, thereby better guiding the puncture needle 40 to the lesion location and improving the accuracy of puncture at the lesion location. Specifically, the angle control module 11 enables the puncture needle 40 to rotate about its axis, thereby achieving automatic adjustment of the angle of the puncture needle 40.

[0063] Specifically, the angle control module 11 includes a slider 112 and a connecting rod 113. The slider 112 is movably mounted on the main body 111 of the angle control module 11 along a predetermined direction. The connecting rod 113 forms the driving portion of the angle control module 11. One end of the connecting rod 113 is hinged to the slider 112, and the other end of the connecting rod 113 is hinged to the depth control module 12. This structural arrangement is simple and has stable transmission, facilitating stable angle deflection.

[0064] The angle control module 11 further includes a motor 114 and a screw guide rail assembly 115 . The motor 114 drives the screw of the screw guide rail assembly 115 to rotate. The slider 112 is passed through the screw and is threadedly connected to the screw to drive the slider 112 to move through the screw guide rail assembly 115 .

[0065] Specifically, the depth control module 12 includes a screw guide module 121 and a drive block 122. The screw guide module 121 is rotatably arranged, and the drive block 122 is inserted into the screw guide module 121 and is threadedly connected to the screw guide module 121. When the screw guide module 121 rotates, the drive block 122 is driven to move in a predetermined direction. This structural arrangement can facilitate the stable movement of the drive block 122 in the predetermined direction, thereby improving the driving stability of the drive block 122.

[0066] The depth control module 12 also includes a drive motor 123, a main synchronous pulley 124, a synchronous belt 125, a slave synchronous pulley 126, a screw guide rail module 121, and a drive block 122. The drive motor 123 causes the main synchronous pulley 124 to rotate, which in turn drives the synchronous belt 125 to move, which in turn drives the slave synchronous pulley 126 to rotate, which in turn drives the lead screw to rotate, which in turn drives the drive block 122 to move linearly in the up and down directions, which in turn drives the slider 112 to move the quick removal device of the puncture needle 40, which in turn drives the linear movement of the puncture needle 40, thereby ensuring that the needle tip of the puncture needle 40 reaches the lesion location.

[0067] In this embodiment, the surgical operating device further includes a micro-motion control module 50, which is mounted on the operating component 10 and is used to adjust the angle control module 11 and the depth control module 12. With this structural arrangement, the micro-motion control module 50 is used to adjust the angle or depth of the puncture needle 40 if the position of the lesion point deviates during the puncture process. The doctor can switch to manual adjustment mode to fine-tune the angle or depth of the puncture needle 40. The micro-motion control module 50 can be controlled automatically. Specifically, the micro-motion control module 50 can use a PLC or a single-chip microcomputer. Remote control can also be used, allowing the doctor to adjust the puncture needle 40 outside the operating room through the micro-motion control module 50, thereby reducing the radiation hazard posed to the doctor by the medical equipment in the operating room.

[0068] Specifically, the depth control module 12 can be remotely controlled, allowing the doctor to adjust the puncture needle 40 outside the operating room through the micro-control module 50. The angle control module 11 can also be remotely controlled, allowing the doctor to adjust the puncture needle 40 outside the operating room through the micro-control module 50.

[0069] Specifically, the operating component 10 has an initial state and an operating state for puncture; when the operating component 10 is in the initial state, the angle control module 11 and the depth control module 12 are arranged in a close fit to reduce the overall space occupied by the operating component 10 and improve the compactness of the structural layout of the operating component 10.

[0070] In this embodiment, the surgical operating device further includes a puncture needle 40 and a quick-release mechanism 60. The puncture needle 40 is mounted on the quick-release mechanism 60, which is removably mounted on the operating member 10. This structural arrangement facilitates rapid operation of the puncture needle 40. Specifically, once the puncture needle 40 has accurately located the lesion, the surgeon can remove the quick-release mechanism 60 to separate the puncture needle 40 from the operating member 10, allowing the puncture needle 40 to remain in the patient's body and facilitate the next surgical procedure.

[0071] Specifically, the quick-release structure 60 includes a base 61 and a quick-release plate 62. The quick-release plate 62 can be movably arranged on the base 61 to move to a clamping position that is opposite to at least a portion of the base 61 and clamps the puncture needle 40, and a disassembly position that avoids the base 61, so as to more conveniently clamp or disassemble the puncture needle 40, further improving the convenience of operation.

[0072] Specifically, the quick release plate 62 is rotatably disposed on the base 61 .

[0073] In this embodiment, a first engaging structure 63 is provided on the base 61, and a second engaging structure 64 is provided on the quick-release plate 62, which is compatible with the first engaging structure 63. When the quick-release plate 62 is in the clamping position, the first engaging structure 63 engages with the second engaging structure 64. The quick-release structure 60 also includes an elastic member 65, which is provided on either the first engaging structure 63 or the second engaging structure 64, and is positioned between the first engaging structure 63 and the second engaging structure 64. This structural arrangement facilitates ensuring stable clamping of the puncture needle 40. At least one of the first engaging structure 63 and the second engaging structure 64 is rotatably arranged. The elastic member 65 may be an elastic silicone pad to ensure stable engagement between the first engaging structure 63 and the second engaging structure 64, ensuring that the first engaging structure 63 and the second engaging structure 64 do not disengage during surgery.

[0074] Specifically, the puncture needle 40 includes a mounting portion 41 and a needle body 42. A first mounting groove 611 is provided on the base 61, which is compatible with the mounting portion 41. A second mounting groove 621 is provided on the quick-release plate 62, which is compatible with the mounting portion 41. When the quick-release plate 62 moves to the clamping position, the first mounting groove 611 and the second mounting groove 621 are spliced to surround the periphery of the mounting portion 41, and the needle body 42 extends out of the quick-release structure 60. This facilitates better installation of the mounting portion 41 and improves the installation stability of the puncture needle 40.

[0075] In this embodiment, the surgical operating device further includes an isolation plate 70, which is detachably mounted on the operating component 10, and the puncture needle 40 is detachably mounted on a side of the isolation plate 70 away from the operating component 10. This structural arrangement facilitates the isolation of the operating component 10 from the puncture needle 40, thereby isolating the sterile area from the sterile area, ensuring a sterile surgical environment, and preventing bacteria on the operating component 10 from entering the puncture needle 40, thereby better protecting the puncture needle 40 from sterility. Specifically, the isolation plate 70 is a sterile isolation plate 70, which is a consumable structure. One isolation plate 70 is used for each puncture needle 40, and when the puncture needle 40 is replaced, the isolation plate 70 also needs to be replaced.

[0076] Specifically, a sterile film is provided on the isolation plate 70 .

[0077] Specifically, the isolation plate 70 is detachably mounted on the operating component 10, and the puncture needle 40 is detachably mounted on the isolation plate 70 via the quick-release structure 60. Specifically, the isolation plate 70 is provided with a mounting track, and the quick-release structure 60 is provided with a mounting block that matches the mounting track. The quick-release structure 60 is mounted on the isolation plate 70 through the cooperation of the mounting block and the mounting track.

[0078] Specifically, the isolation plate 70 is provided with an adapter plate 71, which is plugged into the drive block 122 via a plug-in structure 72. Driven by the drive block 122 of the depth control module 12, the adapter plate 71 moves linearly up and down, thereby driving the quick-release assembly structure to achieve linear up and down motion. This in turn drives the sprint needle to achieve linear up and down motion. The sterile membrane isolation plate 70 is plugged into the base 61 via a latch structure, and the two can be assembled and disassembled further using a pressing structure 73.

[0079] Specifically, a plug pin is provided at the end of the sterile membrane isolation plate 70, and the plug pin can be inserted into the corresponding plug hole of the base 61.

[0080] Specifically, the pressing structure 73 is a quick-release mechanism that includes a spring-loaded retractable barrier. When the sterile membrane barrier 70 contacts the spring-loaded barrier, it pushes the barrier away. When the sterile membrane barrier 70 is pressed into place, the spring barrier returns to its original position, enabling quick installation. During removal, pressing the side of the barrier retracts the spring barrier, enabling quick removal.

[0081] Specifically, the lesion location is acquired through ultrasound imaging, and an algorithm is used to calculate and plan the puncture path, which is the line connecting the needle insertion starting point and the lesion. Furthermore, the angle control module 11 is controlled to rotate the puncture needle 40 to the puncture path, and the depth control module 12 is further controlled to achieve fully automatic puncture. During the fully automatic puncture process, the pixel information of the ultrasound image is converted into dimension information through an algorithm, and the dimension information is further converted into the rotation angle information of the motor 114. A clamping module based on the imaging midline plane of the ultrasound probe 20 is used to fully ensure that the ultrasound probe 20 and the puncture needle 40 are collinear. The calibration module 30 compensates for the positional offset of the ultrasound probe 20 on the imaging plane, further improving the accuracy of ultrasound image information acquisition.

[0082] Specifically, puncture is a dynamic process, and the lesion position may shift during the puncture process due to factors such as the patient's breathing and body position changes. To further ensure the accuracy of the puncture procedure, the present invention also provides a fine-tuning device. During the movement of the puncture needle 40, the ultrasonic probe checks the position of the puncture needle 40 and the lesion in real time. If the lesion position changes, the fine-tuning button changes the angle of the puncture needle 40 so that the puncture needle 40 is aligned with the lesion, further improving the accuracy of the puncture.

[0083] like Figure 1 As shown, the calibration method corresponding to the embodiment of the present invention includes: obtaining a first transformation relationship matrix between the coordinate system {F} of the base of the surgical operating device and the coordinate system {P} of the calibration module installed on the base of the surgical operating device The ultrasonic probe is used to perform ultrasonic imaging on the calibration module to extract the features of the ultrasonic image; the features of the ultrasonic image are matched with the actual three-dimensional features corresponding to the ultrasonic image to obtain a second transformation relationship matrix between the coordinate system of the ultrasonic image {I} and the coordinate system of the base of the surgical operation device {F} According to the second conversion relationship matrix A positional deviation between a base of a surgical manipulation device and a physical space of an ultrasound probe is determined.

[0084] Using the calibration method provided in this embodiment, the first conversion relationship matrix obtained It is possible to easily calculate the second conversion relationship matrix based on the second conversion relationship matrix This facilitates determining the positional deviation between the base of the surgical operating device and the ultrasonic probe in physical space due to the clamping angle and position based on the second conversion relationship matrix, thereby facilitating improving the puncture accuracy of the ultrasonic probe and improving the operating accuracy of the surgical operating device.

[0085] In addition, in the above process, since the calibration module has already calibrated the first conversion matrix in advance, the second conversion relationship matrix can be quickly obtained after the calibration module is installed and calculated. Based on the second conversion relationship matrix, the deviation of the physical space corresponding to the clamping angle and position of the ultrasound probe can be obtained, thereby effectively improving the operating accuracy of the surgical operation device.

[0086] like Figures 6 to 8 As shown in the figure, the calibration module in this embodiment is inserted through a model with holes by thin lines. Two parallel lines and a diagonal line form an "N" shape. Each "N" shape can be regarded as a basic unit. The ultrasound imaging plane intersects with it at three points (P1, P2, and P3). The four endpoints of each "N" shape are A1, A2, B2, and B1.

[0087] In this embodiment, a first transformation relationship matrix is obtained between the coordinate system {F} of the base of the surgical operating device and the coordinate system {P} of the calibration module installed on the base of the surgical operating device. The method includes obtaining a coordinate system {F} of the base of the surgical operating device and a Maker coordinate system {M} of a visual marker mounted on the surgical operating device to obtain a third transformation relationship matrix between the Maker coordinate system and the coordinate system of the base of the surgical operating device. Obtain the coordinate system {P} of the calibration module installed on the base of the surgical operating device to obtain the fourth transformation relationship matrix between the coordinate system {P} of the calibration module and the Maker coordinate system According to the third conversion relationship matrix And the fourth transformation matrix Get the first transformation relationship matrix between the coordinate system {P} of the calibration module and the coordinate system {F} of the surgical operation device base This method can be used to easily calculate the first conversion relationship matrix, so as to facilitate the subsequent calculation of the second conversion relationship matrix. Specifically, the first conversion relationship matrix is generally calculated and calibrated in advance before leaving the factory, so as to facilitate the subsequent rapid calculation of the second conversion relationship matrix.

[0088] Specifically, the features of the ultrasound image are matched with the actual three-dimensional features corresponding to the ultrasound image to obtain a second transformation relationship matrix between the coordinate system of the ultrasound image {I} and the coordinate system of the surgical operating device base {F} According to the second conversion relationship matrix Determine the positional deviation between the base of the surgical operating device and the ultrasound image space and physical space, including:

[0089] Set the pixel scaling factors of the ultrasound image to Sx and Sy;

[0090] Let (u, v) be the pixel coordinates in the coordinate system {I} of the ultrasound image, and let (x, y, z) be the three-dimensional coordinates of (u, v) in the coordinate system {P} of the calibration module:

[0091] Create the formula:

[0092]

[0093] By adopting such a method, it is possible to easily establish the relationship between the ultrasound image coordinate system T and the coordinate system of the calibration module, and to facilitate subsequent further solution, so as to more accurately obtain the corresponding second transformation relationship matrix.

[0094] In this embodiment, the calibration module is an N-line module; the features of the ultrasound image are matched with the actual three-dimensional features corresponding to the ultrasound image to obtain a second transformation relationship matrix between the coordinate system of the ultrasound image {I} and the coordinate system of the base of the surgical operation device {F} According to the second conversion relationship matrix Determining the positional deviation between the base of the surgical operating device and the ultrasonic image space and the physical space also includes: recording the three points of intersection between the ultrasonic imaging plane and the middle of each N-shaped N-line module as points P1, P2 and P3 respectively, obtaining the coordinates of the four endpoints A1, A2, B1 and B2 of each N-shaped in the coordinate system {P} of the calibration module as P A1 , P A2 , P B1 , P B2 ; Wherein, point P1, point P2 and point P3 are the intersection points between the ultrasound imaging plane and the line on the first side of the N-shape, the line in the middle of the N-shape and the line on the second side of the N-shape respectively;

[0095] Extract the pixel coordinates p1, p2, and p3 of points P1, P2, and P3 respectively in the coordinate system {I} of the ultrasound image;

[0096] According to the distance between similar triangles, the coordinates P2 of point P2 in the coordinate system {P} of the calibration module are calculated.

[0097] Where P2 = (1-λ)P B1 +λP A2 ;

[0098] The three-dimensional coordinates of point P2 in the two-dimensional pixel coordinates and the model coordinate system {P} are p i =[u i , v i ] T and P i , i=1,…,K; where K is the number of N lines;

[0099] Set R, t to be the first transformation matrix The rotation matrix and translation vector of , can be derived as:

[0100] s x u i r1+s y v i r2+t=y i ;

[0101] Among them, r1 and r2 are the second transformation relationship matrices The first two columns of the rotation part R, t is The translation vector, y i =RPi +t; let a1=sxr1, a2=syr2, Write the above formula in matrix form:

[0102] A i x=y i ;

[0103] in:

[0104]

[0105] All A i and y i (i=1, ..., K) are stacked in the row direction to form the final linear equation: Ax=y, whose least squares solution is: x=(A T A) -1 ATy;

[0106] After finding x, we get a1, a2 and t;

[0107] After calculation, we get s x =||a1||,s y =||a2||, r1=a1 / s x , r2=a2 / s y , r3=r1×r2, to calculate the second transformation relationship matrix.

[0108] By adopting such a method, it is possible to calculate the second conversion relationship matrix, thereby facilitating accurate determination of the positional deviation between the base of the surgical operating device and the physical space of the ultrasound probe.

[0109] Specifically, after calculation, we get s x =||a1||,s y =||a2||, r1=a1 / s x , r2=a2 / s y , r3=r1×r2, after calculating the second transformation relationship matrix, the calibration method further includes:

[0110] Calculate the root mean square error

[0111] The definition formula of data outliers is {∪P i |T FP P P i - F P i ||>RMSE}, outliers that meet the definition formula of outliers are removed from the original data;

[0112] Calculate s again x and s y, and calculate again to get the second transformation relationship matrix T FP This method can improve the accuracy of solving the second transformation relationship matrix, thereby more accurately obtaining the position deviation between the base of the surgical operating device and the physical space of the ultrasound probe, further improving the operating accuracy of the surgical operating device.

[0113] Specifically, the ultrasound probe calibration in this patent involves determining the coordinate transformation relationship T_FI between the robot end flange coordinate system {F} and the two-dimensional ultrasound image coordinate system {I}. Once the ultrasound probe is mounted on the robot end and the imaging parameters of the ultrasound probe are fixed, this transformation relationship is fixed. It can be used to map pixels on the ultrasound image to points in three-dimensional space and to correspond to the position of the puncture needle.

[0114] like Figure 2 As shown in the figure, a schematic diagram of the positions of the four coordinate systems of the surgical operating device is shown, which include: the Maker coordinate system of the visual marker {M}, the coordinate system of the calibration module {P}, the coordinate system of the ultrasound image {I} and the coordinate system of the base of the surgical operating device {F}.

[0115] Specifically, in this embodiment, the ultrasonic probe calibration mainly includes: installing the visual marker at the end of the surgical operating device (which can also be understood as the robotic arm of the surgical robot), performing hand-eye calibration to obtain the relationship T_FM between the marker and the end; installing the N-line calibration module at the end of the robotic arm through a quick-install structure and using a probe to probe the groove on the model, registering the N-line calibration module in the marker coordinate system, and converting it to the robot's end coordinate system through T_FM to obtain T_FP. As long as the installation relationship between the N-line calibration module and the robot end remains unchanged, it only needs to be calibrated once, which greatly facilitates clinical calibration use. By performing ultrasonic imaging on the designed N-line calibration module with known geometric dimensions, the features in the ultrasonic image are extracted and corresponded to the actual three-dimensional features; finally, the least squares algorithm is used to optimize the matching loss function between the features to estimate the unknown transformation relationship.

[0116] Specifically, the coordinate system of the surgical operating device base can also be called the robot end coordinate system {F}, the Maker coordinate system of the visual marker on the surgical operating device can also be called the Marker coordinate system on the robot end {M}, the coordinate system of the ultrasound image can also be called the image coordinate system {I}, and the coordinate system of the calibration module can also be called the calibration model coordinate system {P}. The transformation matrix T of the image coordinate system relative to the coordinate system of the robot end is FI is an unknown parameter, together with the ultrasound image pixel size s x and s yTogether they form the object to be solved. Let (u, v) be the pixel coordinates in the image coordinate system, and its corresponding three-dimensional coordinates (x, y, z) in the model coordinate system are:

[0117]

[0118] The N-line calibration module consists of two parallel lines and one oblique line forming an "N" shape. Each "N" can be regarded as a basic unit. The ultrasound imaging plane intersects with it at three points, denoted as P1, P2, and P3. The positions of the endpoints A1, A2, B1, and B2 of the N-line in the model coordinate system are known and are denoted as vectors P. A1 ,P A2 ,P B1 ,P B2 ∈R 3 This embodiment uses image processing algorithms such as adjustable threshold segmentation, morphological processing, connected domain, and clustering to extract the pixel coordinates of P1, P2, and P3 on the ultrasound image, which are denoted as p1, p2, and p3∈R 2 .

[0119] According to the principle of similar triangles, the coordinates of point P2 in the model coordinate system can be calculated as P2∈R 3 :

[0120]

[0121] According to the N-line calibration, an actual ultrasound image of a top view of the intersection relationship between the N-line model and the ultrasound image and the N-line is obtained.

[0122] Specifically, the calibration model has 3 rows, each row consists of 4 "N". Among them, the red dot represents P1 or (and) P3, and the blue dot represents P2. One ultrasound image can extract 12 P2 points, and their 2D pixel coordinates and 3D coordinates in the model coordinate system are p i =[u i ,v i ] T and P i , i=1,…,12. P i The calculation can be performed according to the above formula. Let R, t be T FP The rotation matrix and translation vector are calculated according to the above expression:

[0123] s x u i r1+s y v i r2+t=y i ;

[0124] where r1 and r2 are unknown matrices T FIThe first two columns of the rotation part R, t is T FI The translation vector, y i =RP i +t. Let a1=s x r1,a2=s y2 r, Write the above formula in matrix form:

[0125] A i x=y i ;

[0126] in:

[0127]

[0128] All A i and y i (i=1,…,12) are stacked in the row direction to form the final linear equation: Ax=y, whose least squares solution is: x=(A T A) -1 A T y. After solving x, we get a1, a2 and t, and further we have: s x =||a1||,s y =||a2||, r1=a1 / s x , r2=a2 / s y , r3=r1×r2. At this point, all unknown transformation parameters have been found.

[0129] In order to further improve the accuracy, the results can be further optimized. The collected data may have errors in the experimental operation or extraction process. FI To solve the error, delete the points with excessive error and do a second calculation. The root mean square error is defined as:

[0130]

[0131] Specifically, the definition of data outliers is {∪P i |||T FP P P i - F P i ||>RMSE}, remove these points from the original data and calculate s again x 、s y With T FP The value of can improve the calculation accuracy.

[0132] The calibration method of the utility model corresponds to a calibration device for a surgical operation device, which comprises: an acquisition module, an ultrasonic imaging module and a calculation module, wherein the acquisition module is used to acquire a first transformation relationship matrix between a coordinate system {F} of a base of the surgical operation device and a coordinate system {P} of a calibration module installed on the base of the surgical operation device. The ultrasonic imaging module is used to use the ultrasonic probe to perform ultrasonic imaging on the calibration module and extract the features of the ultrasonic image; the calculation module is used to correspond the features of the ultrasonic image with the actual three-dimensional features corresponding to the ultrasonic image to obtain a second transformation relationship matrix between the coordinate system of the ultrasonic image {I} and the coordinate system of the base of the surgical operation device {F} According to the second conversion relationship matrix A positional deviation between a base of a surgical manipulation device and a physical space of an ultrasound probe is determined.

[0133] Specifically, the calculation module includes a first setting module, a second setting module and a formula establishment module. The first setting module is used to set the pixel scaling factors of the ultrasound image to Sx and Sy; the second setting module is used to set (u, v) as the pixel coordinates in the coordinate system {I} of the ultrasound image, and set (x, y, z) as the three-dimensional coordinates corresponding to (u, v) in the coordinate system {P} of the calibration module.

[0134] The formula building module is used to build formulas:

[0135]

[0136] The corresponding calibration method corresponds to a non-volatile storage medium, which stores a plurality of instructions. The instructions are suitable for being loaded by a processor and executing the calibration method provided above.

[0137] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the calibration module compensates for the clamping error of the ultrasonic probe. The angle control module utilizes a stable screw mechanism and a crank slider mechanism to achieve automatic angle positioning, ensuring alignment with the planned puncture path. The depth control module utilizes a stable screw mechanism, ensuring the dimensional stability of key components and enabling automatic needle insertion. The microcontroller can address lesion displacement issues through real-time observation of B-ultrasound images. The physician can fine-tune the angle and depth control modules manually or remotely, thereby achieving precise control of the puncture needle. The puncture needle quick-release mechanism allows the entire puncture device to be removed upon completion, leaving only the puncture needle in the patient's body. This quick-release mechanism allows for rapid separation of the puncture needle from the operating components, significantly shortening surgical time and improving efficiency. The consumable assembly, consisting of the sterile membrane, isolation plate, quick-release mechanism, and puncture needle, features a plug-in design at one end and a press-on design at the other, enabling quick removal. This reduces both preoperative preparation time and postoperative removal time. By precisely controlling the angle and puncture position, the puncture needle reaches the location of the prosthetic lesion, and simulates the changes in the lesion position during the operation. By fine-tuning the angle and puncture depth, real-time tracking of the lesion position is achieved, further improving the accuracy of the puncture.

[0138] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0139] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. Technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0140] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0141] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0142] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0143] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A surgical operating device, characterized in that: The surgical operating device comprises: an operating component (10), wherein the operating component (10) is movably arranged; an ultrasonic probe (20) mounted on the operating component (10); A calibration module (30) is detachably mounted on the operating component (10), wherein the calibration module (30) comprises a plurality of calibration lines (31) having an N-shaped structure, wherein the calibration lines (31) are arranged opposite to the ultrasonic probe (20).

2. The surgical operating device according to claim 1, wherein: The calibration module (30) further comprises: A mounting body (32) is detachably mounted on the operating component (10), and the mounting body (32) has a first mounting side wall and a second mounting side wall that are arranged opposite to each other, the first mounting side wall is provided with a plurality of first through-holes, the second mounting side wall is provided with a plurality of second through-holes, and the marking line (31) is passed back and forth between the plurality of first through-holes and the plurality of second through-holes to form the plurality of N-shaped structures.

3. The surgical operating device according to claim 2, wherein: The calibration module (30) further comprises: A first disassembly arm (33) and a second disassembly arm (34) are arranged at intervals, the first disassembly arm (33) and the second disassembly arm (34) are arranged on both sides of the installation body (32) relatively, the first disassembly arm (33) and the second disassembly arm (34) are respectively used to be clamped on both sides of the ultrasound probe (20) and detachably connected to the ultrasound probe (20), and the installation body (32) is located below the detection head of the ultrasound probe (20).

4. The surgical operating device according to claim 1, wherein: The ultrasonic probe (20) comprises a mounting body (21) and a probe portion (22) connected to each other, wherein the mounting body (21) has a mounting channel (211), and the probe portion (22) is mounted on the mounting body (21), with a portion of the probe portion (22) located in the mounting channel (211) and another portion of the probe portion (22) extending out of the mounting channel (211); the mounting body (21) has a fixed end and an opening and closing end that are spaced apart, and the opening and closing end is rotatably arranged relative to the fixed end; wherein the fitting surfaces of the fixed end and the opening and closing end coincide with the central plane of the probe portion (22); and / or, The surgical operation device further includes a puncture needle (40), and the puncture needle (40) is located at the center plane of the probe part (22).

5. The surgical operating device according to claim 1, wherein: The surgical operation device further includes a puncture needle (40); The operating component (10) comprises: An angle control module (11), wherein a driving portion of the angle control module (11) is rotatably arranged relative to a main body (111) of the angle control module (11), and the ultrasonic probe (20) is mounted on the main body (111) of the angle control module (11); A depth control module (12), wherein the driving portion of the angle control module (11) is drivingly connected to the depth control module (12), the driving end of the depth control module (12) is movably arranged along a preset direction, and the driving end of the depth control module (12) is drivingly connected to the puncture needle (40).

6. The surgical operating device according to claim 5, characterized in that: The angle control module (11) comprises a slider (112) and a connecting rod (113), wherein the slider (112) is movably arranged on the body (111) of the angle control module (11) along a predetermined direction; the connecting rod (113) forms a driving part of the angle control module (11), one end of the connecting rod (113) is hinged to the slider (112), and the other end of the connecting rod (113) is hinged to the depth control module (12); and / or, The depth control module (12) comprises a screw guide rail module (121) and a driving block (122); the screw guide rail module (121) is rotatably arranged; the driving block (122) is passed through the screw guide rail module (121) and is threadedly connected to the screw guide rail module (121) so as to drive the driving block (122) to move along the predetermined direction when the screw guide rail module (121) rotates.

7. The surgical operating device according to claim 5, characterized in that: The surgical operation device further comprises a micro-motion control module (50) mounted on the operation component (10), wherein the micro-motion control module (50) is used to adjust the angle control module (11) and the depth control module (12); and / or, The operating component (10) has an initial state and an operating state for puncture; when the operating component (10) is in the initial state, the angle control module (11) and the depth control module (12) are arranged in close contact.

8. The surgical operating device according to claim 1, wherein: The surgical operating device further comprises a puncture needle (40) and a quick-release structure (60), wherein the puncture needle (40) is mounted on the quick-release structure (60), and the quick-release structure (60) is detachably mounted on the operating component (10).

9. The surgical operating device according to claim 8, wherein: The quick-release structure (60) includes a base (61) and a quick-release plate (62), wherein the quick-release plate (62) is movably arranged on the base (61) to move to a clamping position in which the quick-release plate is arranged opposite to at least a portion of the base (61) and clamps the puncture needle (40), and a disassembly position in which the quick-release plate avoids the base (61); Wherein, the base (61) is provided with a first clamping structure (63), and the quick-release plate (62) is provided with a second clamping structure (64) adapted to the first clamping structure (63); when the quick-release plate (62) is in the clamping position, the first clamping structure (63) is clamped with the second clamping structure (64); the quick-release structure (60) further includes an elastic member (65), the elastic member (65) is provided on the first clamping structure (63) or the second clamping structure (64), and the elastic member (65) is located between the first clamping structure (63) and the second clamping structure (64); and / or, The puncture needle (40) includes a mounting portion (41) and a needle body (42); a first mounting groove (611) adapted to the mounting portion (41) is provided on the base (61); a second mounting groove (621) adapted to the mounting portion (41) is provided on the quick-release plate (62); when the quick-release plate (62) moves to the clamping position, the first mounting groove (611) and the second mounting groove (621) are spliced to surround the periphery of the mounting portion (41), and the needle body (42) extends out of the quick-release structure (60).

10. The surgical operating device according to claim 8, wherein: The surgical operating device further comprises: The isolation plate (70) is detachably mounted on the operating component (10), and the puncture needle (40) is detachably mounted on a side of the isolation plate (70) away from the operating component (10).

Images