Prostate particle implantation system and method based on cooperative robot
阅读说明:本技术 基于协作机器人的***粒子植入系统及方法 (Prostate particle implantation system and method based on cooperative robot ) 是由 张永德 杨健智 左思浩 于 2020-07-09 设计创作,主要内容包括:本发明涉及前列腺微创医疗设备领域,公开了一种基于协作机器人的前列腺粒子植入系统及方法,系统包括工控机、工控机I/O设备、超声探头模组、超声探头传感器、粒子植入模组、粒子植入传感器和控制柜。工控机用于接收、处理、存储和发送控制指令;工控机I/O设备为医生与工控机提供交互通道;控制柜根据控制指令,通过控制总线驱动各执行端的电机运转;超声探头模组提供导航功能;超声探头传感器用于辅助系统完成术前定位初始化;粒子植入模组完成术中具体的植入粒子操作;粒子植入传感器用于检测协作机器人各关节上的受力变化。本发明能减轻医生劳动强度和人力资源压力、保证手术效果,系统中安装的传感器还保证了患者与医生的人身安全。(The invention relates to the field of minimally invasive medical equipment for prostate, and discloses a prostate particle implantation system and method based on a cooperative robot. The industrial personal computer is used for receiving, processing, storing and sending control instructions; I/O equipment of the industrial personal computer provides an interaction channel for a doctor and the industrial personal computer; the control cabinet drives the motors of the execution ends to operate through the control bus according to the control instruction; the ultrasonic probe module provides a navigation function; the ultrasonic probe sensor is used for assisting the system to complete preoperative positioning initialization; the particle implantation module finishes the specific particle implantation operation in the operation; the particle implantation sensor is used for detecting stress changes on each joint of the cooperative robot. The invention can reduce the labor intensity of doctors and the pressure of human resources, ensure the operation effect, and ensure the personal safety of patients and doctors by the sensor arranged in the system.)
1. Prostate particle implantation system based on cooperative robot comprises industrial computer, industrial computer IO equipment, switch board, ultrasonic probe module, ultrasonic probe sensor, particle implantation module and particle implantation sensor, and its characterized in that includes:
the industrial personal computer is used for receiving, processing, storing and sending control instructions;
the I/O equipment of the industrial personal computer provides an interaction channel for a doctor and the industrial personal computer;
the control cabinet drives the motors of the execution ends through the control bus according to the control instruction;
the ultrasonic probe module provides a navigation function; (ii) a
The ultrasonic probe sensor is used for assisting the system to complete preoperative positioning initialization;
the particle implantation module completes specific particle implantation operation in the operation;
the particle implantation sensor is used for detecting stress changes on each joint of the cooperative robot.
2. The cooperative robot-based prostate particle implantation system according to claim 1, wherein the industrial personal computer comprises:
the industrial personal computer consists of an industrial personal computer central processing unit, an industrial personal computer storage module, an industrial personal computer I/O module and an industrial personal computer power supply module;
the storage module of the industrial personal computer has to store the following information before operation: the system comprises a voice characteristic model of a voice control instruction, pictures of a sickbed and a guide plate at different angles, a safety protection response program and a control instruction response program;
besides meeting the traditional input and output interaction mode, the I/O module of the industrial personal computer is also provided with a sound collector and a Bluetooth transmitter so as to assist in realizing the voice control and Bluetooth wireless transmission functions of the prostate particle implantation system.
3. The cooperative robot-based prostate particle implantation system according to claim 1, wherein the control cabinet comprises:
the control cabinet consists of a control cabinet central processing unit, a control cabinet I/O module, a control cabinet power supply module, an external sensor control module and four groups of servo motor drivers;
the connection mode between the control cabinet I/O module and the industrial personal computer I/O module can be wired connection, local area network connection or Bluetooth connection;
The external sensor control module is used for controlling the start and the stop of all external sensors in the prostate particle implantation system;
the four groups of servo motor drivers are respectively used for driving and controlling the robot, the implantation mechanism, the ultrasonic probe and the bearing vehicle.
4. The cooperative robot based prostate particle implantation system according to claim 1, wherein the ultrasound probe module comprises:
the ultrasonic probe module consists of an ultrasonic probe and an ultrasonic probe movement mechanism;
the ultrasonic probe movement mechanism is used for bearing the ultrasonic probe, and in addition, five servo motors are further installed on the ultrasonic probe movement mechanism and respectively provide five movements with different degrees of freedom for the ultrasonic probe, such as ascending and descending, advancing and retreating, upward pitching and downward pitching, left-right rotation and left-right yawing.
5. The cooperative robot based prostate particle implantation system according to claim 1, wherein the ultrasound probe sensor comprises:
the ultrasonic probe sensor belongs to one part of an external sensor module and consists of an ultrasonic sensor and a camera;
the ultrasonic sensor is arranged on the ultrasonic probe movement mechanism and provides a distance measuring function for positioning initialization of the prostate particle implantation system;
The camera belongs to a wide-angle camera, is arranged on the ultrasonic probe motion mechanism, and provides a marking object searching and positioning function for the positioning initialization of the prostate particle implantation system, wherein the marking object is a sickbed and a guide plate.
6. The cooperative robot-based prostate particle implantation system according to claim 1, wherein the particle implantation module comprises:
the particle implantation module consists of a robot and an implantation mechanism;
the robot belongs to a cooperative robot, and in addition, the robot has six rotary joints, and each rotary joint is driven by a servo motor;
the implantation mechanism consists of an implantation mechanism auxiliary module and a particle implanter and is arranged at the tail end of the robot, wherein the implantation mechanism auxiliary module can control the particle implanter to complete four operations of advancing and retreating of an outer particle implantation needle, advancing and retreating of an inner particle implantation needle, changing of the outer particle implantation needle and changing of a magazine, and a servo motor responsible for driving in the control process, the outer particle implantation needle required in device changing and magazine equipment are arranged on the implantation mechanism auxiliary module.
7. The cooperative robot based prostate particle implantation system according to claim 1, wherein the particle implantation sensor comprises:
the particle implantation sensor belongs to one part of an external sensor module and consists of six force sensors, wherein the six force sensors are respectively installed in six rotary joints of the robot, and the functions of mistaken touch judgment and safety detection are provided for the prostate particle implantation system.
8. The method for implanting the prostate particles based on the cooperative robot is characterized by comprising the following steps:
s1, setting the coordinates of the implantation target point of the particles;
s2, installing an implantation mechanism;
s3, initializing a prostate particle implantation system;
s4, judging whether a magazine exists, if not, jumping to S5, and if so, jumping to S6;
s5, installing the magazine, and jumping to S6;
s6, judging whether an outer needle exists, if not, jumping to S7, and if so, jumping to S8;
s7, installing an outer needle, and jumping to S8;
s8, implanting the particles;
and S9, judging whether the operation is finished, if not, jumping to S8, and if so, ending.
9. The cooperative robot based prostate particle implantation method according to claim 8, wherein the system initialization comprises:
The system initialization consists of two parts, namely rough positioning initialization and precise positioning initialization;
the rough positioning initialization belongs to semi-automatic operation, and after a doctor sends a control command of 'system initialization', the subsequent rough positioning initialization operation is completed by the prostate particle implantation system;
the precise positioning initialization is manually performed by a doctor according to the actual body position of the patient and a preoperative planning scheme after the prostate particle implantation system completes the rough positioning initialization.
10. The cooperative robot based prostate pellet implantation method of claim 8, wherein the implanting pellet comprises:
implant the particle can by the robot according to the full-automatic completion of the procedure that sets for in the industrial computer, also can pass through by the doctor the semi-automatic completion particle of robot is implanted through industrial computer IO equipment is progressively controlled, and the in-process of implanting the particle, prostate particle implantation system gets into the safety protection mode to guarantee the security of operation process.
Technical Field
The invention relates to the field of minimally invasive prostate medical equipment, in particular to a system and a method for implanting prostate particles based on a cooperative robot.
Background
According to the relevant data of cancer centers in China, the number of prostate cancer patients in China is rapidly increasing in recent years, so that the research on effective treatment of prostate cancer faces increasingly tense pressure. In addition to prostatectomy, prostate brachytherapy is another commonly used treatment method in current clinical treatment, and in the operation process, a doctor manually controls a radioactive particle implanter according to a real-time image acquired by a transrectal ultrasonic probe, implants radioactive particles into a focus target of a patient, and finally kills cancer cells by utilizing radioactive rays, thereby achieving the purpose of treating the patient with prostate cancer. However, when performing an operation, a doctor needs to perform implantation of radioactive seeds while manually adjusting the position of the ultrasound probe to acquire a real-time image, which means that the brachytherapy of the prostate needs to be performed by multiple doctors in cooperation, and in this process, physical strength of the doctor is seriously consumed and personnel waste is easily caused. In addition, doctors rely heavily on personal experience and imagination during the operation, and the operation effect is difficult to ensure.
In view of the above problems, in the prior art, a computer control system is connected to a conventional motor driving device to control a surgical instrument, so as to assist a doctor in performing a prostate brachytherapy. However, this approach can affect the flexibility of the surgical instrument, and the degree of intelligence and control accuracy of the control system can be limited by the choice of motor drive. In addition, in the prior art, a special prostate particle implantation robot is designed to assist a doctor to complete an operation, but the mode needs to invest more funds to study and design the robot in the early stage, so that the universality is poor, and the economic benefit is low.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the prostate particle implantation system and the method based on the cooperative robot, which not only improve the cooperative performance and the flexibility of an operation control system, but also ensure the universality and the economy of system equipment, reduce the labor intensity of doctors, reduce the pressure of human resources and ensure the operation effect, and in addition, the sensors arranged in the prostate particle implantation system also ensure the personal safety of patients and doctors.
In order to achieve the purpose, the technical scheme of the invention is realized in such a way.
Prostate particle implantation system based on cooperative robot comprises industrial computer, industrial computer IO equipment, switch board, ultrasonic probe module, ultrasonic probe sensor, particle implantation module and particle implantation sensor, and its characterized in that includes:
the industrial personal computer is used for receiving, processing, storing and sending control instructions;
the I/O equipment of the industrial personal computer provides an interaction channel for a doctor and the industrial personal computer;
the control cabinet drives the motors of the execution ends through the control bus according to the control instruction;
the ultrasonic probe module provides a navigation function; (ii) a
The ultrasonic probe sensor is used for assisting the system to complete preoperative positioning initialization;
the particle implantation module completes specific particle implantation operation in the operation;
the particle implantation sensor is used for detecting stress changes on each joint of the cooperative robot.
Preferably, the industrial personal computer comprises:
the industrial personal computer consists of an industrial personal computer central processing unit, an industrial personal computer storage module, an industrial personal computer I/O module and an industrial personal computer power supply module;
the storage module of the industrial personal computer has to store the following information before operation: the system comprises a voice characteristic model of a voice control instruction, pictures of a sickbed and a guide plate at different angles, a safety protection response program and a control instruction response program;
the I/O module of the industrial personal computer can meet the traditional input and output interaction mode, and is also provided with a sound collector and a Bluetooth transmitter for assisting in realizing the voice control and Bluetooth wireless transmission functions of the prostate particle implantation system;
preferably, the control cabinet comprises:
the control cabinet consists of a control cabinet central processing unit, a control cabinet I/O module, a control cabinet power supply module, an external sensor control module and four groups of servo motor drivers;
the connection mode between the control cabinet I/O module and the industrial personal computer I/O module can be wired connection, local area network connection or Bluetooth connection;
The external sensor control module is used for controlling the start and the stop of all external sensors in the prostate particle implantation system;
the four groups of servo motor drivers are respectively used for driving and controlling the robot, the implantation mechanism, the ultrasonic probe and the bearing vehicle;
preferably, the ultrasound probe module comprises:
the ultrasonic probe module consists of an ultrasonic probe and an ultrasonic probe movement mechanism;
the ultrasonic probe movement mechanism is used for bearing the ultrasonic probe, and in addition, five servo motors are further installed on the ultrasonic probe movement mechanism and respectively provide five movements with different degrees of freedom for the ultrasonic probe, such as ascending and descending, advancing and retreating, upward pitching and downward pitching, left-right rotation and left-right yawing.
Preferably, the ultrasonic probe sensor includes:
the ultrasonic probe sensor belongs to one part of an external sensor module and consists of an ultrasonic sensor and a camera;
the ultrasonic sensor is arranged on the ultrasonic probe movement mechanism and provides a distance measuring function for positioning initialization of the prostate particle implantation system;
the camera belongs to a wide-angle camera, is arranged on the ultrasonic probe motion mechanism, and provides a marking object searching and positioning function for the positioning initialization of the prostate particle implantation system, wherein the marking object is a sickbed and a guide plate.
Preferably, the particle implantation module comprises:
the particle implantation module consists of a robot and an implantation mechanism;
the robot belongs to a cooperative robot, and in addition, the robot has six rotary joints, and each rotary joint is driven by a servo motor;
the implantation mechanism consists of an implantation mechanism auxiliary module and a particle implanter and is arranged at the tail end of the robot, wherein the implantation mechanism auxiliary module can control the particle implanter to complete four operations of advancing and retreating of an outer particle implantation needle, advancing and retreating of an inner particle implantation needle, changing of the outer particle implantation needle and changing of a magazine, and a servo motor responsible for driving in the control process, the outer particle implantation needle required in device changing and magazine equipment are arranged on the implantation mechanism auxiliary module.
Preferably, the particle implantation sensor comprises:
the particle implantation sensor belongs to one part of an external sensor module and consists of six force sensors, wherein the six force sensors are respectively installed in six rotary joints of the robot, and the functions of mistaken touch judgment and safety detection are provided for the prostate particle implantation system.
The invention also discloses a prostate particle implantation method based on the cooperative robot, which is characterized by comprising the following steps:
s1, setting the coordinates of the implantation target point of the particles;
s2, installing an implantation mechanism;
s3, initializing a prostate particle implantation system;
s4, judging whether a magazine exists, if not, jumping to S5, and if so, jumping to S6;
s5, installing the magazine, and jumping to S6;
s6, judging whether an outer needle exists, if not, jumping to S7, and if so, jumping to S8;
s7, installing an outer needle, and jumping to S8;
s8, implanting the particles;
and S9, judging whether the operation is finished, if not, jumping to S8, and if so, ending.
Preferably, the system initialization comprises:
the system initialization consists of two parts, namely rough positioning initialization and precise positioning initialization;
the rough positioning initialization belongs to semi-automatic operation, and after a doctor sends a control command of 'system initialization', the subsequent rough positioning initialization operation is completed by the prostate particle implantation system;
the precise positioning initialization is manually performed by a doctor according to the actual body position of the patient and a preoperative planning scheme after the prostate particle implantation system completes the rough positioning initialization.
Preferably, the implant particle comprises:
implant the particle can by the robot according to the full-automatic completion of the procedure that sets for in the industrial computer, also can pass through by the doctor the semi-automatic completion particle of robot is implanted through industrial computer IO equipment is progressively controlled, and the in-process of implanting the particle, prostate particle implantation system gets into the safety protection mode to guarantee the security of operation process.
The invention provides a prostate particle implantation system and a method based on a cooperative robot, wherein the system comprises an industrial personal computer for receiving, processing, storing and sending control instructions, an industrial personal computer I/O device for providing an interactive channel for doctors and the industrial personal computer, a control cabinet for driving motors of all execution ends to operate through a control bus and the control instructions, an ultrasonic probe module for providing an intraoperative navigation function, an ultrasonic probe sensor for assisting the prostate particle implantation system to complete preoperative positioning initialization, a particle implantation module for completing prostate particle implantation and a particle implantation sensor for detecting stress changes on all joints of the cooperative robot. Therefore, the prostate particle implantation system based on the cooperation robot is used in the prostate particle implantation operation, the cooperation and the flexibility of the operation control system are improved, the universality and the economy of equipment are ensured, the labor intensity of doctors is reduced, the pressure of human resources is reduced, the operation effect is ensured, and in addition, the personal safety of patients and doctors is ensured by the sensor arranged in the prostate particle implantation system.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
Fig. 1 is a block diagram of a cooperative system for implantation of prostatic particles according to the present invention.
Fig. 2 is a constructional view of the prostate particle implanting system of the present invention.
FIG. 3 is a structural diagram of the ultrasonic navigation device of the present invention.
FIG. 4 is a schematic diagram of an industrial personal computer module of the present invention.
FIG. 5 is a schematic diagram of a control cabinet module of the present invention.
Fig. 6 is a flow chart of key steps in the implantation of prostate particles according to the present invention.
Fig. 7 is a flow chart for initializing the coarse positioning of the prostate particle implantation system of the present invention.
Fig. 8 is a front view of the guide plate of the present invention.
Fig. 9 is a flow chart of the present invention for implanting particles.
Detailed Description
In order to make the technical solutions of the embodiments of the present invention better understood and make the above objects, features and advantages of the present invention more comprehensible, it is described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, it is a block diagram of the cooperative system for implanting prostate particles of the present invention, which specifically includes:
the industrial personal computer I/
the
the industrial
the ultrasonic probe sensor 4 is used for assisting the system to complete preoperative positioning initialization;
the
the
and the ultrasonic probe module 7 is used for providing an intraoperative navigation function.
In the embodiment of the invention, an industrial personal computer I/O device 1 is bidirectionally connected with an industrial personal computer 3 to provide an interaction channel for a doctor; the industrial personal computer 3 is bidirectionally connected with the control cabinet 6 and is used for transmitting a control instruction to the control cabinet 6 and receiving a pulse signal fed back by the control cabinet 6; the particle implantation module 5 and the ultrasonic probe module 7 both use servo motors, so the control cabinet 6 is in bidirectional connection with the particle implantation module 5 and the ultrasonic probe module 7; the particle implantation sensor 2 is used for detecting stress change information of the particle implantation module 5, so that the particle implantation sensor 2 is connected with the particle implantation module in a one-way mode; the ultrasonic probe sensor 4 is arranged on the ultrasonic probe module 7, and the pose adjustment of the ultrasonic probe module 7 directly influences the detection result of the ultrasonic probe sensor 4, so that the ultrasonic probe sensor 4 is in one-way connection with the ultrasonic probe module 7; the information detected by the particle implantation sensor 2 and the ultrasonic probe sensor 4 is required to be transmitted to the industrial personal computer 3 for information processing, so that the particle implantation sensor 2 and the ultrasonic probe sensor 4 are all in one-way connection with the industrial personal computer.
Preferably, on the basis of the cooperative system module for prostate particle implantation shown in fig. 1, as shown in fig. 2, it is a structural diagram of the system for prostate particle implantation of the present invention, wherein the system module already described in fig. 1 is not described herein again, and besides, it further includes:
the display screen 101 is used for providing a human-computer interaction interface for a doctor and displaying input and output information, wherein the human-computer interaction interface is divided into two parts which are respectively used for displaying the implantation information of the prostate particles and the real-time ultrasonic image;
the mouse 102 is used for completing the clicking operation of various command buttons in the human-computer interaction interface, and can also adjust the implantation path sequence of the prostate particle implantation target point, select the ultrasonic image and perform operations such as amplification, reduction, rotation and the like;
the keyboard 103 is used for setting coordinate information of the implantation target point of the prostate particles;
the robot 501 belongs to a cooperative robot and can complete safe and reliable cooperative tasks with doctors in a certain range, the robot has six rotary joints, each joint is driven by a servo motor, and a matched encoder on each servo motor feeds back the actual rotation angle of the servo motor in the working process in the form of pulse signals;
An implantation mechanism auxiliary module 502 installed at the end of the robot 51, wherein a servo motor responsible for driving the particle implanter 503, a particle implantation outer needle and a magazine required for device replacement are all installed on the implantation mechanism auxiliary module 502;
the particle implanter 503 is installed at the tail end of the implantation mechanism auxiliary module 502 and consists of a particle implantation inner needle, a supporting structure and a guiding structure, and is controlled by the implantation mechanism auxiliary module 502 in the operation process to complete four operations of advancing and retreating the particle implantation outer needle, advancing and retreating the particle implantation inner needle, replacing the particle implantation outer needle and replacing a magazine;
the ultrasonic probe moving mechanism 701 is used for bearing an ultrasonic probe, and five servo motors are arranged on the ultrasonic probe moving mechanism, and respectively provide five movements of ascending and descending, advancing and retreating, upward and downward bending, left and right rotation and left and right yawing on different degrees of freedom for the ultrasonic probe 702;
an ultrasonic probe 702, which is used for probing and scanning the position relationship among the prostate, the particle implantation needle and the radioactive particles when entering the patient through the rectum in the operation of implanting the prostate particles;
the bearing
The
a hospital bed 10 on which an auxiliary fixing bracket is mounted for assisting a patient to lie in a lithotomy position during an operation;
and the guide plate 11 is arranged on the sickbed 10 and is used for assisting the system to complete positioning initialization before operation and outer needle guiding support in the operation.
In the embodiment of the invention, the display screen 101, the mouse 102 and the keyboard 103 all belong to the components of the industrial personal computer I/
Further, the robot 501, the implantation mechanism auxiliary module 502 and the particle implanter 503 are all part of the
Specifically, in the robot 501, a
Further, the ultrasonic probe moving mechanism 701 and the ultrasonic probe 702 constitute an ultrasonic probe module 7, and the ultrasonic probe module 7 is installed in the front half portion on the bearing plane of the bearing
Specifically, on the basis of the configuration of the prostate particle implantation system shown in fig. 2, as shown in fig. 3, which is a configuration diagram of the ultrasound navigation apparatus of the present invention, it can be seen from fig. 3 that the ultrasound probe sensor 4 is composed of an ultrasound sensor 401 and a camera 402. The ultrasonic sensor 401 is mounted on the ultrasonic probe moving mechanism 701 and is located right below the ultrasonic probe 702, and the ultrasonic sensor 401 is used for assisting in measuring distances between the ultrasonic probe 702 and the patient bed 10 and between the ultrasonic probe 702 and the guide plate 11 when the prostate particle implantation system is initialized in positioning. The camera 402 belongs to a wide-angle camera, is mounted on the ultrasonic probe moving mechanism 701, is located right above the ultrasonic probe 702, and is used for shooting a real-time scene when the prostate particle implantation system is initialized to be positioned, and assists the prostate particle implantation system to complete a function of finding and positioning a marker object, wherein the marker object is a hospital bed 10 and a guide plate 11.
Preferably, on the basis of the structure of the prostate particle implantation system shown in fig. 2, as shown in fig. 4, the system is a schematic diagram of an industrial personal computer module of the present invention, and specifically includes:
the industrial personal computer
An industrial personal
an industrial personal computer
the industrial personal computer I/
in the embodiment of the invention, the
Specifically, the speech feature model of the speech control command must include a speech feature model of the "system initialization" speech control command, and the speech feature model belongs to a non-specific human voice speech feature model.
Further, the pictures of the hospital bed 10 and the guide plate 11 at different angles are mainly divided into two parts: a picture of a patient bed 10 and a picture of a guide plate 11, wherein the picture of the patient bed 10 is taken around the patient bed 10 and 360 degrees, and the picture of the patient bed 10 comprises a flat view, a top view and a bottom view. The guide plate 11 picture is taken around the guide plate 11, 360, and the guide plate 11 picture includes a plan view, a top view and a bottom view.
Further, when the
Furthermore, the I/O module 34 of the industrial personal computer can satisfy the traditional input/output interaction mode, and is also provided with a sound collector and a bluetooth transmitter for assisting in implementing the voice control and bluetooth wireless transmission functions of the prostate particle implantation system.
Preferably, based on the configuration of the prostate particle implantation system shown in fig. 2, as shown in fig. 5, the system is a schematic diagram of a control cabinet module of the present invention, and specifically includes:
An external
the control
the control cabinet
the control cabinet I/
a
an implantation
an ultrasonic
And the
In the embodiment of the present invention, the connection between the control cabinet I/
further, angular displacement information of the servo motors acquired by all encoders in the
specifically, the angular displacement information is also fed back by the driver and transmitted to the control cabinet central processor 63, and after receiving the angular displacement information, the
As shown in fig. 6, is a flow chart of key steps of the implantation of prostate particles of the present invention, which specifically includes:
s1, setting the coordinates of the implantation target point of the particles;
s2, installing an implantation mechanism;
S3, initializing a prostate particle implantation system;
s4, judging whether a magazine exists, if not, jumping to S5, and if so, jumping to S6;
s5, installing the magazine, and jumping to S6;
s6, judging whether an outer needle exists, if not, jumping to S7, and if so, jumping to S8;
s7, installing an outer needle, and jumping to S8;
s8, implanting the particles;
and S9, judging whether the operation is finished, if not, jumping to S8, and if so, ending.
In the embodiment of the present invention, in step S1, the coordinates of the target point of implantation of the particle are determined according to the medical image data by the physician during the preoperative planning. The doctor classifies a series of determined coordinates of the particle implantation target points, further determines a particle implantation path according to a classification result, sets coordinate information of the prostate particle implantation target points and the prostate particle implantation path in a man-machine interaction interface of the display screen 11 through the I/
Further, the installation of the implantation mechanism in step S2 is mainly divided into three parts: firstly, a doctor manually operates an implantation mechanism auxiliary module 502 to install the implantation mechanism auxiliary module at the tail end of the robot 501; then, the doctor determines the number of the particle implantation outer needles required for replacing the particle implantation outer needles and the number of the magazines required for replacing the magazines according to the number of the particle implantation paths and the number of the particles obtained by preoperative planning, and uniformly installs the required particle implantation outer needles and the magazines in the implantation mechanism auxiliary module 502, wherein the particles filled in each magazine are manually filled by the doctor, and the filling number is fixed to ten particles; finally, the physician installs the seed implanter 503 on the implantation mechanism assist module 502.
Further, step S4 is to determine whether the prostate particle implantation system is installed with a magazine; the specific judgment method is that the whole stress of the robot 501 changes before and after the magazine is installed, and then the
Further, step S6 is to determine whether the prostate particle implantation system is installed with a particle implantation external needle; the specific judgment method is that the whole stress of the robot 501 changes before and after the implantation of the particle implantation external needle is installed, and then the
Preferably, on the basis of the flow of the key steps of the implantation of prostate particles shown in fig. 6, as shown in fig. 7, it is a flow chart of the initialization of the rough positioning of the implantation system of prostate particles of the present invention, which further includes:
s31, starting the system initialization;
s32, resetting the ultrasonic probe module and the particle implantation module;
s33, enabling the bearing vehicle to rotate, and enabling the camera to acquire a real-time scene;
s34, determining the position of the patient bed according to the scene image;
s35, carrying out ultrasonic ranging, wherein the carrying vehicle moves to a specified distance towards the sickbed;
S36, the carrier vehicle rotates around the sickbed, and the camera acquires a real-time scene;
s37, determining the position of the guide plate according to the scene image;
s38, carrying out ultrasonic ranging, wherein the carrier vehicle moves to a specified distance towards the guide plate;
s39, initializing the poses of the ultrasonic probe module and the particle implantation module;
in the embodiment of the present invention, before starting step S31, the carrying
Further, the system initialization in step S31 may be initiated by the doctor clicking an initialization button of the human-computer interface on the display screen 101 using the mouse 102, or by the doctor issuing a "system initialization" voice control command. When the industrial
Further, in step S32, the ultrasonic probe module 7 and the
Further, after step S32 is completed, in step S33, the
Further, in step S34, the camera 402 transmits the acquired real-time scene around the carrying
Further, in step S35, the distance between the
Further, in step S36, the industrial
Further, in step S37, the camera 402 transmits the acquired real-time scene of the landmark object patient bed 10 to the industrial
Further, in step S38, the ultrasonic sensor 401 mounted on the ultrasonic probe sensor 4 is activated to measure the distance between the
Further, in step S39, the industrial
Specifically, in the guide plate front structure diagram shown in fig. 9, a
Further, when step S39 is completed, the coarse positioning initialization of the prostatic particle implantation system is completed, but the prostatic particle implantation system automatically enters the fine positioning initialization stage to compensate for the positioning deviation caused by the patient displacement.
Specifically, when the prostate particle implantation system enters the accurate positioning initialization phase, the
Preferably, on the basis of the flow of the key step of implanting prostate particles shown in fig. 6, as shown in fig. 9, it is a flow chart of implanting particles of the present invention, which specifically further includes:
S801, enabling an outer needle to enter a focus of a patient along a particle implantation path;
s802, judging whether particles exist in the magazine or not, if so, executing a step S804, otherwise, executing a step S803;
s803, the magazine is replaced, and then step S804 is executed;
s804, the inner needle pushes the particles to enter a focus target point;
s805, withdrawing the inner needle from the patient;
s806, judging whether the implantation of the particles in the same implantation path is finished, if so, executing the step S808, otherwise, executing the step S807;
s807, the outer needle retreats in the patient body by a specified distance, and then the step S802 is returned to;
s808, withdrawing the outer needle from the patient;
s809, judging whether the implantation of the particles is finished, if so, finishing the implantation of the particles, otherwise, executing the step S810;
s810, replacing the outer needle, and then executing the step S811;
s811, the end effector moves to the start of the next implantation path, and then step S801 is performed.
In the embodiment of the invention, before starting to implant the particles, a doctor can set the working mode of the prostate particle implantation system through the industrial personal computer I/
Further, in step S804, when the first radioactive seeds are implanted, the system defaults to the presence of the seeds in the magazine because the installation of the magazine and the loading of the seeds in the magazine are manually performed by the physician before the operation. However, after the implantation of the first radioactive particle, the industrial
Further, in step S806, it is determined whether the implantation of the particles in the same implantation path is completed, and the industrial
Further, in step S807, the outer needle is retracted in the patient by a predetermined distance, which is the distance between two particles arranged in the same implantation path.
Further, in the whole particle implantation process, the driving control of the
Further, throughout the implantation of the prostate seed, the prostate seed implantation system will enter a safety warning state. At this moment, when the outside has people or thing to be close to and bears the weight of
In conclusion, according to the prostate particle implantation system and method based on the cooperative robot provided by the invention, doctors can complete the prostate particle implantation operation together with the cooperative robot, the operation process is simple and convenient, the operation effect is stable and reliable, one doctor can complete the prostate particle implantation operation at the same time, the workload of the doctor is reduced, the pressure of human resources is reduced, and the positioning initialization method in the prostate particle implantation system is added, so that the positioning process of the system is simple and rapid, a doctor does not need to move surgical instruments, only the auxiliary system needs to finish the correction of positioning errors to a certain degree, a sensor is additionally added in the system, the personal safety of the patient and the doctor in the operation process is ensured, and in addition, the cooperation robot also improves the cooperation and flexibility of the operation control system and ensures the universality and economy of system equipment.
The foregoing is a more detailed description of the invention in connection with specific embodiments thereof, and the specific embodiments thereof are not to be considered as limited by the foregoing description. For a person skilled in the art, several non-inventive variants or alterations without departing from the inventive concept should be considered as being within the scope of protection determined by the claims as filed.
- 上一篇:一种医用注射器针头装配设备
- 下一篇:二氧化碳点阵激光除瘢瘢痕内部注药的装置