Apparatus For Generating Needle Insertion Path For Interventional Robot
Disclosed is a apparatus for generating a needle insertion path for an interventional robot, which provides a needle insertion path for intervention by inserting a needle. The apparatus includes a patient-side optical tool located on a patient for showing a position of an intervention target part among parts of the patient, a robot-side optical tool located on an interventional robot for showing a position of the interventional robot, and a needle path calculator configured to track positions of the patient-side optical tool and the robot-side optical tool to perform spatial registration on a local coordinate system of the patient-side optical tool based on the position of the patient-side optical tool with respect to a robot base coordinate system based on the position of the robot-side optical tool, and calculate a needle insertion path with respect to robot base coordinate system, based on a result of the spatial registration.
1 . An apparatus for generating a needle insertion path for an interventional robot, which provides a needle insertion path for intervention by inserting a needle, the apparatus comprising:
a patient-side optical tool located on a patient for showing a position of an intervention target part among parts of the patient;
a robot-side optical tool located on an interventional robot for showing a position of the interventional robot; and
a needle path calculator configured to track positions of the patient-side optical tool and the robot-side optical tool to perform spatial registration on a local coordinate system of the patient-side optical tool based on the position of the patient-side optical tool with respect to a robot base coordinate system based on the position of the robot-side optical tool, and calculate a needle insertion path with respect to robot base coordinate system, based on a result of the spatial registration.
2 . The apparatus of claim 1 , further comprising: a computed tomography (CT) image acquisition part configured to receive CT image including the patient-side optical tool and the intervention target part.
3 . The apparatus of claim 2 , wherein the CT image is generated by performing a CT scan of the patient-side optical tool and the intervention target part.
4 . The apparatus of claim 2 , further comprising: a position tracker configured to calculate a local coordinate system of the patient-side optical tool, based on the CT image and track the position of the patient-side optical tool, based on an optical tracking system.
5 . The apparatus of claim 4 , wherein
the robot-side optical tool is attached to an robot arm or a robot base of the interventional robot, and
the position tracker calculates a position of robot base coordinate system by tracking the robot-side optical tool based on the optical tracking system.
6 . The apparatus of claim 5 , wherein the position of the robot-side optical tool is tracked based on a stereo camera.
7 . The apparatus of claim 1 , wherein
the patient-side optical tool and the robot-side optical tool comprises three or four bars having a branch form which are provided in different directions with respect to a center point, and
a highly retro-reflective ball marker is provided on an end of each of the bars.
8 . The apparatus of claim 1 , further comprising:
a bed-side optical tool located on one side of a medical procedure bed; and
a monitoring part coupled to the position tracker to check the position of the patient-side optical tool based on a local coordinate system of the bed-side optical tool to check a movement and a respiration state of the patient.
9 . The apparatus of claim 8 , wherein when a movement of the patient is outside an allowable value, the monitoring part outputs a warning sound, displays a warning message on a screen, or generates a signal for stopping driving of the interventional robot.
10 . The apparatus of claim 4 , further comprising:
a bed-side optical tool located on one side of a medical procedure bed; and
a monitoring part coupled to the position tracker to check the position of the patient-side optical tool based on a local coordinate system of the bed-side optical tool to check a movement and a respiration state of the patient.
11 . The apparatus of claim 10 , wherein when a movement of the patient is outside an allowable value, the monitoring part outputs a warning sound, displays a warning message on a screen, or generates a signal for stopping driving of the interventional robot.