CN1243690A

CN1243690A - Cerebrosurgical operation equipment system with robot and its implement method

Info

Publication number: CN1243690A
Application number: CN97115258A
Authority: CN
Inventors: 王田苗; 田增民; 胡磊; 陈梦东; 佟国治
Original assignee: Beihang University
Current assignee: Beihang University; Beijing University of Aeronautics and Astronautics
Priority date: 1997-08-27
Filing date: 1997-08-27
Publication date: 2000-02-09
Anticipated expiration: 2017-08-27
Also published as: CN1100516C

Abstract

The present invention relates to an equipment system for a cerebrosurgical operation, which features use of computer, robot and CT image. Under the direction of 2D image guide location, 3D image guide location, microwound location and nonwound location, all of which are disclosed by present invention, the position of cerebral focus can be correctly determined, the operation and treating scheme is designed and other fine operations including biopsy, cutting and injecting radioactive liquid can be performed. Its advantages are high speed, flexibility, reliability and accuracy and low cost.

Description

Cerebrosurgical operation equipment system with robot and its implementation

The present invention is a kind of extraordinary medical apparatus system and its implementation of carrying out the human body head operation of assisting by means of robot and computer.It relates to computer, robot, machinery, automatization, and technology-oriented discipline field such as armarium engineering.

Cerebrosurgical operation equipment system with robot is just being brought into play more and more important effect in armarium engineering field.Conventional stereotaxis cerebral surgery operation is by the specifically labelled stereotaxic instrument framework of a kind of N of having font (calibration facility), it is fixed on patient's the skull, by CT scan or relevant X-ray equipment imaging, the focus dot information and the stereotaxic instrument frame coordinates of cerebral tissue on the CT sheet are set up corresponding geometric transformation relation, by means of a kind of special-purpose coordinate scale dish and positioning rule equipment, can read the D coordinates value of focus target spot the stereotaxic instrument coordinate system again from graduated disc.On this basis, a bow type instrument guide device is installed in the stereotaxic instrument framework, coordinate figure and this guiding device by known focus target spot just can bore an aperture on skull, and, the focus point is carried out operations such as biopsy, radiotherapy, excision with in probe or other meticulousr, the complicated surgical device introducing brain.

Existing this surgical operation has been obtained many important achievement, but also exists some shortcomings:

A. be that patient begins to finish will have on all the time the heavy metal headstock up to operation from CT scan, the bow type that particularly will install operation pilot operationp arm not only makes patient uncomfortable, and takies the space of operation technique.

B. be that coordinate scale dish and the positioning rule equipment that uses at present only limits the use of the sheet in a kind of CT of specific size, and can not be applicable to the CT sheet that various CT machines are clapped, particularly can not be suitable for one 9 width of cloth mind map CT sheet that generally uses at present.

C. be that this method is difficult to provide in different directions the trajectory planning to target (tumor);

D. it is long to the complex operation that framework is adjusted, time to be that operator reads the coordinate of target spot from frame rods.

E. be as operating room with CT Room, utilize robot and CT scan bed to be fixedly connected, finish the stereotactic neurosurgery positioning action, this method does not meet the national conditions of our country, expensive CT machine is difficult to as operating room often towards each medical section office of hospital.

F. in operation, the medical worker directly carries out radiopharmaceutic implant operation, also can cause medical worker's radiation injury.

For this reason, people urgently wish by computer and robot new and high technology, seek a kind of new, faster, more flexible, more reliable, more accurate, Cerebrosurgical operation equipment system with robot and its implementation that cost is low.

The purpose of Cerebrosurgical operation equipment system with robot of the present invention and its implementation is to utilize the advanced high-tech of robot and computer, straight path to operation technique is planned, select the operation pathway of a minimal damage, simultaneously avoid injuring important vessel, nerve in the brain again, under the guiding of robot 1 terminal mechanical hand extension apparatus 27, surgical device that other is meticulousr, complicated is introduced in the brain (as probe etc.), and the auxiliary relevant personnel carry out delicate procedure operations such as biopsy, radiotherapy, excision to the focus point.

We are at purpose:

1. utilize Computer Image Processing, make the target spot location of conventional various stereo brain orienting instruments be applicable to the CT sheet that various CT machines are clapped, as the CT sheet of one 9 width of cloth mind map, and numerous and diverse operation of saving coordinate scale dish and positioning rule.

2. Cerebrosurgical operation equipment system with robot of the present invention and its implementation do not take CT Room when operation, can save a large amount of funds, more meet China's actual conditions.

3. propose a kind of little loss mapping method, solve the complicated loaded down with trivial details demarcation of medical image space and clinical operation working place destructuring environment.Propose the not damaged surgical lesion and measured and operational approach, protected patient's interests biglyyer.

4. utilize the robot manipulation, the bow type motion arm of cancellation framework instrument is realized the straight line puncture trajectory planning of different directions, and provides bigger operative space for the medical worker.

5. design a kind of propulsive mechanism of syringe, alternative medical worker directly carries out radiopharmaceutic implant operation, to alleviate the radiation injury to the medical worker.

Cerebrosurgical operation equipment system with robot that the present invention proposes and the particular content of its implementation are as follows: it is by computer 4 (selecting model PC586 for use) for a Cerebrosurgical operation equipment system with robot, robot 1 (selecting model PUMA262 for use), mechanical hand extension apparatus 27, operation table 28, constitute with calibration facility 29 equipment such as grade, be to receive information, the position of mensuration and definite focus, the auxiliary Cerebrosurgical operation equipment system that undergos surgery and treat, it is characterized in that, its mechanical hand extension apparatus 27 (seeing Fig. 1 and Fig. 2) comprises measuring demarcates mechanical interface 70, mapping nail 71, operating theater instruments fixture 60, double template 50, equipment such as syringe propulsive mechanism 30 and six joint mechanical arms 9, this system also comprises CT picture 26, equipment such as scanner 5 (selecting model UNISCAN for use) and C shape X-ray machine 8, what its calibration facility 29 used is positioning framework 3.The equipment difference that different steps is selected for use,

One. when carrying out the mapping location: patient's head is fixed on the three-dimensional positioning framework 3 that has N font labelling, robot 1 and relevant joining peripheral equipment are carried out disinfection, demarcate mechanical interface 70 (see figure 8)s such as measuring, one end is pointed barred body mapping nail 71, operating theater instruments fixture 60, double template 50, syringe propulsive mechanism 30 etc., measure to demarcate mechanical interface 70 and be interface for being connected with the robot end, form by the fixture 74 of fixing hole 72 by the base 73 and the center that are connected the blue dish of screw socket 75 likeness in form methods by four, base 73 is to fixedly connected with fixture 74, is furnished with the fixedly screw of usefulness on fixture 74.Allow patient lie on the operation table, utilize scanner 5 on the one hand, measure the three-dimensional coordinate of encephalopathy kitchen range with the image guiding software system of the present invention's research and development CT picture 26 data input computer 4; On the other hand with the measurement scaling method of the present invention design, demarcate mechanical interface 70 and mapping nail 71 or double template 50 with measuring, finish mapping transformation between operation technique space and the image planning space, afterwards, operating theater instruments fixture 60 devices with the robot end, utilize the robot 1 auxiliary straight path planning of finishing different directions, the accurate location of realizing stereotactic surgery.

Two. when carrying out related surgical: control robot 1 moves near the brainpan by the straight path of the best, operating theater instruments fixture 60 by the present invention's design, hole and insert probe, and robot 1 carries out that fine motion is advanced subtly or the setback location under computer 4 control, carries out the biopsy of relevant focus point and the extraction of capsule liquid etc.

Three. when auxiliary treatment: the injection propulsive mechanism 30 of the present invention's design is installed on operating theater instruments fixture 60, under the control of computer 4, is finished radioisotopic injection.

Should say so: our technical scheme is mainly injected four most of compositions such as control by the auxiliary stereotaxis motor control of scaling method, robot and the radiopharmaceutical of image guiding localization method, medical image model and clinical operation environment.This four bulk is illustrated respectively now.

One. image guiding localization method:

For brain stereotactic operation, for exactly with probe or other more the surgical device of elaborate introduce the intracerebral lesion point, carry out operations such as biopsy, radiotherapy, excision, must determine the position of focus point exactly, and on skull the bore position attitude.Therefore, at first a vital task is exactly, and utilizes computer to carry out the operation target spot location of brain image, and carries out many operating planning of straight path on this basis, selects best operation plan.

In order to locate exactly, the present invention has designed two sets of plan, and one is to draw guidance positioning system towards two dimensional image, and another is towards the three-dimensional image guidance positioning system.

A: the present invention design by means of PC586 Window platform, utilize Visual C++ technology, we have designed two dimensional image guiding localization method: by means of PC586 Window platform, and the location that utilizes Visual C++ technology to realize five visual guiding focus points under the icons driving, both:

A. one of icon function is reading and writing of files operation, and it is responsible for CT or MRI view data being read in relief area and being presented on the screen, perhaps deposits CT or the MRI view data of revising in file, perhaps will finish localized parameter, case report output print.

B. two of icon function is on CT or MRI image that computer shows, stack shows a framework that has scale again, utilize this display frame of mouse drag, so that the patient head of aiming at CT or MRI pictorial display has four angles of stereotactic frame, thereby the coordinate transform of determining CT on the computer screen or MRI pictorial display and real EEG portion position concerns.

C. three of icon function is on CT or MRI image that computer shows, the stack demonstration has graduated horizontal scale again, utilize this scale of mouse drag, have N font gauge point so that aim at the patient head of CT or MRI pictorial display, thereby determine the coordinate of the CT on the computer screen or the MRI pictorial display Z axle degree of depth.

D. four of icon function is on CT or MRI image that computer shows, the stack demonstration has graduated Cross Scale again, utilize this scale of mouse drag, so that aim at patient's brain lesion point of CT or MRI pictorial display, thereby determine the coordinate of CT on the computer screen or MRI pictorial display X, Y-axis.

E. five of icon function is four the operations of arriving according to two of icon function, by geometric transformation, calculates X, Y, Z coordinate with respect to the stereotactic frame instrument.

The outstanding feature of this technical scheme is the CT sheet that is applicable to that various CT machines 7 are clapped, CT sheet as one 9 width of cloth mind map, can finish brain target spot location, promptly can be used for 1 auxiliary department of cerebral surgery system of robot, the positioning framework 3 that also can cooperate conventional various stereo brain orienting instruments, under the condition that keeps same precision, calculate X, Y, the Z coordinate position of target spot in real time, also have the coordinate scale of saving dish and advantages such as positioning rule equipment and operation simultaneously.

B: towards 3-D image guided positioning software system be six joint mechanical arms 9 by the present invention's design as the observation rod, under the OpenGL software development environment, realize our this technical scheme.

The structure of the six joint mechanical arms 9 that the present invention once is designed is described now,, is mainly used in the measurement of operation technique spatial point and the operation of 3-D view as the observation rod of human-computer interaction device.Six degree of freedom articulated type mechanical arm 9 (seeing Fig. 3 and Fig. 4) adopts the passive delivery mode, and it and each joint all adopt surface treated aviation aluminium type material to make, and main hardware structure is composed as follows:

On support 10, be equipped with joint 1, its one 11 lower ends, joint are inner adopts accurate, axle 94 is fixed with support 10 usefulness screws 96, the axle axial location is fixed with joint 1 by baffle ring 92, packing ring 93, the radial location of axle 94 is fixed by copper lining and joint 1, the effect of copper lining 97 has graphite to make lubricant just as sliding bearing between axle and bearing, guarantees that the rotation in joint 1 is flexible.With the connection of potentiometer 20 is to insert potentiometric axial trough by being fastened on axle 94 convexity plugs 99, realization axle and 20 interlocks of potentiometer, and potentiometric shell is fastened on the joint 91 in joint 1, keeps rotating synchronously with joint 1 exactly to guarantee potentiometer.

The right-hand member in joint 2 12 links to each other with the left end in joint 1, the axle 94 and the joint one 11 usefulness screws 96 in its joint 2 12 are fixed, axle 94 axial location are fixed with joint 2 12 by baffle ring 92, packing ring 93, the radial location of axle 94 is fixed by copper lining 97 and joint 2 12, the effect of copper lining 97 is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint 2 12 is flexible; With the connection of potentiometer 21 is to insert potentiometric axial trough by being fastened on axle 94 convexity plugs 99,

realization axle

94 and 21 interlocks of potentiometer, and potentiometric shell is fastened on the joint 91 in joint 2 12, keeps rotating synchronously with joint 2 12 exactly to guarantee potentiometer; The upper end in joint 2 12 be fixedly linked with big arm 13 1 ends (inherence in following joint in twos connects and connects all is identical and roughly the same, below just do not narrated one by one).

The lower end in joint 3 14 is fixedly linked with big arm 13 other ends, the right-hand member in joint 3 14 links to each other with the left end in joint 4 15, the axle in its joint 3 14 and joint 4 15 usefulness screws are fixed, the axle axial location is fixed by baffle ring, packing ring and joint 3 14, the radial location of axle is fixed by copper lining and joint 3 14, the effect of copper lining has graphite to make lubricant just as sliding bearing between axle and bearing, guarantees that the rotation in joint 3 14 is flexible; With the connection of potentiometer 22 be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and 22 interlocks of potentiometer, and potentiometric shell is fastened on the joint in joint 3 14, keeps rotating synchronously with joint 3 14 exactly to guarantee potentiometer.

The lower end in joint 4 15 and forearm 16 1 ends are fixedly linked, the right-hand member in joint 4 15 links to each other with the right-hand member in joint 3 14, the axle in its joint 4 15 and forearm 16 1 ends are fixed with screw, the axle axial location is fixed by baffle ring, packing ring and joint 4 15, the radial location of axle is fixed by copper lining and joint 4 15, the effect of copper lining has graphite to make lubricant just as sliding bearing between axle and bearing, guarantees that the rotation in joint 4 15 is flexible; With the connection of potentiometer 23 be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and 23 interlocks of potentiometer, and potentiometric shell is fastened on the joint in joint 4 15, keeps rotating synchronously with joint 4 15 exactly to guarantee potentiometer.

The upper end in joint 5 17 and forearm 16 other ends are fixedly linked, the right-hand member in joint 5 17 links to each other with the left end in joint 6 18, the axle in its joint 5 17 and joint 6 18 are fixed, the axle axial location is fixed by baffle ring, packing ring and joint 5 17, the radial location of axle is fixed by copper lining and joint 5 17, the effect of copper lining has graphite to make lubricant just as sliding bearing between axle and bearing, guarantees that the rotation in joint 5 17 is flexible; With the connection of potentiometer 24 be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and 24 interlocks of potentiometer, and potentiometric shell is fastened on the joint in joint 5 17, keeps rotating synchronously with joint 5 17 exactly to guarantee potentiometer.

The lower end in joint 6 18 links to each other with taper prospecting tools 19, the axle in its joint 6 18 and prospecting tools 19 are fixed, the axle axial location is fixed by baffle ring, packing ring and joint 6 18, the radial location of axle is fixed by copper lining and joint 6 18, the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint 6 18 is flexible; With the connection of potentiometer 25 be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and 25 interlocks of potentiometer, and potentiometric shell is fastened on the joint in joint 6 18, keeps rotating synchronously with joint 6 18 exactly to guarantee potentiometer.

Towards 3-D image guided localization method be:

The OpenGL software engineering by means of computer WindowsNT and SGI work station of the present invention's design, the 3-D image guided localization method of design is: excellent as observation with six joint mechanical arms 9, on the OpenGL software development environment platform of computer WindowsNT and SGI work station, can realize a 3-D image guided stereotactic surgery surgery planning system.It at first can finish the two-dimensional image data pretreatment, comprises that rectangular histogram shows, tonal range is calibrated (linear greyscale transformation, nonlinear gray conversion), organizes the interpolation processing of division, a series of CT scan brain image alignment and CT interlayer etc.Then, realize the reconstruct of 3-D view on this basis, and on computer screen, show different anatomic organizational structure in the brain with different colours.The six joint mechanical arms 9 that utilize the present invention to design are excellent as observation, can realize the translation rotation of 3-D view, amplification is dwindled, operations such as any cutting planes, and can be from different perspectives, measurement and positioning is carried out at position to the operation technique of carrying out ahead of schedule, pass through computer program, carry out coordinate transform, calculate the coordinate figure of mechanical arm end, the operation puncturing straight path is carried out virtual demonstration and planning in the human brain 3-D view of computer, observe the operation technique track and whether may cause and seriously influence, the result of radiotherapy etc. in the simulation isotope important cerebral tissue or cerebrovascular.

In particular: we can utilize six joint mechanical arms 9, by means of the potentiometer on six joints, measure the angle in each joint, A/D card collection by computer 4 is converted to digital quantity, utilize the program of computer 4 again, carry out the space geometry Coordinate Conversion, just can calculate the attitude and the position of mechanical arm end.To the manipulation of six joint mechanical arms 9,, just can to the measurement of actual patient head surface

A. utilize the attitude and the position of six joint mechanical arms, 9 ends, the rotation of three-dimensional image on Control Computer 4 screens

B. utilize the terminal distance with the actual patient head of six joint mechanical arms 9, can Control Computer 4 screens on three-dimensional image amplification or dwindle;

C. with plane of attitude definition of six joint mechanical arms, 9 ends, three-dimensional image on computer 4 screens is cut, be convenient to observe the focus target spot of human body brain inside;

Based on above-mentioned three functions, just can be by operation to six joint mechanical arms 9, with its coordinate is basic point, analyzes, the collinear optimum position of observer robot operation puncturing and attitude, and whether its operation technique straight path may cause important cerebral tissue or cerebrovascular and seriously influence etc.; The protrusion characteristics of this technology are excellent as observation by means of six joint mechanical arms 9, can conveniently set up the good interface of image manipulation, to realize the operation and the planning of virtual operation, select best operation plan.Two. the scaling method of medical image threedimensional model and clinical operation environment

In computer and assisted surgery for robots, the problem that at first needs to solve is how to realize the demarcation of brain image threedimensional model and clinical operation operating environment, and soon the predetermined focus point position on the CT picture is mapped to robot manipulation's concrete focus point position.Demarcate mechanical interface 70 and mapping nail 71, double template 50 by means of the measurement of the present invention design here, utilize computer-controlled Robot Force control man-machine interactive interface, we have proposed Wicresoft and have hindered and AT two kinds of mapping transformation methods.

A: the mapping transformation method is hindered by Wicresoft:

Generally our defining virtual space is based on the image space of CT, and realistic space is the space at robot and patient place.In order to set up two spatial mapping relations, we construct a reference frame that is connected with skull by three telltale mark points on the definition space framework, have realized two spatial coupling mappings.

Hinder the mapping transformation method for Wicresoft, robot 1 can be mapped to target 1 basis coordinates system of robot, robot end's operating theater instruments fixture 60 coordinate systems from CT image coordinate system, positioning framework 3 coordinate systems.The present invention has designed the mapping that is used to measure demarcation and has followed closely 71 instruments and measure and demarcate mechanical interface 70, measure an end of demarcating mechanical interface 70 and can be fixed on robot end's force transducer 2 by screw, measure the other end of demarcating mechanical interface 70 and follow closely by fixedly taper mapping of screw, purpose is in order to utilize the robot 1 terminal mapping nail of installing 71 directly to obtain the spatial gauge point coordinate of operation technique.

The present invention design by means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, three gauge points on the positioning framework 3 have been known, localized method is hindered by our designed Wicresoft: at first select three gauge points of definition on the positioning framework 3 that human body head is installed, carry out CT scan then, obtain the CT image; Because in CT pattern space coordinate system, know above-mentioned gauge point, can construct space coordinates with these three gauge points, be referred to as the gauge point three-coordinate of CT pattern space, thereby can pass through the space geometry conversion, with the CT pattern space the focus point be concerned about be mapped in the gauge point coordinate system in the CT image.

On the other hand, after the patient with positioning framework 3 lies on the operation table, we will measure an end of demarcating mechanical interface 70, be fixed on robot end's force transducer 2 by screw, to measure the other end of demarcating mechanical interface 70 again and install and fix a taper mapping nail 71, can measure and obtain spatial three gauge points of operation technique, can construct space coordinates again, be referred to as the gauge point coordinate system in the operation technique space with the gauge point of these three demarcation.In the operation technique space, notify above-mentioned three gauge points by robot, thereby can be by geometric transformation, the focus point of being concerned about in the operation technique space is mapped in the gauge point coordinate system, and this inverse transformation also exists, and promptly the focus point in the gauge point coordinate system is mapped in the robotic surgery working place.

Pass through said method, in the gauge point coordinate system of CT pattern space mapping transformation in the CT pattern space, gauge point coordinate system in the CT pattern space and the gauge point coordinate system in the robotic surgery working place are of equal value fully, thereby be that the robotic surgery working place is arrived in mapping transformation with above-mentioned conversion with labelling point coordinates in the robotic surgery working place again, this has just realized that the CT pattern space arrives the conversion of operation working place greatly.

Therefore, in the operation technique space, as long as demarcate mechanical interface 70 and mapping nail 71 in robot end's measurement by our design and installation, by computer 4, realize PUMA260 robot 1 power control mode, can directly discern three telltale mark points that define the acquisition operation technique spaces from positioning framework 3 with robot 1.Three telltale mark point coordinates positions that define in the Virtual Space can directly obtain from positioning framework 3 scales.As can be seen, as long as three telltale mark points are not collinear,, just can construct the geometric transformation of these two spatial mappings relations based on operable software.

Little loss mapping method that we proposed has solved the complicated loaded down with trivial details demarcation of medical image space and clinical operation working place destructuring environment preferably, make operation not take CT Room, meet China's actual conditions like this, and establish important basis for the further research of frameless stereotactic neurosurgery.

B. about no wound mapping transformation method:

We have proposed to utilize imaging device C shape X-ray machine 8, are not provided with the gauge point of damage on one's body patient, realize medical image space and the destructuring environment mappings conversion of clinical operation working place.Imagining any width of cloth X-ray medical image is a three-dimensional perspective view, the impact point in the image can regard as this in the space subpoint along X-ray line direction, all corresponding same subpoint of every bit on projection line.Obviously, if all find a projection straight line by impact point in two width of cloth images, these two collinear intersection points are exactly the extraterrestrial target point position that we require so.

In order to address this problem, we have designed a kind of double template 50 (see figure 6)s.Its structure is: the material lucite of upper former 51 and lower template, distance between upper former 51 and the lower template 52 is determined, being connected and fixed between upper former 51 and the lower template 52 is by

screw

54,55,56,57 is fastening, the position of the gauge point of upper former 51 we adopt square net to arrange, distance between per 2 is determined, the gauge point of lower template 52 is on several concentric circulars at plate center, the coordinate system position of these gauge points in double template 50 is accurate and definite, and being projected in the image of they be visible, and the galvanized wire of the material selection 1mm diameter of gauge point is made.

If provide concrete numerical value, then a kind of design of template is: template is of a size of 200mm * 200mm, the material lucite of upper former 51 and lower template, thickness is 4mm, distance between upper former 51 and the lower template 52 is 53mm, and being connected and fixed between upper former 51 and the lower template 52 is fastening by

screw

54,55,56,57.The gauge point of upper former 51 we adopt square net to arrange, and the distance between per 2 is 40mm, and the gauge point of lower template 52 adopts circular arrangement, has two circumference, and little radius of circle is 50mm, and big radius of circle is 70mm; 16 gauge points are arranged on each circumference.

Double template 50 and robot end's measurement is demarcated mechanical interface 70 and is connected that the mechanical interface 53 that is by double template 50 is fixedly connected, then by the projection relation of metal marker in X light image on the double template 50, can measurements and calculations space unknown point at the coordinate of template coordinate system, again based on the transformation matrix of robot 1 basis coordinates, then can from two width of cloth projection images, establish two space lines respectively, their joining be we locus to be asked, thereby realize a kind of location algorithm fast and effectively.The structure of double template 50 is based on the idea of finding the solution two points on the projection line, and is custom-designed to set up the space line equation.

Double template 50 structures are: the material lucite of upper former 51 and lower template, distance between upper former 51 and the lower template 52 is determined, being connected and fixed between upper former 51 and the lower template 52 is by screw 54,55,56,57 is fastening, the position of the gauge point of upper former 51 we adopt square net to arrange, distance between per 2 is determined, the gauge point of lower template 52 is on several concentric circulars at plate center, the coordinate system position of these gauge points in double template 50 is accurate and definite, and being projected in the image of they be visible, and the galvanized wire of the material selection 1mm diameter of gauge point is made.In use, at first double template 50 and robot end's measurement being demarcated mechanical interface 70 fixedlys connected by screw, utilize computer 4 that robot end's double template is moved to the top of detected part, then image device C shape X-ray machine 8 top that moves to robot end's double template 50 imaging of taking pictures in the future.Because the gauge point on the double template 50 not only is visible on X light image, and close the position between them, and to tie up in the robot coordinate also be fixing and known, thereby can construct a space line family of passing the focus target spot by the gauge point on the double template 50.Then, as stated above robot end's double template 50 and C shape X-ray machine 8 are moved to another orientation of detected part, can construct the space line family that another passes the focus target spot again, when the focus point is unique, then the intersection point of two space line families is exactly our to be measured minute three-dimensional coordinate focus target spot.This method does not have the gauge point of damage on one's body patient, but by means of the double template 50 that the present invention designs, has realized medical care image and the non-structured mapping transformation of clinical operation operation room.

Therefore, the non-damage mapping techniques scheme outstanding feature that we proposed is the double template 50 by our design, can dexterously medical image device and visual guidance positioning system be separated, what do not need to consider medical image device C shape X-ray machine 8 in the location algorithm has related parameter and an attitude, this not only makes orientation problem oversimplify, and makes this navigation system become practical more.Three. the auxiliary stereospecific operation control of robot:

We are that the PUMA260 robot 1 with UNIMATION company is a hardware platform, researched and developed robot auxiliary stereotaxis operation control, the technical scheme of this respect comprises the operating theater instruments fixture that connects with the robot end, robot trajectory planning, robot motion's control algolithm and the communication program that the present invention designs.Also realized having the human-computer interaction interface based on real-time force control in addition, the doctor can directly grasp the end of robot, and the control robot reaches doctor's desired position and attitude, has made things convenient for the medical worker to the localized operation of robot.

The PUMA260 robot 1 of UNIMATION company is the all-purpose robot that a kind of programmable volume is less, be convenient to carry, and it can finish complicated work with the repeatable accuracy of 0.05mm, and can keep stable track.It is mainly connected to form by systems such as manipulator, controller, teach box, monitors.Its motion and human body are similar, as walking abreast or the difference rotary manipulation with wrist, shoulder, elbow, loin.Six joints are furnished with magneto and servo drive system respectively.Angular displacement on a large scale can both be carried out in each joint.In addition, PUMA260 robot 1 has safety preferably, and behind its electric or mechanical failure, the spring mechanism of installing at waist, shoulder, elbow can have skidding to do.In order to make getting in touch that robot and patient be maintained fixed, the position distance of robot 1 pedestal and operation table remains unchanged in operation process, and the positioning framework 3 that is installed in patient head is fixedly connected with operation table.

To measure and demarcate mechanical interface 70 and replace with the mechanical fixture 60 of operation, and utilize computer 4 control sequences can realize robot 1 auxiliary different directions straight path planning down, to select the operation plan of the best.It is mechanical interface 61 and guide 62 accurate secure fit that the hardware configuration of mechanical fixture 60 (see figure 7)s of performing the operation is formed, and the function of mechanical interface 61 is to connect with robot end's force transducer.Guide 62 functions are under upper fixture 63 and 64 cooperations of the next fixture, guarantee various operating theater instruments instruments, on the direction of guide 62 guiding, carry out corresponding operation technique, wherein upper fixture 63 and the next fixture 64 are to change by thickness, the size of operating theater instruments, and screw 65 and screw 66 are responsible for upper fixture 63 and the next fixture 64 changed are fixed.After analyzing the best puncture straight line path of relatively determining robot 1 planning, determine an approximate track of avoiding brain critical function district and vascular tissue, robot 1 can adjust attitude according to the different directions of selecting, carry out the motion of straight path then, and probe is pointed to target spot.Realize the accurate location of stereotactic surgery, and control robot 1 moves near the brainpan by the straight path of the best.Robot 1 can calculate the distance that needs to arrive desired target location in real time, exactly, and the staff is provided reference.Through contrast repeatedly, the robot result calculated is analyzed, discusses, estimated, and revise according to the operation practical situation.Robot 1 is by accurate revised speed and distance, exactly along straight ahead or setback.Then, the staff with electric drill by the operating theater instruments fixture of the present invention design along desired trajectory boring on head is sliding, then finish processing to pathological changes with a root puncture pin.Robot 1 can carry out also that fine motion is advanced subtly or the setback location.Now, the distance that arrives desired target location can be calculated by robot 1, but still undertaken by doctor's manually-operated by the work of probe support insertion probe.

Four. radiopharmaceutical injecting mechanism and control:

Consider to alleviate of the radiation injury of injection isotope to surgery medical work personnel, we are on robot end's operating theater instruments fixture 60, specialized designs a kind of syringe propulsive mechanism 30 (see figure 5)s that are used for remote manipulation, the ancillary staff carries out the injection operation of radiosiotope medicine at the long distance height.Anchor clamps 33 functions of syringe propulsive mechanism 30 are under the secure fit of screw 31,32, and propulsive mechanism body 34 and operating theater instruments fixture 60 are fixedly connected.Direct current generator 37 is fixedly mounted on the propulsive mechanism body 34, and direct current generator 37 bearings and a moving runner 35 are fixedly connected, and link to each other with slide plate by a steel wire rope 36.When direct current generator 37 drive moving runners 35 forward or reverse, slide plate 38 also and then moves up and down on chute 39.Slide plate and a connecting rod 40 are fixedly connected, and the top of connecting rod 40 links to each other with a baffle plate 42 again by a screw 41.When screw 41 was loosening, baffle plate 42 can left-right rotation, is convenient to install the syringe 6 of different big or small thicknesses.When screw 41 is fastening, baffle plate 42 also will be fixed, thereby can move up and down with connecting rod 40, and pushing syringe 6 is finished radiopharmaceutic injection.The driving of direct current generator 37 is to utilize computer 4 programs, and the A/D by computer 4 sticks into row control.

The present invention has following advantage:

A. make full use of image information (as 9 common CT sheets), scanning location target spot is accurate, and favorable repeatability has reduced the error of manual measurement target spot.

B. be applicable to the CT sheet that various CT machines are clapped, CT sheet as one 9 width of cloth mind map, can finish brain target spot location, promptly can be used for auxiliary department of cerebral surgery system of robot, also can cooperate conventional various stereo brain orienting instruments, under the condition that keeps same precision, calculate X, Y, the Z coordinate position of target spot in real time, also have the coordinate scale of saving dish and advantages such as positioning rule equipment and operation simultaneously.

C. the external general mapping calibrating method that adopts is directly as operating room with CT Scan Room, before operation technique, the support of robot support with the CT bed firmly linked to each other, thereby can finish the space coordinates of CT machine scanning and the mapping transformation between the basis coordinates system of robot.This method does not obviously meet the national conditions of our country, and expensive CT machine is difficult to as operating room often towards each medical section office of hospital.Therefore, little loss mapping method that we proposed has solved the complicated loaded down with trivial details demarcation of medical image space and clinical operation working place destructuring environment preferably, makes operation not take CT Room, meets China's actual conditions like this.

D. non-loss mapping techniques scheme outstanding feature proposed by the invention is the template by the present invention's design, can dexterously medical image device and visual guidance positioning system be separated, what do not need to consider medical image device in the location algorithm has related parameter and an attitude, this not only makes orientation problem oversimplify, and makes this navigation system become practical more.

E. utilize sophisticated machine people technology, the bow type motion arm of cancellation framework instrument is for the staff provides bigger operative space.

F. utilize robotics, alternative medical worker directly carries out radiopharmaceutic implant operation, to alleviate the radiation injury to the staff.By electric-examination and hands inspection, there is not document report.

G. utilize robotics, can carry out the straight line puncture trajectory planning of different directions, to guarantee the optimality of operation plan.

H. because surgery is hindered by the Wicresoft that implements,, shortened the time of required rehabilitation, also reduced medical expense simultaneously so it is dangerous and painful to have reduced patient's operation.

The mapping calibrating method significance that we propose is will establish important basis for frameless stereotactic neurosurgery research.The advantage of this method is to reduce patient's wound, make patient break away from heavy framework and bow type operation guiding device, enlarge the space of doctor's operation technique, overcome patient and begin to finish all will have on the shortcoming of the headstock, and conventional method is difficult to provide in different directions the trajectory planning to target (tumor) up to performing the operation from CT scan.

In the long run, robotics is applied to the stereotactic neurosurgery location, widened the scope of stereotactic surgery, represented the developing direction of stereotactic surgery, for the surgical intervention of implementing the brain deep tumor, carry out frameless stereotactic neurosurgery new approach is provided.It not only makes operation more safe and reliable, and has alleviated wound, has shortened patient's rehabilitation duration, also can avoid in the radiopharmaceutical injection process medical worker's injury, make stereotactic surgery convenient, save time, efficiently.The present invention has the following drawings:

Fig. 1 is a Cerebrosurgical operation equipment system with robot structural representation of the present invention;

The implication of each label is among equipment composition and the figure, and it is by robot 1, computer 4, and scanner 5, C shape X-ray machine 8, CT picture 26, mechanical hand extension apparatus 27, operation table 28 and calibration facility 29 are formed.

Fig. 2 is the intention shown of Cerebrosurgical operation equipment system with robot equipment component of the present invention under in working order;

The implication of each label is among equipment composition and the figure, force transducer 2, and positioning framework 3, syringe 6 and syringe propulsive mechanism 30 are formed.

Fig. 3 is the six joint mechanical arm sketch maps that the present invention designs;

The implication of each label is that it is by support 10, joint 1, joint 2 12 big arms 13, joint 3 14 among equipment composition and the figure, joint 15, forearm 16, joint 5 17, joint 6 18, prospecting tools 19, potentiometer 20, potentiometer 21, potentiometer 22, potentiometer 23, potentiometer 24 and potentiometer 25 are formed.

Fig. 4 be six joint mechanical arms, first and second joint component that design of the present invention analyse and observe the part sketch map;

The implication of each label is among equipment composition and the figure, and it is by joint 91, baffle ring 92, and packing ring 93, axle 94, screw 96, lining 97, adapter sleeve 98 and protruding plug 99 are formed.

Fig. 5 is the sketch map of the syringe propulsive mechanism that designs of the present invention;

The implication of each label is among equipment composition and the figure, and it is by screw 31, screw 32, and anchor clamps 33, propulsive mechanism body 34, moving runner 35, steel wire rope 36, direct current generator 37, slide plate 38, chute 39, connecting rod 40, screw 41, baffle plate 42 and bayonet socket 43 are formed.

Fig. 6 is the sketch map of the double template that designs of the present invention;

The implication of each label is among equipment composition and the figure, and it is by upper former 51, lower template 52, and mechanical interface 53, screw 54, screw 55, screw 56, screw 57 and hold-down bars 58 are formed.

Fig. 7 is the operating theater instruments fixture sketch map that the present invention designs;

The implication of each label is among equipment composition and the figure, and it is by mechanical interface 61, guide 62, and upper fixture 63, the next fixture 64, trip bolt 65, trip bolt 66, support 67 and seam 68 are formed.

Fig. 8 is that the mechanical interface sketch map is demarcated in the measurement that the present invention designs,

The implication of each label is among equipment composition and the figure, and it is by mapping nail 71, fixing hole 72, and base 73, fixture 74 and linking screw socket 75 are formed.

Fig. 9 is a mapping nail sketch map used in the present invention;

Implementation content of the present invention, complete in the narration in front, clearly narrated, just repeated no longer in an embodiment.

Claims

Cerebrosurgical operation equipment system with robot it be by computer (4), robot (1), mechanical hand extension apparatus (27), operation table (28), and calibration facility equipment such as (29) constitutes, be to receive information, the position of mensuration and definite focus, the auxiliary Cerebrosurgical operation equipment system that undergos surgery and treat, it is characterized in that, its mechanical hand extension apparatus (27) comprises measuring demarcates mechanical interface (70), mapping nail (71), operating theater instruments fixture (60), double template (50), syringe propulsive mechanism (30) and six joint mechanical arm equipment such as (9), this system also comprises CT picture (26), scanner (5) and C shape X-ray machine equipment such as (8), what its calibration facility (29) used is positioning framework (3);

One. when carrying out the mapping location: patient's head is fixed on the three-dimensional positioning framework (3) that has N font labelling, robot 1 and relevant joining peripheral equipment are carried out disinfection, demarcate mechanical interface (70) such as measuring, one end is pointed barred body mapping nail (71), operating theater instruments fixture (60), double template (50), syringe propulsive mechanism (30) etc., measure to demarcate mechanical interface (70) and be interface for being connected with the robot end, form by the fixture (74) that there are fixing hole (72) at base (73) that four blue dishes of linking screw socket (75) likeness in form method are arranged and center, base (73) is to fixedly connected with fixture (74), is furnished with the fixedly screw of usefulness on fixture (74).Allow patient lie on the operation table, utilize scanner (5) on the one hand, measure the three-dimensional coordinate of encephalopathy kitchen range with the image guiding software system of the present invention's research and development CT picture (26) data input computer (4); On the other hand with the measurement scaling method of the present invention design, demarcate mechanical interface (70) and mapping nail (71) or double template (50) with measuring, finish mapping transformation between operation technique space and the image planning space, afterwards, operating theater instruments fixture (60) device with the robot end, utilize the auxiliary straight path planning of finishing different directions of robot (1), the accurate location of realizing stereotactic surgery;

Two. when carrying out related surgical: control robot 1 moves near the brainpan by the straight path of the best, operating theater instruments fixture (60) by the present invention's design, hole and insert probe, and computer (4) control down robot (1) carry out that fine motion is advanced subtly or setback is located, carry out the biopsy of relevant focus point and the extraction of capsule liquid etc.;

Three. when auxiliary treatment: go up the injection propulsive mechanism (30) that the present invention's design is installed at operating theater instruments fixture (60), under the control of computer (4), finish radioisotopic injection.
2. according to the said Cerebrosurgical operation equipment system of claim 1, it is characterized in that, the structure of six joint mechanical arms (9) is: be equipped with joint one (11) on support (10), its one (11) lower end, joint is inner adopts accurate, axle (94) is fixed with screw (96) with support (10), the axle axial location is by baffle ring (92), packing ring (93) is fixed with joint one (11), the radial location of axle (94) is fixed by copper lining and joint one (11), the effect of copper lining (97) is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint one (11) is flexible; With the connection of potentiometer (20) be to insert potentiometric axial trough by being fastened on axle (94) convexity plug (99), realization axle and potentiometer (20) axle interlock, and potentiometric shell is fastened on the joint (91) in joint one (11), keeps rotating synchronously with joint one (11) exactly to guarantee potentiometer;

The right-hand member in joint two (12) links to each other with the left end in joint one (11), the axle 94 in its joint two (12) and joint one (11) are fixed with screw 96, axle 94 axial location are fixed with joint two (12) by baffle ring 92, packing ring 93, the radial location of axle 94 is fixed by copper lining 97 and joint two (12), the effect of copper lining 97 is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint two (12) is flexible; With the connection of potentiometer (21) is to insert potentiometric axial trough by being fastened on axle 94 convexity plugs 99, realization axle 94 and potentiometer (21) axle interlock, and potentiometric shell is fastened on the joint 91 in joint two (12), keeps rotating synchronously with joint two (12) exactly to guarantee potentiometer; The upper end in joint two (12) is fixedly linked with big arm (13) one ends;

The lower end in joint three (14) is fixedly linked with big arm (13) other end, the right-hand member in joint three (14) links to each other with the left end in joint four (15), the axle in its joint three (14) and joint four (15) are fixed with screw, the axle axial location is fixed by baffle ring, packing ring and joint three (14), the radial location of axle is fixed by copper lining and joint three (14), the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint three (14) is flexible; With the connection of potentiometer (22) be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and potentiometer (22) axle interlock, and potentiometric shell is fastened on the joint in joint three (14), keeps rotating synchronously with joint three (14) exactly to guarantee potentiometer;

The lower end in joint four (15) and forearm (16) one ends are fixedly linked, the right-hand member in joint four (15) links to each other with the right-hand member in joint three (14), the axle in its joint four (15) and forearm (16) one ends are fixed with screw, the axle axial location is fixed by baffle ring, packing ring and joint four (15), the radial location of axle is fixed by copper lining and joint four (15), the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint four (15) is flexible; With the connection of potentiometer (23) be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and potentiometer (23) axle interlock, and potentiometric shell is fastened on the joint in joint four (15), keeps rotating synchronously with joint four (15) exactly to guarantee potentiometer;

The upper end in joint five (17) and forearm (16) other end are fixedly linked, the right-hand member in joint five (17) links to each other with the left end in joint six (18), the axle in its joint five (17) and joint six (18) are fixed, the axle axial location is fixed by baffle ring, packing ring and joint five (17), the radial location of axle is fixed by copper lining and joint five (17), the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint five (17) is flexible; With the connection of potentiometer (24) be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and potentiometer (24) axle interlock, and potentiometric shell is fastened on the joint in joint five (17), keeps rotating synchronously with joint five (17) exactly to guarantee potentiometer;

The lower end in joint six (18) links to each other with taper prospecting tools (19), the axle in its joint six (18) and prospecting tools (19) are fixed, the axle axial location is fixed by baffle ring, packing ring and joint six (18), the radial location of axle is fixed by copper lining and joint six (18), the effect of copper lining is just as sliding bearing, between axle and bearing, there is graphite to make lubricant, guarantees that the rotation in joint six (18) is flexible; With the connection of potentiometer (25) be to insert potentiometric axial trough by being fastened on axle convexity plug, realization axle and potentiometer (25) axle interlock, and potentiometric shell is fastened on the joint in joint six (18), keeps rotating synchronously with joint six (18) exactly to guarantee potentiometer.
3. according to the said Cerebrosurgical operation equipment system of claim 1, it is characterized in that, double template (50) structure is: the material lucite of upper former (51) and lower template, distance between upper former (51) and the lower template (52) is determined, being connected and fixed between upper former (51) and the lower template (52) is by screw (54), (55), (56), (57) fastening, the position of the gauge point of upper former (51) we adopt square net to arrange, distance between per 2 is determined, the gauge point of lower template (52) is on several concentric circulars at plate center, the coordinate system position of these gauge points in double template (50) is accurate and definite, and being projected in the image of they be visible, and the galvanized wire of the material selection 1mm diameter of gauge point is made.
4. according to the said template of claim 3, it is characterized in that, a kind of design of template is: template is of a size of 200mm * 200mm, the material lucite of upper former (51) and lower template, thickness is 4mm, distance between upper former (51) and the lower template (52) is 53mm, and being connected and fixed between upper former (51) and the lower template (52) is fastening by screw (54), (55), (56), (57); The gauge point of upper former (51) we adopt square net to arrange, and the distance between per 2 is 40mm, and the gauge point of lower template (52) adopts circular arrangement, has two circumference, and little radius of circle is 50mm, and big radius of circle is 70mm; 16 gauge points are arranged on each circumference.
5. according to the said Cerebrosurgical operation equipment system of claim 1, it is characterized in that, the mechanical fixture (60) of performing the operation is by mechanical interface (61), support (67) and guide (62) are formed in the blue dish of mechanical interface (61) likeness in form method, four seams (68) are arranged above, (61), (62) be to fixedly connected with (67), can connecting of mechanical interface (61) with robot end's force transducer, guide (62) is spill, projection forms upper fixture (63) and the next fixture (64), under upper fixture (63) and the next fixture (64) cooperation, can the various operating theater instruments instruments of clamping, on the direction of guide (62) guiding, carry out corresponding operation technique, wherein upper fixture (63) and the next fixture (64) are can be by the thickness of operating theater instruments, size is changed, and screw (65) and screw (66) are responsible for upper fixture (63) and the next fixture (64) changed are fixed.
6. according to the said Cerebrosurgical operation equipment system of claim 1, it is characterized in that, the structure of syringe propulsive mechanism (30) is: the formed bayonet sockets of anchor clamps (33) (43), in screw (31), (32) under the secure fit, propulsive mechanism body (34) and operating theater instruments fixture (60) are fixedly connected, direct current generator (37) is fixedly mounted on the propulsive mechanism body (34), direct current generator (a 37) bearing and a moving runner (35) are fixedly connected, link to each other with slide plate by a steel wire rope (36), when direct current generator (37) drive moving runner (35) forward or reverse, slide plate (38) can move up and down along chute (39); A slide plate and a connecting rod (40) are fixedly connected, and the top of connecting rod (40) links to each other with a baffle plate (42) again by a screw (41); When screw (41) was loosening, baffle plate (42) can left-right rotation, is convenient to install the syringe (6) of different big or small thicknesses; When screw (41) is fastening, baffle plate (42) also will be fixed, thereby can move up and down with connecting rod (40), and pushing syringe (6) is finished radiopharmaceutic injection; Be by computer (4) program, the A/D card of appliance computer (4) driving direct current generator (37).
7. the implementation method of Cerebrosurgical operation equipment system with robot, it is characterized in that, the present invention has designed the step of mapping location, assisted surgery and auxiliary treatment and by means of PC586 Window platform, has utilized Visual C++ technology, and we have designed two dimensional image guiding localization method; By means of the OpenGL software engineering of computer WindowsNT and SGI work station, we have designed 3-D image guided localization method; By means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, known three gauge points on the positioning framework (3), localized method is hindered by our designed Wicresoft; With by means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, known three gauge points on the positioning framework (3), the localized method of no wound that we are designed.
8. according to the said method of claim 7, it is characterized in that: the step of mapping location, assisted surgery and the auxiliary treatment of the present invention's design is:

(1) carries out mapping location: patient's head is fixed on the three-dimensional positioning framework (3) that has N font labelling, allows patient lie on CT machine (7) bed, carry out CT scan (outside the operating room), obtain some relevant CT sheets; Meanwhile, robot (1) and relevant joining peripheral equipment are carried out disinfection, demarcate mechanical interface (70), mapping nail (71), operating theater instruments fixture (60), double template (50), syringe propulsive mechanism (30) etc. such as measuring; Then, patient is released CT Room, advance operating room, allow patient lie in operation table again; Utilize scanner (5) with CT picture (26) data input computer (4) on the one hand, can measure the three-dimensional coordinate of cerebroma with the image guiding software system of the present invention's research and development.On the other hand patient head positioning framework (3) and operation table are fixedly connected, the power that realizes by the present invention is controlled human-computer interaction technology again, measurement scaling method with the present invention's design, demarcate mechanical interface (70) and mapping nail (71) or double template (50) with the measurement of the present invention's design, finish mapping transformation between operation technique space and the image planning space.Then, robot end's relevant measurement calibration tool is replaced with operating theater instruments fixture (60) device of the present invention's design, utilize the auxiliary straight path planning of finishing different directions of robot (1), but under the guiding of operating theater instruments fixture (60), the probe maintenance of operating theater instruments is pointed to target spot with probe all the time.After analyzing the best puncture straight line path of relatively determining robot (1) planning, the accurate location of realizing stereotactic surgery;

(2) carry out related surgical: control robot (1) moves near the brainpan by the straight path of the best.After carrying out local anesthesia on to patient's skull,, hole and insert probe by the operating theater instruments fixture (60) of the present invention's design, and computer (4) control down robot (1) can carry out that fine motion is advanced subtly or setback is located.Obtain the biopsy of relevant focus point and the extraction of capsule liquid etc.;

(3) inject radiation liquid: go up the injection propulsive mechanism (30) that the present invention's design is installed at operating theater instruments fixture (60), under the control of computer (4), finish radioisotopic injection.
9. according to the said method of claim 7, it is characterized in that: the present invention design by means of PC586 Window platform, utilize Visual C++ technology, we have designed two dimensional image guiding localization method: by means of PC586 Window platform, the location that utilizes Visual C++ technology to realize five visual guiding focus points under the icons driving, both:

A. one of icon function is reading and writing of files operation, and it is responsible for CT or MRI view data being read in relief area and being presented on the screen, perhaps deposits CT or the MRI view data of revising in file, perhaps will finish localized parameter, case report output print;

B. two of icon function is on CT or MRI image that computer shows, stack shows a framework that has scale again, utilize this display frame of mouse drag, so that the patient head of aiming at CT or MRI pictorial display has four angles of stereotactic frame, thereby the coordinate transform of determining CT on the computer screen or MRI pictorial display and real EEG portion position concerns;

C. three of icon function is on CT or MRI image that computer shows, the stack demonstration has graduated horizontal scale again, utilize this scale of mouse drag, have N font gauge point so that aim at the patient head of CT or MRI pictorial display, thereby determine the coordinate of the CT on the computer screen or the MRI pictorial display Z axle degree of depth;

D. four of icon function is on CT or MRI image that computer shows, the stack demonstration has graduated Cross Scale again, utilize this scale of mouse drag, so that aim at patient's brain lesion point of CT or MRI pictorial display, thereby determine the coordinate of CT on the computer screen or MRI pictorial display X, Y-axis;

E. five of icon function is four the operations of arriving according to two of icon function, by geometric transformation, calculates X, Y, Z coordinate with respect to the stereotactic frame instrument.
10. according to the said method of claim 7, it is characterized in that: the OpenGL software engineering by means of computer WindowsNT and SGI work station of the present invention's design, the 3-D image guided localization method of design is: excellent as observation with six joint mechanical arms (9), on the OpenGL software development environment platform of computer WindowsNT and SGI work station, can realize a 3-D image guided stereotactic surgery surgery planning system; It at first can finish the two-dimensional image data pretreatment, comprises that rectangular histogram shows, tonal range is calibrated (linear greyscale transformation, nonlinear gray conversion), organizes the interpolation processing of division, a series of CT scan brain image alignment and CT interlayer etc.; Then, realize the reconstruct of 3-D view on this basis, and on computer screen, show different anatomic organizational structure in the brain with different colours; The six joint mechanical arms (9) that utilize the present invention to design are excellent as observation, can realize the translation rotation of 3-D view, amplification is dwindled, operations such as any cutting planes, and can be from different perspectives, measurement and positioning is carried out at position to the operation technique of carrying out ahead of schedule, pass through computer program, carry out coordinate transform, calculate the coordinate figure of mechanical arm end, the operation puncturing straight path is carried out virtual demonstration and planning in the human brain 3-D view of computer, observe the operation technique track and whether may cause and seriously influence, the result of radiotherapy etc. in the simulation isotope important cerebral tissue or cerebrovascular;

In particular: we can utilize six joint mechanical arms (9), by means of the potentiometer on six joints, measure the angle in each joint, A/D card collection by computer (4) is converted to digital quantity, utilize the program of computer (4) again, carry out the space geometry Coordinate Conversion, just can calculate the attitude and the position of mechanical arm end; To the manipulation of six joint mechanical arms (9),, just can to the measurement of actual patient head surface

A. utilize six joint mechanical arms (9) terminal attitude and position, the rotation of three-dimensional image on Control Computer (4) screen;

B. utilize the terminal distance with the actual patient head of six joint mechanical arms (9), can Control Computer 4 screens on three-dimensional image amplification or dwindle;

C. with the terminal plane of attitude definition of six joint mechanical arms (9), three-dimensional image on computer (4) screen is cut, be convenient to observe the focus target spot of human body brain inside;

Based on above-mentioned three functions, just can be by operation to six joint mechanical arms (9), with its coordinate is basic point, analyze, the collinear optimum position of observer robot operation puncturing and attitude, whether its operation technique straight path may cause important cerebral tissue or cerebrovascular and seriously influence etc.; The protrusion characteristics of this technology are excellent as observation by means of six joint mechanical arms (9), can conveniently set up the good interface of image manipulation, to realize the operation and the planning of virtual operation, select best operation plan.
11. according to the said method of claim 7, it is characterized in that: the present invention design by means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, three gauge points on the positioning framework (3) have been known, localized method is hindered by our designed Wicresoft: at first the positioning framework of installing at human body head (3) is gone up and is selected three gauge points of definition, carries out CT scan then, obtains the CT image; Because in CT pattern space coordinate system, know above-mentioned gauge point, can construct space coordinates with these three gauge points, be referred to as the gauge point three-coordinate of CT pattern space, thereby can pass through the space geometry conversion, with the CT pattern space the focus point be concerned about be mapped in the gauge point coordinate system in the CT image;

On the other hand, after the patient with positioning framework (3) lies on the operation table, we will measure an end of demarcating mechanical interface (70), be fixed on robot end's force transducer (2) by screw, to measure the other end of demarcating mechanical interface (70) again and install and fix a taper mapping nail (71), can measure and obtain spatial three gauge points of operation technique, gauge point with these three demarcation can be constructed space coordinates again, is referred to as the gauge point coordinate system in the operation technique space; In the operation technique space, notify above-mentioned three gauge points by robot, thereby can be by geometric transformation, the focus point of being concerned about in the operation technique space is mapped in the gauge point coordinate system, and this inverse transformation also exists, and promptly the focus point in the gauge point coordinate system is mapped in the robotic surgery working place;

Pass through said method, in the gauge point coordinate system of CT pattern space mapping transformation in the CT pattern space, gauge point coordinate system in the CT pattern space and the gauge point coordinate system in the robotic surgery working place are of equal value fully, thereby be that the robotic surgery working place is arrived in mapping transformation with above-mentioned conversion with labelling point coordinates in the robotic surgery working place again, this has just realized that the CT pattern space arrives the conversion of operation working place greatly.
12. according to the said method of claim 7, it is characterized in that: the present invention design by means of CT scan, obtain the CT image, by means of in CT pattern space coordinate system, three gauge points on the positioning framework (3) have been known, we are at the designed localized method of no wound: at first double template (50) is demarcated mechanical interface (70) with robot end's measurement and fixedly connected by screw, utilize computer (4) that robot end's double template is moved to the top of detected part, then image device C shape X-ray machine 8 top that moves to robot end's double template (50) imaging of taking pictures in the future; Because the gauge point on the double template (50) not only is visible on X light image, and close the position between them, and to tie up in the robot coordinate also be fixing and known, thereby can pass through the gauge point on the double template (50), construct a space line family of passing the focus target spot; Then, as stated above robot end's double template (50) and C shape X-ray machine (8) are moved to another orientation of detected part, can construct the space line family that another passes the focus target spot again; When the focus point is unique, then the intersection point of two space line families is exactly our three-dimensional coordinate focus target spot to be measured; This method does not have the gauge point of damage on one's body patient, but by means of the double template (50) that the present invention designs, has realized the mapping transformation of medical care image and clinical operation working place.