阅读说明：本技术 一种基于超声引导的乳腺组织固定装置及其控制方法 (Mammary tissue fixing device based on ultrasonic guidance and control method thereof ) 是由 公续银 赵建 赵洪华 孙殿珉 胡志通 林逸飞 韩其飞 于 2020-07-29 设计创作，主要内容包括：本发明公开了一种基于超声引导的乳腺组织固定装置及控制方法,涉及医疗机器人领域。主要包括圆形套环、X轴直线模组、Z轴直线模组、Y轴直线模组、驱动电机、固定支架。所述X轴直线模组、Z轴直线模组、Y轴直线模组可以满足医疗机器人定位精度高和工作范围大的要求,并且可以实现圆形套环沿任意方向的往复运动。所述圆形套环实现乳腺组织的固定。所述直线模组的驱动力由驱动电机提供,方便圆形套环调整位置以及保持当前位置。本发明设计了一种基于超声引导的乳腺组织固定装置及其控制方法用于辅助医生进行乳腺穿刺活检手术,在手术过程中,固定乳腺组织同时引导肿瘤主动移向穿刺针路径,降低穿刺误差,提高手术效率。(The invention discloses a mammary tissue fixing device based on ultrasonic guidance and a control method, and relates to the field of medical robots. Mainly include circular lantern ring, X axle sharp module, Z axle sharp module, Y axle sharp module, driving motor, fixed bolster. The X-axis linear module, the Z-axis linear module and the Y-axis linear module can meet the requirements of high positioning precision and large working range of the medical robot, and can realize the reciprocating motion of the circular lantern ring in any direction. The circular collar enables fixation of breast tissue. The driving force of the linear module is provided by the driving motor, so that the position of the circular lantern ring can be conveniently adjusted and the current position can be conveniently kept. The invention designs a mammary tissue fixing device based on ultrasonic guidance and a control method thereof, which are used for assisting a doctor in a mammary puncture biopsy operation.)

1. A mammary tissue fixing device based on ultrasonic guidance is characterized by mainly comprising: circular lantern ring (12), snap ring rubber circle (13), connecting rod (10), first square sleeve (11), X axle straight line module (7), Z axle straight line module (5), Y axle straight line module (3), floor (4), fixed bolster (1), circular lantern ring (12) are through first square sleeve (11) and connecting rod (10) fixed connection.

2. The ultrasound-guided-based breast tissue fixation device of claim 1, wherein: the snap ring rubber ring (13) is arranged on the circular lantern ring (12).

3. The ultrasound-guided-based breast tissue fixation device of claim 1, wherein: the connecting rod (10) is fixedly connected with a sliding block of the X-axis linear module (7) through a second square sleeve (8), the X-axis linear module (7) is fixedly connected with a sliding block of the Z-axis linear module (5), and the Z-axis linear module (5) is fixedly connected with a sliding block of the Y-axis linear module (3) to form a three-coordinate moving device.

4. The ultrasound-guided-based breast tissue fixation device of claim 1, wherein: the rib plate (4) is fixedly connected with the Z-axis linear module (5), and the fixed support (1) is installed on the Y-axis linear module (3).

5. A control method of a mammary tissue fixing device based on ultrasonic guidance is characterized in that: the X-axis linear module (7) and the Y-axis linear module (3) are controlled to drive the tumor to actively move to a puncture path in a plane by the circular lantern ring (12), so that the puncture precision is improved; the movement of the X-axis linear module (7) and the Y-axis linear module (3) adopts a double closed loop feedback control algorithm, the outer ring is a position ring, and a P controller is adopted; the inner ring is a speed ring and adopts a PI controller; the position is fed back in real time using ultrasound images and the speed is fed back using an encoder.

Technical Field

The invention belongs to the field of medical robots, and particularly relates to a mammary tissue fixing device based on ultrasonic guidance and a control method thereof.

Background

In the clinical medical operation work, the breast aspiration biopsy is an effective histological method for examining the benign and malignant breast tumors, but the pure manual puncture of doctors still has many defects, and in the breast aspiration operation process, because the soft tissue and the puncture needle have a complex interactive deformation mechanism, the position of a tumor target point can drift, and in order to accurately puncture the tumor target point, doctors need to constantly change the puncture path in the puncture process, even need to withdraw the needle for many times, so that the operation time is increased, the pain of patients is relieved, and certain damage is caused to the tissues of the patients. Therefore, the reduction of puncture errors and the improvement of puncture accuracy are important research contents in the field.

The breast puncture is different from the puncture of a chest cavity, a prostate and a lung, a breast is an organ positioned outside a human body, and meanwhile, the breast tissue is mostly fat, has high liquidity and is easy to deform in the puncture process, which is unfavorable for the puncture, so a certain device is needed to fix the breast puncture and reduce the deformation of the breast puncture.

Disclosure of Invention

The invention provides a mammary tissue fixing device based on ultrasonic guidance and a control method thereof to solve the problems. The robot mainly comprises a circular lantern ring, a snap ring rubber ring, a connecting rod, a first square sleeve, an X-axis linear module, a Z-axis linear module, a Y-axis linear module, a rib plate and a fixed support. The Y-axis linear module is connected with the fixed support to fix the whole device, and the third driving motor of the Y-axis linear module drives the sliding block to reciprocate along the Y-axis direction, so that the circular lantern ring is driven to reciprocate along the Y-axis direction through the X-axis linear module, the Z-axis linear module and the connecting rod.

Furthermore, the second driving motor of the Z-axis linear module drives the sliding block to reciprocate along the vertical direction, and then the circular lantern ring is driven to reciprocate in the vertical direction through the X-axis linear module and the connecting rod.

Furthermore, a first driving motor of the X-axis linear module drives a sliding block of the X-axis linear module to reciprocate along the X-axis direction, and then drives the circular lantern ring to reciprocate in the X-axis direction through the connecting rod.

Furthermore, the round lantern ring is fixedly connected with the connecting rod through a first square sleeve.

Furthermore, a snap ring rubber ring is arranged on the circular lantern ring.

Further, the connecting rod passes through the slider fixed connection of square sleeve of second and X axle straight line module, the slider fixed connection of X axle straight line module and Z axle straight line module, the slider fixed connection of Z axle straight line module and Y axle straight line module.

Furthermore, the rib plate is fixedly connected with the Z-axis linear module, and the fixing support is arranged on the Y-axis linear module.

Compared with the prior art, the invention has the beneficial effects that: when puncture error compensation is carried out, previous researches are all that the puncture needle point is controlled to move to a tumor target point, the device adopts a reverse thinking in combination with the characteristics of mammary tissue, the puncture needle path is ensured to be unchanged, the tumor target point is controlled to actively move to the puncture path to reduce puncture errors, and meanwhile, the device can also fix the mammary tissue and reduce deformation. The device is simple in structure and high in stability, adopts the three-axis linear module for positioning, is high in positioning precision and large in working range, improves the precision of the breast puncture surgery process, avoids the pain of patients caused by the process of searching tumor targets, and improves the surgery efficiency and the success rate.

Drawings

The accompanying drawings, which form a part hereof, provide a further understanding of the present application and enable further features, advantages and objects of the application to be apparent from the description, and are included to explain the present application by way of illustration and not by way of limitation.

Fig. 1 is an isometric view of the present invention.

Figure 2 is an enlarged view of the terminal circular collar.

Fig. 3 is a schematic diagram of the control principle of active tumor displacement.

Fig. 4 is a degree of freedom distribution diagram of the ultrasonic probe holding device.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1, the present application relates to a breast tissue fixing device based on ultrasonic guidance and a control method thereof, the device mainly comprises a circular lantern ring 12, a connecting rod 10, a first square sleeve 11, a second square sleeve 8, an X-axis linear module 7, a Z-axis linear module 5, a Y-axis linear module 3, a ribbed plate 4 and a fixed support 1, wherein the Y-axis linear module 3 is connected with the fixed support 1, with fixed integrated device, circular lantern ring 12 is through first square sleeve 11 and connecting rod 10 fixed connection, and connecting rod 10 is through the slider fixed connection of second square sleeve 8 and X axle straight line module 7, the slider fixed connection of X axle straight line module 7 and Z axle straight line module 5, the slider fixed connection of Z axle straight line module 5 and Y axle straight line module 3, rib plate 4 and Z axle straight line module 5 fixed connection, and fixed bolster 1 is installed on Y axle straight line module 3.

As shown in fig. 2, the snap ring rubber ring 13 is mounted on the circular sleeve ring 12, so as to protect breast tissue from being damaged during movement, and in the embodiment of the present invention, the snap ring rubber ring 13 and the circular sleeve ring 12 may be selected by technicians of specific models according to actual needs, or may be a module designed by themselves, so as to simplify the process in the embodiment of the present invention.

Describing the motion process of the device, the X-axis linear module 7, the Z-axis linear module 5 and the Y-axis linear module 3 form a three-coordinate axis moving device, the third driving motor 2 of the Y-axis linear module 3 drives the slider to reciprocate along the Y-axis direction, and further drives the circular lantern ring 12 to reciprocate along the Y-axis direction through the X-axis linear module 7, the Z-axis linear module 5 and the connecting rod 10, the second driving motor 6 of the Z-axis linear module 5 drives the slider to reciprocate along the vertical direction, and further drives the circular lantern ring 12 to reciprocate along the vertical direction through the X-axis linear module 7 and the connecting rod 10, the first driving motor 9 of the X-axis linear module 7 drives the slider to reciprocate along the X-axis direction, and further drives the circular lantern ring 12 to reciprocate along the X-axis direction through the connecting rod 10, and the process can realize the adjustment of the tumor driven by the circular lantern ring 12 along any direction, in an actual operation, the circular collar 12 is firstly sleeved on the breast, and the target tumor target point can be controlled to move to a position below the puncture path in the biopsy puncture process by using a feedback control algorithm and combining a real-time ultrasonic image.

Next, a control method of tumor displacement of the device will be described, as shown in fig. 3, a PID feedback controller is used to control the driving motor, a double closed loop control method is used, an outer loop uses a P controller to control the position, an inner loop uses a PI controller to control the speed, and the inner loop has a damping effect on the outer loop. The advantage of the PID controller is that it can still effectively control the tumor movement to the desired position without knowing the breast geometry and mechanical properties. Firstly, the doctor obtains the expected position coordinates of the tumor through a computer according to the direction of the puncture needle and the section position of the tumor, in an ideal condition, the direction of the puncture needle points to the tumor, and the expected position value at the momentr(t) Is 0. Desired position valuer(t) Number of actual positionsValue ofc(t) Making a difference, the control deviation can be obtainede(t) Controlling the deviatione(t) The output is the input value of the P controller, and the output quantity is controlled through the operation of a proportion linku(t) As the expected speed input value of the inner ring controller and the actual speed value fed back by the driving motorv(t) And outputting the difference to a PI controller, and outputting the difference to a driving motor of the linear module after the operation of the PI controller. The puncture of the puncture needle can cause the tumor to drift, and the puncture force is increasedy(t) The force of the electric push rod is regarded as the interference to the whole systemx(t) And the puncture force of the puncture needley(t) Together acting on the movement of the tumor in the breast tissue. Real-time obtaining of actual position data of tumor by ultrasonic imaging equipmentc(t) And the double closed-loop control method is adopted, so that the response speed of the system is ensured, and the anti-interference capability of the system is increased.

The device is used in combination with a robot or a doctor for manual puncture under the guidance of ultrasound, in order to ensure the stability and the clarity of an ultrasound image, a clamping device of an ultrasound probe is adopted, and the realization of the whole system needs the coordination control of the robot, a fixing device and the ultrasound probe, so in the embodiment of the invention, only the degree of freedom of the ultrasound probe clamping device is described, as shown in figure 4, the movement of a circular lantern ring 12 can cause the deformation of tissues, so that the tissues are separated from the probe, and the probe is required to have a degree of freedom 1 of movement along the X direction; because the position of the plane where the tumor is located can change, the probe is required to have a lifting freedom degree 2 along the Z direction; the probe itself should have rotational movements 3 and 4 in both X-Y directions to ensure that the probe imaging plane is parallel to the needle; therefore, the probe clamping device should have at least 4 degrees of freedom to ensure real-time imaging. The design of this device only satisfies in realizing the function of this device, when using with the robot collocation, and the technical staff should guarantee this device and puncture robot do not take place the motion and interfere.

The device can drive the tumor to move while fixing the breast tissue, so that in the puncture process, in order to avoid the deformation of the puncture needle, a 16G or 14G thick needle biopsy with a larger diameter is used, namely, a rigid needle puncture, a relatively thin needle biopsy and a thick needle biopsy are also more effective biopsy puncture methods.