CN115721349A - Robot system for transbronchial interventional diagnosis and treatment - Google Patents
Robot system for transbronchial interventional diagnosis and treatment Download PDFInfo
- Publication number
- CN115721349A CN115721349A CN202211457522.5A CN202211457522A CN115721349A CN 115721349 A CN115721349 A CN 115721349A CN 202211457522 A CN202211457522 A CN 202211457522A CN 115721349 A CN115721349 A CN 115721349A
- Authority
- CN
- China
- Prior art keywords
- actuator
- navigation
- image
- positioning
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003745 diagnosis Methods 0.000 title claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims abstract description 14
- 238000003825 pressing Methods 0.000 claims abstract description 5
- 210000000621 bronchi Anatomy 0.000 claims description 7
- 238000002591 computed tomography Methods 0.000 claims description 4
- 238000005094 computer simulation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 239000000523 sample Substances 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims 1
- 206010058467 Lung neoplasm malignant Diseases 0.000 description 8
- 201000005202 lung cancer Diseases 0.000 description 8
- 208000020816 lung neoplasm Diseases 0.000 description 8
- 238000001574 biopsy Methods 0.000 description 7
- 238000005070 sampling Methods 0.000 description 6
- 206010028980 Neoplasm Diseases 0.000 description 4
- 230000002685 pulmonary effect Effects 0.000 description 4
- 201000011510 cancer Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013399 early diagnosis Methods 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 238000002560 therapeutic procedure Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 230000036210 malignancy Effects 0.000 description 1
- 230000003211 malignant effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
Images
Landscapes
- Endoscopes (AREA)
Abstract
The invention provides a robot system for transbronchial interventional diagnosis and treatment, which comprises a control actuator, a control system and a control system, wherein the control actuator is arranged at a target position; according to the results of the image capturing system and the positioning and tracking system, the preoperative medical image diagnosis is combined, real-time visual guidance is provided, and the real-time visual guidance is displayed on a display system; controlling the actuator to reach the position of the nodule according to the guidance of the display system; the balloon is expanded by applying pressure to the injector, the actuator is fixed, and the attitude of the actuator is kept; replacing the image capture system with a surgical tool through the working channel according to actual conditions; and (5) contracting the balloon and controlling the actuator to move out.
Description
Technical Field
The invention relates to the field of robots.
Background
According to GLOBOCAN data, lung cancer has become the second largest cancer incidence and the highest cancer mortality malignancy worldwide, with approximately 180 million deaths from lung cancer in 2020. The 1-year survival rate for lung cancer in stage I is reported to be 81-85%, while that in stage V is only 15-19%. The early diagnosis of the lung cancer usually takes the form of nodules, the pulmonary nodules are a high-density approximately spherical tissue, but the pulmonary nodules are not necessarily lung cancer, many diseases can be clinically expressed as the pulmonary nodules, most of the nodules are not cancers, and the benign and malignant properties of the nodules are important bases for judging the early lung cancer.
The invention realizes the transbronchial biopsy sampling operation by a robot, can reach smaller peripheral pulmonary nodules, and leads the transbronchial operation to be quicker, more accurate and safer.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, the invention proposes a robotic system for transbronchial interventional procedures for carrying out transbronchial biopsy sampling operations.
To achieve the above object, a first aspect of the present invention provides a robot system for transbronchial interventional therapy, comprising:
the system comprises an actuator, a positioning arm, a driver, a positioning and tracking system, an image capturing system, a remote operation system, a display system, a first terminal and a second terminal; wherein the actuator is fixed on the positioning arm, the first terminal is used for displaying a surgical guide interface according to the positioning and tracking system and the image capturing system, the second terminal is used for controlling the actuator to move,
controlling the actuator to be placed at a target position;
according to the results of the image capturing system and the positioning and tracking system, a preoperative medical image diagnosis is combined, real-time visual guidance is provided and displayed on the display system;
controlling the actuator to reach the nodule position according to the guidance of the display system;
the balloon is inflated by applying pressure to the injector, the actuator is fixed, and the posture of the actuator is kept;
replacing the image capturing system with a surgical tool through a working channel according to actual conditions;
and (5) contracting the balloon and controlling the actuator to move out.
In addition, the robot system for the transbronchial interventional treatment according to the above embodiment of the invention may further have the following additional technical features:
further, in one embodiment of the present invention, the actuator is adapted to travel within a bronchial passage, the actuator end is equipped with an inflatable balloon to effect support and fixation at the target site, the actuator end is connected to a flexible catheter for establishing a treatment channel within the bronchial passage;
the driver is used for driving the actuator to realize a motor with freedom degrees, and the freedom degrees comprise rotation, translation and bending.
Further, in one embodiment of the invention, the positioning and tracking system is used for tracking the position of the end of the actuator, and is realized by using an electromagnetic navigation system or an optical fiber shape sensing system.
Further, in one embodiment of the present invention, the image capturing system is used for real-time image acquisition, which is realized by an endoscope module or an ultrasonic probe, and the endoscope module needs to integrate an illumination system.
Further, in an embodiment of the present invention, the remote operation system is used for controlling the motion of the actuator, and may be implemented by a main operator, a handle rocker, or a gesture recognition algorithm, or a combination of the above methods.
Further, in one embodiment of the present invention, the display system is configured to display a visual navigation image, which is given by a navigation planning algorithm, including a travel route, an endoscope image, and position information.
Further, in one embodiment of the present invention, the preoperative medical image diagnosis includes:
carrying out CT scanning on a target patient, reconstructing a three-dimensional computer model of a bronchus, and carrying out optimization adjustment on the three-dimensional model;
and importing the optimized three-dimensional model into planning software, selecting a target nodule position, a navigation starting point position and an operation target position to generate a navigation path, and importing the navigation path into the navigation software to form a visual result.
The robot system for the transbronchial interventional diagnosis and treatment, provided by the embodiment of the invention, has the advantages that the flexible minimally invasive surgery robot is used for reaching the nodule through the natural lumen of the bronchus and sampling the small nodule through the biopsy tool at the tail end of the robot, so that the diagnosis of the small nodule is completed, the diagnosis of the small nodule is clinically required for minimally invasive or non-invasive diagnosis of the small nodule, the application prospect is wide, the success rate and the treatment effect of the transbronchial biopsy sampling surgery can be improved, and the accuracy of early diagnosis of lung cancer is further improved.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic diagram of a robot system for transbronchial interventional therapy according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating an operation flow of the system at the pre-operation stage according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of the system operation in the intraoperative phase according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A robot system for transbronchial interventional diagnosis according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a schematic diagram illustrating a robot system for transbronchial interventional therapy according to an embodiment of the present invention.
As shown in fig. 1, the robot system for transbronchial interventional treatment includes:
the system comprises an actuator, a positioning arm, a driver, a positioning and tracking system, an image capturing system, a remote operation system, a display system, a first terminal and a second terminal; wherein the actuator is fixed on the positioning arm, the first terminal is used for displaying a surgical guide interface according to the positioning and tracking system and the image capturing system, the second terminal is used for controlling the actuator to move,
controlling the actuator to be placed at a target position;
according to the results of the image capturing system and the positioning tracking system, a preoperative medical image diagnosis is combined to provide real-time visual guidance which is displayed on the display system;
controlling the actuator to reach a nodule position according to the guidance of the display system;
the balloon is inflated by applying pressure to the injector, the actuator is fixed, and the posture of the actuator is kept;
replacing the image capturing system with a surgical tool through a working channel according to actual conditions;
and (5) deflating the balloon and controlling the actuator to move out.
Further, in one embodiment of the invention, the actuator is used for advancing in a bronchial passage, the end of the actuator is provided with an inflatable balloon to realize the support and fixation of the target position, and the end of the actuator is connected with a flexible catheter for establishing a diagnosis channel in the bronchial passage;
the driver is used for driving the actuator to realize a motor with freedom degrees, and the freedom degrees comprise rotation, translation and bending.
Further, in one embodiment of the invention, the positioning and tracking system is used for tracking the position of the end of the actuator, and is realized by using an electromagnetic navigation system or an optical fiber shape sensing system.
Further, in one embodiment of the present invention, the image capturing system is used for real-time image acquisition, which is realized by an endoscope module or an ultrasonic probe, and the endoscope module needs to integrate an illumination system.
Further, in an embodiment of the present invention, the remote operation system is used for controlling the movement of the actuator, and may be implemented by a main operator, a handle rocker, or a gesture recognition algorithm, or a combination of the above methods.
Further, in one embodiment of the present invention, the display system is configured to display a visual navigation image, which is given by a navigation planning algorithm, including a travel route, an endoscope image, and position information.
Further, in one embodiment of the present invention, the preoperative medical image diagnosis includes:
carrying out CT scanning on a target patient, reconstructing a three-dimensional computer model of a bronchus, and carrying out optimization adjustment on the three-dimensional model;
and importing the optimized three-dimensional model into planning software, selecting a target nodule position, a navigation starting point position and an operation target position to generate a navigation path, and importing the navigation path into the navigation software to form a visual result.
As shown in fig. 2, in the preoperative stage, a CT scan is performed on a patient, a three-dimensional computer model of the bronchus is reconstructed, and the three-dimensional model is optimized and adjusted. And importing the three-dimensional model into planning software, selecting a target nodule position, a navigation starting point position and a puncture operation target position to generate a navigation path, and importing the navigation path into the navigation software to form a visual result.
As shown in fig. 3, in the intraoperative stage, the patient needs to be adjusted to the proper posture first. After confirmation, the image capture system is deployed and the actuator is secured to the positioning arm, and the surgeon manually positions the actuator in the desired location in the main airway. According to the results of the image capturing system and the positioning and tracking system, the preoperative medical image diagnosis is combined, real-time visual guidance is provided and displayed on the display system, and a doctor controls the actuator to reach the position of the target nodule according to the guidance of the display system. And applying pressure to the injector to inflate the balloon, fixing the actuator and keeping the attitude of the actuator. The surgeon may replace the image capture system with a biopsy sampling tool via the working channel depending on the actual situation. Deflating the balloon and removing the actuator.
When the remote control system is used, the actuator is fixed on the positioning arm, the motor driver is controlled by the remote control system, and then the actuator is controlled to move, and the remote control system is integrated in the lower computer (PC 2) and operated by a doctor. The display system is positioned on the upper computer (PC 1), can present 2-dimensional or 3-dimensional images of the operation part, integrates the results of the positioning tracking system and the image capturing system, visualizes the real-time position of the actuator in the bronchus of the patient, and provides guidance for the operation. The positioning and tracking system mainly comprises an electromagnetic sensor and a magnetic field generator, wherein the magnetic field generator is arranged at a proper position outside a patient body, and the sensor is fixed at the tail end of an actuator and is used for acquiring position measurement information in real time. The image capturing system comprises an endoscope camera module, consists of an image sensor and an optical fiber lighting module, and collects image information in real time.
The invention also comprises navigation planning software for CT data import, bronchial model reconstruction, path generation and visual navigation, wherein the software is integrated in the upper computer (PC 1).
The robot system for the transbronchial interventional diagnosis and treatment, disclosed by the embodiment of the invention, has the advantages that the flexible minimally invasive surgery robot is utilized to reach the nodule through the natural lumen of the bronchus and sample the small nodule through the biopsy tool at the tail end of the robot, so that the diagnosis of the small nodule is further completed, the robot system is a clinical requirement for minimally invasive or non-invasive diagnosis of the small nodule, has wide application prospect, can improve the success rate and treatment effect of the transbronchial biopsy sampling operation, and further improves the accuracy of early diagnosis of lung cancer.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
1. A robot system for transbronchial interventional diagnosis and treatment is characterized by comprising an actuator, a positioning arm, a driver, a positioning tracking system, an image capturing system, a remote operation system, a display system, a first terminal and a second terminal; wherein the actuator is fixed on the positioning arm, the first terminal is used for displaying a surgical guide interface according to the positioning and tracking system and the image capturing system, the second terminal is used for controlling the actuator to move,
controlling the actuator to be placed at a target position;
according to the results of the image capturing system and the positioning and tracking system, a preoperative medical image diagnosis is combined, real-time visual guidance is provided and displayed on the display system;
controlling the actuator to reach a nodule position according to the guidance of the display system;
the balloon is inflated by applying pressure to the injector, the actuator is fixed, and the posture of the actuator is kept;
replacing the image capture system with a surgical tool through a working channel according to actual conditions;
and (5) contracting the balloon and controlling the actuator to move out.
2. The system of claim 1, wherein the actuator is configured to travel within a bronchial passage, the actuator end is configured with an inflatable balloon to effect support and fixation at the target site, the actuator end is coupled to a flexible catheter for establishing a treatment channel within the bronchial passage;
the driver is used for driving the actuator to realize a motor with freedom degrees, and the freedom degrees comprise rotation, translation and bending.
3. The system of claim 1, wherein the position tracking system is used for actuator end position tracking by using an electromagnetic navigation system or a fiber optic shape sensing system.
4. The system of claim 1, wherein the image capture system is used for real-time image acquisition, and is implemented by an endoscope module or an ultrasonic probe, and the endoscope module is required to be integrated with an illumination system.
5. The system of claim 1, wherein the remote operating system is configured to control the motion of the actuator by a master operator, a joystick, or a gesture recognition algorithm, or a combination thereof.
6. The system of claim 1, wherein the display system is configured to display a visual navigation image given by a navigation planning algorithm, including a travel route, an endoscopic image, and position information.
7. The system of claim 1, wherein the pre-operative medical image diagnosis comprises:
carrying out CT scanning on a target patient, reconstructing a three-dimensional computer model of a bronchus, and carrying out optimization adjustment on the three-dimensional model;
and importing the optimized three-dimensional model into planning software, selecting a target nodule position, a navigation starting point position and an operation target position to generate a navigation path, and importing the navigation path into the navigation software to form a visual result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211457522.5A CN115721349A (en) | 2022-11-21 | 2022-11-21 | Robot system for transbronchial interventional diagnosis and treatment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211457522.5A CN115721349A (en) | 2022-11-21 | 2022-11-21 | Robot system for transbronchial interventional diagnosis and treatment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115721349A true CN115721349A (en) | 2023-03-03 |
Family
ID=85297248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211457522.5A Pending CN115721349A (en) | 2022-11-21 | 2022-11-21 | Robot system for transbronchial interventional diagnosis and treatment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115721349A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060184016A1 (en) * | 2005-01-18 | 2006-08-17 | Glossop Neil D | Method and apparatus for guiding an instrument to a target in the lung |
| US20140088457A1 (en) * | 2012-09-26 | 2014-03-27 | Covidien Lp | Bleeding containment device |
| US20160287223A1 (en) * | 2015-04-01 | 2016-10-06 | Boston Scientific Scimed, Inc. | Pulmonary biopsy devices |
| CN107205691A (en) * | 2014-10-20 | 2017-09-26 | 博迪维仁医疗有限公司 | Operation device and its application method |
| CN112843436A (en) * | 2020-02-16 | 2021-05-28 | 东莞天天向上医疗科技有限公司 | Multifunctional balloon dilatation catheter for in vivo pulmonary membrane oxygenation and use method |
| CN113057570A (en) * | 2021-03-16 | 2021-07-02 | 上海微创医疗机器人（集团）股份有限公司 | Bronchoscope, scope holding arm, controllable sheath tube, operation method and patient end device |
| CN113907875A (en) * | 2020-07-08 | 2022-01-11 | 柯惠有限合伙公司 | Autonomous ultrasound guided endoscope |
| US20220202397A1 (en) * | 2020-12-31 | 2022-06-30 | Ethicon, Inc. | Systems and methods for liquid flooding of lung to enhance endobronchial energy transfer for use in imaging, diagnosis and/or treatment |
| CN115334991A (en) * | 2019-12-19 | 2022-11-11 | 诺亚医疗集团公司 | System and method for robotic bronchoscopy |
-
2022
- 2022-11-21 CN CN202211457522.5A patent/CN115721349A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060184016A1 (en) * | 2005-01-18 | 2006-08-17 | Glossop Neil D | Method and apparatus for guiding an instrument to a target in the lung |
| US20140088457A1 (en) * | 2012-09-26 | 2014-03-27 | Covidien Lp | Bleeding containment device |
| CN107205691A (en) * | 2014-10-20 | 2017-09-26 | 博迪维仁医疗有限公司 | Operation device and its application method |
| US20160287223A1 (en) * | 2015-04-01 | 2016-10-06 | Boston Scientific Scimed, Inc. | Pulmonary biopsy devices |
| CN115334991A (en) * | 2019-12-19 | 2022-11-11 | 诺亚医疗集团公司 | System and method for robotic bronchoscopy |
| CN112843436A (en) * | 2020-02-16 | 2021-05-28 | 东莞天天向上医疗科技有限公司 | Multifunctional balloon dilatation catheter for in vivo pulmonary membrane oxygenation and use method |
| CN113907875A (en) * | 2020-07-08 | 2022-01-11 | 柯惠有限合伙公司 | Autonomous ultrasound guided endoscope |
| US20220202397A1 (en) * | 2020-12-31 | 2022-06-30 | Ethicon, Inc. | Systems and methods for liquid flooding of lung to enhance endobronchial energy transfer for use in imaging, diagnosis and/or treatment |
| CN113057570A (en) * | 2021-03-16 | 2021-07-02 | 上海微创医疗机器人（集团）股份有限公司 | Bronchoscope, scope holding arm, controllable sheath tube, operation method and patient end device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110087576B (en) | System and method for registering an elongated device to a three-dimensional image in an image-guided procedure | |
| JP3608448B2 (en) | Treatment device | |
| CN106714724B (en) | System and method for planning multiple intervention programs | |
| JP2023133606A (en) | Systems and methods related to elongate devices | |
| WO2019169178A1 (en) | Methods and systems for mapping and navigation | |
| CN111281544B (en) | Automatic guiding robot system for in-vivo medical instrument and automatic guiding method thereof | |
| CN113729977A (en) | System and method for using registered fluoroscopic images in image-guided surgery | |
| US11514591B2 (en) | Systems and methods related to registration for image guided surgery | |
| CN111887988B (en) | Positioning method and device of minimally invasive interventional operation navigation robot | |
| US20220156923A1 (en) | Systems and methods for connecting segmented structures | |
| JP7358404B2 (en) | Surgical navigation system with automatically driven endoscope | |
| US20220202500A1 (en) | Intraluminal navigation using ghost instrument information | |
| US11832898B2 (en) | Robotically controllable field generators for aligning a guide with a target | |
| CN113710145A (en) | System for enhanced registration of patient anatomy | |
| CN115721349A (en) | Robot system for transbronchial interventional diagnosis and treatment | |
| JP2023529291A (en) | Systems and methods for triple-imaging hybrid probes | |
| US20220054202A1 (en) | Systems and methods for registration of patient anatomy | |
| US20240350121A1 (en) | Systems and methods for three-dimensional imaging | |
| CN112087981B (en) | Method and system for mapping and navigation | |
| CN118139582A (en) | Ultrasonic elongate instrument systems and methods | |
| CN116456925A (en) | Robot type controllable field generator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |