Movement compensation method of surgical robot for positioning and guiding for bone surgery

Abstract

The invention provides a movement compensation method of a surgical robot for positioning and guiding for bone surgery, and belongs to the technical field of CAD minimally invasive bone surgery treatment. The method is characterized in that a target cover fixed on an image intensifier of a C-shaped arm X-ray machine replaces the traditional three-dimensional calibration frame, so that the operation time and radiation quantity can be reduced; meanwhile, a tracer fixed on the target cover is used for acquiring the image exterior perspective parameters of the C-shaped arm X-ray machine through an optical positioning subsystem; the DLT method is adopted to solve the interior perspective parameters; the route is planned and reconstructed according to the pole line geometric principle and binocular vision algorithm; the tracers are also fixed on a patient and a double-plane surgical robot and used for tracking the location; therefore, a spatial coordinate transmission relationship among the image, the target cover, the patient and the double-plane surgical operator is built; the spatial transformation matrix is utilized to solve the problem of dynamic coordinate error caused by opposite movement of the double-plane surgical robot and the patient while reducing the surgical operation time and the radiation quantity on the basis of automatic accurate positioning of the traditional double-plane surgical robot.

Description

Technical field: [0001] The invention belongs to the field of computer-aided minimally invasive treatment, and is especially suitable for the guidance of minimally invasive fixation operations for orthopedic trauma such as femoral neck fractures and sacroiliac joint fractures. Background technique: [0002] Femoral neck and sacroiliac joint fractures are common orthopedic traumas, and internal fixation with cannulated compression screws is increasingly used in minimally invasive clinical treatment of femoral neck and sacroiliac joint fractures. For femoral neck fractures, it is required that the three hollow compression screws implanted should be parallel to each other, have a reasonable spatial distribution, and their tips should be fixed on the cortical bone layer and cannot pass through the bone cortical layer; for sacroiliac joint fractures, it is necessary to ensure that the implanted The inserted cannulated compression screw avoids the main arteries and nerves in the p...

AI Technical Summary

Problems solved by technology

However, the doctor needs to manually move the surgical tool multiple times to make its projection in the images of various viewing angles meet the implantation requirements, which prolongs the operation time

Compared with 2D fluoroscopic navigation, 3D fluoroscopic navigation can provide more spatial information, making path planning easier, but 3D fluoroscopic navigation usually requires intraoperative 3D data acquisition, which prolongs the time for radiation and image processing

Since the improved target mask moves with the image intensifier of the C-arm X-ray machine, the external perspective parameters of the C-arm X-ray machine imaging cannot be obtained using analytical algorithms, so the traditional method cannot be used for C-arm X-ray imaging. Machine Calibration and Rebuild

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