An augmented reality device and method applied to a stereotaxic surgical robot

An augmented reality and camera technology, applied in the direction of stereotaxic surgical instruments, etc., can solve the problem of lack of surgical path observation and achieve the effect of increasing the sense of reality

Active Publication Date: 2018-12-07
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the doctor, there is a lack of intuitive observation of the surgical path, and there is a certain risk for the patient

Method used

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  • An augmented reality device and method applied to a stereotaxic surgical robot
  • An augmented reality device and method applied to a stereotaxic surgical robot
  • An augmented reality device and method applied to a stereotaxic surgical robot

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Embodiment Construction

[0051] The present invention will be further elaborated below through specific embodiments in conjunction with the accompanying drawings.

[0052] Such as figure 1 As shown, the augmented reality device of this embodiment includes: computer 1, mechanical arm 2, camera 3, projector 4 and connector 5; The instrument 4 is installed on the other surface of the connector 5, and the position between the camera 3 and the projector 4 is fixed; the controller of the mechanical arm 2 is connected to the computer 1 through a network cable to communicate with the computer; the camera 3 and the projector 4 are respectively Connect to computer 1 and computer for data transmission through data lines.

[0053] Such as figure 2 As shown, the imaging target 6 is placed on the sample stage 8 and fixed by the fixed frame 7 installed on the sample stage, so that the position of the imaging target relative to the base coordinate system of the manipulator is fixed.

[0054] In this embodiment, t...

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Abstract

The invention discloses an augmented reality device applied to a stereotactic surgical robot and a method of the augmented reality device. A projector-camera system is composed of a camera and a projector, so that a surface point of an imaging target can be acquired, and color and texture information of the imaging target can also be acquired; after registration is carried out, the color and texture information of the surface of the imaging target is overlapped to surface image data obtained by nuclear magnetic imaging extraction, and a three-dimensional model which is more really and has colors and textures can be viewed on a computer; the camera and the projector are mounted at a tail end of a mechanical arm through connecting parts, so that a more complete three-dimensional surface of the imaging target is facilitated to obtain, and the registration accuracy is improved; on the basis of high-precision registration, a one-to-one corresponding relation of an image coordinate system and a mechanical arm base coordinate system is obtained, and basis is provided for subsequently calculating a position where the tail end of the mechanical arm needs to reach behind an appointed reality position to be augmented in the image coordinate system; augmented reality display on the surface of the imaging target is realized.

Description

technical field [0001] The invention relates to robot control technology, in particular to an augmented reality device applied to a stereotaxic surgical robot and a control method thereof. Background technique [0002] With the development of computer technology, optical tracking technology and robot technology, surgical robots suitable for different needs have been continuously developed. Surgical robots currently used in the field of neurosurgery are generally used to assist doctors in positioning and guiding patients' intracranial lesions or targets. Because they can achieve positioning and orientation in three-dimensional space, this type of surgical robot is called stereotaxic surgery. robot. [0003] The currently commercialized stereotaxic surgical robots include Renaissance, NeuroMate, and Rosa, among which the most widely used is the Rosa surgical robot. The Rosa surgical robot uses a laser rangefinder fixed at the end of the robotic arm to scan the patient's head...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B90/10
Inventor 王广志曾柏伟丁辉
Owner TSINGHUA UNIV
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