Robot with medical information

Medical robotics is currently the most active in the field of foreign robotics research, one of the most invested in the direction of its development prospects are very favorable. In recent years, medical robotics technology has attracted a great deal of attention from the academic community in the United States, France, Germany, Italy, Japan and other countries, and the research work is booming. Since the 1990s, the International Advanced Robotics Program (IARP) has held a number of medical and surgical robotics seminars DARPA has set up a project to carry out surgical research based on remote-controlled operation for war injury simulation surgery, surgical training, anatomy teaching. The European Union, the French National Center for Scientific Research will also be robot-assisted surgery and virtual surgical simulation system as one of the key research and development projects in developed countries have appeared in the medical and surgical robots marketed products, and in the clinic to carry out a large number of cases in the application of research. With the development of science and technology, especially the development of computer technology, the role of medical robots in the clinical more and more attention. As the surgeon's third eye, the surgical aid navigation system allows the surgeon to see the internal structure of the surgical site, avoiding the surgical errors caused by the surgeon's inexperience, and making the surgery safer, more reliable, more accurate and more scientific, with a very broad application prospect. Now, it has been successfully applied to neurosurgery, plastic surgery, urology, spine, ENT, ophthalmology, knee joint removal and laparoscopy and many other fields. As a result, it has gone from an open, completely manual procedure to a minimally invasive procedure that aids the surgeon, with the aid of medical imaging, microdevices, sensors, computers, and manipulators. In addition, physicians benefit from choosing the best surgical path, performing complex surgical procedures, and improving the success rate of surgery. Minimally invasive surgery (MIS) technology emerged in the 1980s and is also commonly referred to as interventional surgery. With the help of various visualization equipment and advanced and dexterous surgical instruments, surgical instruments are used to enter the human body through small incisions for treatment or diagnosis. Compared with traditional open surgery, minimally invasive surgery has many advantages, such as less trauma, reduced patient pain, faster postoperative recovery, improved surgical quality and reduced medical and social costs. Therefore, it is generally welcomed by doctors and patients, and is an inevitable trend in the development of surgery. As a representative of minimally invasive surgery, laparoscopic minimally invasive surgery is a major change to traditional open surgery. However, laparoscopic surgery also has some problems in the operation. For example, when the surgeon operates the instruments in front of the operating table, the distance between the surgeon's hand and the end of the operated instruments is generally 400-500mm, which makes the surgeon fatigued after a long time of accurately grasping the surgical instruments. In addition, the error of the surgeon's hand trembling and transferring it to the end of the instruments will also be enlarged. Robotics can be a good solution to these problems. Because the robot has the advantages of accurate positioning, greatly reducing the work intensity, etc., and it can also be programmed through the software to achieve defibrillation and improve the accuracy of surgery. Minimally invasive surgical robots and traditional industrial robots in the structure, the system is more targeted, usually a structure is only applicable to a surgical operation. For master-slave robots, during surgery, the surgeon's decision is transmitted to the slave hand through the master hand, and by monitoring the movement of the slave hand, the control is adjusted or modified to achieve the expected results, realizing minimally invasive surgery. Since the slave hand system acts directly on the patient, its performance directly affects the performance of the whole system, the quality of surgery, and the safety of the system. With the continuous development of computer technology, microcomputers can meet the requirements of surgical navigation systems both in terms of calculation speed and memory capacity. In China, the development of miniaturized, low-cost, high-precision surgical navigation systems based on microcomputers will be a development trend.1. Literature Review3.1 Compared with other robots, medical robots have the following characteristics: 1) their operating environment is generally in hospitals, streets, homes and non-specific occasions, with mobility and navigation, recognition and avoidance capabilities, as well as intelligent human-machine interaction interface. 2) they can be used to perform surgery in the hospital. 3) they can be used to perform surgery in the hospital. 4) they can be used in the hospital. Human-robot interaction interface. In the case of manual control, but also with remote control capabilities. ② Medical robots operate on people, human information, and related medical devices, and need to synthesize knowledge from various disciplinary fields such as engineering, medicine, biology, pharmaceuticals, and sociology to carry out research projects. ③ The material selection and structure design of medical robots must be based on the premise of easy disinfection and sterilization, safe, reliable and radiation-free. (4) The performance of medical robots that use human beings as the object of operation must meet the requirements of adaptability to changes in conditions, flexibility in operation, safety from danger, and adaptability to the human body and mind. ⑤ Medical robots and medical robots and medical equipment with or reserved for common interfaces, including information communication interfaces, human-computer interaction interfaces, clinical aids interfaces, and casualty transfer interfaces. Technically speaking, the development of medical robots is based on the following basic technologies: they are mechanical design and manufacturing technology, sensor application technology, automatic control technology, drive technology, human-machine interaction technology. Depending on the purpose medical robots can be broadly categorized into rescue robots, surgical robots, transport robots and rehabilitation robots. Surgical robots have the basic characteristics of robots along with their own features such as accurate position selection, fine movements, and avoidance of patient infection. In vascular suture surgery, it is difficult to manually suture blood vessels thinner than 1 mm or less, if the use of surgical robots, vascular suture surgery can achieve less than 0.1 mm accuracy; surgical robots for surgery to avoid direct contact with the patient's blood, which greatly reduces the risk of infection in patients. Commercialized surgical robots first appeared in 1994, developed by the U.S. Computer Motion, essentially a voice-activated laparoscopic automatic "mirror hand", named AESOP. surgical robots in March 1997 in Brussels, Belgium, St Pierre Hospital completed the The first case of laparoscopic surgery - cholecystectomy. 1998, ComputerMotion company developed Zeus system, Intuitive Surgical company developed da Vinci system and endoVia company developed Laprotek system were successful. The Zeus system by Intuitive Surgical and the Laprotek system by endoVia were successful. These three systems are composed of three major components: the doctor's console, robotic and endoscopic devices. Zeus system uses pure signal mode to realize the doctor's console on the control of the robotic arm, in the transmission distance is not affected by the video delay. zeus system in September 2001 for the first time successfully realized the trans-Atlantic (New York, United States - France Strasbourg) robotic laparoscopic cholecystectomy. Currently, surgical robots perform not only general surgery, but also cerebral neurosurgery, cardiac repair, gallbladder removal, artificial joint replacement, urology and plastic surgery. Nevertheless, there are still many aspects of surgical robots that need to be continuously improved. By adding the "artificial field of view" system, the surgical field can be monitored during the operation, assisting the operator to make judgments and increasing the safety of the operation; using software to handle the integration, segmentation and synthesis of tactile and visual images; providing stable tactile control, recognizing different human tissues, and performing critical anatomy. Different human tissues, image recognition of key anatomical structures and image segmentation; good tactile feedback and positional awareness. The deepening development of micro-mechanical and electrical technology provides technical support for micro- and even nano-robots, which can directly enter the internal work of human organs to complete tissue sampling, vascular dredging, drug placement, microsurgery and cell manipulation and other common medical technologies and means can not be completed. At present, foreign countries are developing and developing in vivo autonomous walking diagnostic treatment, in vivo micro-surgery and in vivo drug direct placement of micro-surgical robots. Doctors use syringes to push the micro-robot into the human body, by the microbial sensors it carries on the human body tissue detection, when found to have lesions in the tissue, micro-surgical robots on the lesions in the tissue for direct surgery and drug injection therapy. Harbin Institute of Technology Robotics Research Institute successfully developed a nanoscale precision positioning system, supported by this system of nanoscale high-precision micro-driven robots, cells and chromosomes can be "microsurgery". Nanoscale robots can walk in the microcosm of the human body, at any time to remove all harmful substances in the human body, repair damaged genes, activate cellular energy, so that people not only to maintain health, but also to extend life. Medical robots apply robotics technology to the medical field, greatly promoting the development of modern medical technology, is one of the development direction of modern medical and health equipment. With the continuous updating of science and technology, the aging of the society and the high technology of modern war, as well as the development of medical technology, the various therapeutic robots and their auxiliary medical technology will be more in-depth and extensive research and application, to promote the rapid development of medical robotics. 3.2 Spatial localization technology in the computer-assisted navigation system, spatial localization is the key to the whole system, is directly related to the accuracy of the whole system and the success or failure of computer-assisted surgery. The success or failure of computer-aided surgery. Its role is to measure the spatial position and attitude of surgical instruments in real time, according to the different positioning sensors, can be divided into mechanical positioning, ultrasonic positioning, electromagnetic positioning and optical positioning method. (1) Mechanical positioning Mechanical positioning is the initial positioning method of the surgical navigation system, which belongs to passive positioning. Positioning robot should have at least 6 degrees of freedom, and each joint has an encoder. The position and rotation of the surgical instruments connected to the manipulator can be calculated from the geometric model of the manipulator and the instantaneous values of the joint encoders, with a typical accuracy of 2-3 mm. The advantages of robotic positioning are that it is not blocked, is not obstructed by obstacles, and that it is possible to pinch or place a surgical instrument in a specific position. The disadvantages are that it is awkward during surgery, the pressure applied to the manipulator can cause the data to change, and there are displacement errors in the fixtures and brakes. Mechanical positioning is often used for calibration and inspection of armless systems. (2) Ultrasonic positioning measures the distance between the ultrasonic transmitter and receiver by measuring the ultrasonic propagation time. By placing N (at least >3) transmitters on the surgical instrument, the position and attitude of the instrument can be calculated. The absolute accuracy of this system is typically 5 mm. The main problems with ultrasonic localization are the effect of temperature on the ultrasound, air displacement, air non-uniformity, and the large size of the transmitter. (3) Electromagnetic positioning In the electromagnetic positioning system, each electromagnetic generating coil defines one spatial direction, and three coils define three spatial directions, and then the spatial position of the target can be localized according to the known relative position relationship. The accuracy of electromagnetic positioning system is 2mm, electromagnetic positioning is more accurate, and belongs to the non-contact positioning. However, the magnetic field of the system is very sensitive to the introduction of any metal object in the workspace. (4) Optical Positioning Optical positioning is currently the mainstream positioning method in surgical navigation systems. The CCD camera is used as the sensor, and the measurement target is several infrared light-emitting diodes mounted on the surgical instruments. The position and attitude of the surgical instruments are calculated from the spatial position of the infrared light-emitting diodes. According to the different cameras used, the optical positioning can be divided into line array CCD and surface array CCD two kinds. Surface CCD measurement system consists of two surface CCD cameras, using standard lenses, each point of light in the image defines a projection line in space, using the space of the two cameras can calculate the intersection of the corresponding projection line, to obtain the three-dimensional coordinates of the point. Line array CCD measurement system using a cylindrical lens, the use of three fixed relative position of the line array CCD composition, the measured point and the node axis of the lens to determine the plane and the sensitive element vertical intersection of the measured point of the image, through the intersection of the three defined planes can determine the spatial position of the measured point. Due to the line array CCD resolution can be made very high (4096), its spatial resolution is very high, the typical line array CCD navigation system accuracy within 0.5 mm, while the typical accuracy of the surface array CCD system for 1 mm. optical positioning system has the advantage of high accuracy, processing flexibility and convenience, but vulnerable to the operation of the hand's cover, the surrounding light and the influence of the specular reflection of the metal object. 3.2 Virtual Reality Virtual Reality, abbreviated as VR technology (Virtual Reality in English). This term was proposed by the American VPL company founder Lanier in the early 1980s, China's famous scientist Qian Xuesen will be translated as "spiritual realm technology," it is the simulation of the environment, the visual system and simulation system into one, and the use of helmet displays, graphic glasses, data suits, stereo headphones, data gloves and foot pedals and other sensing devices. Sensing devices such as helmet display, graphic glasses, data suit, stereo headset, data gloves and foot pedal, the operator and the computer-generated three-dimensional virtual environment linked together. The operator interacts with the virtual environment through sensors, can obtain visual, auditory, tactile and other perceptions, and in accordance with their own wishes to change the virtual environment is called virtual reality.