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Robotic arm navigation method and system for c-arm machine, and computer-readable storage medium

A navigation method and a robotic arm technology, applied in the field of medical interventional surgery navigation, can solve the problems of increasing the complexity of the system structure, long operation preparation time, reducing the operation efficiency and operation risk, etc., so as to improve the navigation accuracy and operation safety, reduce the Operation time, increased intuitive effect

Active Publication Date: 2021-05-14
SHANGHAI UNITED IMAGING HEALTHCARE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In addition, the infrared positioning system needs to arrange multiple infrared transmitters and receivers in the scene, which increases the complexity of the system structure
Therefore, it leads to longer operation preparation time, reduces operation efficiency and increases operation risk

Method used

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  • Robotic arm navigation method and system for c-arm machine, and computer-readable storage medium
  • Robotic arm navigation method and system for c-arm machine, and computer-readable storage medium
  • Robotic arm navigation method and system for c-arm machine, and computer-readable storage medium

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Embodiment Construction

[0023] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0024] It should be noted that when a part is said to be "fixed to" another part, it may be directly fixed to the other part or there may be an intervening part. When a section is said to be "connected" to another section, it may be directly connected to the other section or there may be intervening sections at the same time. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only and are not intended ...

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Abstract

The invention relates to a method for navigating a manipulator of a C-arm machine. The manipulator has a fixed relative position relationship with the C-arm machine at a position. The method includes the steps of: determining the coordinate relationship between the world coordinate system and the three-dimensional image coordinate system Obtain a plurality of two-dimensional images through the imaging device of the C-arm machine, and generate a three-dimensional image based on the plurality of two-dimensional images; wherein, the three-dimensional image is represented in the three-dimensional image coordinate system; obtain the mechanical arm the first position of the load of the manipulator in the world coordinate system; according to the coordinate relationship and the first position, determine the second position of the load of the manipulator in the three-dimensional image coordinate system; and according to the The second position shows the load of the robotic arm in the three-dimensional image. The above-mentioned robotic arm navigation method of the C-arm machine improves the relative positioning accuracy, greatly simplifies the operation complexity during surgery, and reduces the operation time.

Description

technical field [0001] The invention relates to the field of medical interventional surgery navigation, in particular to a method for navigating a manipulator of a C-arm machine, a system thereof, and a computer-readable storage medium. Background technique [0002] At present, the application of robotic arms in interventional surgery has become more and more extensive, and the navigation of robotic arms in interventional surgery has also become an important research field. According to the principle of the tracking and positioning system used, the image-based surgical navigation system can be divided into optical positioning, mechanical positioning, electromagnetic positioning and ultrasonic positioning. Usually, infrared rays are used for optical positioning, that is, infrared cameras are used to capture infrared signs installed at specific positions on the robotic arm. The system is registered with the image coordinate system collected by medical imaging equipment (such ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B6/00
CPCA61B6/4441A61B6/587
Inventor 常韫恒虞倩倩刘亚军田伟
Owner SHANGHAI UNITED IMAGING HEALTHCARE
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