Mechatronic working element for robot-assisted tool guidance for localized destruction under ultrasound control

Abstract

FIELD: medical equipment.SUBSTANCE: mechatronic working element for robot-assisted guidance and insertion of a replaceable instrument for local destruction of tumors of human internal organs under ultrasound control. The device comprises a manipulator designed to operate jointly with a person and having at least six degrees of mobility. The device has a manipulator flange and a base of the working element fixed on the manipulator flange. The device includes an ultrasonic transducer, fixed by means of an angular hinge on the base and configured to rotate and move in the scanning plane. The device contains a movable module for introducing a replaceable tool for local destruction, connected to the base of the working element through links of the first and second degrees of mobility located parallel to each other, designed with the possibility of providing linear movement by means of drives. The device includes a holder of a replaceable tool for local destruction, connected to a carriage of the holder of a replaceable tool for local destruction, configured to be driven by a drive for introducing a replaceable tool for local destruction and a kinematic transmission secured to a movable module for introducing a replaceable tool for local destruction. The device includes a replaceable tool for local destruction, fixed in a replaceable tool holder for local destruction. The link of the second degree of mobility is connected to the movable module for introducing the replaceable tool for local destruction by means of a rotary hinge located on the axis of introducing the replaceable tool for local destruction with the possibility of providing an inclination of the movable module for introducing the replaceable tool for local destruction relative to the base in the scanning plane, and the link of the first degree of mobility is connected to the movable module for introducing the replaceable tool for local destruction through a rotary hinge configured to provide an inclination of the movable module for introducing the replaceable tool for local destruction relative to the base in the scanning plane and secured on the carriage of the linear guide configured to perform a linear reciprocating movement along the linear guide secured on the axis of introducing the replaceable tool for local destruction. The mechatronic working element is designed with the capability of continuously moving the replaceable tool for local destruction and the ultrasonic transducer, ensuring that the axis of radial symmetry of the replaceable tool for local destruction is located on a pre-planned input trajectory and the position of the target anatomical structure of the human internal organs is in the scanning zone of the ultrasonic transducer.EFFECT: ensuring the possibility of continuous movement of a medical instrument and a transducer in a space of positions that ensure compliance with the requirements for positioning the transducer and the medical instrument.1 cl, 5 dwg

Description

[0001] Technique level.

[0002] The invention relates to medical technology, specifically to robot-assisted systems designed to guide medical instruments for the local destruction of tumors in human internal organs under ultrasound guidance. The invention can be used in minimally invasive surgery, performing procedures under ultrasound imaging guidance.

[0003] The following patents are known from scientific and technical literature and patent documentation: CN 110638528 A, CN 215874870 U, US1 0561397 B2, CN 216702632 U, CN 115317091 A, CN 113164117 A, CN 115054332 A, RU 2715684 C1, CN 107334509 A, CN 212521854 U, CN 116236288 B, CN 116439838 B.

[0004] Patent CN 110638528 A, issued in January 2020 by Shanghai Jiaotong University, describes a portable robot for performing ultrasound-guided nerve blocks. The device has three degrees of freedom of movement and is equipped with an ultrasound transducer holding mechanism, a linear positioning mechanism, a radial angle adjustment mechanism, and a puncture control system. A key feature of the device is its ability to assist the physician in performing nerve blocks by controlling the insertion trajectory and depth of the puncture needle, increasing procedure accuracy and reducing procedure time. Patent CN 215874870 U, filed February 2022 by the Shenzhen Institute of Advanced Technology of CAS, describes a robotic device for bile duct puncture. The device comprises a manipulator with six degrees of freedom and an end-effector with one active and one passive degree of freedom, including an ultrasound imaging module, a target identification module, a position calculation module, and a motion control module. The device also features a needle insertion angle adjustment mechanism and a collision detection module to prevent damage to surrounding tissue. A key feature is the use of ultrasound imaging to determine the optimal trajectory of the puncture needle insertion and automatically adjust the trajectory and angle of the needle insertion.

[0006] Patent US 10561397 B2, filed February 2020 by Spade Co Ltd, describes an ultrasound-guided injection device using a remote pivot mechanism. The device features three passive degrees of freedom and includes an ultrasound probe holder, a movable element that can move along the body, an arc-shaped support element, and an injection module lock. A key feature is the ability to easily adjust the insertion angle and depth of the injection needle manually, while the insertion point remains constant even when the angle is changed thanks to the remote pivot mechanism.

[0007] The above-described patents CN 110638528 A, CN 215874870 U, and US 10561397 B2 describe systems for manual and automated ultrasound-guided targeting of a medical instrument using kinematic schemes with a remote center of rotation relative to the target point. These designs allow for changing the angle of the instrument's insertion trajectory without shifting the entry point into the patient's body, minimizing tissue trauma. Additional degrees of freedom in these devices allow for shifting the instrument's rotational point along the horizontal or vertical axis, expanding the working area and enabling adaptation to the patient's individual anatomy. However, these designs do not allow for shifting the center of rotation without additional degrees of freedom, which introduce additional weight into the design and increase instrument insertion error due to the increased number of moving parts.Moreover, without the introduction of additional degrees of mobility, when the ultrasound transducer is aimed at the target point, there will be no service angle for the insertion trajectory, which forces the entire device to be moved to adjust the insertion trajectory and leads to an additional increase in the time of the surgical procedure.

[0008] Also of interest is the group of patents listed below, which describe devices for the insertion of a medical instrument under ultrasound guidance with sequential and specialized kinematic schemes.

[0009] Patent CN 216702632 U, filed June 2022 by Jiangsu Apon Medical Technology Co., Ltd., describes a surgical robot for ultrasound-guided puncture. The robot has three degrees of freedom and consists of a linear positioning mechanism, a rotary mechanism for adjusting the angle of the instrument insertion trajectory, and a puncture needle insertion mechanism. A key feature is the ability to adjust the trajectory and insertion depth of the puncture needle in the scanning plane of the ultrasound transducer.

[0010] Patent CN 115317091 A, filed November 2022 by Chison Medical Technologies Co., Ltd., describes a robotic puncture system with ultrasound guidance. The device has three active and two passive degrees of freedom and includes an ultrasound transducer, a puncture module with a needle, and a drive module connecting them. A key feature is the use of three drives rotating around axes perpendicular to the central scanning plane of the ultrasound transducer. The first drive element is attached to the extension of the base beneath the ultrasound transducer, while the second and third drive elements control the position and angle of the puncture module. A fine-tuning mechanism is installed between the second and third drive elements, allowing for precise positioning of the puncture needle.

[0011] Patent CN 113164117 A, filed July 2021 by Rutgers, State University of New Jersey, describes a portable device for the targeted insertion of a cannula under a patient's skin under ultrasound guidance. The device can have two to six degrees of freedom of movement and includes an ultrasound transducer for continuously acquiring images of the target area, a positioning unit with multiple motors for manipulating the cannula, and a processor for processing the data. A key feature is the device's ability to automatically determine and adjust the cannula's trajectory in real time based on ultrasound imaging data, cannula position data, and device positioning, allowing for compensation for patient or device movement.

[0012] Patent CN 115054332 A, filed September 2022 by Nanjing Medical University, describes a robotic puncture device and its method of use. The device has six degrees of freedom and includes an ultrasound transducer holder and an instrument positioning mechanism that can rotate around the ultrasound transducer and tilt relative to its axis. The four-degree positioning mechanism, mounted on an inclined support, is equipped with upper and lower flanges that can independently move along two axes each to guide the puncture needle both in the scanning plane and at an angle to it. A key feature is the ability of the device to adjust the insertion trajectory in six degrees of freedom relative to the ultrasound transducer.

[0013] The above patents CN 216702632 U, CN 115317091 A, CN 113164117 A, and CN 115054332 A describe embodiments of systems for the insertion of medical instruments under ultrasound guidance and aim to improve the accuracy and efficiency of minimally invasive procedures in this field. However, the kinematic diagrams of the devices described have a number of drawbacks that limit their practical application in clinical settings. First of all, the complexity of the design and control of devices with a large number of degrees of freedom lead to an increase in the weight and dimensions of the system, which complicates the use of such devices in confined operating spaces and may require additional time for setup and calibration. Furthermore, the presence of multiple moving elements increases the risk of mechanical error accumulation, which also reduces the overall positioning accuracy of the medical instrument.The lack of full automation and insufficient integration with ultrasound imaging systems limits the ability to compensate for patient movements in real time, which can lead to errors in instrument targeting and increases the risk of complications during surgical interventions.

[0014] Also known is a group of patents disclosing devices for the guidance and manipulation of medical instruments across six degrees of freedom, based on parallel kinematic schemes. This group includes the patents described below.

[0015] Patent RU 2715684 C1, filed March 2020 by MROBOTICS, describes an autonomous mobile module for a robotic surgical instrument with six degrees of freedom. The manipulator for this instrument comprises a fixed platform, a moving platform, and a parallel kinematics mechanism in the form of a hexapod. A key feature is the integrated drive coupling unit with a replaceable surgical instrument, located within the hexapod and secured to the moving platform. This enables linear reciprocating movement of the drive and instrument through the moving platform, improving positioning accuracy and manipulation capabilities during minimally invasive surgeries.

[0016] Patent CN 107334509 A, filed November 2017 by NDR Medical Technology Pte. Ltd., describes a system and method for guiding an elongated instrument to a hard-to-reach target within a patient's body. The system includes an adjustment mechanism with three degrees of freedom, a visualization device, and a control processor. The adjustment mechanism adjusts the instrument's orientation relative to a point located near the hard-to-reach target. The processor controls the adjustment mechanism to guide the instrument to the target. A key feature is the automation of the instrument-targeting process based on 3D medical imaging images to improve the precision and efficiency of minimally invasive surgical procedures.

[0017] Patent CN 212521854 U, filed February 2021 by Shenzhen Aosheng Medical Technology Co., Ltd., describes a medical device consisting of a puncture module, a 3D medical imaging module, and an actuator module. The device has five degrees of freedom of movement, with the key feature being the actuator module, which controls the position, direction, and insertion depth of the puncture module based on information received from the 3D medical imaging module. Using the 3D medical imaging module to obtain and generate a 3D ultrasound image, mark the target area in the 3D image, and record its spatial position, this enables robotic and precise control of the trajectory and depth of the puncture needle, expanding the range of applications in various organs and surgeries.

[0018] Patent CN 116236288 B, issued in March 2024 by Beijing University of Posts and Telecommunications, describes a miniature puncture robot, a puncture system, and a puncture control model. The robot consists of an ultrasonic transducer, a puncture instrument, a puncture instrument insertion depth control unit, and a puncture instrument position control unit. The robot has three degrees of freedom for guidance within the working area under ultrasound guidance. The device can be mounted on a manipulator that monitors applied forces using a six-axis force sensor mounted on a movable platform. A key feature is the integration of optical positioning systems and the use of ultrasound imaging in conjunction with the manipulator to automatically determine and adjust the puncture instrument insertion trajectory.

[0019] Although the above-mentioned patents RU 2715684 C1, CN 107334509 A, CN 212521854 U, and CN 116236288 B describe various devices and systems for guiding and manipulating medical instruments, they do not disclose the details of the joint control of the manipulator. These patents focus primarily on the design of the mechanisms themselves or on individual components of the visualization and positioning systems, but do not provide comprehensive information on how these devices can be integrated with the manipulator to jointly perform minimally invasive medical procedures. This complicates the practical application of these technologies in clinical settings, where tight integration of the manipulator and working instrument control is required to achieve high surgical precision and safety.

[0020] Patent CN 116439838 B, filed March 2024, belonging to Beijing University of Posts and Telecommunications, was selected as the patented solution's equivalent. The patent describes a device with a plane-parallel kinematic scheme for ultrasound-guided guidance of a medical instrument on tumors in human internal organs. The device consists of an ultrasound transducer, a puncture instrument, a control unit for the position of the puncture instrument, and a control unit for the insertion depth of the puncture instrument. The design of the device ensures constant alignment of the working area of ​​the puncture instrument with the scanning plane of the ultrasound transducer and has three degrees of freedom.The first and second degrees of freedom are linear actuators rigidly attached to the puncture instrument position control unit and connected to the puncture instrument insertion depth control unit via spherical hinges, whose axis of rotation is parallel to the ultrasound transducer's scanning plane. The third degree of freedom controls the insertion depth of the puncture instrument. One of the spherical hinges, connecting the puncture instrument position control unit to the insertion depth control unit, can move along its axis of rotation to vary the distance between the midpoints of the two spherical hinges, thereby controlling the axial position of the puncture instrument by simultaneously lengthening or shortening the two linear actuators.Furthermore, to ensure stable positioning, the puncture instrument depth control unit is connected to the puncture instrument position control unit via a support block and a linear guide. The described device can be equipped with additional degrees of freedom, enabling manipulation of the ultrasound transducer. However, a significant drawback of the described device is the use of spherical joints, which significantly limit the tilt of the puncture instrument depth control unit. This reduces the device's working area, complicating the instrument's guidance to the target area and potentially affecting the effectiveness of medical procedures. Furthermore, the patent does not disclose the possibility of jointly controlling the degrees of freedom of the working element and the manipulator, limiting the functionality of the presented system.

[0021] A patent analysis revealed that there are currently no solutions describing the control of the degrees of freedom of the end effector in conjunction with the degrees of freedom of the manipulator for robot-assisted surgeries using localized destruction methods under ultrasound guidance. Existing patents focus on describing the structure and control system of individual components of the end effector or do not adequately address comprehensive solutions for the combined control of all degrees of freedom in a single system.

[0022] Disclosure of the essence of the invention

[0023] Definitions of certain terms and abbreviations used in this specification are provided below. Unless otherwise defined, technical and scientific terms in this application have the standard meanings generally accepted in the scientific and technical literature.

[0024] RO - a mechatronic working element for robot-assisted guidance and insertion of a replaceable instrument for local destruction of tumors of human internal organs under ultrasound control.

[0025] Replaceable instrument for local destruction is a specialized medical device designed for the targeted destruction of tumor cells in a limited area of ​​​​human internal organs using minimally invasive methods.

[0026] Manipulator - an articulated robot for joint work with a person, with at least six degrees of mobility.

[0027] Service angle - the angle by which the module (105) for introducing the replaceable instrument for local destruction (113) for local destruction of tumors can rotate when fixing the trajectory of introducing the replaceable instrument for local destruction (113) at a given point (209) of the working area.

[0028] TCP - Tool center point for local destruction (TCP): a point defined for a specific technological application relative to the coordinate system of the manipulator flange.

[0029] The effective working area of ​​the working element is a two-dimensional area covered by the mechatronic working element of the manipulator, within which it is possible to guide the trajectory (215) of introducing a replaceable tool for local destruction (113) to a target point (209) with a service angle (214), determined by a set of geometric parameters and kinematic constraints of the system.

[0030] Working area is a pre-defined area of ​​three-dimensional space that includes anatomical structures, including the target anatomical structure, the skin surface, and pre-planned insertion points of the replaceable instrument for local destruction.

[0031] The present invention describes a mechatronic working element of a manipulator for robot-assisted guidance and insertion of a replaceable instrument for local destruction for the purpose of local destruction of neoplasms of human internal organs under ultrasound control.

[0032] The diagram shown in Figure 1 shows one of the embodiments of a mechatronic working element for robot-assisted guidance and introduction of a replaceable tool for local destruction (113). The working element (WE) consists of a WE base (101) rigidly fixed on a flange (100) of the manipulator, on which a convex ultrasonic transducer (103) or a linear ultrasonic transducer (127) is movably fixed by means of an angular hinge (102). The angular hinge (102) is configured to accommodate various types of transducers, such as a convex ultrasonic transducer (103), a linear ultrasonic transducer (127) and others, and provides the ability to rotate and move in the scanning plane (104) relative to the WE base (101), as well as a movable module for introducing (105) a replaceable tool for local destruction (113)

[0033] The movable module for introducing (105) the replaceable tool for local destruction (113) is connected to the base of the RO (101) via a link (106) of the first degree of mobility (129) and a link (107) of the second degree of mobility (130), which can be screws, ball screws (BSP) or any linear guides located parallel to each other, which can be connected to the base of the RO (101) via a support (108) of the link (106) of the first degree of mobility (129) and a support (109) of the link (107) of the second degree of mobility (130), rigidly fixed on the base of the RO (101), which are linear bearings, linear guide carriages, nuts, BSP nuts and other types of supports for supporting the link (106) of the first degree of mobility and the link (107) of the second degree of mobility, when they are set in motion by a drive (PD) for link (106) and a drive (111) for link (107) rigidly fixed to the base of the RO (101).

[0034] The link (107) of the second degree of mobility is connected to the module for introducing (105) the replaceable tool for local destruction (113) by means of a rotational hinge (112) located on the axis (124) of radial symmetry of the replaceable tool for local destruction (113) and providing tilting of the module for introducing (105) the replaceable tool for local destruction (113) relative to the base of the RO (101) in the scanning plane (104). The first degree of mobility link (106) is connected to the module for introducing (105) the replaceable tool for local destruction (113) via a rotary hinge (114), which ensures the tilt of the module for introducing (105) the replaceable tool for local destruction (113) relative to the base of the RO (101) in the scanning plane) and is secured to the carriage of the linear guide (115), which performs a linear reciprocating movement along the linear guide (116), secured to the axis of radial symmetry (124) of the replaceable tool for local destruction (113).

[0035] The replaceable instrument for local destruction of neoplasms (113) is fixed in the holder (117) of the replaceable instrument for local destruction (113), which can be made in the form of a lodgement with replaceable inserts for reliable fixation of the replaceable instrument for local destruction (113) in a unique position. The holder (117) of the replaceable instrument for local destruction (113) is rigidly fixed on the carriage (118), which is driven by a drive (119) rigidly fixed on the module for insertion (105) of the replaceable instrument for local destruction (113) for insertion of the replaceable instrument for local destruction (113), and a kinematic transmission (120), which can be a belt, rack or screw transmission.The carriage (118) of the holder (117) of the replaceable tool for local destruction (113) can move along the linear insertion guide (121), which can be either parallel to the axis of radial symmetry (124) of the replaceable tool for local destruction (113) or intersect it, wherein the kinematic transmission (120) in one of the embodiments can open the connection between the drive (119) for inserting the replaceable tool for local destruction (113) and the carriage (118) for performing manual insertion of the replaceable tool for local destruction (113).

[0036] Guidance of the replaceable instrument for local destruction (113) on a neoplasm in the tissues of human internal organs with a fixed convex ultrasonic transducer (103) or a linear ultrasonic transducer (127) is carried out by changing the values ​​of the generalized coordinate (129) of the first link (106) and the generalized coordinate (130) of the second link (107), affecting the distance (129) between the base of the RO (101) and the rotational hinge (114) and the distance (130) between the base of the RO (101) and the rotational hinge (112), due to the movement of the link (106) of the first mobility of the RO along the axis (122) and the movement of the link (107) of the second mobility of the RO along the axis (123), wherein the distance (125) between the axes (122) and (123) remains unchanged.The axis (122) of the first degree of mobility and the axis (123) of the second degree of mobility remain parallel for any value of the generalized coordinates (129) and (130), while the distance (126) between the axis (122) of the link (106) and the axis (123) of the link (107), parallel to the axis of radial symmetry (124) of the replaceable tool for local destruction (113), which is a segment passing through the rotary hinge (114) of the first degree of mobility and the rotary hinge (112) of the second degree of mobility, can change depending on the value of the generalized coordinate (129) of the first degree of mobility and the generalized coordinate (130) of the second degree of mobility due to the movement of the carriage of the linear guide (115), on which the rotary hinge (114) of the first degree of mobility is fixed, along the linear guide (116).

[0037] Introduction of the replaceable instrument for local destruction (113) into the area of ​​the neoplasm is carried out by changing the value of the generalized coordinate (131) of the third degree of mobility, responsible for the movement of the carriage (118) with the holder (117) and the replaceable instrument for local destruction (113) along the linear insertion guide (121) parallel to the axis of radial symmetry (124) of the replaceable instrument for local destruction (113) or crossing it.

[0038] In the diagram shown in Figure 2, the scanning area (201) of the linear ultrasonic transducer (127) and the scanning area (202) of the convex ultrasonic transducer (103) have a scanning depth of (203) and (204), respectively, and are located perpendicular to the plane of contact (205) with the surface of the working area (202), while converging with their upper edges at point (206).

[0039] The specified zone for introducing a replaceable tool for local destruction (113) is characterized by a segment (207) lying on a plane (205) and lagging behind the extreme point (206) of the scanning zones by a distance (208) determined by the body dimensions of the transducers.

[0040] When the replaceable instrument for local destruction (113) is directed to the point (209), characterized as a neoplasm in the tissues of internal organs, the extreme positions of the replaceable instrument for local destruction (113) are limited by straight lines (210) and (211) passing through the point (209) and points (212) and (213), respectively, limiting the specified insertion zone (207) of the replaceable instrument for local destruction (113) on the plane (205). The angle between straight lines (210) and (211) is the service angle (214) for the point (209).

[0041] Changing the trajectory of insertion (215) of the replaceable tool for local destruction (113) in the range of the service angle (214) is achieved by changing the position of the insertion module (105) of the replaceable tool for local destruction (113) by extending the parallel links (106) and (107) relative to the base of the RO (101). The value of the service angle (214) is also limited by the maximum displacement (129) and (130) for the links (106) and (107), respectively.The replaceable instrument for local destruction (113) can be secured on the movable module for introducing the replaceable instrument for local destruction (113) parallel to the axis of radial symmetry (124) of the replaceable instrument for local destruction (113) or shifted from it by a given distance (231) in order to improve the ergonomics of the design of the RO and to reduce the values ​​of the maximum values ​​of the generalized coordinates (129) and (130) for the links (106) and (107), as well as to increase the value (232), characterized as the distance from the place of the movable fastening of the link (107) on the module for introducing (105) the replaceable instrument for local destruction (113) to the plane (205) of contact with the patient's body.

[0042] Also, the given value of the distance (232) is affected by the angle of inclination (233) between the plane (205) and the parallel axes (122) and (123) of the links (106) and (107) and the distance (234), which is the segment between the point (206) and the point (235), parallel to the axis (123) of the link (107).

[0043] The value of the angle (236) characterizing the inclination of the wall (237) of the base of the RO (101) relative to the axis (123) of the link (107) is selected in such a way as to minimize the maximum values ​​of the generalized coordinates of the movements (129) and (130) for the links (106) and (107) under certain geometric parameters of the effective working area of ​​the RO (238).

[0044] Solution of the direct kinematics problem of the RO

[0045] To solve the direct problem of kinematics of a mechatronic working element, the following values ​​are given, indicated in Figure 3:

[0046] h - distance between parallel translational motions (125);

[0047] p - the distance between the axis of radial symmetry (124) of the replaceable tool for local destruction (113) and the axis of the guide (231);

[0048] - vector of generalized coordinates of the mechanism (129, 130 and 131, respectively).

[0049] The following quantities need to be found:

[0050] F target =[x target ,y target , αtarget ] - target position of the TCP replacement tool for local destruction:

[0051] х - TCP position along the X axis; y - TCP position along the Y axis;

[0052] α - the angle between the global X-axis and the local X-axis of the TCP replaceable tool for local destruction during counterclockwise rotation (304).

[0053] The solution is based on the geometric characteristics of the structure:

[0054] α target =atan2(h,х Δ )+π,

[0055] where x target =g1+cos (α target ) g3+sin (α target ) P ,

[0056] y target =sin (α target ) g3- cos (α target )p.

[0057] Solution of the inverse kinematics problem of the RO

[0058] To solve the inverse problem of the kinematics of a mechatronic working element, the following values ​​are given, indicated in Figure 3:

[0059] h - distance between parallel translational motions (125);

[0060] р - distance between the axis of radial symmetry (124) of the replaceable tool for local destruction (113) and the axis of the guide (231);

[0061] F target =[x target , y target , α target ] - target position of the TCP replacement tool for local destruction:

[0062] х - TCP position along the X axis; y - TCP position along the Y axis;

[0063] α - the angle between the global X-axis and the local X-axis of the TCP replaceable tool for local destruction during counterclockwise rotation (304).

[0064] The following quantities need to be found:

[0065] - vector of generalized coordinates of the mechanism (129, 130 and 131, respectively).

[0066] Introduce a local coordinate system F i :

[0067] F i =[x target - sin(α target ) p, y target +cos(α target )p, α target ],

[0068] From the geometric properties of the structure it follows

[0069] [g1, 0]=[x i ,y i]+t1[cos(α i ), sin(α)],

[0070] ,

[0071] [g2, h]=[x i , y i ]+t2[cos(α i ), sin(α i )],

[0072] ,

[0073] .

[0074] General kinematic properties of the design of a mechatronic working element

[0075] The design of the mechatronic working element provides the following set of kinematic properties:

[0076] 1. The scanning plane (104) always contains the axis (124) of radial symmetry of the replaceable tool for local destruction (113);

[0077] 2. If the axis of radial symmetry (124) of the replaceable tool for local destruction (113) passes through the target anatomical structure (209), then the scanning plane contains this anatomical structure regardless of the angle of rotation of the mechatronic working element around the axis (124) of radial symmetry of the replaceable tool for local destruction (113);

[0078] 3. The mechatronic working element is capable of moving the replaceable tool for local destruction (113) in the scanning plane of the transducer, providing three degrees of freedom:

[0079] • Movement along the local X axis;

[0080] • Movement along the local Y axis;

[0081] • Rotation in the scanning plane (104).

[0082] Kinematic properties of the general kinematic chain when fixing a mechatronic working element on a manipulator

[0083] When a mechatronic end-effector is mounted on a manipulator flange, the overall kinematic chain has nine or more (when using a kinematically redundant manipulator) degrees of freedom. This kinematic chain is subject to a set of constraints:

[0084] • The axis (124) of radial symmetry of the replaceable tool for local destruction (113) must lie on the planned trajectory (215) of insertion of the replaceable tool for local destruction (limits four degrees of freedom);

[0085] • The transducer scanning area (132 / 201) must contain the target anatomical structure (209) (limits two degrees of freedom);

[0086] • The local coordinate system of the transducer scanning area (401) must touch the working area (202) (limits two degrees of freedom);

[0087] The imposed restrictions leave one degree of freedom - rotation around the axis of radial symmetry of the replaceable tool for local destruction.

[0088] Concept of the process of controlling the movement of a manipulator using a mechatronic working element

[0089] The process of controlling the manipulator (128) in soft real-time mode imposes a number of constraints on the algorithms used in the control process, including algorithmic complexity and maximum algorithm execution time. This necessitates the use of specialized algorithms that ensure compliance with these requirements.

[0090] During the surgical intervention, the mechatronic working element is positioned in such a way as to allow movement of the replaceable instrument for local destruction (113) along the required trajectory (215). The space of possible positions of the flange of the manipulator (128) is limited by the requirements for the location of the mechatronic working element. Three degrees of mobility of the mechatronic working element provide three degrees of freedom of movement of the flange (100) of the manipulator (128) with a fixed position of the replaceable instrument for local destruction (113) (movement along the local axes X and Y and rotation in the scanning plane (104)). The fourth degree of freedom is the rotation of the scanning (104) around the axis of the replaceable instrument (113) for local destruction.

[0091] Formalization of the description of the positions of the components of the kinematic chain

[0092] Introduce a local coordinate system F tool TCP, set relative to the flange of the manipulator, with the position of the replaceable tool for local destruction,

[0093] specified by the generalized coordinates of the tool such that:

[0094] • Position of the origin of the local coordinate system F tool TCP matches the position of the tip of the replaceable instrument for local destruction;

[0095] • Direction of the X-axis of the local coordinate system F tool TCP coincides with the direction of insertion of the replaceable tool for local destruction;

[0096] • Direction of the Y-axis of the local coordinate system F tool TCP lies in the plane of operation of the mechatronic working element.

[0097] Introduce a local coordinate system F tool TCP , coinciding with the position of the first translational degree of mobility of the mechatronic working element, such that:

[0098] • The direction of the X-axis of the local coordinate system is directed along the positive direction of the first translational degree of mobility of the mechatronic working element;

[0099] • The direction of the Y axis of the local coordinate system is directed toward the second degree of translational mobility of the mechatronic organ.

[0100] Position F tool origin relative to the local coordinate system of the flange F flamge is given by the transformation T flange,tool origin Position F tool TCP relative to F tool origin is being asked T position flange, tool TCP local coordinate system F tool TCP relative to the flange is defined as

[0101] .

[0102] Target position of the replacement tool for local destruction F target relative to the base of the manipulator F0 is given by the transformation F 0, target . X-axis of the local coordinate system F targetis directed in the direction of tool insertion (113). The rotation around the X-axis of the planned position of the tool by an angle φ is described

[0103] .

[0104] Final position of the replaceable tool for local destruction relative to the base of the manipulator F target rotated is being asked

[0105] T 0, target rotated =T 0, target × T target rotation (φ).

[0106] Local coordinate system of convex ultrasonic transducer or linear ultrasonic transducer F transducer is defined in such a way that:

[0107] • Start of local system F transducer lies on the center of the acoustic lens of a convex ultrasonic transducer or a linear ultrasonic transducer;

[0108] • X-axis of local coordinate system F transducer directed in the scanning plane;

[0109] • Y-axis of local coordinate system F transducer directed in the direction of ultrasonic radiation.

[0110] Local Coordinate System Position F transducer relative to the flange of the manipulator is given by the transformation

[0111] T flange, transducer =T flange, tool origin × T tool origin, transducer .

[0112] The arrangement of local coordinate systems is shown in Figure 4.

[0113] Ensuring the working element position complies with the requirements. With the specified target position of the replaceable tool for local destruction, it is necessary to ensure that the transducer scanning zone moves to achieve the required contact with the surface of the working area. To do this, for each desired position F transducer, desired the permissible position F is determined transducer result , taking into account the imposed restrictions.

[0114] In the first step of determining F transducer, result the direction of the local ZF axis is determined transducer, result

[0115] ,

[0116] where:

[0117] • - the function of determining the collinear unit vector to the vector ;

[0118] • - direction from the target position of the replaceable instrument for local destruction to the desired position of the transducer;

[0119] • - the direction of the X-axis of the local coordinate system of the target position of the replaceable tool for local destruction.

[0120] In the second step, the orientation of q is determined transducer, result permissible position of the transducer scanning zone

[0121] q transducer, result =q transducer, desired × q1× q2,

[0122] where:

[0123] - q1 provides such a rotation that the local Z axis becomes collinear with the axis

[0124] - q2 provides such a rotation that q transducer, desired ⋅ (q tiansducer , desired × q1× q2) takes on a maximum value.

[0125] After determining F transducer, resultA check is performed to determine whether the target position of the replaceable tool for localized destruction can be achieved with the given position of the convex ultrasonic transducer or linear ultrasonic transducer. If the target position can be achieved, a further check is performed to assess whether the desired position of the convex ultrasonic transducer or linear ultrasonic transducer can be achieved by moving the manipulator. If this is possible, the manipulator (128) performs the planned movement while maintaining compliance with the requirements for the position of the mechatronic working element.

[0126] The objective of the invention is to provide robot-assisted guidance and insertion of a replaceable instrument for local destruction into a target anatomical structure of a human under ultrasound control.

[0127] The technical result is to ensure the possibility of continuous movement of a medical instrument and a transducer in a space of positions that ensure compliance with the requirements for positioning the transducer and the medical instrument, including the location of the axis of radial symmetry of the medical instrument on a pre-planned trajectory of insertion of the medical instrument, the position of the target anatomical structure in the scanning zone of the transducer, as well as touching the local coordinate system of the scanning zone of the transducer with the surface of the working area, ensuring the avoidance of selected spatial areas of the working area, including hyperechoic ones, when performing robot-assisted operations using local destruction methods under ultrasound control.

[0128] The stated problem is solved, and the stated technical result is achieved using the proposed kinematic structure of the mechatronic end effector, in conjunction with a manipulator. The proposed kinematic structure of the mechatronic end effector provides three degrees of freedom necessary for positioning the replaceable tool for localized destruction in the scanning plane. The approach to controlling the mechatronic end effector in conjunction with the manipulator enables positioning the mechatronic end effector while maintaining compliance with the planned trajectory, with subsequent trajectory adjustments based on intraoperative ultrasound data.

[0129] The proposed invention allows, in contrast to the closest analogue, to use the joint operation of three controlled degrees of mobility of the mechatronic working element and at least six controlled degrees of mobility of the manipulator to provide the possibility of continuous movement of a replaceable tool for local destruction and a convex ultrasonic transducer or a linear ultrasonic transducer in a space of positions that ensure compliance with the requirements for positioning the convex ultrasonic transducer or the linear ultrasonic transducer and a replaceable tool for local destruction when performing robot-assisted operations using local destruction methods under ultrasound control.

[0130] Brief description of drawings

[0131] Figure 1 shows a diagram of a mechatronic working element for robot-assisted guidance of a replaceable tool for local destruction.

[0132] Figure 2 shows a diagram for assessing the effective working area and service angle of a mechatronic working element.

[0133] Figure 3 shows the quantities required to solve the direct and inverse problems of the kinematics of a mechatronic working element.

[0134] Figure 4 shows the arrangement of local coordinate systems of the manipulator and the mechatronic working element.

[0135] Figure 5. (left) visualizes the result of modeling the permissible positions of the scanning zone of a linear ultrasonic transducer without taking into account the contact zone - top and side view, (right) taking into account the contact zone with the working area - top and side view.

[0136] Figure 6 visualizes the result of modeling the permissible positions of the scanning zone of a linear ultrasonic transducer, taking into account the contact zone with the working area and critical structures, with the display of the position of the replaceable tool for local destruction (green) and the corresponding position of the scanning zone (blue)

[0137] The items shown in the images correspond to the following:

[0138] 100 - Manipulator flange;

[0139] 101 - Base of the working element (BE);

[0140] 102 - Corner joint;

[0141] 103 - Convex ultrasonic transducer;

[0142] 104 - Scanning plane;

[0143] 105 - Movable module for introducing a replaceable instrument for local destruction (113) for local destruction of tumors;

[0144] 106 - First degree of mobility link (129);

[0145] 107 - Second degree of mobility link (130);

[0146] 108 - Support of link (106) of the first degree of mobility (129);

[0147] 109 - Support of link (107) of the second degree of mobility (130);

[0148] 110 - Drive of link (106) of the first degree of mobility (129);

[0149] 111 - Drive of link (107) of the second degree of mobility (130);

[0150] 112 - Rotary joint connecting the link (107) and the insertion module (105) of the replaceable instrument for local destruction (113);

[0151] 113 - Replacement tool for local destruction;

[0152] 114 - Rotary joint connecting the link (106) and the carriage (115) of the linear guide (116);

[0153] 115 - Linear guide carriage (116);

[0154] 116 - Linear guide;

[0155] 117 - Replacement tool holder for local destruction (113);

[0156] 118 - Carriage holder (117) of replaceable tool for local destruction (113);

[0157] 119 - Drive for introducing a replaceable tool for local destruction (113);

[0158] 120 - Kinematic transmission of the drive (119) for introducing a replaceable tool for local destruction (113);

[0159] 121 - Linear insertion guide;

[0160] 122 - Link axis (106) of the first degree of mobility (129);

[0161] 123 - Link axis (107) of the second degree of mobility (130);

[0162] 124 - Axis of radial symmetry of the replaceable tool for local destruction (113);

[0163] 125 - Distance between axis (122) of link (106) and axis (123) of link (107);

[0164] 126 - Distance between axis (122) of link (106) and axis (123) of link (107), parallel to axis (124) of radial symmetry of replaceable tool for local destruction (113);

[0165] 127 - Linear ultrasonic transducer;

[0166] 128 – Manipulator;

[0167] 129 - Generalized coordinate of the first degree of mobility of the link (106);

[0168] 130 - Generalized coordinate of the second degree of mobility of the link (107);

[0169] 131 - Generalized coordinate of the third degree of mobility, responsible for the replaceable introduction of the instrument for local destruction (113);

[0170] 132 - Scanning area of ​​convex ultrasonic transducer (103);

[0171] 201 - Linear transducer scanning area (127);

[0172] 202 - Working area;

[0173] 203 - Scanning depth of the linear transducer (127);

[0174] 204 - Convex transducer scanning depth (103);

[0175] 205 - The plane of contact of the transducers (127) and (103) with the surface of the working area (202);

[0176] 206 - The highest point of the transducer scanning area (201 / 132) touching the transducer (103 / 127);

[0177] 207 - Zone of introduction of a replaceable instrument for local destruction (113), lying on the plane (205);

[0178] 208 - Distance determined by the body dimensions of the transducers;

[0179] 209 - A point characterized as a target in a neoplasm in human anatomical structures;

[0180] 210 - A straight line passing through a point (209) and a point (212);

[0181] 211 - A straight line passing through a point (209) and a point (213);

[0182] 212 - The first point limiting the injection zone (207) on the plane (205);

[0183] 213 - The second point limiting the injection zone (207) on the plane (205);

[0184] 214 - Service angle for point (209);

[0185] 215 - Trajectory of insertion of replaceable instrument for local destruction (113);

[0186] 231 - The value by which the replaceable tool for local destruction (113) is offset from the axis (124) of radial symmetry of the replaceable tool for local destruction (113) of the insertion module (105) of the replaceable tool for local destruction (113);

[0187] 232 - Distance from the link attachment point (107) to the plane (205);

[0188] 233 - Angle of inclination between the plane (205) of contact of the transducers (127) and (103) with the surface of the working area (202) and the axes (122) and (123);

[0189] 234 - Distance between points (206) and (235), parallel to the axis (123) of the link (107);

[0190] 235 - Point on the axis (123) of the link (107);

[0191] 236 - Angle between the axis (123) of the link (107) and the wall (237) of the base of the RO (101);

[0192] 237 - Wall of the RO base (101), which determines the initial position of the insertion module (105) of the replaceable instrument for local destruction (113);

[0193] 238 - Effective working area RO;

[0194] 301 - Local Coordinate System F tool origin , associated with the first degree of translational mobility;

[0195] 302 - Local Coordinate System F tool TCP , associated with the tip of a medical instrument;

[0196] 303 - Local X-axis associated with the direction of insertion of the replaceable tool for local destruction (113);

[0197] 304 - Angle α between the global X-axis (305) and the local X-axis of the TCP tool (303) when rotating counterclockwise;

[0198] 305 - Global X-axis associated with the first translational degree of mobility;

[0199] 400 - Local coordinate system of the manipulator base;

[0200] 401 - Transducer local coordinate system (103 / 127);

[0201] 402 - Local flange coordinate system (100);

[0202] 500 - Permissible positions of the transducer scanning zone (201) excluding the contact zone - top view;

[0203] 501 - Permissible positions of the transducer scanning zone (201) excluding the contact zone - side view;

[0204] 502 - Permissible positions of the transducer scanning zone taking into account the contact zone with the working area - top view;

[0205] 503 - Permissible positions of the transducer scanning zone taking into account the contact zone with the working area - side view;

[0206] 600 - Permissible positions of the transducer scanning zone (201) taking into account the contact zone with the working area, ensuring the avoidance of selected hyperechoic spatial areas of the working area.

[0207] Description of embodiments of the invention

[0208] To confirm the feasibility and operability of the invention, numerical simulations were conducted to evaluate the geometric characteristics of the transducer's scan zone's possible positions. The following geometric parameters of the RO kinematic diagram were used in the simulations:

[0209] h=120mm;

[0210] p=-50mm;

[0211] g1∈ [50,75];

[0212] g2=g1+g 2Δ , g 2Δ ∈ [-70,130]; g3∈ [50,100].

[0213] The simulation used a kinematic model of a KUKA MED 14 R820 manipulator. The manipulator link lengths in the model were 360 ​​mm, 420 mm, 400 mm, and 126 mm. The radius of the manipulator's working area was 820 mm, excluding flange offset and the mounting characteristics of the mechatronic end-effector model. The mechatronic end-effector model was mounted relative to the manipulator flange with an offset of T. flange tool origin =[[0 mm,-60 mm,50 mm],1].

[0214] Details of the implementation of the modeling process

[0215] At a given position T 0, target local system of target position of medical instrument F target relative to the base of the manipulator T0, the manipulator-RO kinematic system has four degrees of freedom:

[0216] • Rotation of the mechatronic working element around the axis of radial symmetry of the replaceable tool for local destruction;

[0217] • Movement of the mechatronic working element along the axis of radial symmetry of the replaceable tool for local destruction;

[0218] • Movement of the mechatronic working element along an axis lying in the scanning plane and perpendicular to the axis of radial symmetry of the replaceable tool for local destruction;

[0219] • Rotation of the mechatronic working element in the scanning plane.

[0220] Movement along these degrees of freedom is achieved by the combined motion of the manipulator and the mechatronic end-effector. To determine the possible range of transducer positions relative to the manipulator base, numerical simulation is performed, taking into account the kinematic constraints of the mechatronic end-effector and the manipulator. The mechatronic end-effector has kinematic constraints that define the range of variation of the generalized coordinates. mechatronic working element. The kinematic limitations of the manipulator are dictated by the design features of the manipulator: the lengths of the links of the kinematic chain and the limited range of change of the generalized coordinates The rotation of the mechatronic working element around the axis of radial symmetry of the replaceable tool for local destruction is determined by the angle φ.

[0221] The following actions were carried out as part of the numerical simulation:

[0222] • For multiple values and φ, a set of corresponding positions of the transducer scanning zone relative to the base of the manipulator was determined;

[0223] • From this set, those positions of the scanning zone that could not be ensured due to the kinematic limitations of the manipulator were removed;

[0224] • The resulting set of achievable positions of the transducer scanning zone was additionally limited by the criterion of the distance to the surface of the working area.

[0225] To determine the position of the transducer scanning zone relative to the base of the manipulator, a solution to the direct kinematics problem for a mechatronic working element was used

[0226] .

[0227] For each obtained transformation T 0, trancducer the position of the manipulator flange relative to the base of the manipulator was determined

[0228] T 0, flange= T 0, transducer × T -1 flange, transducer .

[0229] If the manipulator flange position is reachable, then the corresponding position of the transducer scanning zone was considered reachable. Reachability was verified by solving the inverse kinematics problem for the position of the manipulator at a given T. 0, flange .

[0230] .

[0231] The next step involved determining suitable scan zone positions based on the distance to the potential contact area. This criterion is based on a three-dimensional representation of the surface, expanded to a volume along local normals. This process allows for determining scan zone positions that provide force at the contact point. The result of applying this criterion is shown in Figure 5. After determining scan zone positions that provide the required force at the contact point, additional evaluation criteria can be applied, including the distance to the target anatomical structure, the presence of critical structures, and an empirical assessment of positioning convenience. The result of applying this criterion is shown in Figure 6. The numerical simulation results demonstrated a sufficient workspace volume and the functional capabilities of the mechatronic end-effector-manipulator combination.

[0232] Bibliographic data (list of sources).

[0233] 1. CN 110638528 A.

[0234] 2. CN 215874870 U.

[0235] 3. US 10561397 B2.

[0236] 4. CN 216702632 U.

[0237] 5. CN 115317091 A.

[0238] 6. CN 113164117 A.

[0239] 7. CN 115054332 A.

[0240] 8. RU 2715684 C1.

[0241] 9. CN 107334509 A.

[0242] 10. CN 212521854 U.

[0243] 11. CN 116236288 V.

[0244] 12. CN 116439838 V.

[0245] 13. GOST R 60.0.0.4-2023 / ISO 8373:2021 Robots and Robotic Devices, Terms and Definitions.

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