Puncture robot navigation system with dynamic compensation function based on binocular vision

Abstract

The invention discloses a puncture robot navigation system with a dynamic compensation function based on binocular vision, and belongs to the technical field of navigation. The system comprises a base, the top of the base is provided with a support column, the top of the support column is hinged to a first link block, the outer side of the first link block is provided with a first connecting arm and one end of the first connecting arm is hinged to a second link block, the outer side of the second link block is provided with a second connecting arm and the outer side of the second connecting arm is hinged to a third link block, the outer side of the third link block is provided with a third connecting arm and one end of the third connecting arm is hinged to a fourth link block, the outer side of the fourth link block is provided with a puncture needle, and a mechanical arm control device is arranged in the base. The system can reduce errors caused by artificial puncture, and solves theproblem of auxiliary accurate positioning in the medical surgery minimally invasive puncture operation by virtue of the characteristics of high positioning accuracy, stable operation, safety and reliability of a robot.

Description

technical field [0001] The invention relates to a puncture robot navigation system, in particular to a puncture robot navigation system based on a dynamic compensation function of binocular vision, and belongs to the field of navigation technology. Background technique [0002] In recent years, puncture surgery has developed rapidly in the field of minimally invasive surgery. It has the characteristics of less trauma, less pain, faster recovery and less surgical complications. It is a major change from traditional open surgery and represents an inevitable trend in the development of medical surgery. . Traditional percutaneous puncture surgery is mainly guided by medical images, and the doctor holds a puncture needle and other tools to puncture the patient. The effect of the operation depends largely on the experience and skills of the operator, so the effect of surgical treatment varies greatly. , there are problems such as inaccurate positioning of the puncture lesion targ...

AI Technical Summary

Problems solved by technology

Traditional percutaneous puncture surgery is mainly guided by medical images, and the doctor holds a puncture needle and other tools to puncture the patient. The effect of the operation depends largely on the experience and skills of the operator, so the effect of surgical treatment varies greatly. , there are problems such as inaccurate positioning of the puncture lesion target, difficulty in puncture path planning, and low puncture accuracy, especially because the patient is flexible, and the pasted target points are irregular during the operation due to the patient's mutual or patient pain. Movement, in this auxiliary situation, undoubtedly increases the difficulty of the doctor's puncture

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