Human-machine Interactive Control Of Seed Implantation Robot For Prostate Based On Mixed Reality

Radioactive seed implantation has the characteristics of less trauma,quantitative radiation dose and orientation,less damage to surrounding tissues and organs,low incidence of postoperative complications,and lower risk of side effects.It has become the development direction of clinical tumor radiotherapy.At present,prostate seed implantation treatment in clinic is that doctors implant radioactive seeds into the lesion area through manual seed implantation devices to achieve the effect of fixed-point radiotherapy,but at the same time there are problems such as high labor intensity,low accuracy of seed implantation and low efficiency.Using seed implantation robots to assist doctors in completing seed implantation surgery can effectively solve these problems,but there are still single and unintuitive image navigation information,unnatural human-machine interaction processes,and complex operations.These problems limit the operation of seed implantation robots.Effect,this article will study the human-machine interactive control of prostate seed implantation robot,so as to achieve accurate and efficient completion of seed implantation surgery under good human-machine interaction operation.Clinical seed implantation is guided by intraoperative ultrasound images.The ultrasound images are real-time,but the resolution of soft tissues is low,and only two-dimensional image information is obtained.Therefore,three-dimensional reconstruction of preoperative MRI sequence images is performed.Processing to reduce the impact of noise on image imaging quality and enhance image features.Threshold segmentation,region growth,and edge segmentation were used for image segmentation and realization,respectively.The prostate and surrounding tissues were segmented,and the reconstructed three-dimensional visualization model of the prostate and surrounding tissues was drawn based on the image segmentation results.The realization of mixed reality provides the foundation.Calculate the radiation dose of a single seed I-125,and perform a pre-operative volume assessment based on the prostate lesion area to determine the number of seeds and placement location.It is a three-dimensional conformal seed dose planning for the prostate,which can intuitively display the radioactive seeds I-125.Spatial location in the patient's prostate.Plan the puncture path of the target target to reduce the seed implantation time and reduce the energy consumption of the robot.A seed implantation planning algorithm based on dynamic programming is proposed.The optimal source path is calculated to reduce the robot's motion path and improve Seed implant efficiency.In view of the need for doctors to constantly observe the image navigation display and the surgical operation area during the surgery,the reconstructed virtual three-dimensional model of the prostate and surrounding tissues and organs is superimposed into the real environment.After wearing Holo Lens glasses,the doctor can help the doctor To better understand spatial structure and location information.Build a mixed reality application with Unity and Visual Studio and deploy it to Holo Lens.Doctors can interact with a virtual three-dimensional model of the prostate through voice,gestures,and gaze.The prostate seed implantation robot and terminal seed implantation device are designed.The seed implantation robot is modeled with kinematics.The active end joystick is used to remotely control the robot.The master-slave mapping strategy of the joystick and robot is studied.The computer The position information of the joystick is obtained in real time,and then the computer communicates with the robot via TCP/IP protocol to send the position information to the robot,and at the same time,the robot sends the status information to the computer,which realizes the real-time interactive control of the seed implantation robot.A human-machine interaction system platform for prostate seed implantation robot was set up.Consistent control mapping experiments and control delay experiments were performed by operating the robot with the joystick.The experimental results show that the delay time is within the acceptable time range and meets the clinical needs.Experiments on the reachable working space of prostate seed implantation robot were carried out.By analyzing the operation space required for seed implantation surgery,the actual results showed that the robot's operable space can meet the surgical requirements.A seed implantation algorithm based on dynamic programming was used for seed implantation experiments to verify the effectiveness of the seed implantation planning method.The seed implantation errors were calculated based on the experimental results to meet the surgical requirements.