Method for navigating and positioning dual-arm surgical robot

A surgical robot, navigation and positioning technology, applied in the field of dual-arm surgical robot navigation and positioning, can solve the problems of optical positioning, electromagnetic positioning interference, etc.

Inactive Publication Date: 2019-01-18
HORIZON MICROPORT MEDICAL TECH BEIJING CO LTD
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  • Summary
  • Abstract
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  • Claims
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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a navigation and positioning method for a dual-arm surgical robot, which uses two mechanical arms to establish the coordinate mapping relationshi

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  • Method for navigating and positioning dual-arm surgical robot
  • Method for navigating and positioning dual-arm surgical robot
  • Method for navigating and positioning dual-arm surgical robot

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Embodiment Construction

[0047] The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0048] It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Limiting conditions, so there is no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect and purpose of the present invention, should still fall within the scope of the present invention. The disclosed technical content must be within the scope covered. At the same time, terms such as "upper"...

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Abstract

The embodiment of the invention discloses a method for navigating and positioning a dual-arm surgical robot. The method is used for precise positioning of a medical robot arm and comprises an operating table car with a mesa coordinate system. Obtaining medical image information of patients; According to the outline of the lesion outlined by the patient's medical image information, a three-dimensional visualized lesion model was constructed to determine the coordinates of the surgical target points in the three-dimensional visualized lesion model, and the navigation path of the navigation manipulator was planned. The coordinate mapping relationship between the patient surface coordinate system and the table coordinate system is established, and the navigation manipulator is controlled to move to the table coordinate corresponding to the coordinates of the surgical target. The navigation and positioning method of the dual-arm surgical robot does not require additional optical positioningor electromagnetic positioning device, thereby saving cost, saving operating room space and improving surgical accuracy.

Description

technical field [0001] The invention relates to the technical field of medical surgical robots, in particular to a navigation and positioning method for a dual-arm surgical robot. Background technique [0002] Among common surgical operations, orthopedic operations such as spine and joints and brain surgery are difficult and have a high failure rate due to high precision requirements, complex operations, and serious postoperative complications. Epidemiological data show that at least 1 million to 1.5 million osteoarthritis patients, 1.5 million to 2 million spinal disease patients, and 300,000 to 400,000 brain surgery patients need surgical treatment every year in China. In order to solve the problems of insufficient precision, excessive radiation, large incision, and operator fatigue in surgical operations, people began to explore how to introduce robotic methods into surgical operations. The existing computer-aided navigation system for surgical operations is a three-dimen...

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Application Information

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IPC IPC(8): A61B34/20
CPCA61B34/20A61B2034/2065
Inventor 王荣军张晶贾建强
Owner HORIZON MICROPORT MEDICAL TECH BEIJING CO LTD
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