CN109481019A - Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control - Google Patents
Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control Download PDFInfo
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- 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
- A61B34/30—Surgical robots
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The present invention relates to craniomaxillofacial surgery robot fields, the specially craniomaxillofacial surgery robot system based on optical guidance and force-feedback control, the craniomaxillofacial surgery robot system based on optical guidance and force-feedback control, using optical navigation system, can real-time and precise positioning, improve the reliability of system, also force feedback system is utilized, operation can be intervened at any time according to the mechanical information in art area, surgeon, improve the ease for use and controllability of system.And by the experiment operation of specific craniomaxillofacial surgery, test machine people assists the feasibility of operation.And from now on, this craniomaxillofacial surgery robot system will be tested by clinical multicenter and its stability and safety are verified in clinical test, to enter industrialization, be allowed to extend to clinical application.
Description
Technical field
The present invention relates to craniomaxillofacial surgery robot fields, specially the cranium jaw face based on optical guidance and force-feedback control
Surgical robot systems.
Background technique
The field of craniomaxillofacial surgery includes neurosurgery, Oral and Maxillofacial Surgery, ophthalmology, ear-nose-throat department, Head and neck tumour, whole
Numerous subject crossings such as shape surgery, common treatment have Excision of Malignant Tumors, compound injury, reconstructive therapy of deformity etc..By
It is complicated in adjoining cranium brain, anatomical structure, and Treatment need and appearance are closely related, it is necessary to accurate art is completed with minimally invasive
Middle operation.Predictive simulation, operation execute precision and operational stability etc. and can no longer meet traditional technology method in the preoperative
Treatment need and career development then considerably increase the generation of complication for it reluctantly.
Early 20th century begins, and digitlization surgical technic is constantly applied to surgical field, including medical image processing, Three-dimensional Gravity
It builds and visualization technique, computer aided design and manufacture, airmanship, robotic surgical device's technology etc..Wherein surgical machine
People's technology is collection medicine, robotics, biology, mechanics, mechanics, Mechanics of Machinery, materialogy, computer graphics, machine
The novel crossed research field that the subjects such as vision, mathematical analysis are integrated.In recent years, since robot is in safety, spirit
Activity, accuracy and stability etc. have significant advantage, and in order to solve, precision existing for traditional surgery is insufficient, cuts
Mouthful larger, the problems such as radiation is more, operation fatigue, people start to inquire into how robot technology introduced surgical field.
By the intrinsic advantage of the technologies such as robot, sensor, controller, completely new treatment method and system are provided for surgeon,
It solves the above problems, improves surgical effect, i.e., need to research and develop the intelligent surgical robot system of suitable clinical application.Outside nerve
Section, robotic surgical device can successfully swell object progress tissue biopsy, pituitary adenoma resection, tritencepehalon in row intracerebral deep
Room neostomy, intervertebral disc of lumbar vertebra resection etc.；Robotic surgical device is utilized when carrying out full hip-joint, total knee replacement in orthopaedics
Can the bone channel to implantation material prepare；In urogenital surgery, robotic surgical device be widely used for prostatectomy,
Cystectomy, nephrectomy, anastomosis of tube, hysteromyomectomy；In thoracic surgery, using robotic surgical device to morning
Phase patients with lung cancer can successfully carry out pulmonay lobectomy；In department of cardiac surgery, robotic surgical device can successfully complete mitral valve repair
Art and bypass operation of coronary artery[7]；In addition, robotic surgical device is also gradually carried out in ear-nose-throat department.Currently, commercially
Change and obtain FDA certification surgical robot systems have Aesop (AESOP) system, Robodoc system, Zeus (Zeus) system,
Leonardo da Vinci (da Vinci) system, NeuroMate system, Minerva system etc..And at home, Beijing Space aviation university and
Liberation army Navy General Hospital has developed the robot assisted neurosurgery system based on virtual reality cooperatively, and combines in 1997
Celebral operating robot aided positioning system CRAS of the first generation based on 262 industrial robot of Puma is had developed, has successfully carried out and has faced
Bed application, and clinical licensing was achieved in 2005.Hong Kong Chinese University leads in the First operation of development & production in 2004
The model machine of boat mechanical arm, and it is applied to clinic, most common operation in bone surgery is accurately completed, is drilled under navigation monitoring
Screwing.University Of Tianjin successfully developed principal and subordinate's isomery microsurgery robot system " highly skilled man in 2006
(MicroHand) " system realizes the precise manipulation of microsurgery.On the whole, robotic surgical device's technology is outer as digitlization
The hot spot of section's technical field of research, the unit that the country carries out robotic surgical device's research is less, also rests on the experimental stage mostly, passes through
The effort of many years is crossed, only a few studies achievement moves towards industrialization, such as the high orthopedic robot of Phegda orthopedic robot, prestige.
Since small intelligent robot is by realizing accurate, stable three-dimensional space motion, can significantly improve fine
Predictable, accuracy and the minimal invasive of operation, so as to effectively make up the deficiency of traditional surgical approaches, to craniomaxillofacial surgery hand
Art has very important clinical value, and there is no report for Journal of Sex Research at present both at home and abroad.China human mortality is numerous, cranium jaw
The patient of face is increasing, professional, with independent intellectual property rights, meet in order to meet the operation demand of these patients
The craniomaxillofacial surgery robot of national conditions demand seems particularly significant.
In conjunction with early period to the experimental study experience of craniomaxillofacial surgery robot, as surgical environments become closer to really face
Bed application, the ease for use of robotic surgical device, reliability requirement are also gradually increased,
Existing robotic surgical device can be suitable under the auxiliary of optical navigation system according to the surgery planning of preoperative setting
Benefit executes corresponding surgical tasks.
However, surgeon cannot be obtained and surgeon when performing the operation by robotic surgical device from operative region hard and soft tissue
The same or similar operation sense when participating in the cintest of hand, seriously restricts the development of robotic surgical device's technology.Although vision feedback system and
Audio feedback system can help surgeon to deepen the understanding to operative region, can solve surgical machine to a certain extent
The defect of people, but from the angle analysis of enhancing operation operability, can not both substitute force feedback system.Based on force feedback
The research of control model has become the hot issues in robotic surgical device's exploitation, control and application.
Force feedback system is to refer to measure or predict that surgical instrument is applied to the power of patient and passes through force feedback device for power
It is transmitted to the work system of surgeon on hand, composition mainly includes the force snesor of working end, is responsible for detection and acquisition hand
The mechanical information of art region hard and soft tissue and the force feedback device of operating side are responsible for generating power according to the Mechanical Data of working end
Feed back and receive surgical control instruction.Force feedback system can be established between people, robot and virtual environment and be contacted,
The force feedback of virtual emulation is provided to surgeon, improves the safety and operability of robotic surgical device.
Summary of the invention
Present invention solves the technical problem that being to overcome the deficiencies of existing technologies, provide based on optical guidance and force feedback control
The craniomaxillofacial surgery robot system of system.
To achieve the above object, the invention provides the following technical scheme:
Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control, including craniomaxillofacial surgery robot,
The output end of optical navigation system and force feedback system, the output end of the optical navigation system and force feedback system with
The input end signal of craniomaxillofacial surgery robot connects, and the optical navigation system is connect with force feedback system two-way signaling.
Preferably, the craniomaxillofacial surgery robot includes mechanical arm and surgery power system, the optical guidance system
System includes optical orientator, computer workstation, adapter and frame of reference, and the force feedback system includes force feedback device, power
Sensor, signal amplifier and data collecting card.
Preferably, the mechanical arm is seven freedom mechanical arm, and the surgery power system is fixedly mounted on mechanical arm
End, the end that the adapter of the optical navigation system is fixedly mounted on mechanical arm are located at the side of surgery power system, institute
The outer fix of its operative region of surgical target is arranged in the frame of reference for stating optical navigation system.
Preferably, the input end signal of the output end of the force snesor of the force feedback system and its signal amplifier connects
It connects, the output end of the signal amplifier of the force feedback system is connect with the input end signal of its data collecting card.
Preferably, the computer workstation includes visual feedback means, host computer, LAN and slave computer, described upper
The output end of machine and the input end signal of visual feedback means connect, and the host computer is connect with LAN two-way signaling, the LAN
It is connect with slave computer two-way signaling, the output end of the slave computer is connect with mechanical arm signal, the host computer and force feedback device
Two-way signaling connection.
Preferably, the input end signal of the output end of the surgery power system and mechanical arm connects, the optical guidance
The optical orientator of system is dual probe infrared ray position indicator.
Preferably, the adapter is optics adapter.
Preferably, the frame of reference is optical reference frame.
Preferably, the force feedback device of the mechanics feedback system is that six-dimensional force senses control stick.
Preferably, the visual feedback means are display.
It compared with prior art, the beneficial effects of the present invention are: should the cranium jaw face based on optical guidance and force-feedback control
Surgical robot systems, using optical navigation system, can real-time and precise positioning, improve the reliability of system, it is also anti-using power
Feedback system can intervene at any time operation according to the mechanical information in art area, surgeon, improve the ease for use and controllability of system.
And by the experiment operation of specific craniomaxillofacial surgery, test machine people assists the feasibility of operation.And from now on, this craniomaxillofacial surgery
Robot system will be tested by clinical multicenter and its stability and safety are verified in clinical test, to enter industrialization,
It is allowed to extend to clinical application.Using what is be made of components such as optical orientator, computer workstation, adapter and frames of reference
Optical navigation system is oriented to the craniomaxillofacial surgery robot being made of mechanical arm and surgery power system, with convenient
Doctor carries out surgery planning under the guidance of optical navigation system, is located remotely from using infrared ray, realizes to the real-time fixed of target
Position and tracking, guarantee the accuracy of operation, using by force feedback device, force snesor, signal amplifier and data collecting card structure
It is then adopted by signal amplifier and data at force feedback system by force snesor by the three-dimensional mechanical information of operative region
The information of collection is fed back to computer workstation by truck, and is shown by visual feedback means, is observed and is suffered from convenient for doctor
The state of person's operative region, while by computer workstation, collected mechanical information is transmitted to force feedback device, and act on
To doctor's hand, to be communicated to the state of surgical progress, using three-dimensional mechanical information collecting device as force feedback device,
While operative region mechanical information can be conveyed, the mechanical information of doctor's operating force ultramagnifier can be collected, and lead to
It crosses computer and feeds back to mechanical arm, to carry out the control of mechanical arm, realize the adjustment to operation pathway.
Detailed description of the invention
Fig. 1 is the surgical procedure trajectory planning figure of the embodiment of the present invention one；
Fig. 2 is structural schematic diagram of the invention；
Fig. 3 is system flow chart of the invention.
In figure: 1 craniomaxillofacial surgery robot, 2 mechanical arms, 3 surgery power systems, 4 optical orientators, 5 computer operations
It stands, 6 adapters, 7 frames of reference, 8 force feedback devices, 9 force snesors, 10 signal amplifiers, 11 data collecting cards.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution:
Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control, including craniomaxillofacial surgery robot 1,
The output end of optical navigation system and force feedback system, the output end of the optical navigation system and force feedback system with
The input end signal of craniomaxillofacial surgery robot 1 connects, and the optical navigation system is connect with force feedback system two-way signaling.
As a kind of technical optimization scheme of the invention, the craniomaxillofacial surgery robot 1 includes mechanical arm 2 and operation
Dynamical system 3, the optical navigation system include optical orientator 4, computer workstation 5, adapter 6 and frame of reference 7, institute
Stating force feedback system includes force feedback device 8, force snesor 9, signal amplifier 10 and data collecting card 11.
As a kind of technical optimization scheme of the invention, the mechanical arm 2 is seven freedom mechanical arm, the operation power
System 3 is fixedly mounted on the end of mechanical arm 2, and the adapter 6 of the optical navigation system is fixedly mounted on the end of mechanical arm 2
Positioned at the side of surgery power system 3, the outer of surgical target its operative region is arranged in the frame of reference 7 of the optical navigation system
Side position.
As a kind of technical optimization scheme of the invention, the output end of the force snesor 9 of the force feedback system is believed with it
The input end signal connection of number amplifier 10, the output end and its data collecting card of the signal amplifier 10 of the force feedback system
11 input end signal connection.
As a kind of technical optimization scheme of the invention, the computer workstation 5 includes visual feedback means, upper
Machine, LAN and slave computer, the output end of the host computer and the input end signal of visual feedback means connect, the host computer
It is connect with LAN two-way signaling, the LAN is connect with slave computer two-way signaling, the output end and 2 signal of mechanical arm of the slave computer
Connection, the host computer are connect with 8 two-way signaling of force feedback device.
As a kind of technical optimization scheme of the invention, the input of the output end and mechanical arm 2 of the surgery power system 3
End signal connection, the optical orientator 4 of the optical navigation system are dual probe infrared ray position indicator.
As a kind of technical optimization scheme of the invention, the adapter 6 is optics adapter.
As a kind of technical optimization scheme of the invention, the frame of reference 7 is optical reference frame.
As a kind of technical optimization scheme of the invention, the force feedback device 8 of the mechanics feedback system is six-dimensional force sensing
Control stick.
As a kind of technical optimization scheme of the invention, the visual feedback means are display.
Working principle: it is somebody's turn to do the craniomaxillofacial surgery robot system based on optical guidance and force-feedback control, using by optics
The optical navigation system that the components such as position indicator 4, computer workstation 5, adapter 6 and frame of reference 7 are constituted, to by mechanical arm 2
And the craniomaxillofacial surgery robot 1 that surgery power system 3 is constituted is oriented to, to facilitate doctor's drawing in optical navigation system
Lower carry out surgery planning is led, is located remotely from using infrared ray, the real-time positioning and tracking to target is realized, guarantees the accurate of operation
Property, using force feedback system is made of force feedback device 8, force snesor 9, signal amplifier 10 and data collecting card 11, by power
Then the three-dimensional mechanical information of operative region is passed through signal amplifier 10 and data collecting card 11 for collection by sensor 9
Information feeds back to computer workstation, and is shown by visual feedback means, observes patients surgery region convenient for doctor
State, while by computer workstation 5, collected mechanical information is transmitted to force feedback device 8, and act on to doctor's hand
Portion can passed with being communicated to the state of surgical progress using three-dimensional mechanical information collecting device as force feedback device 8
While up to operative region mechanical information, the mechanical information of doctor's operating force ultramagnifier 8 can be collected, and pass through meter
Calculation machine work station 5 feeds back to mechanical arm 2, to carry out the control of mechanical arm 2, realizes the adjustment to operation pathway.
Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control, in craniomaxillofacial surgery bone hand
Art can be realized osteotomy, bore the surgical procedures such as bone, mill bone.The system has optical guidance Active Control Mode and force feedback quilt
Dynamic control model can execute surgery planning under optical navigation system guidance, can also adjust in art under force feedback system assistance
The motion profile of mechanical arm.
When executing surgical procedure, optical navigation system and force feedback system need to realize craniomaxillofacial surgery robot system
Coordinated control, entire surgical procedure can be subdivided into several complexities sub-step different with importance.Different sub-steps needs
Different control models is used, then the graduation of this seed step and the one-to-one correspondence of control model are the process rule of operation
It draws.
Embodiment one
By taking the bone-culting operation task of cranium jaw face as an example, 5 sub-steps are mainly divided into, as shown in Figure 1:
Scalpel is moved to mechanical arm 2 from head near point B by force-feedback control mode in surgeon by arbitrary point A
(Task 1), then linear interpolation to osteotomy line initial point C (Task 2), starts in optical guidance and force feedback cooperating mould
" osteotomy " operation (Task 3) is carried out under formula, automatic linear is incorporated into exit point E (Task 4) after moving to withdrawing point D, then
It is manually controlled by surgeon using force feedback mode and moves to any suitable pose F (Task 5) far from patient, convenient for removing
From surgery mechanical arm.It must wherein be planned in advance using surgical navigational software for osteotomy line CD sections and exit point E, tri- point of A, B, F
Appearance can be arbitrarily designated by force feedback operator.
After surgical procedure is decomposed, force feedback and optical guidance double control is then can be achieved in craniomaxillofacial surgery robot 1
Coordination switching is carried out between mode.
The optical navigation system realizes the real-time positioning and tracking to target using infrared ray positioning principle.Optical alignment
Instrument 4 is dual probe infrared ray position indicator, can emit infrared ray, after luminescent ball reflection on adapter 6 or frame of reference matrix, is led to
It crosses camera and captures infrared signal, to realize the identification and space orientation to adapter 6 or frame of reference 7, information input is led
Boat system.Accordingly, the adapter 6 is optics adapter, has specific matrix, by the witch ball on matrix, by light
Learn the identification of position indicator 4 and tracking；Similarly, frame of reference 7 is optical reference frame, has specific matrix, by reflective on matrix
Ball is identified and is positioned by optical orientator 4.
When doctor uses the system, pre-operative surgical simulation, operation pathway rule are carried out by computer workstation 5 first
It draws, in the course of surgery, is positioned in real time by optical navigation system, while carrying out the feedback of art area mechanical information, and will
The mechanical information of feedback is converted to control signal, passes to mechanical arm 2, anti-by operating force when doctor is operated
Device 8 is presented, transmits mechanical information to it, and by host computer, LAN and slave computer, mechanical information is passed through into computer workstation 5
It is transferred to mechanical arm 2 and its surgery power system 3, carries out the manipulation of mechanical arm 2, to complete surgery planning, is existed by setting
The frame of reference 7 and force snesor 9 in patients surgery region, by the mechanical information of mechanical arm 2 and patients surgery region contact jaw into
Row is collected, and carries out suitable amplification by the subtle mechanical information variation that force snesor 9 is collected by signal amplifier 10,
Really to reflect the mechanical information in patients surgery region, and amplified mechanical information is transmitted to by meter by data collecting card 11
The host computer of calculation machine work station 5, and shown by its visual feedback means, while passing through force feedback device 8 for mechanical information
The hand that doctor carries out surgery planning is acted on, facilitates doctor to carry out direct feel, and carry out next step hand according to feedback information
The operation adjustment of art planning.
Surgery power system 3, mechanical arm 2, optical orientator 4, adapter 6, frame of reference 7, force feedback device 8, force snesor
9, signal amplifier 10, data collecting card 11, visual feedback means (display), host computer, LAN and slave computer are market
On more skillful prior art component, selected according to specifically used demand.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. the craniomaxillofacial surgery robot system based on optical guidance and force-feedback control, including craniomaxillofacial surgery robot (1),
Optical navigation system and force feedback system, it is characterised in that: the output end and force feedback system of the optical navigation system
Output end connect with the input end signal of craniomaxillofacial surgery robot (1), the optical navigation system and force feedback system
Two-way signaling connection.
2. the craniomaxillofacial surgery robot system according to claim 1 based on optical guidance and force-feedback control, special
Sign is: the craniomaxillofacial surgery robot (1) includes mechanical arm (2) and surgery power system (3), the optical guidance system
System includes that optical orientator (4), computer workstation (5), adapter (6) and frame of reference (7), the force feedback system include
Force feedback device (8), force snesor (9), signal amplifier (10) and data collecting card (11).
3. the craniomaxillofacial surgery robot system according to claim 2 based on optical guidance and force-feedback control, special
Sign is: the mechanical arm (2) is seven freedom mechanical arm, and the surgery power system (3) is fixedly mounted on mechanical arm (2)
End, the end that the adapter (6) of the optical navigation system is fixedly mounted on mechanical arm (2) are located at surgery power system (3)
Side, the outer fix of its operative region of surgical target is arranged in the frame of reference (7) of the optical navigation system.
4. the craniomaxillofacial surgery robot system according to claim 2 based on optical guidance and force-feedback control, special
Sign is: the output end of the force snesor (9) of the force feedback system is connect with the input end signal of its signal amplifier (10),
The output end of the signal amplifier (10) of the force feedback system is connect with the input end signal of its data collecting card (11).
5. the craniomaxillofacial surgery robot system according to claim 2 based on optical guidance and force-feedback control, special
Sign is: the computer workstation (5) includes visual feedback means, host computer, LAN and slave computer, the host computer
Output end and the input end signal of visual feedback means connect, and the host computer is connect with LAN two-way signaling, and the LAN is under
Position machine two-way signaling connection, the output end of the slave computer are connect with mechanical arm (2) signal, the host computer and force feedback device
(8) two-way signaling connects.
6. the craniomaxillofacial surgery robot system according to claim 2 based on optical guidance and force-feedback control, special
Sign is: the output end of the surgery power system (3) is connect with the input end signal of mechanical arm (2), the optical guidance system
The optical orientator (4) of system is dual probe infrared ray position indicator.
7. the craniomaxillofacial surgery robot system according to claim 2 or 3 based on optical guidance and force-feedback control,
Be characterized in that: the adapter (6) is optics adapter.
8. the craniomaxillofacial surgery robot system according to claim 2 or 3 based on optical guidance and force-feedback control,
Be characterized in that: the frame of reference (7) is optical reference frame.
9. the craniomaxillofacial surgery robot system according to claim 2 or 5 based on optical guidance and force-feedback control,
Be characterized in that: the force feedback device (8) of the mechanics feedback system is that six-dimensional force senses control stick.
10. the craniomaxillofacial surgery robot system according to claim 5 based on optical guidance and force-feedback control, special
Sign is: the visual feedback means are display.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155901.2A CN109481019A (en) | 2018-09-30 | 2018-09-30 | Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control |
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| CN201811155901.2A CN109481019A (en) | 2018-09-30 | 2018-09-30 | Craniomaxillofacial surgery robot system based on optical guidance and force-feedback control |
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| CN111803211A (en) * | 2020-07-13 | 2020-10-23 | 北京大学口腔医学院 | Jaw positioning system and method for maxillofacial surgery |
| CN113133808A (en) * | 2020-01-19 | 2021-07-20 | 北京和华瑞博医疗科技有限公司 | Hand lever precision operation osteotomy robot system |
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