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Positioning apparatus of robot puncturing hole in endoscope operation and locating method

A surgical robot and positioning device technology, applied in the field of robotics, can solve the problems of large amount of double-target fixed data processing, slow computer system operation, slow system operation, etc., achieves rapid puncture hole calibration process, facilitates product development and production, and improves The effect of calibration accuracy

Inactive Publication Date: 2008-11-12
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its shortcoming is that: the use of dual-objective positioning has a large amount of data processing, which causes the computer system to run slowly.
Its disadvantages are: there is a time interval between taking two images, a large amount of data is processed, and the system runs slowly

Method used

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  • Positioning apparatus of robot puncturing hole in endoscope operation and locating method
  • Positioning apparatus of robot puncturing hole in endoscope operation and locating method
  • Positioning apparatus of robot puncturing hole in endoscope operation and locating method

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Embodiment Construction

[0127] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0128] to combine figure 1 , the composition of the puncture hole positioning device of the endoscope-operated surgical robot of the present invention includes: a telescopic connecting rod 5 installed on the mechanical arm 4 at the end of the robot, a miniature CCD camera 3 is installed at the end of the telescopic connecting rod, and a mechanical end of the robot There are two red spot-like spot lasers 1 and 2 installed under the arm. The light emitted by the two red spot-like spot lasers intersects on the optical axis directly below the camera. PC machine 0 is connected. The inclination angles of the two red spot lasers are different, one red spot laser has a tilt angle of 23.385°, and the other red spot spot laser has a tilt angle of 37.3°.

[0129] After the laparoscopic surgery puncture hole positioning process begins, the industrial PC first controls the r...

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PUM

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Abstract

The present invention provides a positioning device and method for puncture of endoscope operated surgery robot. The device comprises an expansible connection rod arranged at end of a mechanical arm, a miniature CCD camera is arranged at end of the expansible connection rod, two red light point-like light spot lasers are arranged under the end mechanical arm of the robot, light from the both red light point-like light spot lasers intersects at front lower part of the camera, the red light point-like light spot lasers and the miniature CCD camera connect with control industry PC machine. The invention improves calibration precision of the puncture, conserves calibration devices such as CCD camera, prevents slow system operation caused by occupation of considerable computer system resource when only executing double-target or multi-target calibration in three-dimensional reconstruction process, thus the puncture calibration process is improved to be rapid and accurate, thereby reducing cost and being convenient to develop and produce products.

Description

(1) Technical field [0001] The invention relates to a robot, in particular to a puncture hole positioning device for an endoscope-operated surgical robot. The invention also relates to a positioning method for positioning a puncture hole of an endoscope-operated surgical robot. (2) Background technology [0002] With the advancement of science and technology, people are gradually organically combining traditional medical devices with technologies such as information, microelectronics, new materials, automation, precision manufacturing, and robots to improve medical quality. [0003] Compared with traditional open surgery, endoscopic minimally invasive surgery is widely welcomed by doctors and patients because of its advantages such as small wound, less pain for patients, short recovery period, low surgical risk and cost, and has broad application prospects. During such operations, the position of the endoscope needs to be constantly adjusted according to the requirements of...

Claims

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Application Information

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IPC IPC(8): A61B17/94A61B19/00A61B34/30
Inventor 张立勋董九志赵国文
Owner HARBIN ENG UNIV
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