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WO2023019479A1 - Procédé et appareil de positionnement de perforation robot pour la perforation des voies biliaires - Google Patents

Procédé et appareil de positionnement de perforation robot pour la perforation des voies biliaires Download PDF

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Publication number
WO2023019479A1
WO2023019479A1 PCT/CN2021/113314 CN2021113314W WO2023019479A1 WO 2023019479 A1 WO2023019479 A1 WO 2023019479A1 CN 2021113314 W CN2021113314 W CN 2021113314W WO 2023019479 A1 WO2023019479 A1 WO 2023019479A1
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WIPO (PCT)
Prior art keywords
puncture
needle
positioning
needle insertion
image
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PCT/CN2021/113314
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English (en)
Chinese (zh)
Inventor
陈静涛
周寿军
钱程
曾泉
林晓锋
温铁祥
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to PCT/CN2021/113314 priority Critical patent/WO2023019479A1/fr
Publication of WO2023019479A1 publication Critical patent/WO2023019479A1/fr
Anticipated expiration legal-status Critical
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations

Definitions

  • the application belongs to the technical field of intelligent medical equipment, and in particular relates to a robot puncture positioning method and device for biliary tract puncture.
  • Biliary interventional surgery is an important procedure in the treatment of biliary-related diseases such as cholangiography, internal and external biliary drainage, and malignant biliary obstruction. Whether the puncture operation can successfully penetrate into a specific part of the biliary tract is crucial to the entire treatment. Accurately hitting the planning target in the biliary tract means the smooth establishment of the interventional channel, and subsequent treatment methods including balloon dilatation catheters, dilatable stents, and radioactive particle stents can be carried out smoothly. Before the puncture operation, the doctor will plan the level of the puncture needle based on the patient's CT or MRI images. During puncture surgery, doctors need to use image-guided equipment to clarify the target position of puncture. Ultrasound can realize real-time image guidance without radiation, and its Doppler image can be used to distinguish the biliary tract from other cavity structures with fast fluid flow, so it is widely used in biliary puncture surgery.
  • Ultrasound can realize real-time image guidance without radiation,
  • the walking plane of the puncture needle When the walking plane of the puncture needle is consistent with the preoperative image scanning level, it is coplanar puncture.
  • the planning of the coplanar puncture needle path, the avoidance of important tissue structures, and the selection of the sampling area are all relatively easy to control. Therefore, after the target area for biliary puncture is determined by ultrasound or CT, the puncture should be performed at the imaging level first. However, this level may be blocked by bony structures, chest wall vessels, internal thoracic vessels, or other normal tissue structures, and is limited by the operator’s experience and techniques, the influence of the patient’s soft tissue deformation (passive), and the change of the patient’s muscle tension (active).
  • non-coplanar puncture techniques are often required, that is, after determining the cross-section of the human body where the target is located, select the head side or foot side offset, find a suitable needle entry point, and plan Needle path.
  • the doctor can observe the relative relationship between the biliary target area and the puncture needle in real time under the guidance of ultrasound images.
  • the needle body and needle tip are invisible, and the puncture needle is prone to detachment, puncture of blood vessels, and complications.
  • Existing manual puncture mainly depends on the doctor's experience and the puncture frame to determine the needle insertion point, needle insertion angle and needle insertion depth.
  • CT imaging the intraoperative radiation is large, so it is difficult to apply real-time guidance technology in non-coplanar puncture.
  • Ultrasound can be used for real-time puncture guidance, but its scanning plane needs to be consistent with the running plane of the puncture needle to ensure real-time detection of the walking path of the puncture needle.
  • the existing puncture stand fixes the ultrasound probe and the puncture needle on a plane, so as to ensure that no important blood vessels and lesion areas will be punctured in the walking path of the puncture needle.
  • the puncture frame can be used to adjust the needle entry angle of the puncture needle, but the adjustment range still depends on the clinician's experience.
  • the present invention aims to use the proposed mechanical structure and control mechanism to automatically adjust the needle entry point and needle entry angle of the puncture needle positioning channel and to control the autonomous scanning of the ultrasonic probe to track the puncture needle tip.
  • the doctor punctures the positioning channel and inserts the puncture needle into the patient's body, so as to achieve precise puncture and reduce the damage and complications caused by mispuncture.
  • the present application provides a robot puncture positioning method and device for biliary tract puncture to at least solve the technical problem of low puncture positioning accuracy for biliary tract puncture.
  • a robot puncture positioning method for biliary tract puncture comprising the following steps:
  • the ultrasonic image is collected during scanning, and a one-to-one correspondence relationship is established between the ultrasonic image and the spatial position when the ultrasonic image is collected;
  • the technical solution adopted in the embodiment of the present application also includes: after displaying the ultrasound image on the display terminal to define the ultrasound image in the ultrasound image that best matches the planned image layer as the puncture level:
  • the needle insertion positioning channel is adjusted to be collinear with the planned needle insertion trajectory, and the positioning of the needle insertion positioning channel is completed.
  • the technical solution adopted in the embodiment of the present application also includes: after the positioning of the needle insertion positioning channel, it also includes:
  • the puncture and needle insertion operation is performed with the puncture and needle insertion trajectory, which is the needle insertion trajectory after the positioning of the needle insertion positioning channel is completed;
  • the technical solution adopted in the embodiment of the present application also includes: before transmitting the ultrasound image to the display terminal for display, so as to define the ultrasound image in the ultrasound image that is most consistent with the planned image layer as the puncture level:
  • Pre-plan a planning image layer for comparison with the puncture slice.
  • the technical solution adopted in the embodiment of the present application also includes: after completing the positioning of the needle insertion positioning channel, it also includes:
  • the planned needle entry trajectory is detected to determine whether there is an interference object in the planned needle entry trajectory.
  • a robot puncture positioning device for biliary tract puncture including: a manipulator, an image acquisition module, a target recognition module, a state calculation module and a motion control module;
  • the motion control module is used to control the movement of the manipulator with six degrees of freedom, and controls the manipulator to scan the scanning target based on receiving the scanning request, and the scanning request carries at least a scanning signal;
  • the image acquisition module is used to collect ultrasonic images when scanning based on the scanning signal, and establish a one-to-one correspondence between the ultrasonic images and the spatial positions when acquiring the ultrasonic images;
  • the target recognition module is used to transmit the ultrasound image to the display terminal for display, so as to define the ultrasound image in the ultrasound image that is most consistent with the planning image layer as the puncture level;
  • the state calculation module is used to calculate the position information that the needle insertion positioning channel needs to move when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, and adjust the needle insertion positioning channel to be collinear with the planned needle insertion trajectory based on the position information , to complete the positioning of the needle positioning channel; wherein, the planned needle trajectory is selected from the puncture level;
  • the manipulator is used for scanning the scanning target and performing puncture work, so that the image processing module collects ultrasonic images through scanning.
  • the device also includes:
  • the puncture needle detection module is used for real-time monitoring of the working status of the puncture needle on the puncture needle trajectory, and monitors the position of the needle head of the puncture needle when the puncture needle bends.
  • the device also includes:
  • the collision detection module is used to detect the planned needle insertion trajectory to determine whether there is an interference object in the planned needle insertion trajectory.
  • the technical solution adopted in the embodiment of the present application further includes: the manipulator includes a manipulator and a probe positioning mechanism installed on the manipulator.
  • the probe positioning mechanism includes a needle insertion angle adjustment mechanism and a first flange plate, a second flange plate, a servo motor, a probe fixing frame, and an ultrasonic probe connected in sequence;
  • the first flange is rotatably connected to the mechanical arm, and the needle insertion angle adjustment mechanism is connected to the first flange;
  • the first flange and the second flange are rotatably connected to each other.
  • the needle insertion angle adjustment mechanism includes a steering gear fixing part, a servo steering gear, a steering gear, a slider fixing part, a slider, a rack, a slide rail and a needle guide;
  • the steering gear fixing part is connected with the first flange, the servo steering gear is installed on the steering gear fixing part, and the steering gear is installed on the servo steering gear;
  • the slider is connected with the fixing part of the steering gear, the slide rail is connected with the slider, and steel balls are arranged in the slider so that the slider can move in the slide rail;
  • the rack is installed on the slide rail, the gear of the steering gear meshes with the rack, the servo motor drives the gear of the steering gear to rotate, and the gear of the steering gear drives the rack to move;
  • the needle guide is installed on the rack, and the movement of the rack drives the needle guide to adjust the angle of the needle guide.
  • the needle insertion angle adjustment mechanism further includes a guide frame, the guide frame is mounted on the rack, and the needle guide is detachably mounted on the guide frame.
  • the motion control module includes:
  • the robotic arm control sub-module is used to control the movement of the robotic arm in different directions, so as to realize the scanning of the target by the ultrasonic probe;
  • the motor control sub-module is used to control the rotation of the servo motor and the servo steering gear.
  • the robot puncture positioning method and device for biliary tract puncture in the embodiment of the present invention includes: receiving a scanning request, scanning the scanning target; acquiring an ultrasonic image during scanning, and comparing the ultrasonic image with the spatial position when the ultrasonic image is acquired Establish a one-to-one correspondence relationship; define the ultrasound image in the ultrasound image that is most consistent with the planned image layer as the puncture level; if there is no barrier on the puncture level, use the closest point between the scanning target and the puncture target point as the needle entry point, The line connecting the needle entry point and the puncture target point is the planned needle entry trajectory; then, when the needle entry positioning channel is not collinear with the planned needle entry trajectory, adjust the needle entry positioning channel to the planned needle entry trajectory Collinear to complete the positioning of the needle positioning channel.
  • the invention is used for the positioning of the puncture channel, improves the precision of the puncture positioning, and reduces the number of needle punctures.
  • FIG. 1 is a flow chart of a robot puncture positioning method for biliary tract puncture according to an embodiment of the present application
  • Fig. 2 is a schematic diagram of a robotic puncture positioning device for biliary tract puncture according to an embodiment of the present application
  • Fig. 3 is the structure of the manipulator of the embodiment of the present application.
  • Fig. 4 is a structural diagram of the probe positioning mechanism of the embodiment of the present application.
  • Fig. 5 is another structural diagram of the probe positioning mechanism of the embodiment of the present application.
  • a robot puncture positioning method for biliary tract puncture is provided, see Fig. 1 and Fig. 2 , including the following steps:
  • S101 Receive a scan request, and scan the scan target, where the scan request at least carries a scan signal;
  • S102 Based on the scan signal, acquire an ultrasound image during scanning, and establish a one-to-one correspondence between the ultrasound image and the spatial position when the ultrasound image is acquired;
  • S103 Transmitting the ultrasound image to the display terminal for display, so as to define the ultrasound image in the ultrasound image that is most consistent with the planned image layer as the puncture level;
  • S104 Mark the puncture target point on the puncture layer. If there is no barrier on the puncture layer, use the closest point between the scanning target and the puncture target point as the needle entry point, wherein the connection line between the needle entry point and the puncture target point That is, the planned needle trajectory;
  • S105 Calculate the position information that the needle insertion positioning channel needs to move when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, adjust the needle insertion positioning channel to be collinear with the planned needle insertion trajectory based on the position information, and complete the needle insertion The positioning of the positioning channel.
  • the robot puncture positioning method and device for biliary tract puncture in the embodiment of the present invention includes: receiving a scanning request, scanning the scanning target; acquiring an ultrasonic image during scanning, and comparing the ultrasonic image with the spatial position when the ultrasonic image is acquired Establish a one-to-one correspondence relationship; define the ultrasound image in the ultrasound image that is most consistent with the planned image layer as the puncture level; if there is no barrier on the puncture level, use the closest point between the scanning target and the puncture target point as the needle entry point, The line connecting the needle entry point and the puncture target point is the planned needle entry trajectory; then, when the needle entry positioning channel is not collinear with the planned needle entry trajectory, adjust the needle entry positioning channel to the planned needle entry trajectory Collinear to complete the positioning of the needle positioning channel.
  • the invention is used for the positioning of the puncture channel, improves the precision of the puncture positioning, and reduces the number of needle punctures.
  • the present invention can realize multi-degree-of-freedom ultrasonic scanning and real-time positioning.
  • the present invention is used for puncture, if the coplanar puncture is difficult, such as rib obstruction, the ultrasonic probe 5 and puncture positioning
  • the device can rotate independently to achieve non-coplanar puncture, and if the puncture needle is bent out of plane, the ultrasonic probe 5 can move independently and detect the position of the puncture needle tip, so as to more accurately evaluate the distance between the puncture needle tip and the puncture target.
  • the present invention also adds an image processing unit and a collision detection function, which can be used to provide doctors with multiple decision-making information during the process of determining the lesion and locating the puncture channel, improving positioning accuracy and reducing the number of needle punctures.
  • Step 1 Move the robotic arm 800 positioned for puncture to the area above the punctured target, press the autonomous scanning switch, and then the motion control module controls the ultrasonic probe 5 on the robotic arm 800 to move downward, so that the ultrasonic probe 5 touches the scanning target scan the skin.
  • Step 2 The contact force between the ultrasonic probe 5 and the scanning target skin is stabilized at a fixed value, and the ultrasonic image is collected through the image acquisition module 200, and a clear image is displayed on the human-computer interaction target recognition module 300, allowing the operator to observe the target in real time.
  • the condition inside the punctured tissue The human-computer interaction target recognition module 300 is mainly used for the doctor to mark the puncture target point and the straight line where the needle insertion trajectory is located on the computer screen.
  • the biliary tract and other surrounding blood vessels appear as black cavity structures on ultrasound images, and the flow of fluid in the biliary tract is very slow compared to the blood flow in the blood vessels. Therefore, on the Doppler image, the biliary tract will still appear black, while the surrounding The vascular structure will appear red or blue, and doctors can identify the biliary tract.
  • Step 3 The ultrasonic probe 5 scans within a cuboid region containing the target point, moves at a fixed speed, and scans while moving.
  • the image acquisition module 200 collects the ultrasonic image of the region of interest, and records the position of the end of the robotic arm 800 at the same time, so as to establish a one-to-one correspondence between the ultrasonic image level and the spatial position.
  • the robotic arm 800 controls the ultrasonic probe 5 to scan in a fixed direction close to the skin until the boundary of the region of interest.
  • Step 4 After the scan is completed, the doctor uses the human-computer interaction target recognition function to view the ultrasound image formed by the scan, and selects the ultrasound image that is most consistent with the preoperatively planned puncture level, and defines this imaging plane as the punctured target The level at which it is located is the puncture level.
  • Step 5 Mark the puncture target on the ultrasound image at the puncture level. At this time, it is necessary to confirm whether to use coplanar puncture or non-coplanar puncture; check whether there are barriers such as ribs on the level of the ultrasound image where the puncture target is located; if not For barriers, use coplanar puncture, and if there is a barrier, use non-coplanar puncture.
  • the distribution of ribs and great vessels in the scan level where the punctured target is located can be known. If there are no ribs and large blood vessels at the puncture level, coplanar puncture can be performed;
  • Step 1 If there is no barrier at the puncture level, the point on the body surface closest to the puncture target is the needle entry point; among them, the line connecting the needle entry point and the target point is the needle entry trajectory.
  • Step 2 The collision detection module 400 detects the safety of the needle insertion trajectory.
  • the human-computer interaction function of the target recognition module 300 uses the human-computer interaction function of the target recognition module 300 to drag a straight line and define it as the insertion path of the puncture needle. This path is submitted to the collision detection module 400 for collision detection, so as to find out whether the planned puncture path interferes with important blood vessels.
  • the motion control module controls the mechanical arm 800 to move to the corresponding position.
  • the ultrasonic probe 5 is positioned at the puncture level, the left and right sides of the human body are moved in the plane, and a scan is performed to determine whether the needle entry point is safe.
  • Step 3 The state calculation function in the motion planning unit 102 will calculate when the central axis of the puncture needle positioning channel on the end of the mechanical arm 800 is collinear with the planned puncture needle trajectory, the mechanical arm 800 and the mechanical The servo steering gear 7 on the arm 800 needs to rotate the angle, and install the calculated results so that the axis of the puncture needle positioning channel is collinear with the planned needle trajectory.
  • the servo steering gear 7 is controlled by the motion control module.
  • the servo steering gear 7 drives the gear to rotate, and the gear drives the rack 11 to rotate, thereby adjusting the puncture needle positioning channel to the designated position. After the puncture positioning is completed, the doctor holds the puncture needle and starts puncture.
  • Step 4 During the puncture process, if the puncture needle bends, the needle tip and part of the needle body will disappear. While the puncture needle is being inserted, the puncture needle detection module 100 detects or monitors the puncture needle in real time, and segments its shape to calculate the curvature. If the puncture needle bends in the puncture plane, the computer will extract the outline of the puncture needle and prompt the operator in the direction of the puncture needle bend. If the puncture needle bends to the left and right sides of the puncture plane, the motion control module controls the servo motor 3 to rotate and drives the ultrasonic probe 5 to rotate so as to detect the position of the needle tip.
  • the ultrasound image on the display terminal after displaying the ultrasound image on the display terminal to define the ultrasound image in the ultrasound image that is most consistent with the planned image layer as the puncture level, it further includes:
  • the needle insertion positioning channel is adjusted to be collinear with the planned needle insertion trajectory, and the positioning of the needle insertion positioning channel is completed.
  • the present invention can aim at coplanar puncture, but when the puncture level may be obstructed by bony structures, chest wall vessels, internal thoracic vessels or other normal tissue structures, non-coplanar puncture is usually sampled; in addition, due to the limitation of the operator’s experience and techniques , the influence of the patient's soft tissue deformation (passive), the change of the patient's muscle tension (active), and the interference of respiratory movement (active), it is often necessary to use non-coplanar puncture techniques, that is, to determine the cross-section of the human body where the target is located. Finally, select the head-side or foot-side offset, find a suitable needle insertion point, and plan the needle insertion path.
  • the distribution of ribs and great vessels in the scan level where the punctured target is located can be known. If there are barriers such as ribs and large blood vessels at the puncture level, or if the needle insertion trajectory cannot avoid passing through large blood vessels, non-coplanar puncture is used.
  • Step 1 the ultrasonic probe 5 is controlled by the motion control module to move the mechanical arm 800 to the cross section of the human body where the target is selected by the doctor. Afterwards, the center axis of the ultrasonic probe 5 itself is used as the center line of rotation to conduct a rotational scan to determine the walking plane of the puncture needle during non-coplanar puncture.
  • the image acquisition module 200 in the image processing unit acquires ultrasound images in real time, and records the spatial position of the ultrasound images.
  • Step 2 display in the human-computer interaction target recognition module 300 in a three-dimensional graphic mode, and select the target and the puncture level.
  • the selected puncture level is handed over to the motion control module to control the rotation of the servo motor 3 at the end of the mechanical arm 800 to drive the ultrasonic probe 5 to the selected puncture level.
  • Step 3 Select the puncture target point and the trajectory of the puncture needle at the puncture level. It should be noted that, in order to avoid the inaccuracy of the selected needle insertion trajectory, during the real-time imaging of the ultrasonic probe 5, the scanning target (the person to be punctured, or the patient, or the patient) is required to hold his breath, so as to prevent the puncture target from moving due to physiological movement. while moving.
  • the scanning target the person to be punctured, or the patient, or the patient
  • Step 4 The generated needle insertion trajectory will be directly transmitted to the motion control module, and the servo steering gear 7 is controlled to drive the slide rail 12, so that the axis of the needle insertion positioning channel of the puncture needle coincides with the needle insertion trajectory.
  • Step 5 The doctor holds the puncture needle, inserts the puncture needle into the needle positioning channel, and penetrates into the scanning target.
  • Step 6 If the puncture needle is bent in or out of the ultrasonic plane, then refer to the detection of coplanar puncture, and the puncture needle detection module 100 detects the position of the needle tip.
  • the needle positioning channel after the positioning of the needle positioning channel, it also includes:
  • the puncture and needle insertion operation is performed with the puncture and needle insertion trajectory, which is the needle insertion trajectory after the positioning of the needle insertion positioning channel is completed;
  • the puncturing work is performed after the positioning of the needle insertion positioning channel.
  • the coplanar puncturing work and the non-coplanar puncturing work have been described in detail above, and will not be repeated here.
  • the ultrasound image in the ultrasound image that is most consistent with the planned image layer is defined as the puncture level:
  • Pre-plan a planning image layer for comparison with the puncture slice.
  • the needle positioning channel after completing the positioning of the needle positioning channel, it also includes:
  • the planned needle entry trajectory is detected to determine whether there is an interference object in the planned needle entry trajectory.
  • the safety of the needle insertion trajectory is detected by the collision detection module 400 .
  • use the human-computer interaction function to view the ultrasound image, drag a straight line, and define it as the insertion path of the puncture needle.
  • This path is submitted to the motion planning module for collision detection, so as to find out whether there is interference with important blood vessels in the planned puncture path.
  • a robot puncture positioning device for biliary tract puncture including: manipulator, image acquisition module 200, target recognition module 300, collision detection module 400, state calculation Module 500 and motion control module;
  • the motion control module is used to control the movement of the manipulator with six degrees of freedom, and controls the manipulator to scan the scanning target based on receiving the scanning request, and the scanning request carries at least a scanning signal;
  • the image acquisition module 200 is configured to acquire an ultrasonic image during scanning based on the scanning signal, and establish a one-to-one correspondence between the ultrasonic image and the spatial position when the ultrasonic image is acquired;
  • the target recognition module 300 is configured to transmit the ultrasound image to the display terminal for display, so as to define the ultrasound image in the ultrasound image that is most consistent with the planned image layer as the puncture level;
  • the state calculation module 500 is used to calculate the position information that the needle insertion positioning channel needs to move when the needle insertion positioning channel is not collinear with the planned needle insertion trajectory, and adjust the needle insertion positioning channel to be in line with the planned needle insertion trajectory based on the position information. line to complete the positioning of the needle positioning channel; wherein, the planned needle trajectory is selected from the puncture level;
  • the manipulator is used for scanning the scanning target and performing puncture work, so that the image processing module collects ultrasonic images through scanning.
  • the robot puncture positioning method and device for biliary tract puncture in the embodiment of the present invention includes: receiving a scanning request, scanning the scanning target; acquiring an ultrasonic image during scanning, and comparing the ultrasonic image with the spatial position when the ultrasonic image is acquired Establish a one-to-one correspondence relationship; define the ultrasound image in the ultrasound image that is most consistent with the planned image layer as the puncture level; if there is no barrier on the puncture level, use the closest point between the scanning target and the puncture target point as the needle entry point, The line connecting the needle entry point and the puncture target point is the planned needle entry trajectory; then, when the needle entry positioning channel is not collinear with the planned needle entry trajectory, adjust the needle entry positioning channel to the planned needle entry trajectory Collinear to complete the positioning of the needle positioning channel.
  • the invention is used for the positioning of the puncture channel, improves the precision of the puncture positioning, and reduces the number of needle punctures.
  • this application can realize multi-degree-of-freedom ultrasonic scanning and real-time positioning.
  • the ultrasonic probe 5 and the puncture positioning device can rotate independently to realize non-coplanar puncture. surface puncture, and if the puncture needle is bent out of plane, the ultrasonic probe 5 can move independently and detect the position of the puncture needle tip, thereby more accurately evaluating the relative position of the puncture needle tip and the puncture target; the present invention also increases
  • the image processing unit and the collision detection function can be used to provide doctors with multiple decision-making information in the process of determining the lesion and locating the puncture channel, improving the positioning accuracy and reducing the number of needle punctures.
  • the biliary tract puncture positioning device mainly includes an image processing unit, a motion planning unit, and a motion control module; the mechanical structure part mainly includes: a six-degree-of-freedom mechanical arm 800, a six-degree-of-freedom main control end, a rotating motor, Needle-entry angle adjustment mechanism, ultrasonic probe clamping mechanism, needle-entry positioning channel of puncture needle.
  • the image processing unit includes an ultrasonic image acquisition module 200, a human-computer interaction target recognition module 300 and a puncture needle detection module 100.
  • Image acquisition module 200 mainly used to acquire intraoperative ultrasound images, and allow the operator to observe the situation inside the punctured tissue in real time;
  • Target recognition module 300 mainly used for marking the target point to be punctured and the straight line where the needle insertion trajectory is located on the computer screen.
  • the biliary tract and other surrounding blood vessels appear as black cavity structures on ultrasound images, and the flow of fluid in the biliary tract is very slow compared to the blood flow in the blood vessels. Therefore, on the Doppler image, the biliary tract will still appear black, while the surrounding The vascular structure will appear red or blue so doctors can identify the biliary tract.
  • the motion planning unit includes a collision detection module 400 and a puncture needle state calculation module 500 .
  • Collision detection module 400 mainly used to detect whether there is interference between the planned needle insertion trajectory and vital organs;
  • State calculation module 500 mainly used to adjust the posture of the puncture needle so that it can be collinear with the planned straight line of the needle insertion trajectory.
  • the motion control module mainly includes a robotic arm control sub-module 600 and a motor control sub-module.
  • Robotic arm control sub-module 600 mainly controls the movement of the mechanical arm 800 and the ultrasonic probe 5 mounted on it in different directions in space, realizes stable contact between the ultrasonic probe 5 and the patient's skin, and enables the ultrasonic probe 5 to scan the target , in order to obtain a stable ultrasound image;
  • Motor control sub-module mainly used to control the movement of the servo motor 3 and the servo steering gear 7 installed on the probe positioning mechanism 900 at the end of the mechanical arm 800, and move the puncture needle positioning channel to a predetermined position, so that the doctor can use the The puncture needle accurately penetrates the human body along the puncture needle positioning channel.
  • the manipulator is installed on the mobile machine platform, and is mainly responsible for fixing the whole mechanism relative to the ground.
  • the six-degree-of-freedom robotic arm 800 is connected to the mobile platform, and the doctor remotely controls the robotic arm 800 by manipulating the mobile platform device, so as to move the ultrasound probe 5 above the scanning target disease.
  • the servo motor 3 is responsible for rotating the ultrasonic probe clamping device directly connected with it, so as to realize the rotation of the ultrasonic scanning surface.
  • the probe positioning mechanism 900 on the six-degree-of-freedom robotic arm 800 can spin around its central axis.
  • the servo motor 3 does not rotate, so that the ultrasonic probe 5 and the probe positioning mechanism 900 rotate together with the rotary joint at the end of the mechanical arm 800 to ensure that the scanning plane of the ultrasonic probe 5 and the needle insertion positioning channel of the puncture needle are located be consistent.
  • the probe positioning mechanism 900 at the end of the mechanical arm 800 rotates around its own axis, so that the walking plane of the puncture needle positioning channel rotates to achieve the purpose of changing the puncture path.
  • the servo motor 3 rotates in the opposite direction, so as to keep the ultrasonic probe 5 still relative to the scanning target.
  • the needle insertion angle adjustment mechanism of the puncture needle is used for adjusting the angle at which the puncture needle penetrates into the human body.
  • the ultrasonic probe 5 clamping mechanism is used to fix the ultrasonic probe 5 at the end of the mechanical arm 800 .
  • the puncture needle insertion positioning channel is used to ensure that the extension line of the puncture needle is on the same straight line as the planned puncture needle insertion trajectory.
  • the device also includes:
  • the puncture needle detection module 100 is used to monitor the working state of the puncture needle on the puncture needle trajectory in real time, and monitor the position of the needle head of the puncture needle when the puncture needle bends.
  • the puncture needle detection module 100 detects or monitors the puncture needle in real time, and segments its shape to calculate the curvature. If the puncture needle bends in the puncture plane, the computer will extract the outline of the puncture needle and prompt the operator in the direction of the puncture needle bend. If the puncture needle bends to the left and right sides of the puncture plane, the motion control module controls the servo motor 3 to rotate and drives the ultrasonic probe 5 to rotate so as to detect the position of the needle tip.
  • the manipulator includes a manipulator 800 and a probe positioning mechanism 900 installed on the manipulator 800 .
  • the movement of the mechanical arm 800 is controlled by the mechanical control sub-module to move the probe positioning mechanism 900 at the end of the mechanical arm 800 to a specified position in space for scanning and puncturing.
  • the probe positioning mechanism 900 includes a needle angle adjustment mechanism and a first flange 1, a second flange 2, a servo motor 3, a probe holder 4, and an ultrasonic probe 5 connected in sequence;
  • the first flange 1 is rotatably connected to the mechanical arm 800, and the first flange 1 is fixedly connected with a needle insertion angle adjustment mechanism;
  • the first flange 1 and the second flange 2 are rotatably connected to each other.
  • the probe positioning mechanism 900 mainly includes a servo motor 3, a probe fixing bracket, a servo steering gear 7, a rack and pinion 11 movement mechanism composed of a steering gear 8 and a rack 11, and a positioning sheath composed of a needle guide 13 and a guide frame.
  • the puncture probe positioning mechanism 900 is compatible with ultrasound medical image information; wherein, the probe fixing bracket is used to fix the ultrasound probe 5; while completing the ultrasound scan, the human-computer interaction target recognition module 300 of the robot visualization completes the scan according to the scan result Target positioning, providing puncture path planning information, determining the puncture point and needle insertion angle, and then the probe positioning mechanism 900 completes the pose adjustment, and establishes an extracorporeal channel for needle insertion from the needle positioning channel.
  • the problem of multiple and repeated needle insertion improves the accuracy of puncture.
  • the needle insertion angle adjustment mechanism includes a steering gear fixing part 6, a servo steering gear 7, a steering gear 8, a slider 10, a fixing part 9, a slider 10, a rack 11, a slide rail 12 and a needle guide 13;
  • the steering gear fixing part 6 is connected with the first flange 1, the servo steering gear 7 is installed on the steering gear fixing part 6, and the steering gear 8 is installed on the servo steering gear 7;
  • the slide block 10 is connected with the steering gear fixing part 6, and the slide rail 12 is connected with the slide block 10, and steel balls are arranged in the slide block 10, so that the slide block 10 moves in the slide rail 12;
  • the rack 11 is installed on the slide rail 12, the steering gear 8 meshes with the rack 11, the servo motor 3 drives the steering gear 8 to rotate, and the steering gear 8 drives the rack 11 to move;
  • the needle guide 13 is installed on the rack 11 , and the needle guide 13 is driven by the movement of the rack 11 to adjust the angle of the needle guide 13 .
  • the needle insertion angle adjustment mechanism further includes a guide frame 14 , the guide frame 14 is mounted on the rack 11 , and the needle guide 13 is detachably mounted on the guide frame 14 .
  • the probe positioning mechanism 900 and the steering gear fixing part 6 are connected to the mechanical arm 800 through the first flange 1; wherein, the first flange 1 and the end of the mechanical arm 800 are connected by threaded bolts, and the first flange
  • the disc 1 is rigidly connected to the steering gear fixing part 6, and this connection enables the entire needle insertion angle adjustment mechanism to rotate 360 degrees with the end of the mechanical arm 800, realizing multi-plane non-coplanar puncture.
  • the second flange 2 connects the first flange 1 and the servo motor 3 through threaded bolts, and then indirectly connects the servo motor 3 to the rotary joint at the end of the mechanical arm 800; the probe fixing bracket is connected to the servo motor 3 through threaded bolts, and the ultrasonic probe 5 Rigidly fixed on the probe fixed bracket.
  • the servo motor 3 can offset the rotational movement in the opposite direction to ensure that the scanning plane of the ultrasonic probe 5 remains unchanged.
  • the servo steering gear 7 is rigidly fixed in the steering gear fixing part 6, the steering gear 8 is connected to the servo steering gear 7, and is driven by the servo steering gear 7;
  • the slider 10 is connected with the steering gear fixing part 6 Rigidly connected by threaded bolts, the slide rail 12 is non-rigidly connected to the slide block 10.
  • There is a ball structure in the slide block 10 so that the slide rail 12 and the slide block 10 can move relative to each other, while the rack 11 is rigidly fixed on the slide rail 12;
  • the rack and pinion 11 kinematic pair can be driven by the servo steering gear 7 to realize the movement of the rack 11 and the slide rail 12;
  • the needle guide 13 is connected to the guide frame 14 by a detachable pin connection, and the guide frame 14 is rigidly fixed on the rack 11. When the motion pair of the rack and pinion 11 moves, the needle guide 13 can complete the needle insertion.
  • Channel angle adjustment the angle adjustment range is 0°-90°.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

Procédé et appareil de positionnement de perforation robot pour la perforation des voies biliaires. Le procédé comprend : la réception d'une requête de balayage, et le balayage d'une cible de balayage ; l'acquisition d'images ultrasonores durant le balayage, et l'établissement d'une correspondance une par une entre les images ultrasonores et les positions spatiales auxquelles les images ultrasonores sont acquises ; la définition d'une image ultrasonore parmi les images ultrasonores qui correspondent le mieux à une couche d'image planifiée comme niveau de perforation ; si aucune barrière n'est présente sur le niveau de perforation, l'utilisation d'un point au niveau duquel la distance entre la cible de balayage et un point cible de perforation est la plus courte comme point d'entrée d'aiguille, et une ligne reliant le point d'entrée d'aiguille et le point cible de perforation étant une trajectoire d'entrée d'aiguille planifiée ; ensuite, lorsqu'un canal de positionnement d'entrée d'aiguille est non colinéaire avec la trajectoire d'entrée d'aiguille planifiée, l'ajustement du canal de positionnement d'entrée d'aiguille pour être colinéaire avec la trajectoire d'entrée d'aiguille planifiée, afin d'achever le positionnement du canal de positionnement d'entrée d'aiguille. Le procédé et l'appareil de positionnement de perforation robot pour la perforation des voies biliaires sont utilisés pour le positionnement d'un canal de perforation, et la précision du positionnement de perforation est améliorée afin de réduire le nombre de fois de l'enfilage d'aiguille.
PCT/CN2021/113314 2021-08-18 2021-08-18 Procédé et appareil de positionnement de perforation robot pour la perforation des voies biliaires Ceased WO2023019479A1 (fr)

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PCT/CN2021/113314 WO2023019479A1 (fr) 2021-08-18 2021-08-18 Procédé et appareil de positionnement de perforation robot pour la perforation des voies biliaires

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CN116570351A (zh) * 2023-05-26 2023-08-11 吉林大学 超声引导下甲状腺穿刺活检机器人
CN116725640A (zh) * 2023-06-20 2023-09-12 山东卓业医疗科技有限公司 一种身体穿刺打印模板的构建方法
CN118436413A (zh) * 2024-06-03 2024-08-06 南京大学 一种可视化的腺体注射系统
CN118750315A (zh) * 2024-07-24 2024-10-11 中南大学湘雅医院 一种儿童肾脏穿刺固定装置
CN119055330A (zh) * 2024-08-28 2024-12-03 吉林大学第一医院 超声引导下的智能穿刺路径规划方法及其系统
CN119732748A (zh) * 2024-11-22 2025-04-01 中欧智薇(上海)机器人有限公司 用于骨科穿刺的机器人定位方法、电子设备及存储介质
CN120067894A (zh) * 2025-04-27 2025-05-30 天津医科大学总医院 一种基于融合深度学习网络的肺癌类型预测方法及系统

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CN116570351A (zh) * 2023-05-26 2023-08-11 吉林大学 超声引导下甲状腺穿刺活检机器人
CN116725640A (zh) * 2023-06-20 2023-09-12 山东卓业医疗科技有限公司 一种身体穿刺打印模板的构建方法
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CN119055330A (zh) * 2024-08-28 2024-12-03 吉林大学第一医院 超声引导下的智能穿刺路径规划方法及其系统
CN119732748A (zh) * 2024-11-22 2025-04-01 中欧智薇(上海)机器人有限公司 用于骨科穿刺的机器人定位方法、电子设备及存储介质
CN120067894A (zh) * 2025-04-27 2025-05-30 天津医科大学总医院 一种基于融合深度学习网络的肺癌类型预测方法及系统

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