Operation positioning device and method and robot operation system

Abstract

The invention relates to an operation positioning device and method and a robot operation system. The operation positioning device comprises a positioning ruler, an upper computer and a series-connection mechanical arm with at least six degrees of freedom. The upper computer is connected with the series-connection mechanical arm, the positioning ruler comprises two opposite surfaces allowing X-rays to transmit, the two opposite surfaces are fixedly connected through a connecting surface allowing X-rays to transmit, the two opposite surfaces are respectively provided with a group of marks, each group of marks comprise at least four mark points which are not located on the same straight line, and the mark points are X-ray-proof components. Any opposite surface or the connecting surface is fixedly connected with a ruler handle, and the ruler handle is connected with the tail end of the series-connection mechanical arm through a port. The upper computer adjusts the position of the positioning ruler by controlling movement of the series-connection mechanical arm, space positioning calculation is conducted according to the mark points in collected images, and a planning path is obtained. The device can achieve perspective positioning at any angle, and can eliminate system errors caused when an operation path is calculated, increase working space and improve the operation positioning accuracy.

Description

technical field [0001] The invention relates to a surgical positioning technology, in particular to a surgical positioning device for orthopedic surgery, a surgical positioning method and a robot surgical system using the surgical positioning device of the present invention. Background technique [0002] With the rapid development of the interdisciplinary application of robotics and medical science, the research of various medical robots has also become a hot spot, and has been more and more widely used in the medical field, and surgical robots are one of the frontier research hotspots. At present, surgical robots have been widely used in neurosurgery, artificial joint replacement, urology, and gallbladder removal. Compared with the manual operation of doctors, the use of surgical robots has typical advantages in some aspects, such as: the positioning of surgical robots is more accurate, and the grasping of its robotic arms is more stable and powerful, which can avoid long-t...

AI Technical Summary

Problems solved by technology

Existing positioning components need to ensure that the X-ray optical axis is perpendicular to the plane where the marker points are located, but it cannot guarantee that the X-ray optical axis is perpendicular to the plane where the positioning components are located during anteroposterior and lateral perspectives, so there will be certain gaps in the calculated surgical path. deviation

Moreover, when using the positioning components for frontal and lateral fluoroscopy, it is required that the positioning scale cannot be moved. As a result, due to the unreasonable position of the positioning scale in one of the perspective directions, it is necessary to re-perform the perspective in the other direction when the position is adjusted, and the location of the image acquisition is inconvenient. This increases the number of fluoroscopy, which increases the X-ray radiation damage and prolongs the operation time

Furthermore, the specific configuration of the existing positioning components limits the perspective angle of the C-arm during surgery, and the working space of the positioning system is small, the stroke of the mechanical arm is short, and the surgical positioning is difficult. Therefore, the scope of use of the existing positioning components is It is greatly restricted; moreover, the existing positioning parts are usually installed with threaded interfaces, which is troublesome to disassemble, and it is not easy to ensure whether the installation is in place, so it needs to be carefully checked and confirmed

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