CN105078581A - Mobile robot-assisted surgical system having positioning function - Google Patents

Abstract

A mobile robot surgery system with self-positioning function disclosed by the present invention includes an omnidirectional mobile platform, an image system with a revolution and rotation mechanism, a positioning system, a road sign indicating label and a control computer installed on the indoor ceiling; the omnidirectional The mobile platform is composed of the mobile platform fuselage and the McNam master wheel; the imaging system is installed on the omnidirectional mobile platform; the positioning system includes a camera installed on the mobile platform, which cooperates with the road sign indicator label installed on the indoor ceiling, and is used to To assist the positioning of the omni-directional mobile platform, the positioning method is: the camera obtains the image data of the road sign point, compares it with the calibration data stored in the computer, and selects the closest comparison data, so as to obtain the current position of the mobile robotic surgery system. The solution of the invention greatly improves the flexibility and intelligence of the robotic surgery system, and creates favorable conditions for its comprehensive utilization in surgical departments.

Description

A mobile robot surgery system with self-positioning function

Technical field

The invention relates to the field of medical equipment, in particular to a mobile robotic surgery system with self-positioning function.

Background technique

With the significant increase of patients with cardiovascular and cerebrovascular diseases, tumors and other diseases in our country, in recent years, the average growth rate of digital diagnosis and treatment equipment in my country has exceeded 20%. development trend. With the help of interventional treatment equipment and technology, hybrid surgery is precise and minimally invasive, and can organically combine the advantages of internal medicine and surgery, fully embodying the patient-centered approach, and is popular among domestic doctors. However, the existing surgical medical equipment, taking the surgical interventional vascular machine as an example, the traditional vascular machine control system and functional modules are relatively simple, and the installation mode can only be suspended from the sky rail or fixed on the floor. It not only hinders the in-depth development of interventional therapy technology, but also restricts the personalized and diversified design of the hybrid operating room.

Therefore, how to use existing resources to build a hybrid operating room, how to integrate large-scale vascular machines, X-ray machines and other treatment equipment to build a highly flexible and comprehensive robotic surgery system that can operate on a variety of diseases, And it is the trend of the future surgical system to be able to move between different departments to adapt to the multi-disciplinary compound treatment dominated by the surgical system.

Contents of the invention

The purpose of the present invention is to provide a mobile robotic surgery system with self-positioning function in order to overcome the deficiencies of the prior art.

The purpose of the present invention is achieved through the following technical solutions:

A mobile robot surgery system with self-positioning function, including: an all-round mobile platform, an image system with revolution and rotation mechanisms, a positioning system, a road sign indicator label installed on the indoor ceiling and a control computer;

The omni-directional mobile platform is composed of a mobile platform body and a Meccana master wheel. The 4 Meccana master wheels are divided into two rows and arranged in parallel, and the 4 Meccana master wheels in the same row are installed on the mobile platform body both ends of

The imaging system with the revolution and rotation mechanism is installed on an omni-directional mobile platform, wherein the revolution is to rotate around the x-axis, and the rotation is to rotate around the y-axis. Through the cooperation of the revolution and rotation, the imaging system can be realized around the isocenter rotate;

The positioning system is composed of a camera installed on the mobile platform, and the camera cooperates with the road sign indicator label installed on the indoor ceiling to assist the positioning of the omnidirectional mobile platform;

The positioning method in which the camera on the mobile platform cooperates with the road sign indicating label on the ceiling is: the mobile robot surgery system with self-positioning function obtains the image data of each road sign indicating point through the camera, and it is compared with the known data stored in the computer. Compared with the calibration data, the closest comparison data is selected, so as to obtain the current position of the mobile robotic surgery system.

In the above solution, the imaging system with revolution and rotation mechanism is composed of L rotating arm, C-shaped rotating arm and X-ray imaging equipment. The L rotating arm is installed on the omni-directional mobile platform, and the C-shaped rotating arm is installed on the L At the end of the rotating arm, the X-ray imaging equipment includes a set of high-voltage generators, X-ray tubes and X-ray flat panel detectors, and the X-ray imaging equipment is installed on the inner ring of the C-shaped rotating arm.

In the above solution, the positioning system may only have one camera, or two or more cameras may be used for stereotaxic positioning; the cameras are installed upwards, and the aiming target is the road sign indicator label installed on the ceiling.

In the above solution, the camera can directly observe the road sign indicator label, or can observe the indicator label through optical instruments such as lenses and reflectors.

In the above solution, the road sign indicator label can be a triangle, circle, rectangle, five-pointed star, etc., of the same or different color blocks, or can be a pattern with relatively distinct feature points and relatively clear corner features.

The data comparison method in the above solution can be a comparison between known corner points, or a direct comparison of the entire image without processing.

The above-mentioned positioning method in which the camera on the mobile platform cooperates with the sign indicating label on the ceiling can locate the sign indicating label through a single camera or two cameras, so as to determine the current position of the robot.

The above-mentioned mobile robot surgery system solution with self-positioning function further includes a numerically controlled treatment bed, auxiliary catheter equipment, ablation equipment, and infusion accessory equipment; the treatment bed is used to support the patient, and the auxiliary catheter equipment, ablation equipment, and infusion accessory equipment etc. are used to assist the mobile robotic surgery system to perform surgical operations.

The beneficial effects of the scheme of the present invention are as follows: 1) The imaging system with revolution and rotation mechanisms can be carried by the omnidirectional mobile platform, which can make the imaging system move in all directions indoors, and can conveniently realize mobile interventional diagnosis or auxiliary Treatment; 2) Combining the road sign indicator labels installed on the indoor ceiling and the camera installed on the mobile platform to achieve self-positioning during the movement process, it can guide the mobile robotic surgery system to move accurately in real time, and the road sign indicator labels are installed on the ceiling In addition, it is not easy to be disturbed by external patterns, which is conducive to improving positioning accuracy and positioning efficiency.

Description of drawings

Fig. 1 is a schematic diagram of the scheme of the present invention.

Fig. 2 is a schematic structural diagram of the imaging system with revolution and rotation mechanisms according to the present invention.

Fig. 3 is a schematic diagram of an embodiment of the present invention.

In the accompanying drawings, the meanings of the numbers are as follows:

1: mobile platform body; 2: McNam master wheel; 3: L swivel arm; 4: C-type swivel arm; 5: high voltage generator; 6: X-ray tube; 7: X-ray flat panel detector; 8: Camera; 9: computer; 10: treatment bed; 11: patient.

Detailed ways

The present invention will be described in further detail below in conjunction with the drawings and embodiments, but the present invention is not limited to the embodiments.

Embodiment one

As shown in Figure 1 and Figure 2, a mobile robotic surgery system with self-positioning function described in this embodiment includes: an omnidirectional mobile platform, an imaging system with a revolution and rotation mechanism, a positioning system, installed indoors Signposts on the ceiling indicate labels and control computers. The omni-directional mobile platform is composed of a mobile platform body (1) and 4 Meccana master wheels (2), and the 4 Meccana master wheels (2) are divided into two rows, arranged in parallel, and the Meccana master wheels (2) in the same row The main wheels (2) are respectively installed at both ends of the mobile platform body (1); the hollow cup motor is installed on the shaft core of the Mecanum main wheel (2), so that each set of Mecanum wheels can be driven independently, so as to realize Omni-directional mobility for omni-directional mobile platforms. The imaging system with a revolution and rotation mechanism is composed of an L rotating arm (3), a C-shaped rotating arm (4) and X-ray imaging equipment. The L rotating arm (3) is set on an omnidirectional mobile platform, and the C-shaped The rotating arm (4) is installed at the end of the L rotating arm (3). The X-ray imaging equipment includes a set of high-voltage generator (5), X-ray tube (6) and X-ray flat panel detector (7). The imaging equipment is installed on the inner ring of the C-shaped rotating arm (4), where the revolution is the rotation of the L rotating arm (3) around the x-axis, and the rotation is the rotation of the C-shaped rotating arm (4) around the y-axis. Coordination can realize the rotation of the imaging system around the isocenter point. The positioning system is composed of a camera (8) installed on the mobile platform, and the camera (8) cooperates with a road sign indicator label installed on the indoor ceiling to assist the positioning of the robot; the road sign indicator label It is a combination of black triangles and white rectangles. Its corner features are relatively clear and easy to identify.

In this embodiment, the camera (8) on the mobile platform cooperates with the road sign indicating label on the ceiling for positioning. The positioning method is: the mobile robotic surgery system with self-positioning function obtains each road sign indicating point through the camera (8) image data and send it to the control computer (9), the control computer (9) calls the calibration data of the original stored standard position, the two are compared directly, and the control computer (9) finds the closest ratio through the search algorithm For the data, the current position is calculated to obtain the current position of the mobile robotic surgery system, thereby realizing the self-positioning movement function.

Embodiment two

As shown in Figure 3, this embodiment also includes a numerically controlled mobile treatment bed (10), and the rest of the structure is the same as that described in Embodiment 1. In this embodiment, when the patient (11) is undergoing interventional treatment of coronary heart disease, when the coronary angiography imaging of the heart is performed, the doctor's workstation will make a plan, and the doctor will issue an instruction, requiring the robotic surgery system to move to the treatment bed (10), and Make the image system with revolution and rotation mechanism be in standard pose. The control computer (9) of the mobile robotic surgery system with self-positioning function controls the rotation of the motors of the two rows of mecanum wheels (2) after receiving instructions, and moves the omnidirectional mobile platform to move along a certain path, and is installed on the mobile platform at the same time The camera (8) is aimed at the ceiling to continuously take pictures, obtains the image data of each road sign point on the ceiling, and transmits it to the control computer (9), and the control computer (9) calls the calibration data of the original stored standard position. The control computer (9) finds the closest comparison data through the search algorithm, and calculates the current position so as to obtain the current position of the mobile robotic surgery system, thereby realizing the self-positioning and moving function; when moving to When the treatment couch (9) is in the corresponding position, a feedback signal is given to the control computer (9) to control the motor to stop rotating, and then stop translation.

Claims (8)

1. have mobile robot's surgery systems of self-locating function, comprising: omni-directional moving platform, have the image system of revolution and free-wheeling system, navigation system, is arranged on the trail guide label in indoor ceiling and computer for controlling;

Described omni-directional moving platform is received female wheel (2) by mobile platform fuselage (1) and Mike and is formed, described 4 Mikes receive female wheel (2) and are divided into two rows, be arranged in parallel, 4 Mikes of same row receive female wheel (2) and are arranged on the two ends of mobile platform fuselage (1) respectively;

The described image system with revolution and free-wheeling system is arranged on omni-directional moving platform, and wherein revolution rotates around x-axis, and rotation rotates around y-axis, can realize the rotation of image system around isocenter point by the cooperation of revolution and rotation;

Described navigation system is made up of the video camera installed on a mobile platform (8), and this video camera (8) coordinates with the trail guide label be arranged in indoor ceiling, for the location of auxiliary omni-directional moving platform;

Video camera (8) on described omni-directional moving platform coordinates the localization method positioned to be with the trail guide label on ceiling: mobile robot's surgery systems with self-locating function obtains the view data of each trail guide point by video camera (8), contrast with the nominal data deposited known in computer (9), select close comparison data, thus realize the current location obtaining mobile robot's surgery systems.

2. there is mobile robot's surgery systems of self-locating function as claimed in claim 1, the image system described in it is characterized in that with revolution and free-wheeling system is made up of L turning arm (3), C type turning arm (4) and x-ray image documentation equipment, described L turning arm (3) is arranged on omni-directional moving platform, C type turning arm (4) is arranged on L turning arm (3) end, described X ray image equipment comprises a set of high tension generator (5), x-ray bulb (6) and x-ray flat panel detector (7), and X ray image equipment is installed in C type turning arm (4) internal ring.

3. there is mobile robot's surgery systems of self-locating function as claimed in claim 1, it is characterized in that described navigation system only can have a video camera (8), two video cameras or multiple video camera also can be adopted to carry out stereoscopic localized; Described video camera is upwards installed, and the target of aligning is install trail guide label on the ceiling.

4. there is mobile robot's surgery systems of self-locating function as claimed in claim 1, it is characterized in that described video camera can be directly observe trail guide label, also can observe indicating label by the optical instrument such as scioptics, illuminator.

5. there is mobile robot's surgery systems of self-locating function as claimed in claim 1, it is characterized in that described trail guide label can be the identical or different color color lump such as triangle, circle, rectangle, five-pointed star, also can be that characteristic point is distincter, the pattern that Corner Feature is clearer and more definite.

6. there is mobile robot's surgery systems of self-locating function as claimed in claim 1, it is characterized in that the video camera on described mobile platform coordinates with the trail guide label on ceiling the localization method positioned, can make the contrast between known angle point, also can be the direct comparison that entire image does not add process.

7. there is mobile robot's surgery systems of self-locating function as claimed in claim 1, it is characterized in that the video camera on described mobile platform coordinates with the trail guide label on ceiling the localization method positioned, can be the location by single camera or two video camera road markings indicating labels, thus determine the position that robot is current.

8. there is mobile robot's surgery systems of self-locating function as claimed in claim 1, it is characterized in that further comprising therapeutic bed (10), subsidiary conduit equipment, ablation apparatus and transfusion auxiliary device etc.; Therapeutic bed is for supporting patient (11), and subsidiary conduit equipment, ablation apparatus and transfusion auxiliary device etc. carry out surgical operation for auxiliary moving formula robotic surgical system.