The Study Of Ultrasound Scanning Control For Robot-Assisted Lumbar Puncture Based On Universal Robots

The image-guided robotic percutaneous puncture system has the advantages of high precision of surgical target positioning,high reproducibility,great stability,and continuous working for a long time.It can free the doctor from complicated and repeated steps to focus on the key surgery operations.At present,image-guided robotic puncture surgery systems are mostly based on CT/MRI,and there are few studies using ultrasound imaging as a guiding method.Ultrasound imaging has no radiation damage,convenient and economical,easy to use,free from space constraints,real-time,flexibility and other advantages,but due to the two-dimensionality of its imaging results,the research and development of guiding robot-based puncture surgery has been limited.Aiming at this situation and combining the actual situation of clinical lumbar puncture surgery under ultrasound guidance,this paper proposes an UR robot assisted lumbar puncture control and scan system based on ultrasound.Firstly,this thesis discusses in detail the research status of puncture-assisted robot and medical 3D image reconstruction guided by ultrasound images at home and abroad,and proposes the research plan and goal of this paper based on the background,significance and status quo of this research.The lumbar puncture ultrasound scanning system based on UR robot was built,and the workflow and hardware of the system were introduced and discussed in detail.The D-H parameter model of the UR3 robot is established based on D-H analysis method,and the forward and inverse kinematics are analyzed.The singular position points that may be encountered during the motion are calculated.Secondly,the robot scanning and control software was developed based on the official URSDK(.Net 4.0)development kit and TCP/IP network protocol,so that the system,which can clamp the ultrasonic scanning probe,can detennine the scanning under the interactive control of the operator and the software.The start and the end point of the scanning plan were confinned to perfonn a scan and acquire a sequence of two-dimensional ultrasound images of the ROI(Region of Interest).Aiming at the three-dimensional reconstruction of two-dimensional ultrasound image sequence,the principle,steps and methods of medical image 3D reconstruction and visualization are discussed in detail.The steps of VTK-based ray casting reconstruction algorithm are designed and discussed,and the code is programmed.Then,the two-dimensional ultrasound image sequence of the underwater lumbar vertebrae model and the CIRS MODEL 034 lumbar puncture model was acquired by the control software system,and the three-dimensional reconstruction based on VTK was performed.The reconstruction consequence of linear interpolation algorithm and the PNN algorithm,Gaussian smoothing filter and 3-D median filter,and filtering and no filtering algorithm were compared,analyzed and discussed.The experimental results show that the system can work normally and collect 2-D ultrasound image sequences of different models for 3D reconstruction,and also prove the feasibility and effectiveness of 3-D reconstruction method.Finally,the problems and shortcomings in this paper are analyzed and discussed,and the improvement of the subsequent research methods and the introduction of new equipment are designed and forecasted.