Method and system for automatically adjusting pose of nasal endoscope

An automatic adjustment and nasal endoscope technology, which is applied in the fields of rhinoscope, surgical navigation system, medical science, etc., can solve the problems of multiple interruptions, prolonging the operation time, and the non-automatic adjustment of nasal endoscope, so as to improve the efficiency and quality of surgery , The effect of shortening the operation time

Active Publication Date: 2016-12-28
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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Problems solved by technology

[0004] In view of the defect that the existing nasal endoscope cannot be automatically adjusted, when the doctor needs to change the surgical field of view, he needs to frequently adjust the nasal endoscope by hand, caus

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  • Method and system for automatically adjusting pose of nasal endoscope
  • Method and system for automatically adjusting pose of nasal endoscope
  • Method and system for automatically adjusting pose of nasal endoscope

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Embodiment Construction

[0045] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0046] The invention provides a method for automatically adjusting the pose of a nasal endoscope, such as figure 1 shown, including:

[0047] S100. Obtain the pose of the surgical instrument by using an optical positioning device and a positioning target set on the surgical instrument;

[0048] S200. Calculate the target pose of the nasal endoscope according to the pose of the surgical instrument and the preset relative pose relationship between the surgical instrument and the nasal endoscope;

[0049] S300, according to the target pose of the nasal endoscope and the obtained current pose of the ...

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Abstract

The invention provides a method and system for automatically adjusting the pose of a nasal endoscope, and relates to the technical field of nasal endoscope pose adjustment. The method comprises the steps that the pose of a surgical instrument is acquired through optical locating equipment and a locating target spot arranged on the surgical instrument; the target pose of the nasal endoscope is calculated according to the relation between the pose of the surgical instrument and the preset relative poses of the surgical instrument and the nasal endoscope; the motion amounts of all joints of an endoscope holding robot are inversely obtained according to the target pose of the nasal endoscope and the acquired current pose of the nasal endoscope; all the joints are controlled to execute corresponding motion according to the motion amounts of all the joints of the endoscope holding robot so that the nasal endoscope can be automatically adjusted to the target pose. According to the method and system, the relatively stable position relation between the nasal endoscope and the surgical instrument is kept, and a clear surgery area image can be provided for a doctor. The doctor does not need to frequently manually adjust the nasal endoscope, the surgery efficiency and quality are improved, and the surgery time is shortened.

Description

technical field [0001] The invention belongs to the technical field of pose adjustment of a nasal endoscope, in particular to a method and system for automatically adjusting the pose of a nasal endoscope. Background technique [0002] Nasal endoscopic surgery is an effective method to treat sinonasal inflammation and completely remove sinonasal lesions (such as polyps and tumors). Existing nasal endoscopic surgery is performed by the doctor holding a nasal endoscope in his left hand and surgical instruments in his right hand. This surgical method has the following problems: First, only one surgical instrument can be used for one-handed operation. When it is necessary to replace the surgical instrument , must repeatedly pick up and put down the surgical instrument, which greatly prolongs the operation time. And one-handed operation is difficult to complete more complicated surgical operations. At this time, the nasal endoscope must be controlled by an assistant, and the doct...

Claims

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Application Information

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IPC IPC(8): A61B1/233A61B34/20A61B17/00
CPCA61B1/233A61B17/00234A61B2017/00238
Inventor 赵保亮胡颖戴新新何玉成张朋张建伟
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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