阅读说明：本技术 一种基于5g的云端一体化高强度聚焦超声远程手术机器人治疗系统装置及方法 (Cloud-integrated high-intensity focused ultrasound remote surgery robot treatment system device and method based on 5G ) 是由 郭力 于 2020-11-03 设计创作，主要内容包括：本发明公开了一种基于5G的云端一体化高强度聚焦超声远程手术机器人治疗系统装置及方法。本发明利用了5G大带宽、低时延、高可靠以及网络切片的能力,将控制端迁移到云端,通过5G网络代替传统线缆与治疗端高强度聚焦超声手术机器人实现通讯连接,从而实现医生和患者的空间分离,让医生可以在5G环境下开展与传统高强度聚焦超声手术无差别的远程手术。同时,通过基于5G的云边端一体化,解耦高强度聚焦超声远程手术机器人本体软硬件,从而降低成本,让更多的基层医院有能力购置,使得大规模的部署成为可能。在一定程度上能够合理解决由于医疗资源分布不均衡而导致的“看病难、看病贵”的问题。(The invention discloses a 5G-based cloud integrated high-intensity focused ultrasound teleoperation robot treatment system device and method. According to the invention, the 5G high-bandwidth, low-delay, high-reliability and network slicing capabilities are utilized, the control end is migrated to the cloud end, and the 5G network replaces the traditional cable to realize communication connection with the high-intensity focused ultrasound operation robot at the treatment end, so that the space separation of a doctor and a patient is realized, and the doctor can carry out remote operation which is not different from the traditional high-intensity focused ultrasound operation in the 5G environment. Meanwhile, the cloud edge end integration based on 5G is adopted, and the software and hardware of the high-intensity focused ultrasound teleoperation robot body are decoupled, so that the cost is reduced, more primary hospitals can purchase the robot, and large-scale deployment becomes possible. The problem of "seeing a doctor difficultly and seeing a doctor expensively" caused by unbalanced medical resource distribution can be reasonably solved to a certain extent.)

1. A5G-based cloud integrated high-intensity focused ultrasound remote surgery robot treatment system device and a method are provided.

2. The method is characterized in that: according to the invention, the capabilities of 5G large bandwidth, low time delay, high reliability, SA network slicing and MEC edge cloud are utilized, a cloud edge end integrated framework is adopted in combination with a cloud computing technology, the control end is migrated to the cloud to form a central control platform, and the 5G network replaces the traditional cable to be in communication connection with the treatment end (high-intensity focused ultrasound operation robot), so that the spatial separation of the control end and the treatment end, and the doctor and the patient is realized.

3. The doctor can be in any place, uses the cloud desktop to visit high in the clouds central control platform, through the 5G network, controls the line down high intensity focused ultrasound operation robot, carries out the remote operation that does not have the difference with traditional high intensity focused ultrasound operation.

4. The central control platform (control end) comprises an image processing module, a treatment planning module, a cloud desktop module and a video voice interaction module.

5. The high-intensity focused ultrasound surgical robot (treatment end) comprises a magnetic navigation device (5), a 5G network communication module, a B-ultrasonic image acquisition device (2), a treatment bed (4), an annular array focusing transducer (1) embedded with an ultrasonic probe, a high-intensity focused ultrasound transducer power driving device (6), a 7-axis cooperative robot device (3), a water treatment device (7) and a video voice acquisition device.

6. The central control platform (control end) is a cloud server deployed at the cloud end, the computing, storage and other capabilities of the cloud server can be flexibly and infinitely expanded, and the central control platform can be simultaneously communicated with devices of a plurality of off-line high-intensity focused ultrasound surgical robots (treatment ends) by 5G for information interaction.

7. The image processing module carries out 3D reconstruction processing on preoperative airborne ultrasonic positioning/MR/CT/PET images of a patient, determines the adjacent relation and specific coordinate numerical values of a focus, surrounding structural tissues and magnetic markers, then carries out multi-modal image registration and finally forms a fusion image.

8. And the treatment planning module divides a focus treatment area according to the registered fused 3D image and the coordinate parameters and by a volume element of 5mm by 5mm, and carries out position coding on the divided volume elements to form a volume element array in a compiled sequence.

9. The method comprises the steps of dividing a focus treatment unit according to a time axis, determining a treatment path, a focal point motion track of a transducer, a pose of the transducer, power for transmitting ultrasonic waves, rhythm, return number, medium water temperature and the like.

10. After the treatment plan is formulated, virtual simulation of lesion irradiation is carried out according to experience parameters, accurate estimation is carried out before treatment on the lesion irradiation process including total heat input dose, time consumption, NPV, energy efficiency factors and the like, and after the doctor confirms that the central console drives the high-intensity focused ultrasound surgical robot to complete the surgical treatment process according to the treatment plan.

11. During and after treatment, treatment effect imaging evaluation is carried out according to the ultrasonic acoustic impedance parameter, the elastic imaging parameter, the ultrasonic contrast parameter, the energy efficiency factor, the airborne ultrasound/MR/CT/PET and other images.

12. The cloud desktop module virtualizes all components such as a CPU, a memory and a hard disk included in a high-intensity focused ultrasound surgical robot host in a cloud server, and the high-intensity focused ultrasound surgical robot under each line corresponds to one virtual host.

13. After a doctor installs a client on an intelligent terminal such as a thin client and a tablet computer, the doctor accesses a virtual machine host on a cloud server through a 5G network to realize interactive operation.

14. The video and voice interaction module decodes and displays coded digital signals uploaded to the central control platform through a 5G network, and the digital signals comprise a plurality of groups of image acquisition devices and voice devices for carrying out omnibearing data acquisition on panoramic videos of a treatment room, remote doctors and patients, remote doctors and treatment end doctors, nurse communication videos and electrocardiogram monitoring pictures in the medical operation process.

15. The magnetic navigation device (5) is arranged on the surface of a treatment bed (4), is positioned in the same coordinate system with the B ultrasonic image acquisition device (2), the treatment bed (4), the annular array focusing transducer (1) embedded with the ultrasonic probe, the high-intensity focusing ultrasonic transducer power driving device (6) and the 7-axis mechanical arm device (3), acquires the spatial position information of each device and a magnetic marker of a patient through a sensor, and transmits the spatial position information to the cloud control platform treatment plan module in real time.

16. The B ultrasonic image acquisition device (2) is a wireless ultrasonic probe, comprises a probe part, a control module, a transmitting module, a receiving module, an echo signal processing circuit, a 5G communication module and the like, and is in communication connection with a control end of a cloud end through the 5G module.

17. The treatment bed (4) is a movable treatment bed with a magnetic navigation device (5) embedded in the middle, the treatment bed (4) can be lifted and four wheels can be locked, and a patient lies on the treatment bed (4) in a supine position to receive treatment.

18. The annular array focusing transducer (1) with the embedded ultrasonic probe is a single-array element or multi-array element transducer which is arranged at the front end of a 7-axis cooperative robot device (3) and is of a hollow design, and a B ultrasonic image acquisition device (2) is embedded in the hollow design.

19. The power driving device (6) of the high-intensity focused ultrasound transducer drives the annular array focused transducer (1) to emit high-intensity focused ultrasound, and the focal point of the annular array focused transducer (1) traverses all designated sites in a treatment plan.

20. 7 axle cooperation robot device (3) are installed in treatment bed (4) side, and B ultrasonic image collection system (2) and transducer (1) are located 7 axle cooperation robot device (3) front ends, and its switch board (8) are located treatment bed (4) below, and switch board (8) 5G module passes through the 5G network and establishes communication connection with high in the clouds central console.

21. The water treatment device (7) is positioned below the treatment bed (4) and provides temperature-controllable degassed water for the treatment water sac.

22. The video voice acquisition device comprises a plurality of groups of high-definition video acquisition cameras and an omnidirectional microphone.

Technical Field

The invention belongs to the field of biomedical instruments and equipment, and particularly relates to a 5G-based cloud integrated high-intensity focused ultrasound teleoperation robot treatment system device and method.

Background

The high Intensity Focused Ultrasound therapy system is called hifu (high Intensity Focused Ultrasound), and the operation performed by using the high Intensity Focused Ultrasound therapy system is called fus (Focused Ultrasound ablation surgery), Focused Ultrasound ablation (fuss), or Focused Ultrasound Ablation (FUA). The principle is that the ultrasonic wave generated by an ultrasonic transducer (treatment head) outside a human body is accurately focused on a focus target point in the human body under the guidance of a monitoring image by utilizing the good penetrability of the ultrasonic wave in human body tissues, and the focus is caused to generate coagulative necrosis by converting a mechanical effect into a thermal effect and a cavitation effect, so that the aim of non-invasive ablation of the focus can be fulfilled, and the noninvasive tumor treatment technology is developed in recent years. Has the advantages of no operation, no bleeding, no radiation, conservation of organs of patients and the like, and represents the future development direction of therapeutic medicine.

The traditional high-intensity focused ultrasound equipment is generally composed of two parts, namely a control end and a treatment end. Wherein the control end is central console, and the treatment end includes: a scanning movement device, a treatment bed, an ultrasonic driving power supply, an energy converter and a hydroelectric treatment device. However, since all units of the control end and the treatment end are connected by cables, the doctor and the patient must perform FUS treatment in the same space due to the length of the cables.

Traditional high-intensity focused ultrasound equipment is huge in size due to technical and design factors, the weight is generally more than 1.5 tons, some weights exceed 5 tons, the weight is not light enough, the manufacturing cost of single equipment is high, and therefore primary hospitals cannot buy the equipment at all. Meanwhile, the installation requires a large space area, so that even if a lot of large hospitals buy money, the large hospitals choose to give up because no proper installation site exists.

The traditional high-intensity focused ultrasound equipment has high maintenance cost, particularly a main control computer part of a central control console can cause the paralysis of the whole equipment to be incapable of being used at any time due to the problems of insufficient calculation, limited storage space, computer viruses and the like, and the recovery of the equipment mostly needs an engineer to go to the site for solution, so that the cost is high and the time is consumed.

During traditional FUS operation treatment, doctors determine the position of focus tissues by observing 2D images under the guidance of B ultrasonic images or magnetic resonance images by naked eyes, and accurate 3D coordinate parameters are lacked as treatment bases. In the treatment process, whether the coagulative necrosis of the treatment target area exists is judged by monitoring the gray change of an ultrasonic image and ultrasonic radiography, the quantitative standard is lacked, and the treatment dosage cannot be accurately described.

Meanwhile, the treatment of the traditional FUS operation highly depends on the individual level and experience of the operating doctor, and the experience of the doctor cannot be digitalized, so that one FUS operation expert needs at least four years and can cultivate the operation only by independent operation of the expert, and the shortage of the doctor becomes the biggest bottleneck for the popularization of the FUS operation.

Disclosure of Invention

The invention aims to solve the series of problems and provides a cloud-integrated high-intensity focused ultrasound teleoperation robot treatment system device and method based on 5G. The invention utilizes the 5G capabilities of large bandwidth, low time delay, high reliability and network slicing, decouples the software and hardware of the high-intensity focused ultrasound surgical robot by combining the virtualization technology, clouds the control end, and adopts the 5G communication technology to replace the traditional cable to realize communication connection with the high-intensity focused ultrasound surgical robot at the treatment end, thereby realizing the spatial separation of a doctor and a patient and leading the doctor to carry out the remote operation which is not different from the traditional high-intensity focused ultrasound operation in the 5G environment. Meanwhile, the control end is moved to the cloud end, so that the capacities of calculation, storage and the like can be flexibly expanded infinitely, the offline robot can be lighter, the cost is greatly reduced, and more primary hospitals can purchase the offline robot. Through magnetic navigation device (5), cloud image processing module, treatment plan module can quantify treatment plan and then accurate control focus accomplishes the operation, can also make accurate quantitative curative effect evaluation to treatment effect simultaneously. The whole treatment process can form a digital closed loop, and the complete data can be used for training an artificial intelligent deep learning treatment plan algorithm, so that the operation difficulty of doctors is reduced, and the training time of the doctors is shortened. The cloud control platform can not only realize remote operations, but also realize multi-point operation and simultaneous development of multiple remote operations. The invention solves the problem of difficult and expensive medical observation caused by unbalanced medical resource distribution to a certain extent.

In order to achieve the purpose, the invention adopts the following technical scheme:

a central console of the traditional equipment is deployed at the cloud end and is connected with the treatment end through 5G.

Fig. 1 is a central control platform (control end) including an image processing module, a treatment planning module, and a video voice interaction module.

1. The image processing module is used for carrying out 3D reconstruction processing on images of patient airborne ultrasonic positioning/MR/CT/PET and the like before operation, determining the adjacent relation between a focus and surrounding structural tissues and magnetic markers and parameters of the focus such as space coordinates, shape, edges, volume, density, hardness, acoustic impedance and the like, then the processed focus 3D image and parameters are mixed with the B ultrasonic image and the space coordinate parameters of the patient uploaded by the off-line magnetic navigation device (5) and the B ultrasonic image acquisition device (2), and (3) registering through the same magnetic marker, fusing the coordinate system of the MRI 3D image and the coordinate system of the B ultrasonic image, the magnetic navigation device (5), the B ultrasonic image acquisition device (2), the treatment bed (4), the annular array focusing transducer (1) and the 7-axis cooperative robot device (3) into the same coordinate system, and finally forming a fused image.

2. And the treatment planning module divides a focus treatment area according to the registered fused 3D image and the coordinate parameters and by a volume element of 5mm by 5mm, and carries out position coding on the divided volume elements to form a volume element array in a compiled sequence. The method comprises the steps of dividing a focus treatment unit according to a time axis, determining a treatment path, determining a focal point motion track and a pose of a circular array focusing transducer (1), transmitting power, rhythm, return number, medium water temperature and the like of ultrasonic waves. After the treatment plan is formulated, virtual simulation of lesion irradiation is carried out according to experience parameters, accurate estimation is carried out before treatment on the lesion irradiation process including total heat input dose, time consumption, NPV, energy efficiency factors and the like, and after the doctor confirms that the central console drives the high-intensity focused ultrasound surgical robot to complete the surgical treatment process according to the treatment plan. During and after treatment, treatment effect imaging evaluation is carried out according to the ultrasonic acoustic impedance parameter, the elastic imaging parameter, the ultrasonic contrast parameter, the energy efficiency factor, the airborne ultrasound/MR/CT/PET and other images.

3. The cloud desktop module virtualizes all components such as a CPU, a memory and a hard disk included in a high-intensity focused ultrasound surgical robot host in a cloud server, and the high-intensity focused ultrasound surgical robot under each line corresponds to one virtual host. After a doctor installs a client on an intelligent terminal such as a thin client and a tablet computer, the doctor accesses a virtual machine host on a cloud server through a 5G network to realize interactive operation.

4. The video and voice interaction module decodes and displays coded digital signals uploaded to the central control platform through a 5G network, and the digital signals comprise a plurality of groups of image acquisition devices and voice devices for carrying out omnibearing data acquisition on panoramic videos of a treatment room, remote doctors and patients, remote doctors and treatment end doctors, nurse communication videos and electrocardiogram monitoring pictures in the medical operation process.

Fig. 2 shows a high-intensity focused ultrasound surgical robot (treatment end), which includes a magnetic navigation device (5), a 5G network communication module, a B-ultrasonic image acquisition device (2), a treatment bed (4), a circular array focused transducer (1) with an embedded ultrasonic probe, a high-intensity focused ultrasound transducer power driving device (6), a 7-axis cooperative robot device (3), a water treatment device (7), and a video voice acquisition device.

1. The magnetic navigation device is arranged on the surface of a treatment bed (4), is positioned in the same coordinate system with a B ultrasonic image acquisition device (2), the treatment bed (4), a ring array focusing transducer (1) embedded with an ultrasonic probe, a high-intensity focusing ultrasonic transducer power driving device (6) and a 7-axis cooperative robot device (3), acquires the spatial position information of each device and a magnetic marker of a patient through a sensor, and transmits the spatial position information to a cloud control platform treatment plan module in real time.

2. The B ultrasonic image acquisition device (2) is a wireless ultrasonic probe, comprises a probe part, a control module, a transmitting module, a receiving module, an echo signal processing circuit, a 5G communication module and the like, and is in communication connection with a control end of a cloud end through the 5G module.

3. The treatment bed (4) is a movable treatment bed (4) with a magnetic navigation device (5) embedded in the middle, the treatment bed (4) can be lifted and four wheels can be locked, and a patient lies on the treatment bed (4) in a supine position to receive treatment.

4. The annular array focusing transducer (1) with the embedded ultrasonic probe is a single-array-element or multi-array-element transducer (1) which is arranged at the front end of a 7-axis cooperative robot device (3) and is designed in a hollow mode, and a B-ultrasonic image acquisition device (2) is embedded in the hollow-array-element or multi-array-element transducer.

5. The high-intensity focused ultrasound power driving device (6) drives the ring array focused transducer (1) to emit high-intensity focused ultrasound, and the focus of the ring array focused transducer (1) traverses all designated sites in a treatment plan.

6. 7 axle cooperation robot device (3) are installed in treatment bed (4) side, and B ultrasonic image collection system (2) and ring array focus transducer (1) are located 7 axle cooperation robot device (3) front ends, and its switch board (8) are located treatment bed (4) below, and switch board (8) 5G module passes through the 5G network and establishes communication connection with high in the clouds central console.

7. The water treatment device (7) is positioned below the treatment bed and provides temperature-controllable degassed water for the treatment water sac.

8. The video voice acquisition device comprises a plurality of groups of high-definition video acquisition cameras and an omnidirectional microphone.

The specific implementation mode is as follows:

1. before treatment, the magnetic marker is adhered to the surface of the body of a patient to carry out MR scanning, then scanned MR image data is sent to the cloud image processing module through 5G to carry out 3D reconstruction processing, a treating doctor carries out edge drawing on the image, and then parameters such as the shape, the position, the density and the volume of a focus are transmitted to the treatment planning module.

2. A patient carries a magnetic marker, lies on a treatment bed (4) supinely, connects a sensor of a magnetic navigation device (5) with the magnetic marker, a B ultrasonic image acquisition device (2) scans the focus position of the patient, then fixes the obtained B ultrasonic image, the magnetic marker, the B ultrasonic image acquisition device (2) and an annular array focusing transducer (1) to space coordinate data of a focus in a coordinate system of the treatment bed (4), and transmits the space coordinate data to a treatment planning module at the cloud end through a 5G communication module, the treatment planning module carries out image registration processing according to the coordinates of the magnetic marker in an MR image coordinate system and the coordinate system of the treatment bed (4), then the MR image and an ultrasonic image are fused, and at the moment, the MR3D rebuilds an image, the focus, the B ultrasonic image acquisition device (2), the annular array focusing transducer (1), a 7-axis cooperative robot device (3), The treatment bed (4) and the magnetic navigation device (5) are both positioned in the coordinate system of the treatment bed (4).

3. The treating doctor compiles a patient treatment plan according to the registered images, plans treatment parameters of the high-intensity focused ultrasound treatment device, including parameters such as a focus initial position, path planning, power setting and a return number, and sends the results to a treatment plan module.

4. And the treatment planning module divides the registered fused 3D image into focus treatment areas according to 5mm by 5mm volume elements according to a treatment planning instruction compiled by a treating doctor, and carries out position coding on the divided volume elements to form a volume element array compiled in sequence. The method comprises the steps of dividing a focus treatment unit according to a time axis, determining a treatment path, determining specific instruction parameters such as a focal point motion track, a pose, power for transmitting ultrasonic waves, a rhythm, a return number and a medium water temperature of a circular array focusing transducer (1), performing irradiation virtual simulation according to known patient and focus data, and performing pre-treatment estimation on focus irradiation processes including total heat input dose, time consumption, NPV (non-positive pressure) and energy efficiency factors. After the simulation result is confirmed by the doctor, the central console drives the high-intensity focused ultrasound surgical robot to complete the surgical treatment process according to the treatment plan. In the treatment process, the high-intensity focused ultrasound surgical robot treats treatment units divided according to a treatment plan, after each treatment unit is finished, the B-ultrasonic image acquisition device (2) scans once, then sends a scanning result to the cloud treatment plan module for plan correction confirmation, continues to execute the next treatment unit after the scanning result is confirmed, and after all treatments are finished, the treatment plan module comprehensively compares an actual treatment result with the treatment plan and makes treatment effect image evaluation according to ultrasonic acoustic impedance parameters, elastic imaging parameters, ultrasonic contrast parameters, energy efficiency factors, onboard ultrasound/MR/CT/PET and the like.