Method for navigating and positioning multi-joint arm mechanical sensing type ultrasonic image

Abstract

The invention relates to a method for navigating and positioning a multi-joint arm mechanical sensing type ultrasonic image, which mainly comprises a mechanical sensing component combining method, and a navigating and positioning method, wherein the method adopts a six-joint arm with a sensor to directly measure the real-time position of an ultrasonic probe; the multi-joint arm adopts the combination form that rotating shafts of two electric joints and four passive joints are mutually perpendicular; the x-direction displacement only depends on the intersection angle of the electric joint group and is unrelated to the intersection angle of the passive joint group when the probe position is measured and controlled; and the y-direction displacement of a probe pedestal only depends on the intersection angle of the passive joint group and is unrelated to the intersection angle of the electric joint group. The method adopts a semi-active structure mode that the electric joint group is matched with the passive joint group mutually. The method has the advantages of simple and compact structure, safety and stability.

Description

technical field [0001] The invention relates to an ultrasonic image navigation and positioning method in the process of microwave ablation treatment of tumors, in particular, a six-joint manipulator is used to directly measure the real-time position of an ultrasonic probe, and the three-dimensional reconstruction of the ultrasonic image of the tumor is carried out accordingly, and minimally invasive surgery is carried out. A method of visual navigation. Background technique [0002] At present, the technology of thermal ablation of tumors guided by ultrasound images is rapidly emerging at home and abroad, and the technology of thermal ablation of tumors using minimally invasive surgical robots under the guidance of ultrasound images has also become a research hotspot. Minimally invasive surgical robots are mainly used for navigation and positioning and auxiliary insertion of surgical tools during surgery, which can free patients from the pain of the frame. At the same time, ...

AI Technical Summary

Problems solved by technology

Simple mechanical positioning is clumsy during surgery, and the working range is limited; however, the advantage of mechanical positioning is that it will not be interfered by the magnetic field of the system by metal objects and other electromagnetic equipment in the working space, and has the highest reliability, so there is still a large Expansion capacity

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