WO2016175489A1

WO2016175489A1 - Master console of needle insertion-type interventional procedure robot, and robot system including same

Info

Publication number: WO2016175489A1
Application number: PCT/KR2016/004026
Authority: WO
Inventors: 김홍호; 임흥순; 우동기; 최한철; 차용엽
Original assignee: 현대중공업 주식회사
Priority date: 2015-04-30
Filing date: 2016-04-18
Publication date: 2016-11-03
Also published as: KR20160129311A

Abstract

The present invention provides a needle insertion-type interventional procedure robot system comprising: diagnostic test equipment for photographing an affected area so as to implement the same as an image; a slave robot having a robot arm provided on a robot base, and an end effector mounted at an end of the robot arm so as to mount, detach, and rotate a needle; and a master console providing, by using image data photographed by the diagnostic test equipment, a multi-planar reconfiguration image on which an insertion route of the needle, divided images on vital organs, and a position of the calculated needle are displayed, and capable of inputting a command necessary for operating the robot system.

Description

Master console of needle-guided interventional robot and robot system including the same

The present invention relates to a master console and a robot system including the same of a needle-inserted interventional robot. Specifically, a robot system is configured of a diagnostic test device, a slave robot, and a master console, and the affected part photographed by the diagnostic test device is detected. While checking with a monitor, the master device and the control panel of the master console control the attachment, detachment and rotation of the needle mounted on the end effector of the slave robot arm, thereby inserting the needle into the affected part to perform biopsy or radiofrequency therapy, drug It relates to a master console of a needle-inserted interventional robot to perform the injection and the like and a robot system including the same.

There is an interventional procedure in which a needle is inserted into a human body for the purpose of biopsy or tumor treatment during surgery. In particular, in the case of targeting some tissues or organs in the human body, a doctor may use a diagnostic test device such as ultrasound or computed tomography (CT) and conebeam computed tomography (CBCT) to monitor a needle in real time or non-real time. Perform needle insertion while checking the position.

Regarding the intervention procedure for inserting such a needle, it has been proposed in Korean Unexamined Patent Publication No. 10-2014-0111135 and Korean Unexamined Patent Publication No. 10-2014-0121026.

As described above, in the interventional procedure in which the needle is inserted into the affected part of the patient and undergoes a biopsy, radiofrequency ablation, or drug injection, the path of insertion of the needle is planned using the diagnosis image of the affected part previously photographed by ultrasound or CT or CBCT. And, according to the plan, the robot moves, while guiding the position and direction of the needle while watching the perspective image of the affected part, and inserts the needle until the end of the needle reaches the target point.

However, in the above-described needle interventional procedure, when CT or CBCT is used, repetitive radiography is inevitable, and thus there is a problem of radiation exposure between the patient and the operator, which takes a long time and requires dangerous tissue or If there are organs, the procedure is difficult to perform.

The present invention is to solve the above-mentioned problems, the purpose of the radiation exposure compared to the conventional needle-insertion intervention by controlling the slave robot inserting the needle by the master console while watching the image of the affected area photographed by the diagnostic test equipment Procedure is performed according to the prescribed procedure when the slave robot is operated by the master console to reduce the procedure (50% in the patient, the operator avoids the exposure), and maximize the procedure efficiency (50% the procedure time). The present invention provides a master console of an interventional intervention robot including a planning system and a robot system including the same.

In order to achieve the object as described above, the needle-insertable interventional robot system of the present invention, in the interventional robot system for performing the intervention by inserting the needle to the affected part, the image of the affected part to implement the image Diagnostic testing equipment to enable; A slave robot mounted on a robot arm and an end effector mounted on an end of the robot arm, the end effector capable of mounting, detaching and rotating the needle; And a master device for changing the position and posture of the robot arm and manipulating the end effector for mounting the needle, and using the image data captured by the diagnostic test equipment. A planner that provides a segmented image and a multi-plane reconstruction image showing the calculated position of the needle, a control panel which is a user input device for inputting commands required for operating the robot system, and a multi-plane reconstruction image generated by the planner. And a master console having a monitor provided to the user.

In addition, the master console for controlling the interventional intervention robot, the master device for changing the position and posture of the robot arm of the interventional robot, the master device for controlling the end effector for mounting the needle, etc .; And a control panel which is a user input device capable of inputting a command required for operating the robot system. The planner includes a planar reconstructed image in which a needle insertion path, a segmented image of major organs, and a calculated position of the needle are displayed. It provides a, and provides the image data to the monitor so that the user can check the multi-plane reconstructed image generated by the planner, characterized in that the overall control of the interventional robot.

In addition, the operation of the robot system is made by controlling the master device and the planar of the slave robot and the master console by the integrated operation software connected with the master device operating software, the robot control software and the procedure planning software, and the master device operating software. And the robot control software are directly connected to communicate with the master device and the slave robot for real time control.

In addition, the diagnostic test equipment is preferably a CT or conebeam computed tomography (CBCT).

The apparatus may further include an external measuring device used for spatial matching for measuring a relative position and a posture between the reference coordinate system of the CT or CBCT image and the reference coordinate system of the robot arm, and the external measuring device includes an optical position measuring system (OTS). Or electromagnetic location measurement system (EMTS).

In addition, the robot arm is preferably composed of a multi-joint robot consisting of a travel shaft and a rotating shaft and a five-point link or six-point link.

In addition, it is preferable to further include a guide laser mounted on the end effector of the slave robot to indicate the needle entry point.

In addition, the planner is a user user interface (SUI) including the procedure planning software, the procedure planning software is a user inputs a command using a user input device while viewing the user user interface (SUI), the result is reversed It is desirable to be reflected to the user user interface (SUI) to be delivered to the user.

In addition, the planner, the master device and the monitor includes a user input device,

The user input device is preferably one of a touch screen, a foot pedal, a keyboard, a mouse, a button or a switch.

In addition, when the needle approaches or contacts dangerous tissues or organs of the main organs, it is desirable to transmit vibration or repulsive force to the master device.

In addition, it is preferable to transmit the vibration or repulsive force by the haptic device installed in the master device.

In addition, when the needle approaches or contacts dangerous tissues or organs of major organs, it is preferable to display a caution and warning on the monitor screen.

In addition, the image data photographed by the diagnostic test equipment is preferably a CT fluoroscopy (CT-Fluoroscopy) screen for generating a needle insertion path and a navigation screen that displays the segmented image and the calculated position of the needle for the main organs Do.

In addition, the control panel is provided with a user input device for the operation of the robot system, it is preferable that the user input device has a power switch and an emergency stop switch of the robot arm and a port for extending the user input and monitoring device. Do.

In addition, the needle mounted on the end effector is a general intervention needle used in the conventional needle insertion intervention, and may be a smart needle capable of transmitting information and steering by installing a micro sensor at the tip of the needle.

According to the master console of the implantable interventional robot of the present invention and a robot system including the same, when applied to the conventional needle-inserted interventional procedure using CT, the radiation exposure can be reduced by 50% or more in patients, In this case, the exposure itself can be avoided, and the procedure time can be reduced by about 50% or more, thereby maximizing the treatment efficiency, thereby more effectively and safely treating more patients.

Figure 1 is a schematic diagram of the installation state of the needle insertion interventional robot system according to the present invention.

Figure 2 is a block diagram of the configuration of the insertion intervention robot system according to the present invention.

Figure 3 is a block diagram of the configuration and functional insertion interventional robot system according to the present invention.

Figure 4 is a block diagram of the operating system of the needle insertion interventional robot system according to the present invention.

Hereinafter, with reference to the accompanying drawings, a preferred embodiment of the master console and the robot system including the same of the implantable interventional robot according to the present invention will be described in detail. The present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms, only this embodiment to make the disclosure of the present invention complete and to those skilled in the art to fully understand the scope of the invention It is provided to inform you.

1 is a schematic installation state diagram of a needle insertion interventional robot system according to the present invention, Figure 2 is a configuration and connection block diagram of a needle insertion interventional robot system according to the present invention, Figure 3 is a needle insertion type according to the present invention The configuration and functional block diagram of the interventional robot system is shown.

As shown in Figures 1 to 3, the needle-insertion interventional robot system according to the present invention is largely diagnostic imaging equipment (1) for imaging the affected part of the patient lying on the table (T) and the image of the affected part The master is placed in a space away from the operator so that the user remotely controls the slave robot 2 installed near the table T to insert the needle into the affected part while the slave robot 2 inserting the needle. It is divided into consoles (3).

The diagnostic test equipment (1) is a CT or conebeam computed tomography (CBCT) to show the image around the affected area of the patient to insert the needle.

The slave robot 2 includes a robot arm 5 installed on the robot base 4 and an end effector 6 connected to the end of the robot arm 5 to hold the needle 6a.

The robot base 4 may be manufactured as a structure for mounting the robot arm 5 on the upper part, or may be manufactured to be movable or fixed. In the case of the mobile robot base, a plurality of wheels are provided to move the brake and stop the movement. A mechanism may be included, in this case a fixation and stabilization mechanism may be included to minimize movement of the robot base 4 when the robot arm 5 is driven. In addition, a variety of devices, such as a motor and an electrical installation for driving the robot arm 5 are installed inside the robot base 4, and may be connected to an external separate device through a cable. In the case of the stationary robot base, it is fixedly installed at a specific place around the table T, for example.

The robot arm 5 may be composed of a multi-joint robot consisting of a travel axis, a rotation axis, four-point or five-point links, and change the position and posture of the end effector mounted at the end of the robot arm 5. It is supposed to be. In addition, the robot arm 5 includes a motor, an encoder, a sensor, and is connected to a power supply device for supplying power to the motor. In order to control the robot arm 5 by a user input as an operator, the motor and the like are connected to a signal processing device and a motor driver, and a power supply device, a signal processing device, and a motor required for driving the robot arm 5. A driver is configured inside or outside the robot base 4 and connected to the robot arm 5.

The end effector 6 mounted at the end of the robot arm 5 is moved to a target position and posture for inserting the needle 6a by the control of the robot arm 5, and is performed by a user input or an operator. The needle 6a is inserted, removed or rotated according to the set program to insert the needle 6a into the affected part. A foot pedal, a keyboard, a mouse, a button or a switch is used as a user input device for mounting, removing or rotating the needle 6a of the end effector 6. The master device 7 of the master console 3 can be used to move (insert) or rotate the needle 6a in the axial direction as described above. The end effector 6 is equipped with a guide laser to mark the entry point for inserting the needle 6a in the affected part. In addition, the needle (6a) is a needle for the interventional procedure that can be steered by the master device 7 by installing a micro sensor at the end, it is also composed of a smart needle.

The master console 3 includes a master device 7 and a control panel 9 as a user input device for a user who is an operator to operate and monitor a slave robot 2 or the like which is the robot system of the present invention.

The master device 7 is a user input device that can change the position and posture of the robot arm within the operating area of the robot arm 5. An end effector mounted at the end of the robot arm 5 as described above. (6) can be used to mount, remove, insert or rotate the needle 6a. The master device 7 is provided with a function of causing a haptic reaction such as vibration or repulsive force when the needle 6a is inserted into the affected part when the dangerous organ approaches or comes into contact with the dangerous organ. The control device controlled by the user is transmitted to the user.

The control panel 9 is provided with a user input device for operating the robot system of the present invention, the shape of the control panel 9 may be embedded on the master console 3, the upper part of the master console (3) It can also be placed in the master console (3). In addition, it may be provided with a power switch that can turn on / off the power supply of the robot system of the present invention, it may be provided with an emergency stop switch for emergency stop or retreat of the robot arm (5) in an emergency situation. On the other hand, it can be provided with a port for connecting with other devices to expand the user input and monitoring device.

The master console 3 may be associated with a planner 8 and a monitor 10, and provides a reconstructed image to the planner 8 by using image data captured by the diagnostic test equipment 1, The monitor 10 provides the user with an image generated by the planner 8.

Here, the planner 8 may generate a multi-planar reconstruction (MPR) image by using image data of the diagnostic test equipment 1 such as CT, and the multi-planar reconstruction image is displayed on the monitor 10. Is provided to the operator as a user. The user may generate the insertion path of the needle by using the multi-plane reconstructed image, and the segmented image of the main organ and the calculated position of the needle are displayed on the navigation screen. At this time, when the tip of the needle approaches and contacts the dangerous organs, a caution and warning indication may be provided on the screen of the monitor 10, and when the needle is inserted, a CT-fluoroscopic CT may be used to provide a real-time cross-sectional image to the user. -Fluoroscope) to provide the image.

In addition, the monitor 10 is a means for providing a user who is an operator with images and information generated by the planner 8 or operating software, one or more monitors may be installed on the master console 3. When the monitor 10 is applied as a touch screen, a user input may be performed through the monitor, and a driving screen of each subsystem may be displayed on the monitor 10 for maintenance and repair of the robot system of the present invention. Can be.

On the other hand, by viewing the multi-plane reconstructed image constructed using a diagnostic test equipment (1) such as CT or CBCT, the slave robot (2), that is, the robot arm (5) equipped with the end effector (6), is accurately moved to the position of the affected part. To do this, a procedure called spatial matching is required. That is, the spatial registration refers to a procedure for measuring the relative position and attitude between the reference coordinate system of the multi-plane reconstructed image and the reference coordinate system of the robot arm 5, and for this spatial registration, OTS (optical position measurement system) or EMTS (electronic There is a method of estimating each reference coordinate system using an external measuring device 11 such as a conventional position measuring system), and a method of analyzing a perspective image by attaching a special shape to the end of the robot arm 5.

Figure 4 shows the operating system block diagram of the needle insertion interventional robot system according to the present invention.

As shown in FIG. 4, the above components of the robot system of the present invention are controlled and operated by separate operating software stored as a program in the master console 3. With such operating software, the master device operating software and the robot control software. And procedure planning software, and there is integrated operation software for operating the system. The procedure planning software is connected to an operator user interface (SUI).

In this way, the integrated operating software of the robot system of the present invention is connected to the master device operating software, the robot control software, and the procedure planning software, and commands the respective subsystems of the master device 7, the robot arm 5, and the planner 8. It is responsible for getting off and monitoring the condition. In order to ensure the real-time control performance between the master device 7 and the robot arm 5 of the slave robot 2, the master device operating software and the robot control software are directly connected to each other so that the command of the master device 7 and the robot arm are directly connected. The status of (5) is directly connected and communicated without going through the integrated operating software. In addition, the procedure planning software allows a user to input a command using a user input device while viewing the operator user interface (SUI), and the result is reflected to the operator user interface (SUI) and transmitted to a user who is an operator. Here, the user input device may be a device such as a touch screen, a keyboard, or a mouse. A user who is an operator inputs a command to the robot system of the present invention using the user input device and the master device 7 while watching the operator user interface (SUI), and the result is reversed by the user's operator user interface (SUI) and the master device. (7) is passed to the user who is the operator.

Next will be described the process of performing the intervention by operating the respective components of the above-described needle-insertion interventional robot system of the present invention with each operating software operating together with the integrated operating software.

First, a spatial registration procedure is performed using the OTS or EMTS to measure the relative position and posture of the multi-plane reconstructed image and the robot arm.

Next, by using the multi-plane reconstructed image obtained from CT or CBCT, the user, the operator, generates a needle insertion path by designating the position of the skin entry point and the affected part of the needle, and it is possible to modify the path to avoid the danger area. Do. The needle insertion path defined based on the CT or CBCT multi-plane reconstructed image coordinate system is converted into data based on the coordinate system of the robot arm 5 on the basis of a previously performed spatial registration result, and includes the robot arm 5. The slave robot 2 is automatically moved to the target needle insertion position.

Next, the needle entry point is displayed by the guide laser mounted on the end effector 6 of the robot arm 5, and the user, the operator, performs the anesthesia and disinfection directly on the site.

Next, the patient is moved back to the position that can be photographed by the diagnostic test equipment 1, such as CT or CBCT, and the slave robot 2 automatically moves to the insertion position of the needle. Here, when the operator determines that fine adjustment of the insertion position of the needle is necessary due to the breathing or movement of the patient, the position and posture of the slave robot 2 are determined using the master device 7 of the master console 3. It is possible to move.

Next, the needle 6a is inserted or rotated while driving the needle inserting end effector 6 mounted at the end of the robot arm 5 using the master device 7 of the master console 3. When the needle 6a is inserted into the affected part, the needle can be inserted or rotated while viewing the CT-Fluoroscopy screen and the navigation screen provided on the operator user interface (SUI) including the procedure planning software. Here, if a user who is a practitioner designates a dangerous site for a dangerous tissue or organ, when the tip of the needle approaches the dangerous site, it is possible to echo the resistance of the master device 7 to vibration or insertion, such as a haptic response. .

Next, when the end of the needle 6a reaches the affected part, the end effector 6 releases the needle 6a, and the slave robot 2 returns to its original position. After that, the biopsy or treatment is performed by inserting a biopsy gun or a high frequency thermal therapy probe using a needle insertion path secured by the operator.

As described above, the control and operation of the robot arm 5 of the master device 7 and the slave robot 2 during the interventional procedure include the integrated operation software including the master device 7 operating software and the robot control software. Is made by the use of.

As described above with reference to the drawings illustrated for the master console and the robot system including the same of the implantable interventional intervention robot according to the present invention, the present invention is not limited by the embodiments and drawings disclosed herein. Of course, various modifications may be made by those skilled in the art within the scope of the technical idea of the present invention.

Claims

In the interventional robot system for inserting the needle into the affected area by the user to perform the intervention,

Diagnostic test equipment for realizing the image by taking the affected part;

A slave robot mounted on a robot arm and an end effector mounted on an end of the robot arm, the end effector capable of mounting, detaching and rotating the needle; And

A master device for changing the position and posture of the robot arm and manipulating the end effector for mounting the needle, and segmenting the needle insertion path and main organs by using image data captured by the diagnostic test equipment. A planner that provides an image and a multi-plane reconstruction image showing the calculated position of the needle, a control panel which is a user input device for inputting commands required for operating the robot system, and a multi-plane reconstruction image generated by the planner. And a master console having a monitor provided to the needle interventional robot system.
In the master console for controlling the needle interventional robot,

A master device for changing the position and posture of the robot arm of the interventional robot and manipulating the end effector for mounting the needle; And

It includes; a control panel which is a user input device that can input a command required for the operation of the robot system;

The planner provides a planar reconstructed image showing the insertion path of the needle, the divided images of the main organs, and the calculated position of the needle, and monitors the image data so that the user can check the multiplanar reconstructed image generated by the planner. Provided as, the master console of the interventional intervention robot, characterized in that the overall control of the interventional robot.
The method of claim 1,

The operation of the robot system is performed by controlling the master device and the planar of the slave robot and the master console by the integrated operation software connected with the master device operation software, the robot control software and the procedure planning software,

And the master device operating software and the robot control software are directly connected to communicate with each other for real-time control of the master device and the slave robot.
The method of claim 1,

The diagnostic test equipment is a CT system or a needle-beam interventional robot system, characterized in that the conebeam computed tomography (CBCT).
The method of claim 4, wherein

The apparatus may further include external measuring equipment used for spatial matching to measure the relative position and posture between the reference coordinate system of the CT or CBCT image and the reference coordinate system of the robot arm.

The external instrumentation system is a needle insertion interventional robot system, characterized in that the optical position measurement system (OTS) or electromagnetic position measurement system (EMTS).
The method of claim 1,

The robot arm is a needle-operated interventional robot system, characterized in that consisting of a multi-joint robot consisting of a travel axis and rotation axis and a five-point link or six-point link.
The method of claim 1,

And a guide laser mounted on an end effector of the slave robot to mark a needle entry point.
The method of claim 1,

The planner is a user user interface (SUI) containing procedure planning software,

The procedure planning software is characterized in that the user inputs a command using a user input device while viewing a user user interface (SUI), and the result is reflected in the user user interface (SUI) to be transmitted to the user. Insertion interventional robot system.
The method of claim 1,

The planner, the master device and the monitor include a user input device,

And the user input device is one of a touch screen, a foot pedal, a keyboard, a mouse, a button or a switch.
The method of claim 1,

When the needle approaches or contacts the dangerous tissue or organ of the main organ, the needle insertion interventional robot system, characterized in that for transmitting the vibration or repulsive force to the master device.
The method of claim 1,

Needle interventional robot system, characterized in that for transmitting vibration or repulsion by the haptic device installed in the master device.
The method of claim 1,

When the needle approaches or touches the dangerous tissue or organ of the main organ, the needle insertion intervention robot system, characterized in that to display a caution and warning on the monitor screen.
The method of claim 4, wherein

The image data photographed by the diagnostic test equipment is a CT fluoroscopy (CT-Fluoroscopy) screen for generating a needle insertion path and a navigation screen displaying split images of the main organs and the calculated position of the needle. Needle Intervention Robot System.
The method of claim 1,

The control panel includes a user input device for operating the robot system, and the user input device includes a power switch, an emergency stop switch of the robot arm, and a port for extending a user input and monitoring device. Needle Intervention Robot System.
The method of claim 1,

The needle mounted on the end effector is a general intervention needle used in a conventional needle insertion intervention, and a needle insertion intervention is characterized in that an ultra-small sensor is installed at the tip of the needle, so that a smart needle capable of information transmission and steering is also applicable. Surgical Robot System.