WO2024140437A1 - System and apparatus for surgical robot - Google Patents

Abstract

The present application provides a system and apparatus for a surgical robot. The system comprises: a main end device, a slave end device, and an interventional instrument. The main end device comprises: an image processing host and a main end controller. The image processing host generates first motion data on the basis of real-time data of an associated path node where an initial planning path and an initial operation node are located. The main end controller is configured for determining whether second motion data acquired in a preset time period exists or not, and if yes, the main end controller configures weights of the first motion data and the second motion data to generate an execution instruction, and sends the execution instruction to a slave end controller. By means of the surgical robot of the present invention, full-automatic or semi-automatic control can be achieved for the interventional instrument, the technical problems existing in the prior art that requirements for an operation doctor are high, errors are likely to occur, and the possibility of operation failure is high are avoided, such that the technical effects of accurately controlling the interventional instrument, reducing injury of an operation to a patient, and improving an operation success rate are achieved.

Description

Systems and devices for surgical robots Technical Field

The present application relates to a system and device of a robot, and in particular to a system and device of a surgical robot.

Background technique

During vascular intervention surgery, depending on the purpose of the surgery, it may be necessary to use a variety of instruments and enter and exit the human blood vessels multiple times. Existing technologies generally rely on doctors' strong perception, operation, judgment and reaction abilities.

Summary of the invention

The embodiments of the present application provide a system and device for a surgical robot to solve the problems existing in the related technologies. The technical solutions are as follows:

In a first aspect, an embodiment of the present application provides a robot system, including: a master device, a slave device, and an interventional instrument;

The host device includes: an image processing host and a host controller;

The image processing host is used to obtain an initial operation node determined according to an initial planned path; and generate first motion data based on the initial planned path and real-time data of an associated path node where the initial operation node is located;

The master controller is used to determine whether there is second motion data acquired within a preset time period. If so, the master controller configures the weights of the first motion data and the second motion data, generates an execution instruction, and sends the execution instruction to the slave controller;

The slave controller is used to receive execution instructions and control the interventional device to complete the execution instructions;

The image processing host is further used to receive information that the execution instruction is completed and the next operation node is reached, and the instruction of the next operation node is used as a new initial operation node. The host controller cyclically executes the step of generating the execution instruction until the interventional device completes the execution instruction of the target operation node; wherein the starting point of the initial planned path is the initial operation node, and the end point of the initial planned path is the target operation node;

The slave device is used to obtain real-time data of the path and use the interventional device to perform The execution instruction issued by the master controller.

Optionally, the image processing host is used to generate the first motion data based on the initial planned path and the real-time data of the associated path node where the initial operation node is located, comprising: obtaining the actual position and speed of the initial operation node; referring to the initial planned path, and using the actual position and speed to generate the first motion data of the next operation node; wherein the first motion data includes at least: the position change and acceleration change of the next operation node.

Optionally, the image processing host is used to generate a step of a posture change of a next operation node, comprising: determining a posture deviation of the initial operation node based on an actual posture of the initial operation node and the initial planned path; determining a posture of the next operation node based on a speed of the initial operation node and the initial planned path; and generating a posture change of the next operation node based on the posture deviation of the initial operation node and the posture of the next operation node.

Optionally, the image processing host is used to generate the acceleration change of the next operation node, including: calculating the expected travel speed of each section according to the initial planned path and the path conditions of each section; generating an acceleration variable according to the speed of the initial operation node and the expected travel speed of the section where the next operation node is located.

Optionally, based on the initial planned path and the real-time data of the associated path node where the initial operation node is located, the first motion data is generated, including: obtaining the actual position, speed, and tissue boundary of the initial operation node; inputting the initial planned path and the actual position, speed, and tissue boundary of the initial operation node into a pre-trained trajectory decision neural network to generate the first motion data; the first motion data includes: the position change and acceleration change of the next operation node.

In the second aspect, the embodiment of the present application provides a device corresponding to the system of the robot. The device includes: a master device, a slave device, and an interventional instrument; the master device includes: an input control component, and the image processing host obtains the second motion data through the input control component; the slave device includes: a track substrate, and a functional module; the functional module is detachably mounted on the track substrate; the functional module is used to realize at least one interventional instrument to realize independent or compound actions of straight line, twisting, and bending control; the interventional instrument includes: a docking handle and a catheter; the docking handle is located at the distal end of the catheter, and is used to transfer energy to the head end of the catheter according to the control of the functional module to control the movement direction and movement speed of the catheter head end.

The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will be readily apparent by reference to the accompanying drawings and the following detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

FIG1 shows a structural diagram of a surgical robot system according to an embodiment of the present invention;

FIG2 shows a logic block diagram of a posture change amount and an acceleration change amount according to an embodiment of the present application;

FIG3 shows a logic block diagram of a posture change amount and an acceleration change amount according to another embodiment of the present application;

FIG. 4 shows a structural block diagram of a surgical robot server according to an embodiment of the present invention.

Detailed ways

In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

The terms "first", "second", "third", etc. are only used for distinguishing descriptions and do not indicate the order of arrangement, nor can they be understood as indicating or implying relative importance.

In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "up", "down", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the products of the present application are usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

In the description of this application, unless otherwise clearly specified and limited, the terms "setting", "installation", “Connected” and “connected” should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements.

The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings.

Fig. 1 shows a structural diagram of a surgical robot system according to an embodiment of the present invention. As shown in Fig. 1, the surgical robot system includes: a master device 100, a slave device 200, and an interventional instrument (not shown in Fig. 1).

Specifically, the host device 100 includes: an image processing host and a host controller. The image processing host and the host controller are both located in the host device 100 and are not shown in FIG. 1 .

The image processing host obtains the initial operation node determined according to the initial planning path. The initial operation node here refers to the first node where the interventional device enters the human body. In actual application, the initial operation node of the interventional device needs to be determined according to the location of the patient's disease, for example, entering the blood vessel through the thigh vein (or artery) and finally reaching the human heart to achieve treatment.

Based on the real-time data of the associated path node where the initial planned path and the initial operation node are located, the first motion data is generated; it is determined whether there is second motion data obtained within a preset time period, and if so, the main end controller configures the weights of the first motion data and the second motion data, and generates an execution instruction. The first motion data here refers to the data planned by the system based on the existing data, and the second motion data refers to the data obtained by the doctor controlling the input control component. In other words, the system protected by this patent can autonomously realize fully automatic control of the movement of interventional instruments, and can also realize semi-automatic control of the movement of interventional instruments.

When the master device generates an execution instruction, it transmits the execution instruction to the slave device, which controls the interventional device to perform the corresponding operation. Therefore, the master device needs to send the execution instruction to the slave controller; the slave controller receives the execution instruction and controls the interventional device to complete the execution instruction.

In practical applications, the actual situation of the interventional device can be obtained through sensors installed on the interventional device (such as ultrasonic sensors) or real-time image data (such as DSA image data). When the image processing host receives information that the interventional device has completed the execution instruction and reached the next operation node, the instruction of the next operation node is used as the new initial operation node, and the host controller loops through the steps of generating the execution instruction. Until the interventional device completes the execution instruction of the target operation node, that is, each time a new operation node is reached, the required motion data for executing the next operation node is planned.

The starting point of the initial planning path is the initial operation node, that is, the initial position of the intervention human body; the end point of the initial planning path is the target operation node, that is, the diseased position of the patient.

The slave device is used to obtain real-time data of the path where it is located, and use the interventional instrument to execute the execution instruction issued by the master controller.

When the master device generates the overall control instructions for the interventional instrument, the master control instructions need to be transmitted to the slave device, and the slave device disassembles the overall control instructions, and one or more components of the slave execute the corresponding disassembled instructions.

Specifically, the slave device further includes: a slave controller and a slave driving device;

The slave controller is used to disassemble the master device to issue an execution instruction and generate a disassembly instruction;

The slave-end driving device is used to drive various components of the slave end to perform different actions according to the disassembly instruction of the slave-end controller, so as to jointly achieve the purpose of driving the interventional instrument to move.

The process of controlling the movement of interventional instruments in the human body during surgery mainly includes: controlling the interventional instruments according to the pre-made map data/real-time image data combined with the deformation field and the initial planned path. Among them, the pre-made map data/real-time image data provide the coordinate system, and the deformation field provides the correspondence between the coordinate systems. The interventional instrument needs to move in the human body along the initial planned path. When the interventional instrument deviates from the initial path planning, the execution route of the interventional instrument needs to be corrected.

Specifically, based on the real-time data of the associated path node where the initial planned path and the initial operation node are located, the first motion data is generated, including: obtaining the actual position and speed of the initial operation node; referring to the initial planned path, using the actual position and speed, generating the first motion data of the next operation node; the first motion data includes: the position change and acceleration change of the next operation node. That is, at each position, the speed and acceleration that need to be reached at the next position are calculated, and then the interventional device is controlled to perform the corresponding operation.

The posture refers to the position and posture of the interventional instrument. The posture achieved according to the needs of the interventional instrument can be used to control the position change process of the interventional instrument during the movement process. That is, the state change process of the interventional instrument during the movement process is determined by the actual posture at the current moment and the posture at the next position.

In fact, the process of generating motion data is a cyclic process. When the motion data of the next operation node is executed according to the situation of the current operation node.

Motion data mainly includes two parts: position-based motion instructions and speed-based motion instructions. Among them, motion instructions can include forward/backward, rotation, bending control and other operations; speed-based motion instructions are equivalent to motion instruction parameters that can include distance, speed, acceleration, etc. By splitting the motion data into various mechanical modules, the purpose of the driver driving the interventional device to move can be achieved.

FIG. 2 shows a logic block diagram of posture change and acceleration change according to an embodiment of the present application.

As shown in Figure 2, since the target posture and speed corresponding to each operation node will affect the movement direction of the subsequent operation node, it is necessary to correct the path of each operation node according to the initial planned path. Specifically, the step of generating the posture change amount of the next operation node with correction function includes:

Determining a posture deviation of the initial operation node according to an actual posture of the initial operation node and the initial planned path;

Determining the position and posture of the next operation node according to the speed of the initial operation node and the initial planned path;

According to the posture deviation of the initial operation node and the posture of the next operation node, a posture change amount of the next operation node is generated.

Since the actual execution of the interventional device may be different from the initially planned path, it is necessary to correct the actual execution based on the initially planned path. Through correction, the execution process of the interventional device does not deviate from the planned direction, avoiding the need to return due to the interventional device entering the wrong path, which brings unnecessary risks to the patient.

Referring to FIG. 2 , specifically, the image processing host, the step of generating the acceleration change amount of the next operation node, comprises:

According to the initial planned path and the path conditions of each section, the estimated speed of each section is calculated; according to the speed of the initial operation node and the estimated speed of the section where the next operation node is located, an acceleration variable is generated. The acceleration variation of this application includes acceleration and deceleration variation.

FIG3 shows a logic block diagram of posture change and acceleration change according to another embodiment of the present application.

As shown in FIG. 3 , in another optional embodiment of the present application, the motion state of the next operation node may also be determined according to the trajectory decision neural network.

Specifically, based on the initial planned path and the real-time associated path nodes where the initial operation node is located Data, generating first motion data, including:

Obtaining the actual position, velocity, and tissue boundary (such as a blood vessel wall, a heart chamber, etc.) of the initial operation node;

Inputting the initial planned path and the actual position, speed, and tissue boundary of the initial operation node into a pre-trained trajectory decision neural network to generate first motion data;

The first motion data includes: a change in position and an change in acceleration of the next operation node.

Since the movement of the interventional device is performed in three-dimensional space, the position of the interventional device (such as its orientation and location in the human body) is one of the factors that determine the motion data of the next operation node. The tissue boundary refers to the inner surface of the cavity, such as the inner wall of the blood vessel and the chamber of the heart.

By controlling the position and acceleration changes of the interventional instrument, the interventional instrument can be prevented from scratching/puncturing the tissue boundary and causing damage to the tissue.

The device of the surgical robot includes a master device 100, a slave device 200, and an interventional instrument (not shown in FIG. 4 ). The device includes: a master device, a slave device, and an interventional instrument. The master device refers to one end of the device operated by the doctor. Through the doctor's control of the master device, the technical problems of the prior art that the doctor needs to control the interventional device for a long time, which has high requirements for the surgeon, is prone to mistakes, and has a high probability of surgical failure, are avoided, thereby achieving the technical effect of accurately controlling the interventional instrument, reducing the harm of the operation to the patient, and improving the success rate of the operation.

The host device 100 further includes: an input control component 110, through which the image processing host obtains the second motion data; wherein the input control component 110 includes at least one of the following: an operating handle 111, a touch screen 113, a foot pedal 112, and a button 114;

The slave device 200 further includes: a track substrate 210, and a functional module 220; the functional module 220 is detachably mounted on the track substrate 210; the functional module 220 is used to enable at least one interventional instrument to achieve independent or combined actions of straight line, twisting, and bending control;

The interventional instrument comprises: a docking handle and a catheter; the docking handle is located at the distal end of the catheter and is used to transmit energy to the head end of the catheter according to the control of the functional module to control the movement direction and movement speed of the catheter head end.

The functions of the modules in the devices in the embodiments of the present invention can be found in the corresponding descriptions of the above methods, which will not be described in detail here.

FIG4 shows a block diagram of a surgical robot server according to an embodiment of the present invention. As shown in FIG4 , the surgical robot server includes: a memory 410 and a processor 420, wherein the memory 410 stores a computer program that can be run on the processor 420. When the processor 4420 executes the computer program, the control operation in the above-mentioned embodiment is implemented. The number of the memory 410 and the processor 420 can be one or more.

The surgical robot server also includes: a communication interface 430, which is used to communicate with external devices and perform data exchange transmission.

If the memory 410, the processor 420 and the communication interface 430 are implemented independently, the memory 410, the processor 420 and the communication interface 430 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in FIG4, but it does not mean that there is only one bus or one type of bus.

Optionally, in a specific implementation, if the memory 410, the processor 420 and the communication interface 430 are integrated on a chip, the memory 410, the processor 420 and the communication interface 430 can communicate with each other through an internal interface.

An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which implements the method provided in the embodiment of the present application when the program is executed by a processor.

An embodiment of the present application also provides a chip, which includes a processor for calling and executing instructions stored in the memory from the memory, so that a communication device equipped with the chip executes the method provided by the embodiment of the present application.

An embodiment of the present application also provides a chip, including: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the method provided in the embodiment of the application.

It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processing (DSP), or a processor. The general purpose processor may be a microprocessor or any conventional processor. It is worth noting that the processor may be a processor supporting the advanced RISC machines (ARM) architecture.

Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means the specific features described in conjunction with the embodiment or example. The structure, material or feature is included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or features described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without contradicting each other.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

Any process or method description in the flow chart or otherwise described herein can be understood to represent a module, fragment or portion of a code including one or more executable instructions for implementing the steps of a specific logical function or process. And the scope of the preferred embodiment of the present application includes other implementations, in which the functions may not be performed in the order shown or discussed, including in a substantially simultaneous manner or in a reverse order according to the functions involved.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

It should be understood that the various parts of the present application can be implemented with hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented with software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the above embodiment method can be completed by instructing the relevant hardware through a program, which can be stored in a computer-readable storage medium, and when the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The storage medium may be Read-only memory, magnetic or optical disk, etc.

The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (6)

A surgical robot system, characterized in that it comprises: a master device, a slave device, and an interventional instrument; The host device includes: an image processing host and a host controller; The image processing host is used to obtain an initial operation node determined according to an initial planned path; and generate first motion data based on the initial planned path and real-time data of an associated path node where the initial operation node is located; The master controller is used to determine whether there is second motion data acquired within a preset time period. If so, the master controller configures the weights of the first motion data and the second motion data, generates an execution instruction, and sends the execution instruction to the slave controller; The slave controller is used to receive execution instructions and control the interventional device to complete the execution instructions; The image processing host is further used to receive information that the execution instruction is completed and the next operation node is reached, and the instruction of the next operation node is used as a new initial operation node. The host controller cyclically executes the step of generating the execution instruction until the interventional device completes the execution instruction of the target operation node; wherein the starting point of the initial planned path is the initial operation node, and the end point of the initial planned path is the target operation node; The slave device is used to obtain real-time data of the path where it is located, and use the interventional instrument to execute the execution instruction issued by the master controller. The system according to claim 1, characterized in that the image processing host is used to generate the first motion data based on the real-time data of the associated path node where the initial planned path and the initial operation node are located, comprising: Obtaining the actual position and speed of the initial operation node; Referring to the initial planned path, and using the actual position and speed, generating first motion data of a next operation node; The first motion data includes at least: a change in position and an change in acceleration of the next operation node. The system according to claim 2, characterized in that the image processing host is used to generate a posture change amount of the next operation node, comprising: Determining a posture deviation of the initial operation node according to an actual posture of the initial operation node and the initial planned path; Determining the position and posture of the next operation node according to the speed of the initial operation node and the initial planned path; According to the posture deviation of the initial operation node and the posture of the next operation node, a posture change amount of the next operation node is generated. The system according to claim 2, characterized in that the image processing host is used to generate the acceleration change of the next operation node, comprising: Calculate the estimated speed of each road section according to the initial planned path and the path conditions of each road section; An acceleration variable is generated according to the speed of the initial operation node and the estimated travel speed of the road section where the next operation node is located. The system according to claim 2, characterized in that the first motion data is generated based on the initial planned path and the real-time data of the associated path node where the initial operation node is located, comprising: Obtaining the actual position, velocity, and tissue boundary of the initial operation node; Inputting the initial planned path and the actual position, speed, and tissue boundary of the initial operation node into a pre-trained trajectory decision neural network to generate first motion data; The first motion data includes: a change in position and an change in acceleration of the next operation node. The device corresponding to the system of the surgical robot is characterized by comprising: a master device, a slave device, and an interventional instrument; The host device comprises: an input control component, through which the image processing host obtains the second motion data; The slave device comprises: a track substrate and a functional module; the functional module is detachably mounted on the track substrate; the functional module is used to realize independent or compound actions of straight line, twisting and bending control of at least one interventional instrument; The interventional instrument comprises: a docking handle and a catheter; the docking handle is located at the distal end of the catheter and is used to transmit energy to the head end of the catheter according to the control of the functional module to control the movement direction and movement speed of the catheter head end.