Image navigation-based parallel robot-assisted artificial cervical intervertebral disc replacement surgery positioning method

Abstract

The invention discloses an image navigation-based parallel robot-assisted artificial cervical intervertebral disc replacement surgery positioning method, which belongs to application of a parallel robot in the field of surgical operation and is used for making sure that the pose relation between a practical surgery abrasive drilling and a patient is consistent with the pose relation between a virtual abrasive drilling and a patient model determined by a doctor in a virtual environment. According to technical key points, the method comprises the following steps of: performing three-dimensional reestablishment on a CT (Computerized Tomography) image by using a VTK (Visualization Tool Kit) software package to obtain a three-dimensional model of the silk cervical vertebra of a patient; introducing the virtual abrasive drilling into an image space and making the doctor complete virtual positioning on a computer; establishing a position and pose mapping relation among the image, the patient and the robot by using an optical positioning system and an ICP (Iterative Closest Point) algorithm; and controlling the parallel robot to move to finally complete positioning of the abrasive drilling of the parallel robot and the patient.

Description

technical field [0001] The invention belongs to the application of parallel robots in the field of surgery, and in particular relates to an image navigation-based parallel robot-assisted positioning method for cervical intervertebral disc replacement surgery. Background technique [0002] Compared with conventional anterior cervical decompression and fusion surgery, artificial cervical disc replacement has obvious advantages in the treatment of cervical spondylosis. The patient recovers quickly, can realize neck movement in the early stage, and has less neck stiffness. Nevertheless, artificial cervical disc replacement is not widely used, mainly because the operation is complicated and difficult for ordinary doctors to master, and the operation accuracy is not high, which affects the operation effect and has high surgical complications. The biggest difficulty in artificial cervical disc replacement surgery is the need to grind the articular surface of the prosthesis in the c...

AI Technical Summary

Problems solved by technology

[0004] In robot-assisted artificial cervical disc replacement surgery, the positioning between the drill and the patient is a key link to ensure the smooth completion of the operation and meet the accuracy requirements of the operation. It is also a key step to solve the problem of excessive radiation exposure of doctors. At present, there is no report on the invention

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