Operation positioning device, positioning system and positioning method

A positioning device and positioning system technology, applied in the field of surgical positioning, can solve the problems of large volume of scanners, collisions, and unrealistic robot surgical path planning, etc., to achieve high integration, high positioning accuracy, and good consistency of registration accuracy Effect

Inactive Publication Date: 2017-12-15
BEIJING TINAVI MEDICAL TECH
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AI Technical Summary

Problems solved by technology

The scanner is large and needs a lot of space when moving, and the robot entering the moving area may cause the risk of collision
From the perspective of safety application, it is necessary to remove the independent CT identification scale, so that the robotic arm can stay away from the patient and the possible collision area during CT scanning. However, if the CT identification scale is removed, the planning of the robotic surgery path cannot be realized.

Method used

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  • Operation positioning device, positioning system and positioning method
  • Operation positioning device, positioning system and positioning method

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Embodiment Construction

[0015] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0016] Such as figure 1 As shown, the present invention proposes a kind of surgical positioning device 1, and it comprises a support 1-1, is provided with more than three reflective balls 1-2 for reflecting infrared light on the support 1-1, the reflective ball 1-2 The function is to serve as an optical tracking marker point that can be recognized by the optical tracker, thereby realizing optical tracking of the surgical positioning device 1 . More than four X-ray-opaque positioning points 1-3 are also arranged on the support 1-1, and the positioning points 1-3 can be identified in the three-dimensional images formed by scanning by three-dimensional imaging equipment such as CT machines, so that the upper The computer can perform spatial positioning calculation according to the distribution of positioning points 1-3, and then plan the surgical path. ...

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Abstract

The invention relates to an operation positioning device, a positioning system and a positioning method. The positioning device comprises a support, wherein over three light reflection balls used to reflect infrared light and over four positioning points which are lighttight to X-ray light are disposed on the support. According to the invention, the light reflection balls and the positioning points are disposed on the support at the same time; the light reflection balls are used to reflect infrared light and can be recognized by an optical tracker; the positioning points can be scanned and recognized by three-dimensional imaging equipment; a technological foundation is laid for image registration; and more importantly, the device provided by the invention has a high integration degree and a small size and is applicable to the positioning system which takes spiral CT as imaging equipment.

Description

technical field [0001] The invention relates to a surgical positioning device, a positioning system and a positioning method, and belongs to the technical field of surgical positioning. 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 robots for surgical operations has typical advantages in some aspects, such as: the positioning of robots is more accurate, and the grasping of robotic arms is more stable and powerful, which can avoid the inconvenience caused by long-term surgery for surgeons. Fatigue improves the accuracy, st...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B90/11A61B34/30A61B34/10
CPCA61B2017/564G06T5/00A61B34/30A61B90/13A61B34/20A61B34/35A61B34/74A61B34/32A61B6/032A61B6/12A61B6/0492A61B6/4441A61B6/022A61B6/035A61B6/4085A61B6/5247A61B6/582A61B6/04
Inventor 张送根李寅岩徐进
Owner BEIJING TINAVI MEDICAL TECH
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