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Registration method and device

A registration and target position technology, applied in the field of surgical navigation, can solve the problems of inability to automate and low precision of needle placement.

Inactive Publication Date: 2019-03-29
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Due to the influence of the internal parameters of the robotic arm, most of the current registration methods have problems such as low needle accuracy, or cannot be automated, require manual intervention, or need to introduce other external tools for registration, etc.

Method used

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  • Registration method and device

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Embodiment Construction

[0064] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined arbitrarily with each other.

[0065] The steps shown in the flowcharts of the figures may be performed in a computer system, such as a set of computer-executable instructions. Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0066] Such as figure 1 As shown, since the optical positioning device 1 cannot directly locate the position of the surgical needle, the marker 2 is introduced, and the marker 2 is fixed to any point on the needle holding device 5, so that the optical positioning device 1 has a good relationship with the mechanical arm 3 and the marker. The object 2, and th...

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Abstract

In embodiments, the invention discloses registration method and device, wherein the registration method includes: acquiring the translation relationship between a marker coordinate system correspondedto a marker on a needle holder and a flange ring coordinate system corresponded to a flange ring on a mechanical arm, thus achieving registration of the mechanical arm and the marker; then acquiringthe position relationship between the marker coordinate system and a needle-tip coordinate system of a surgical needle, thus achieving registration of the marker and the surgical needle. According tothe embodiment, automatic registration between the mechanical arm and the marker and between the marker and the surgical needle are achieved without manual intervention, registration precision being increased.

Description

technical field [0001] The invention relates to surgical navigation technology, in particular to a registration method and device. Background technique [0002] In order to reduce the morbidity and mortality of major diseases, a key work link is the early diagnosis and treatment of diseases. Among them, needle biopsy and treatment of the diseased part are an important link. In order to improve the success rate of needle insertion in biopsy surgery, robotic arm-assisted needle insertion technology has been widely used in many percutaneous puncture procedures. When performing these operations, the surgical needle needs to pierce the skin directly to the lesion area, so the key to establishing an ideal puncture path is to place the needle at the target position with an ideal posture. However, due to the great uncertainty in the surgical operation, the surgical needle will deviate from the desired position and direction. This has prompted the introduction of other external me...

Claims

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Application Information

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IPC IPC(8): A61B17/34A61B10/02
CPCA61B10/02A61B17/34A61B17/3403A61B2017/3409
Inventor 刘星桐李卓谢翔
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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