阅读说明：本技术 一种主从式前列腺粒子植入机器人系统及方法 (Master-slave type prostate particle implantation robot system and method ) 是由 张永德 胡孝农 刘天麒 于 2021-06-17 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,公开了一种主从式前列腺粒子植入机器人系统及方法,系统包括主手机器人、上位机、下位机、超声探头模组、粒子植入模组、从手机器人。主手机器人用于控制从手运动；上位机用于检测主手机器人的位姿变量信号,计算出从手机器人在相应坐标系下的位姿变量；下位机用于接收上位机计算出的从手机器人位姿变量信号并控制从手机器人完成指定位姿；从手机器人用于夹持粒子植入模组并将其摆放至指定位姿状态；超声探头模组提供术中导航功能；粒子植入模组完成术中具体的植入粒子操作。本发明能将医生从狭小手术空间中抽离到宽阔的工作台,还能提高医生手术操作灵活性,减轻劳动强度,进而提高手术的效率和安全性。(The invention relates to the field of minimally invasive medical equipment for prostate, and discloses a master-slave prostate particle implantation robot system and a master-slave prostate particle implantation method. The master robot is used for controlling the motion of the slave hand; the upper computer is used for detecting a pose variable signal of the master robot and calculating pose variables of the slave robot in a corresponding coordinate system; the lower computer is used for receiving the slave mobile phone robot pose variable signals calculated by the upper computer and controlling the slave mobile phone robot to finish the designated pose; the slave mobile robot is used for clamping the particle implantation module and placing the particle implantation module to an appointed pose state; the ultrasonic probe module provides an intraoperative navigation function; the particle implantation module completes the specific particle implantation operation in the operation. The invention can draw a doctor away from a narrow operation space to a wide workbench, can improve the operation flexibility of the doctor, lightens the labor intensity and further improves the operation efficiency and safety.)

1. A master-slave prostate particle implantation robot system and method is composed of a master robot, an upper computer, a lower computer, a slave mobile robot, an ultrasonic probe module and a particle implantation module, and is characterized by comprising:

the master robot is used for controlling the slave mobile robot by a doctor;

the upper computer is used for receiving, sending, processing and storing control instructions;

the lower computer drives the motors of the execution ends according to the control instructions through the control bus;

the slave mobile robot is used for clamping and putting the pose of the particle implantation module;

the ultrasonic probe module provides an intraoperative navigation function;

the particle implantation module completes the specific particle implantation operation in the operation.

2. The master-slave prostate particle implantation robot system according to claim 1, wherein said master robot comprises:

the master robot receives expected values of the moving positions of the slave mobile robots, which are given by doctors, and converts the position information of the master robot moving into joint variable information of the slave mobile robots through mapping.

3. The master-slave prostate particle implantation robot system according to claim 1, wherein said upper computer comprises:

the upper computer is used for detecting the pose signal of the master robot in real time, processing the signal and transmitting the result to the lower computer;

the upper computer consists of a central processing unit, an upper computer storage module, an upper computer I/O module and an upper computer power module;

the upper computer storage module is required to store the following information before operation: the method comprises the following steps of initializing position joint angle information, a master-slave mapping relation model, a functional characteristic model of a key control instruction and a safety protection response program from a mobile robot.

4. The master-slave prostate particle implantation robot system according to claim 1, wherein said lower computer comprises:

the lower computer comprises a lower computer central processing unit, a lower computer I/O module and a lower computer power module;

the connection mode between the lower computer I/O module and the upper computer I/O module can be wired connection, local area network connection or Bluetooth connection;

the central processing unit is respectively used for driving and controlling the slave mobile phone robot, the particle implantation mechanism, the ultrasonic probe and the bearing vehicle.

5. The master-slave prostate particle implantation robot system according to claim 1, wherein said slave cell robot comprises:

the slave mobile robot is used for clamping the particle implantation mechanism and placing the particle implantation mechanism in an appointed pose state, the auxiliary implantation needle is kept at an accurate needle implantation angle and position, and the slave mobile robot is provided with six rotary joints which are respectively driven by six servo motors.

The slave mobile robot comprises a servo motor driver, a servo motor and an encoder;

the servo motor driver is used for driving a motor at each rotary joint of the slave mobile robot;

the encoder is used for recording the rotation angle of the motor and recording the current position of the tail end of the slave mobile phone robot through forward motion.

6. The master-slave prostate particle implantation robot system according to claim 1, wherein said ultrasound probe module comprises:

the ultrasonic probe module consists of an ultrasonic probe and an ultrasonic probe moving mechanism;

the ultrasonic probe moving mechanism is used for bearing the ultrasonic probe, has three degrees of freedom, and realizes the movement of advancing and retreating, ascending and descending and axial rotation for the ultrasonic probe.

7. The master-slave prostate particle implantation robotic system of claim 1, wherein said particle implantation module comprises:

the particle implantation module is installed at the tail end of the slave mobile phone robot and consists of an implantation mechanism control module, a particle implantation needle and a cartridge clip. The particle implantation needle comprises a particle implantation outer needle and a particle implantation inner needle. The implantation mechanism control module can control the advancing and retreating of the particle implantation outer needle, the advancing and retreating of the particle implantation inner needle, the particle implantation outer needle replacement and the cartridge clip replacement.

8. A master-slave prostate particle implantation robot system particle implantation method is characterized by comprising the following steps:

s1, installing an implantation mechanism;

s2, initializing a master-slave prostate particle implantation system;

s3, judging whether a cartridge clip exists by the doctor, if not, jumping to S4, and if so, jumping to S5;

s4, installing the cartridge clip, and jumping to S5;

s5, judging whether an outer needle exists by the doctor, if not, jumping to S6, and if so, jumping to S7;

s6, installing an outer needle, and jumping to S7;

s7, operating the robot system by the doctor to implant the particles;

and S8, judging whether the operation is finished or not by the doctor, if not, jumping to S7, and if so, ending the operation.

9. The master-slave prostate particle implantation robotic system particle implantation method of claim 8, wherein said system initialization comprises:

the system is initialized, after a doctor sends out a control command of 'system initialization', the slave mobile robot in the master-slave prostate particle implantation system completes automatic reset (initialization position information is preset), the reset is position restoration, the slave mobile robot posture joint is not moved, master-slave posture registration is carried out after the reset is completed, all joints of the master mobile robot are passive joints, therefore, the master mobile robot is kept still, the slave mobile robot posture joint rotates until the angle of the slave mobile robot posture joint is consistent with that of the master mobile robot posture joint, and posture matching is completed.

10. The master-slave prostate seed implantation robot system seed implantation method according to claim 8, wherein said implanting seed comprises:

the doctor controls a master robot in the master-slave prostate particle implantation robot system to further control the slave robot to move, the particle implantation module is driven to reach an appointed implantation pose, the control handle and the keys are used for respectively controlling the particle implantation outer needle and the particle implantation inner needle, and the particle implantation operation is completed.

Technical Field

The invention relates to the field of minimally invasive medical equipment for prostate, in particular to a master-slave type prostate particle implantation robot system and a master-slave type prostate particle implantation method.

Background

The number of patients with prostate cancer has been rapidly increasing in recent years worldwide, with prostate cancer occurring as high as 141 million people worldwide according to the latest statistics in 2020, ranked fourth in global cancer incidence, and thus the need for treatment of prostate cancer is enormous. Prostate brachytherapy, also known as prostate seed implantation, has been widely used by physicians at different stages of prostate cancer, due to the advantages of small trauma, high accuracy, and simple operation. In the operation process, a doctor manually operates the particle implantation needle, and the radioactive particles are implanted into a focus according to the ultrasonic image. Whole operation needs multiple medical personnel to accomplish in coordination, wherein because the restriction of implanting position and patient position, the doctor is narrow and small at operation in-process operating space, is difficult to keep comfortable attitude among the operation process, and physical demands is serious, greatly increased operation burden, also influenced operation efficiency and operation effect from the side. Meanwhile, frequent hand operations of doctors also increase the risk of infection at the focus of the patient.

In order to solve the above problems, in the prior art, a master-slave operation type general medical surgical robot is adopted to assist a doctor in completing a prostate particle implantation operation. However, the general surgical robot is affected by the application range, is mostly suitable for laparoscopic surgery, and is not suitable for prostate particle implantation surgery. In addition, the general medical surgical robot is expensive to manufacture and invests a large amount of capital.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides the master-slave prostate particle implantation robot system and the master-slave prostate particle implantation robot method, which not only can draw a doctor to a wide control table from a narrow operation space, but also can improve the flexibility of the operation of the doctor, reduce the labor intensity of the doctor and further improve the efficiency and the safety of the operation. In addition, the use of the robot system reduces the pressure of human resources, and simultaneously, the risk of infection caused by frequent operation of a doctor on the surgical site of a patient in the surgical process can be reduced, and the surgical safety of the patient is further improved.

In order to achieve the above object, the technical solution of the present invention is achieved as follows.

The utility model provides a master-slave mode prostate particle implantation robot system, by main hand robot, host computer, next machine, from cell-phone robot, ultrasonic probe module and particle implantation module group constitution, its characterized in that includes:

the master robot is used for controlling the slave mobile robot by a doctor;

the upper computer is used for receiving, sending, processing and storing control instructions;

the lower computer drives the motors of the execution ends according to the control instructions through the control bus;

the slave mobile robot is used for clamping and putting the pose of the particle implantation module;

the ultrasonic probe module provides an intraoperative navigation function;

the particle implantation module completes the specific particle implantation operation in the operation.

Preferably, the master robot comprises:

the master robot receives expected values of the moving positions of the slave mobile robots, which are given by doctors, and converts the position information of the master robot moving into joint variable information of the slave mobile robots through mapping.

Preferably, the host computer includes:

the upper computer is used for detecting the pose signal of the master robot in real time, processing the signal and transmitting the result to the lower computer;

the upper computer consists of a central processing unit, an upper computer storage module, an upper computer I/O module and an upper computer power module;

the upper computer storage module is required to store the following information before operation: the slave mobile robot initializes pose joint angle information, a master-slave mapping relation model, a functional characteristic model of a key control instruction and a safety protection response program.

Preferably, the lower computer includes:

the lower computer comprises a lower computer central processing unit, a lower computer I/O module and a lower computer power module;

the connection mode between the lower computer I/O module and the upper computer I/O module can be wired connection, local area network connection or Bluetooth connection;

the central processing unit is respectively used for controlling the slave mobile phone robot, the particle implantation mechanism, the ultrasonic probe and the bearing vehicle.

Preferably, the slave mobile robot comprises:

the slave mobile robot is used for clamping the particle implantation mechanism and placing the particle implantation mechanism in an appointed pose state, the auxiliary implantation needle is kept at an accurate needle implantation angle and position, and the slave mobile robot is provided with six rotary joints which are respectively driven by six servo motors.

The slave mobile robot comprises a servo motor driver, a servo motor and an encoder;

the servo motor driver is used for driving a motor at each rotary joint of the slave mobile robot;

the encoder is used for recording the rotation angle of the motor and recording the position of the tail end of the current slave mobile phone robot through forward motion;

preferably, the ultrasound probe module comprises:

the ultrasonic probe module consists of an ultrasonic probe and an ultrasonic probe moving mechanism;

the ultrasonic probe moving mechanism is used for bearing the ultrasonic probe, has three degrees of freedom, and realizes the movement of advancing and retreating, ascending and descending and axial rotation for the ultrasonic probe.

Preferably, the particle implantation module comprises:

the particle implantation module is installed at the tail end of the slave mobile phone robot and consists of an implantation mechanism control module, a particle implantation needle and a cartridge clip. The particle implantation needle comprises a particle implantation outer needle and a particle implantation inner needle. The implantation mechanism control module can control the advancing and retreating of the particle implantation outer needle, the advancing and retreating of the particle implantation inner needle, the particle implantation outer needle replacement and the cartridge clip replacement.

The invention also discloses a master-slave type prostate particle implantation robot system particle implantation method, which is characterized by comprising the following steps:

s1, installing an implantation mechanism;

s2, initializing a master-slave prostate particle implantation system;

s3, judging whether a cartridge clip exists by the doctor, if not, jumping to S4, and if so, jumping to S5;

s4, installing the cartridge clip, and jumping to S5;

s5, judging whether an outer needle exists by the doctor, if not, jumping to S6, and if so, jumping to S7;

s6, installing an outer needle, and jumping to S7;

s7, operating the robot system by the doctor to implant the particles;

and S8, judging whether the operation is finished or not by the doctor, if not, jumping to S7, and if so, ending the operation.

Preferably, the system initialization includes:

the system is initialized, after a doctor sends a control command of 'system initialization', a master robot and a slave robot in the master-slave prostate particle implantation system finish automatic reset (initialization pose is preset), and master-slave registration is carried out after the reset is finished;

preferably, the implant particle comprises:

the doctor controls a master robot in the master-slave prostate particle implantation robot system to further control the slave robot to move, the particle implantation module is driven to reach an appointed implantation pose, and the control key is used for operating the particle implantation needle to further complete particle implantation. In the process of particle implantation, the master-slave prostate particle implantation system enters a safety protection mode, so that the safety of the operation process is ensured.

The system comprises a master robot for controlling a slave mobile robot by a doctor, an upper computer for receiving, sending, processing and storing control instructions, the slave mobile robot for finishing the clamping and pose placement of a particle implantation module, an ultrasonic probe module for providing an intraoperative navigation function and the particle implantation module for finishing specific particle implantation operation in an operation. Therefore, the master-slave prostate particle implantation robot system is used in the prostate particle implantation operation, the flexibility of the operation of doctors is improved, the labor intensity of the doctors is reduced, the efficiency and the safety of the operation are improved, in addition, the use of the robot system reduces the pressure of human resources, the risk of infection caused by frequent operation of the doctors on the operation position of the patient in the operation process can be reduced, and the operation safety of the patient is further improved.

Drawings

For the purpose of illustration, the invention is described in detail in the following detailed description and the accompanying drawings.

Fig. 1 is a block diagram of a master-slave prostate particle implantation robot system according to the present invention.

Fig. 2 is a block diagram of a master-slave prostate particle implantation system according to the present invention.

Fig. 3 is a flow chart of key steps of the master-slave prostate particle implantation of the present invention.

Fig. 4 is an initialization flowchart of the master-slave prostate particle implantation system of the present invention.

Fig. 5 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 master robot 1 is used as a signal input end and is operated by a doctor to control the slave robot to move;

the upper computer 2 is used for detecting a pose variable signal of the master robot in real time, finishing master-slave mapping and calculating pose variables of the slave receiver robots in corresponding coordinate systems;

the particle implantation module 3 is used for completing specific particle implantation operation in an operation;

the lower computer 4 is used for receiving the slave mobile phone robot pose variable signals calculated by the upper computer in real time and controlling the slave mobile phone robot to finish the designated pose;

the ultrasonic probe module 5 is used for providing an intraoperative navigation function;

the slave mobile robot 6 is used for clamping the particle implantation module and placing the particle implantation module to an appointed pose state, the robot has six rotary joints, each joint is provided with a servo motor and an encoder, the servo motors are used for driving the joints, and the encoders are used for feeding back the rotation angles of the motors.

In the embodiment of the invention, the master robot is connected with the upper computer in a one-way, so as to provide control information for a doctor; the upper computer is bidirectionally connected with the lower computer and is used for transmitting the slave hand position and posture variable signals and feeding back slave hand position and posture information in real time and transmitting control information of the ultrasonic probe module and the particle implantation module; because the slave mobile phone robot, the particle implantation module and the ultrasonic probe module are driven by motors, the slave mobile phone robot, the particle implantation module and the ultrasonic probe module are connected in a bidirectional mode.

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 a master-slave type prostate particle implantation system of the present invention, wherein the system module already introduced in fig. 1 is not described herein again, and in addition, the system module further includes:

the display 201 is used for displaying a human-computer interaction interface, wherein the human-computer interaction interface comprises a real-time image of the surgical site of the patient, prostate particle implantation information and a real-time ultrasonic image which are acquired by the camera;

the mouse 202 is used for switching an interactive interface and selecting operation;

the bearing vehicle 7 is used for bearing the particle implantation module 3, the lower computer 4, the ultrasonic probe module 5 and the slave mobile robot 6, and can realize the movement of the position and the rotation of the direction;

the camera 8 is used for shooting the operation part of the patient and providing an operation needle point area image for a doctor on a human-computer interaction interface;

the sickbed 9 is provided with a bracket which can help a patient to keep the lithotomy position prone position of the operation;

an outer needle control handle 1001 for controlling the forward and backward movement of the particle implantation outer needle to complete the puncture task of the outer needle in the operation;

and a particle implantation key 1002 for emitting a particle implantation signal.

Specifically, as shown in fig. 3 on the basis of the structural diagram of the master-slave prostate particle implantation system shown in fig. 2, the flow chart of the key steps of master-slave prostate particle implantation of the present invention specifically includes:

s1, installing an implantation mechanism;

s2, initializing a master-slave prostate particle implantation system;

s3, judging whether a cartridge clip exists by the doctor, if not, jumping to S4, and if so, jumping to S5;

s4, installing the cartridge clip, and jumping to S5;

s5, judging whether an outer needle exists by the doctor, if not, jumping to S6, and if so, jumping to S7;

s6, installing an outer needle, and jumping to S7;

s7, operating the robot system by the doctor to implant the particles;

and S8, judging whether the operation is finished or not by the doctor, if not, jumping to S7, and if so, ending the operation.

In the embodiment of the present invention, in step S1, the implanting mechanism is installed, and the medical staff manually installs the particle implanting module 3 at the end of the slave mobile robot 6; the number of the implantation paths of the seeds and the total number of the implantation seeds required are determined in advance according to the number of the implantation paths of the seeds determined by the planning before the operation of a doctor, and the number of the required loading clips are determined, wherein the implantation module 3 is responsible for carrying all the outer needles and clips required in the operation process. Wherein all the cartridges are identical and the number of particles pre-loaded in each cartridge is the same.

Preferably, on the basis of the flow chart of key steps of master-slave prostate particle implantation shown in fig. 3, as shown in fig. 4, the flow chart is an initialization flow chart of the master-slave prostate particle implantation system of the present invention, and specifically includes:

s21, initializing and starting the master-slave robot system;

s22, automatically resetting from the position of the mobile phone robot;

s23, registering master-slave poses of the master-slave mobile robot and the slave-master mobile robot;

s24, following from the posture of the mobile robot;

s25, automatically resetting the ultrasonic probe module and the particle implantation module;

and S26, starting the camera to acquire the image of the operation part of the patient in real time.

In the embodiment of the present invention, in step S31, the initialization of the master-slave system is started by the doctor controlling the mouse 202 clicking the initialization button of the human-machine interface in the display 201. After the key piece is clicked, the upper computer 2 receives the master-slave system initialization instruction in real time, immediately calls the response program and sends the response program to the lower computer 4, and the lower computer 4 receives the response program in real time and transmits the reset execution instruction in the program to the slave mobile phone robot 6.

Further, after step S21 is completed, in step S22, the mobile robot 6 is driven and controlled by the upper computer 2 and the lower computer 4 to rotate to the preparatory position for the operation. The automatic reset is coarse reset, and only three joints behind the mobile robot 6 move to a preparation position, so that reset from the position of the mobile robot 6 is realized. Wherein the first three joints associated with the pose remain temporarily motionless. The last three joint specific data of the slave mobile robot 6 at the operation preparation position are determined by a doctor before an operation, the specific joint data information is stored in a control instruction corresponding program of a storage module of the upper computer 2, and the control instruction response program is called and executed to complete related operations.

Further, after step S22 is completed, in step S23, the master-slave control strategy program of the upper computer 2 of the master-slave system is started, the joint information of the master robot 1 and the slave robot 6 is detected, and the spatial position information matching operation is completed. The positions of the master robot 1 and the slave robot 6 are mapped in an incremental manner, so that the mapping can be directly established without being affected. The master robot 1 and the slave robot 6 adopt absolute mapping in posture, so that the terminal postures of the master robot 1 and the slave robot 6 are kept consistent in an initial state. Because the posture freedom degree of the master robot 1 is passive, after the upper computer 2 control system is subjected to the posture registration calculation of the master robot 1 and the slave robot 6, the motion information of the joint of the tail end posture of the slave robot 6 is calculated by keeping the posture of the master robot 1 unchanged and adjusting the posture of the tail end of the slave robot 6 to be consistent with the posture of the master robot 1.

Further, after step S23 is completed, in step S24, the slave cell phone robot 6 is driven and controlled by the upper computer 2 and the lower computer 4 to rotate to match the end posture of the master cell robot 1, and posture registration is completed.

Further, in step S25, the ultrasonic probe module 5 and the particle implantation module 3 are reset and rotated to the initial positions set by the doctor before the operation, and the reset instruction and the initial position information of the ultrasonic probe module 5 and the particle implantation module 3 are already saved in the control instruction response program of the storage module of the lower computer 4 before the operation.

Further, in step S26, the host computer controls the camera 8 to start up, and acquires a real-time image. The camera 8 is used for acquiring the focus operation position image of the patient and providing visual information required by the operation for a doctor.

Preferably, on the basis of the flow chart of the key steps of the master-slave type prostate particle implantation shown in fig. 3, as shown in fig. 5, the flow chart of the implantation of the prostate particle of the present invention further includes:

s701, controlling the master robot to move by a doctor;

s702, the upper computer collects the posture variables of the master robot in real time;

s703, the upper computer completes master-slave space mapping according to the master robot position and attitude variable signal;

s704, the upper computer calculates pose variables of the slave mobile phone robot in a corresponding coordinate system in real time;

s705, the lower computer receives the pose variable signals of the slave mobile phone robot and controls the slave mobile phone robot to reach the designated position and posture;

s706, judging whether the outer needle reaches a focus needle inserting point of the patient by the doctor, if not, executing S701, and if so, executing S707;

s707, adjusting the outer needle control handle by the doctor to send out a needle inserting signal;

s708, the particle implantation module receives the remote control signal of the outer needle and pushes the outer needle to enter the focus of the patient;

s709, judging whether the outer needle reaches the designated needle insertion depth by the doctor, if not, executing S707, and if so, executing S710;

s710, controlling an implanted particle key by a doctor and transmitting an implanted particle signal;

s711, the particle implantation module receives the implanted particle signal and controls the inner needle to push the particles to enter a focus target point;

s712, the doctor judges whether the implantation of the particles in the same path is finished, if not, S713 is executed, and if so, S714 is executed;

s713, the doctor controls the outer needle to retreat to a specified position in the patient body, and then jumps to S710;

s714, the doctor controls the outer needle to withdraw from the patient body through the outer needle control handle;

s715, judging whether the implantation of the particles is finished by the doctor, if not, executing S716, and if so, finishing the implantation of the particles;

s716, the outer needle is replaced, and then step S701 is executed.

In the embodiment of the present invention, in step S701, the doctor moves the master robot 1 to a desired position, and then controls the slave robot 1 to move. And by observing the image of the operation area in the display 201, the distance between the pose of the slave mobile robot 6 driving the particle implantation mechanism 3 and the focus of the patient is controlled, and the master mobile robot 1 is further controlled to adjust the pose.

Further, in step S702, the upper computer 2 acquires the joint angle change of the master robot hand 1 in real time by the encoder at each joint in the master robot hand 1.

Further, in step S703, the upper computer 2 performs positive kinematic calculation in real time according to the encoder data to obtain the spatial coordinates of the end of the master robot 1, and performs spatial mapping to obtain the end coordinates of the slave robot 6.

Further, in step S704, the upper computer performs inverse kinematics solution on the slave mobile robot 6 to obtain a motion angle of each joint of the slave mobile robot 6, and sends the motion angle to the lower computer 4.

Further, in step S705, the lower computer 4 receives the upper computer signal 2, drives each joint motor to rotate according to each joint movement angle information of the slave mobile robot 6, and controls the slave mobile robot 6 to reach a specified position and posture.

Further, in step S706, it is determined whether the outer needle of the particle implanting mechanism 3 held by the end of the mobile robot 6 reaches the lesion penetration point of the patient, and it is necessary for the doctor to autonomously determine the needle through the image of the display 201.

Further, in step S707, the doctor manipulates the insertion of the outer needle by controlling the outer needle control handle 1001. The outer needle control handle 1001 has a degree of freedom for controlling the feed and retreat of the outer needle.

Further, in step S708, the particle implantation module 3 receives the control information, and the driving motor operates to drive the outer needle to puncture.

Further, in step S710, the doctor presses the implant particle button 1002, the upper computer 2 receives the implant particle instruction, and calls an execution control instruction response program, the instruction response program is sent to the lower computer 4, the lower computer 4 transmits the execution instruction in the control instruction response program to the particle implantation module 3 according to the content in the control instruction response program, and the particle implantation module 3 drives the motor to control the inner needle to push the particle, thereby completing the particle implantation.

Further, in step S711, after one radioactive particle is implanted each time under the control of the doctor, the upper computer 2 counts the number of particles consumed in the implantation process, and when the upper computer 2 counts that the number of implanted particles in the operation is just the number of particles in the magazine, a prompt is sent out on the human-computer interaction interface of the display 201, and the magazine replacement is automatically completed in combination with the lower computer 4.

In summary, the master-slave prostate particle implantation robot system and method provided by the invention can be used for extracting a doctor from a narrow operation space to a wide operation table to perform an operation, so that the labor intensity of the doctor is reduced, the operation by the doctor is easier, and the operation efficiency is improved. Meanwhile, the use of the master-slave robot system can reduce the number of medical staff participating in the operation, reduce the pressure of human resources, and the robot system can obviously reduce the direct contact frequency between a doctor and the focus of a patient when the operation is carried out, thereby greatly reducing the infection risk of the patient during the operation and further improving the safety of the operation.

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.