Surgical robot system and control method thereof

Abstract

The invention provides a surgical robot system. The surgical robot system comprises image fusion processing equipment, static imaging equipment, dynamic imaging equipment, mechanical arm equipment andvisual imaging equipment, wherein the static imaging equipment is used for transmitting 3D image information to the image fusion processing equipment; the visual imaging equipment is used for transmitting visual space information to the image fusion processing equipment; the image fusion processing equipment is used for fusing and extracting the information; the dynamic imaging equipment is usedfor transmitting dynamic information to the image fusion processing equipment, and the image fusion processing equipment is used for fusing the dynamic information to the 3D image information; and mechanical control equipment is used for driving a surgical instrument to move to execute a puncture interventional operation, and the dynamic imaging equipment can be further used for collecting a motion track of the surgical instrument in the body of a patient. According to the surgical robot system, a to-be-scanned object can be accurately positioned, so that the surgical instrument can arrive ata target region through puncturing once; and meanwhile, the deviation of the track of the surgical instrument can be avoided. The invention further provides a control method of the surgical robot system.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to a surgical robot system and a control method thereof. Background technique [0002] With the continuous development of interventional radiology, image-guided percutaneous interventional surgery has become a commonly used minimally invasive treatment method. Clinically, imaging equipment such as CT, ultrasound, C-arm (DSA) and MRI is usually used to collect human body image data, plan the surgical puncture path on the workstation, and guide the doctor to complete the puncture operation. For imaging devices used as interventional navigation, each device has its own advantages and disadvantages. For example, although CT or CBCT alone can obtain high-definition human body 3D image data, it often cannot continue to dynamically collect 3D data. Real-time monitoring of the puncture path and puncture needle trajectory, and the radiation dose generated by repeated positioning a...

AI Technical Summary

Problems solved by technology

[0003] Based on this, it is necessary to address the problem of multiple punctures before reaching the target area caused by inaccurate positioning in puncture surgery, and provide a surgical robot system that can accurately position and ensure accurate puncture trajectory. system control method

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