Surgical navigation system and medical robot

A technology for surgical navigation and surgical instruments, applied in the field of robotics, can solve the problems of inability to obtain position information, coordinate deviation, etc., to achieve the effect of enhancing flexibility, improving safety, and avoiding system functional collapse

Active Publication Date: 2014-04-09
ZHUHAI INST OF ADVANCED TECH
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AI Technical Summary

Problems solved by technology

[0007] However, there are still some problems in this navigation system, which mainly focus on: First, the positioning sensor bracket is used as the reference of the world coordinate system after calibration. If there is any unexpected movement during use, the world coordinate system will be changed. , the coordinates obtained by positioning will have the same deviation as the accidental movement; second, the positioning reflective ball must be ensured in the field of view of the positioning sensor during use, if the positioning sensor cannot see the positioning reflective ball due to occlusion or movement of the mechanical arm , the doctor cannot obtain the location information and must interrupt the operation

Method used

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  • Surgical navigation system and medical robot
  • Surgical navigation system and medical robot
  • Surgical navigation system and medical robot

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Embodiment Construction

[0035] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0036] Please refer to figure 1 with figure 2 , A preferred embodiment of the present invention provides a medical robot 100, which includes at least two robotic arms 10 and a surgical navigation system 20, the at least two robotic arms 10 respectively clamp a surgical instrument 30 and a surgical imaging device 40, The surgical navigation system 20 includes a world coordinate system positioning mark point 21, a first positioning mark point 22, a second positioning mark point 23 and a positioning tracking chain 24; the world coordinate system positioning mark point 21 is fixedly arranged in the operating room; Two positioning mark points 23 are provided on the end limbs of the robotic arm 10; the positioning tracking chain 24 includes a plurality of positioning sensors 26, and each of the positioning sensors 26 is provided with a first positioning ma...

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Abstract

The invention provides a surgical navigation system. The surgical navigation system comprises a world coordinate system location maker which is arranged in an operating room, first location markers, a location tracking link, and second location markers. The location tracking link comprises a plurality of positioning trackers and each of the positioning tracker is provided with one first location marker. Two second location markers are respectively arranged on a surgical instrument and a surgical imaging device. The positioning trackers are used for tracking the world coordinate system location maker, the first location markers and the second location markers. The invention further provides a medical robot. According to this arrangement, the collapse of functions of system caused by accidental movements of the positioning trackers in operation can be avoided so as to improve the safety of operation and ensure the smooth processes of operations.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a surgical navigation system and a medical robot adopting a positioning tracking chain. Background technique [0002] Robots are not only used in industrial fields, but also in medical systems. Although the Surgical Robot has only been around for 10 years, significant progress has been made. [0003] In fact, a surgical robot is a combined device of a set of instruments, usually assembled by probes (endoscope or ultrasound, etc.), surgical instruments, miniature cameras, joysticks and other devices. At present, surgical robots perform surgical operations mainly through remote operation, that is, the doctor sits in front of the computer display screen, carefully observes the disease in the patient through the display screen and an endoscope, and then accurately removes (or repairs) the disease with a scalpel in the hand of the robot . Specifically, for example, an ultrasonic guided rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00
Inventor 王建军樊建平朱青松蔡业首谢耀钦
Owner ZHUHAI INST OF ADVANCED TECH
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