Space mapping method of assisted surgery for robots

A robot-assisted, surgical technology, applied in surgical robots, operations, sensors, etc., can solve the problems of cumbersome positioning methods, affecting positioning accuracy, and time-consuming

Inactive Publication Date: 2009-09-09
昆山市工业技术研究院有限责任公司
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Problems solved by technology

[0006] The disadvantages of these methods mainly include: the positioning method is cumbersome and time-consuming; they all use the way of contacting the marked points to achieve positioning. When touching the marked points, the position of the marked points is changed, which affects the positioning accuracy.

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  • Space mapping method of assisted surgery for robots
  • Space mapping method of assisted surgery for robots
  • Space mapping method of assisted surgery for robots

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specific Embodiment approach

[0055] The invention adopts a binocular vision camera and does not rely on any other equipment (probe or robotic arm). The camera directly recognizes the specific mark and matches the mark in the image coordinate system. Robotic surgery is to map the coordinates of the robot to the image space. The robot-assisted surgery space includes the following spaces: medical image (CT\MRI, etc.) space, robot space, and patient space during surgery to achieve the mapping between these different spaces Need to have specific markers (Marker), these markers can be identified in each space, so as to establish the connection between each space; these connections through 3 or more markers in different spaces to establish the same coordinates System realization; 3 marking points to establish a rectangular coordinate system, 4 or more marking points to establish an affine coordinate system; to achieve rapid and accurate positioning, rapid and accurate establishment of coordinate systems in different...

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Abstract

The invention discloses a space mapping method of an assisted surgery for robots. The space of an assisted surgery for robots comprises an image space, a robot space and a patient space during surgery. The method mainly comprises the steps: an affine coordinate system of different spaces is set up through three or more than three identification points for the connection of all the spaces; and the mutual mapping between the spaces of an assisted surgery for robots is realized through obtaining the affine matrix and the origin coordinate of each affine coordinate system on a basic coordinate system. The invention can realize non-contact identification point positioning independent of any mechanical equipment, has a quick positioning process and can realize sub-second grade positioning. In addition, the mutual positioning error between a camera coordinate system and an image coordinate system is smaller than 1 mm.

Description

Technical field [0001] The invention relates to a robot assisted surgical space mapping method. Background technique [0002] At present, there are roughly the following methods for mutual positioning between different systems in robot-assisted surgery: [0003] ① By recording the value of each joint angle of the robot, the position relative to the robot base is inversely calculated; click the registration point at the end of the robot to perform registration. [0004] ②Robot-assisted surgery system based on magnetic positioner, a magnetic positioning transmitter is installed at the end of the robot, and a robot receiver is installed on the base of the robot; it is also necessary to click the Marker at the end of the robot to implement registration. [0005] ③Using binocular vision camera for passive registration; that is, the probes recognized by the camera are clicked on the markers (Marker) pre-attached to the human body one by one to implement registration. [0006] The main ...

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Application Information

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IPC IPC(8): A61B19/00A61B6/03A61B5/055A61B34/30
Inventor 唐粲龚淳程胜张建伟
Owner 昆山市工业技术研究院有限责任公司
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