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Robot navigation method of collum femoris hollow rivet implanting operation based on perspective vision

A technology of surgical robot and navigation method, which is applied in the field of surgical robot navigation for hollow nail implantation in the femoral neck, and can solve problems such as difficult navigation technology and observation of the operating position

Inactive Publication Date: 2018-05-25
广州键佳科技有限公司
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AI Technical Summary

Problems solved by technology

[0002] In the implantation of the femoral neck hollow nail by remote operation and using the robot, how to navigate the robot to accurately navigate the surgical operation of the robot has always been a difficult problem in the industry. , the specific operating position cannot be observed directly with the naked eye or a camera, and relevant images can only be obtained by means of X-ray perspective
However, the images obtained by X-ray perspective are not three-dimensional, but flat, which brings difficulties to traditional navigation technology.

Method used

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  • Robot navigation method of collum femoris hollow rivet implanting operation based on perspective vision

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Embodiment 1

[0014] As shown in the figure, the perspective vision-based implantation surgical robot navigation method for the femoral neck hollow screw of the present embodiment includes the following steps:

[0015] A: Use the C-arm X-ray image acquisition device to take front and side pictures of the surgical site;

[0016] B: The doctor forms the anterior marker points, staple lines, and planning lines from the data of the front image, and forms the lateral marker points, staple lines, and planning lines from the side images, so as to plan the surgical path (that is, the anterior markers) points, staple lines, planning lines, and lateral marker points, staple lines, and planning lines); C: Calculate the spatial coordinates of the surgical path through the positioning algorithm (consisting of the coordinates of the entry point of the surgical path and the coordinates of the outgoing point of the surgical path), And transform to the robot coordinate system;

[0017] D: Convert the spati...

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Abstract

The invention aims at providing a robot navigation method of a collum femoris hollow rivet implanting operation based on perspective vision. The technical purpose is to use a robot to conduct the remote collum femoris hollow rivet implanting operation. The method comprises the following steps that 1, C-shaped arm X-ray image obtaining equipment is utilized to shoot front pictures and side picturesof operation positions; 2, a doctor plans an operation path according to the front pictures and the side pictures; 3, calculating spatial coordinates of the operation path through a locating algorithm, and converting the spatial coordinates into a robot coordinate system; 4, converting the spatial coordinates of the operation path in the robot coordinate system into actual control parameters andtransmitting the parameters to a robot controller to control the robot to move and output the operation path.

Description

technical field [0001] The invention belongs to the field of medical technology, and in particular relates to a navigation method for a femoral neck hollow screw implantation surgical robot based on perspective vision. Background technique [0002] In the implantation of hollow nails in the femoral neck by remote operation and using robots, how to navigate the robot to accurately navigate the surgical operation of the robot has always been a difficult problem in the industry. Among them, the specific operating position cannot be observed directly with the naked eye or a camera, and relevant images can only be obtained by means of X-ray perspective. However, the image obtained by X-ray perspective is not three-dimensional, but flat, which brings difficulties to traditional navigation technology. Contents of the invention [0003] The purpose of the present invention is to propose a perspective vision-based navigation method for a femoral neck hollow screw implantation surg...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/35A61B34/20
Inventor 王健梁芳果
Owner 广州键佳科技有限公司
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