Surgery mechanical arm stroke correcting system and method

Abstract

The invention provides a surgery mechanical arm stroke correcting system and method. The system comprises a surgery mechanical arm, a fluoroscopy device, a processing device, a control device and a target marking structure; the target marking structure comprises at least four C calibration bodies, wherein the four C calibration bodies are not located on the same plane; the control device controlsthe surgery mechanical arm to move according to the theoretical stroke so as to drive a surgical tool on the surgery mechanical arm to move towards the planned path of the target marking structure; the fluoroscopy device photographs the target marking structure and the surgical tool controlled to be moved according to the theoretical stroke, and the photographed images are transmitted to the processing device; the processing device determines the actual position of the surgical tool and the offset of the planned path according to the position relation of the target marking structure and the surgical tool in the photographed images; the offset is used for correcting the theoretical stroke. According to the surgery mechanical arm stroke correcting system and method, the stroke of the surgerymechanical arm can be corrected, and positioning errors are reduced.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a stroke correction system and method of a surgical manipulator. Background technique [0002] In surgical operations, the surgical robot arm is usually used to hold surgical tools to operate, for example, a scalpel is installed at the end of the surgical robot arm to perform surgery, or an electric drill, Kirschner wire, etc. are installed to drill bones. Especially in orthopedic bone drilling operations, surgical tools and There will be a large force between the bones and it will be unstable, thus requiring the use of surgical manipulators. Whether it is before the operation, the surgical manipulator needs to move to the patient's diseased part, or during the operation, the surgical manipulator moves according to the required cutting or drilling trajectory, and the positioning of the surgical manipulator is required. [0003] The surgical manipulator needs to move to t...

AI Technical Summary

Problems solved by technology

[0003] The surgical manipulator needs to move to the desired positioning position according to the control stroke of the controller. However, whether it is the process of determining the control stroke or the equipment itself, there will be some deviations between the actual movement of the surgical manipulator and the ideal position, or the As the use time increases, deviations or deviations become larger, etc., and the movement deviation of the surgical robot arm will cause the deviation of the surgical position of the surgical tool. If this deviation is not corrected, it will have a great impact on the surgical effect

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