Design and Implementation of a 3D C-arm Control Service Protocol (RoboLINK) Based on DICOM
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摘要: 三维成像技术辅助骨科机器人进行术前规划能够提高手术精确性和高效性,但目前基于三维数据的传统外科导航系统需要预先术前采图,再经过图片导入和人工配准,使得手术步骤愈加繁琐,且患者在采图和手术过程中的位置不同可能导致新的配准误差,导致精确度的降低。鉴于这一需求,本文设计一种基于DICOM协议的3D C-arm控制服务协议(RoboLINK),能将手术机器人和CT连接,可在手术过程中进行CT采图,为当前问题提供新的解决方案。在支持三维C臂与手术机器人进行数据传输的基础上,也可传输运动控制指令,达到设备相互协作的效果。根据以上设计,协议以一影医疗的3D C-arm和模拟手术机器人为实验环境,对协议进行测试。结果表明,RoboLINK协议能够有效完成数据传输和设备控制任务,具有可行性和安全性。Abstract: 3D imaging technology assisted orthopaedic robot for preoperative planning can improve the accuracy and efficiency of surgery. However, traditional surgical navigation systems based on 3D data currently need pre-operative drawing and manual registration. The surgical steps are cumbersome and new errors may be introduced during manual registration, resulting in the reduction of accuracy. To address this need, in this study, we design a remote device control service protocol (RoboLINK) based on the DICOM protocol, which can be used in operation and provides a novel solution to the current problem. Based on supporting data transmission between two medical devices, motion control instructions can also be transmitted to achieve mutual cooperation between devices. In accordance with this design method, the protocol is tested in a shadow medical 3D C-arm experimental environment and a simulated surgical robot. The results indicate that the RoboLINK protocol can effectively complete the tasks of data transmission and equipment control with the advantages of feasibility and security.
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Key words:
- DICOM /
- 3D C-arm /
- orthopaedic surgery robot /
- RoboLINK
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表 1 本文使用的DIMSE服务组
Table 1. The DIMSE service group used in this article
名称 功能 组别 DIMSE-C C-STORE 存储图像 C-FIND 按照属性查找图像 C-ECHO 检验DICOM连接 DIMSE-N N-EVENT-REPORT 报告当前状态 N-GET 获取属性值 N-SET 设置属性值 N-CREATE 创建SOP对象实例 N-DELETE 删除SOP对象实例 表 2 RoboLINK Base SOP服务元素
Table 2. Service elements of RoboLINK Base SOP
DIMSE服务元素 用法SCU/SCP N-CREATE M/M 注:M: Mandatory。 表 3 RoboLINK Base SOP服务状态
Table 3. Service status of RoboLINK Base SOP
服务状态 含义 状态码 Success SOP创建成功 0000 Failure 已经存在可用的SOP,必须注
销后才能创建新的SOPC616 表 4 RoboLINK Attribute Retrieve SOP 服务元素
Table 4. Service elements of RoboLINK Attribute Retrieve SOP
DIMSE服务元素 用法SCU/SCP N-SET M/M(根据功能选其一) N-DELETE M/M 表 5 RoboLINK Attribute Retrieve SOP私有属性表
Table 5. The private property of RoboLINK Attribute Retrieve SOP
属性名 Tag VR VM 描述 SYSTEM_Cmd 0x0041,0x0010 IS 1 系统信息ID编号 RobLinkServerVer 0x0041,0x0011 LO 1 RoboLink版本 ackSystemReport_Msg 0x0041,0x0032 LT 1 返回设备功能开启状况 reqSetMotionValues 0x0043,0x0040 LO 1 设置运动位置信息 ackCurAllSystemMsg 0x0041,0x0020 LO 1 系统各轴当前状态 表 6 RoboLINK Attribute Retrieve SOP状态
Table 6. The status of RoboLINK Attribute Retrieve SOP
服务状态 含义 状态码 Success SOP创建成功 0000 Warning 请求功能超出SOP的操作范围 B605 Failure 已经存在可用的SOP,必须注销后才能创建新的SOP C616 表 7 RoboLink Status Notification SOP服务元素
Table 7. Service elements of RoboLINK Status Notification SOP
DIMSE服务元素 用法SCU/SCP N-EVENT-REPORT M/M N-DELETE M/M 表 8 RoboLink Status Notification SOP私有属性表
Table 8. The private attribute of RoboLINK Status Notification SOP
属性名 Tag VR VM 描述 RoboLinkFunList 0x0041,0x0013 LO 1 产品支持功能
PatientRegist/MotionCtrl/CBCTWorkflowackCBCT_Step_Status 0x0041,0x0022 LO 1 CBCT步骤状态 ackFindAllSystemMsg 0x0041,0x0031 LO 1 系统各轴运动状态 表 9 软件功能测试
Table 9. Test of software function
测试项 测试方法 测试结果 基本功能测试 参数设置 验证两端设置是否一致 一致 设备状态反馈 检查日志与实际情况的同步程度(时延误差) 同步,时延误差在
可接受范围内异常情况处理 客户端突然断开 服务端是否立即断开 是 服务器突然断开 客户端是否立即断开,并且停止一切当前活动 是 表 10 设备响应状况
Table 10. Device response
测试项 测试方法 测试结果 设备控制功能测试 CBCT 是否按预期进行 是 透视 是否按预期进行 是 传输图像数据 是否按预期进行 是 设备状态反馈 检查日志与从设备的同步程度
(时延误差)同步,时延误差
在可接受范围内异常情况处理 网线突然断开 两端是否立即断开,并且从设备进入
安全状态(停止一切运动)是 -
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