CN-121973257-A - Mechanical arm auxiliary treatment system and actuator switching method

CN121973257ACN 121973257 ACN121973257 ACN 121973257ACN-121973257-A

Abstract

The application discloses an auxiliary treatment system for a mechanical arm and an actuator switching method, which comprise a fixed ultrasonic reference system module, a replaceable execution end module, a mechanical arm and a control system, wherein the fixed ultrasonic reference system module comprises an ultrasonic probe and a rigid connection mechanism, the ultrasonic probe is connected with the mechanical arm through the rigid connection mechanism, a force sensor is arranged between the ultrasonic probe and the tail end of the mechanical arm, the replaceable execution end module comprises an electric clamping device, an actuator identification sensor and a fine adjustment mechanism, the electric clamping device is provided with a mechanical interface and a force sensor for detecting clamping force, the actuator identification sensor is used for identifying the type of the actuator, the fine adjustment mechanism is used for realizing fine adjustment of the position of the actuator after the replaceable execution end module switches the actuator, the replaceable execution end module is connected with the fixed ultrasonic reference system module through the electric clamping device, so that the mechanical arm can carry the ultrasonic probe and the actuator to move, and the control system is used for controlling the mechanical arm to carry the ultrasonic probe and the actuator to move to complete treatment.

Inventors

YAO LIN
LIU WENYONG
FU JIANGUANG
MI KUAN
CHEN PENG
ZHANG LITAO
CHEN SHIHUAN
HUANG QINGWEN

Assignees

北京易如精智医学技术有限公司

Dates

Publication Date: 20260505
Application Date: 20260211

Claims (13)

1. The mechanical arm assisted treatment system is characterized by comprising a fixed ultrasonic reference system module, a replaceable execution end module, a mechanical arm and a control system; The fixed ultrasonic reference system module comprises an ultrasonic probe and a rigid connection mechanism, wherein the ultrasonic probe is connected to the tail end of the mechanical arm through the rigid connection mechanism, and a force sensor for detecting acting force of the ultrasonic probe is arranged between the ultrasonic probe and the tail end of the mechanical arm; The replaceable execution end module comprises an electric clamping device, an actuator identification sensor and a fine adjustment mechanism, wherein the electric clamping device is provided with a mechanical interface for butting the actuators and a force sensor for detecting clamping force, the actuator identification sensor is used for identifying the type of the actuators butted on the mechanical interface, and the fine adjustment mechanism is used for realizing fine adjustment of the positions of the actuators after the replaceable execution end module switches the actuators, and the replaceable execution end module is connected with the fixed ultrasonic reference system module through the electric clamping device so that the mechanical arm can carry an ultrasonic probe and the actuators to move; the control system is used for controlling the mechanical arm to carry the ultrasonic probe and the actuator to move so as to complete treatment.
2. The system of claim 1, wherein the system further comprises an optical positioning system; The optical positioning system is used for calibrating the coordinate system of the mechanical arm and the coordinate system of the ultrasonic probe according to a plurality of optical marking points stuck on the body surface of the patient, and obtaining a fixed conversion matrix of the coordinate system of the mechanical arm and the coordinate system of the ultrasonic probe 。
3. The system of claim 1, wherein the class of actuators includes a needle, a radiofrequency ablation needle, a biopsy needle, a laser fiber; Each type of actuator is provided with a radio frequency identification chip, and a fixed conversion matrix of an actuator coordinate system and an ultrasonic probe coordinate system obtained by pre-calibration is stored in the radio frequency identification chip The fixed conversion matrices of different actuator classes are different; the actuator identification sensor adopts a radio frequency identification mode to read the category and the fixed conversion matrix of the actuator 。
4. The system of claim 1, wherein the motorized gripping device includes a motorized gripping mechanism for gripping and releasing the actuator and a position detection sensor for detecting whether the actuator is in place.
5. An actuator switching method, applied to the mechanical arm auxiliary treatment system according to any one of claims 1 to 4, comprising: Controlling the mechanical arm to carry the ultrasonic probe and the current actuator to move to a preset replacement point; Controlling the electric clamping device to release the current actuator so that the current actuator falls into the recovery groove of the preset replacement point; controlling the electric clamping device to align with the new actuator and clamp the new actuator; Reading the signal of the actuator identification sensor according to the preset value of the clamping force detected by the force sensor to obtain a fixed conversion matrix of the new actuator The said The conversion matrix is used for converting an actuator coordinate system and an ultrasonic probe coordinate system; And controlling the mechanical arm to carry the ultrasonic probe and the new actuator to move based on the fixed conversion matrix, so as to complete treatment.
6. The method of claim 5, wherein the method further comprises: after the system is started, calibrating the coordinate system of the mechanical arm and the coordinate system of the ultrasonic probe according to a plurality of optical marking points stuck on the body surface of a patient through an optical positioning system to obtain a fixed conversion matrix of the coordinate system of the mechanical arm and the coordinate system of the ultrasonic probe ; And controlling the mechanical arm to carry the ultrasonic probe to scan the ultrasonic image of the target area, and obtaining the focus position according to the scanned ultrasonic image.
7. The method of claim 6, wherein the controlling the robotic arm to carry the ultrasound probe and the new effector to move based on the fixed transition matrix, completing a treatment, comprises: Converting the focus position to a mechanical arm coordinate system, and generating a planning path of the mechanical arm according to the focus position under the mechanical arm coordinate system; According to the described And the fixed conversion matrix Calculating the target pose of the mechanical arm; And taking the planned path and the target pose as mechanical arm kinematic parameters, controlling the mechanical arm to move according to the mechanical arm kinematic parameters, so that the new actuator can execute treatment operation from the needle insertion point to the focus position according to the planned path, and monitoring the target region by the ultrasonic probe in real time in the mechanical arm moving process.
8. The method of claim 7, wherein generating the planned path of the robotic arm from the lesion location in the robotic arm coordinate system comprises: constructing a multi-objective optimization function according to the focus position under a mechanical arm coordinate system and the anatomical structure around the focus position; And generating the planning path according to the constructed multi-objective optimization function by adopting a preset algorithm.
9. The method according to claim 7, wherein said step of And the fixed conversion matrix Calculating a target pose of the mechanical arm, comprising: According to the described And the fixed conversion matrix Calculating a conversion matrix of a mechanical arm coordinate system and a new actuator ; According to the described And calculating a target pose of the mechanical arm, wherein the target pose is used for indicating the pose of the new actuator moving to the focus position.
10. The method of claim 7, wherein the method further comprises: In the process that the new actuator starts to insert a needle from the needle insertion point, the needle insertion force and the needle point position of the new actuator are monitored in real time; Dynamically adjusting the rigidity and the advancing speed of the new actuator according to the monitored needle inserting force; And when the deviation between the monitored needle point position and the planned path exceeds a threshold value, adjusting the gesture of the mechanical arm.
11. The method according to claim 10, wherein the method further comprises: And triggering a grading protection strategy under the condition that the force deviation between the monitored needle inserting force and the predicted force is larger than the preset deviation and the change rate of the needle inserting force is larger than the preset change rate.
12. The method of claim 7, wherein the method further comprises: In the process that a new actuator starts to insert a needle from an insertion point, respiratory motion parameters are predicted in real time; obtaining a respiratory compensation amount according to the predicted respiratory motion parameter; and superposing the respiratory compensation quantity to a motion control instruction of the mechanical arm.
13. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the method of any of claims 5-12.

Description

Mechanical arm auxiliary treatment system and actuator switching method Technical Field The application relates to the technical field of medical treatment, in particular to a mechanical arm auxiliary treatment system and an actuator switching method. Background In the field of minimally invasive surgery, robotic arm assist systems have been widely used in image guided surgery. In the prior art, an ultrasonic probe and treatment execution provided by a mechanical arm auxiliary system generally adopt two modes, namely, a doctor holds the ultrasonic probe by hand, the mechanical arm clamps an actuator, the two modes are separated and have poor coordination, and the other mode is a replaceable actuator design, namely, the mechanical arm clamps the ultrasonic probe and the actuator respectively, but the two independent registrations are needed, the efficiency is low, when the ultrasonic probe is needed to be replaced (such as a radio frequency ablation needle is switched), due to the fact that the physical size and the clamping position of the actuator are changed, the registration relation between the coordinate system of the mechanical arm and the coordinate system of a patient is destroyed, the space calibration and registration are needed to be repeatedly carried out, accumulated errors are introduced, the positioning accuracy is reduced, and when the ultrasonic probe is used as a replaceable component, the pose of each installation of the ultrasonic probe has tiny differences, the tiny differences are amplified during deep tissue treatment, the positioning errors are caused, and frequent disassembly and assembly and disassembly can cause joint thermal drift of the mechanical arm to further influence the accuracy. Disclosure of Invention The application aims at providing a mechanical arm auxiliary treatment system and an actuator switching method aiming at the defects of the prior art, and the aim is achieved through the following technical scheme. The first aspect of the application provides a mechanical arm auxiliary treatment system, which comprises a fixed ultrasonic reference system module, a replaceable execution end module, a mechanical arm and a control system; The fixed ultrasonic reference system module comprises an ultrasonic probe and a rigid connection mechanism, wherein the ultrasonic probe is connected to the tail end of the mechanical arm through the rigid connection mechanism, and a force sensor for detecting acting force of the ultrasonic probe is arranged between the ultrasonic probe and the tail end of the mechanical arm; The replaceable execution end module comprises an electric clamping device, an actuator identification sensor and a fine adjustment mechanism, wherein the electric clamping device is provided with a mechanical interface for butting the actuators and a force sensor for detecting clamping force, the actuator identification sensor is used for identifying the type of the actuators butted on the mechanical interface, and the fine adjustment mechanism is used for realizing fine adjustment of the positions of the actuators after the replaceable execution end module switches the actuators, and the replaceable execution end module is connected with the fixed ultrasonic reference system module through the electric clamping device so that the mechanical arm can carry an ultrasonic probe and the actuators to move; the control system is used for controlling the mechanical arm to carry the ultrasonic probe and the actuator to move so as to complete treatment. A second aspect of the present application provides an actuator switching method applied to the mechanical arm assisted treatment system described in the first aspect, including: Controlling the mechanical arm to carry the ultrasonic probe and the current actuator to move to a preset replacement point; Controlling the electric clamping device to release the current actuator so that the current actuator falls into the recovery groove of the preset replacement point; controlling the electric clamping device to align with the new actuator and clamp the new actuator; Reading the signal of the actuator identification sensor according to the preset value of the clamping force detected by the force sensor to obtain a fixed conversion matrix of the new actuator The saidThe conversion matrix is used for converting an actuator coordinate system and an ultrasonic probe coordinate system; By using the said And updating the mechanical arm kinematic parameters, controlling the mechanical arm to return to the treatment position according to the updated mechanical arm kinematic parameters, and guiding the new actuator to reach the focus position according to the ultrasonic image to execute the treatment operation. A third aspect of the application proposes a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to implement a method as described in the first aspect above. Based on t