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Alignment structure, robot, contact recognition method, positioning system and medium

An identification method and medical robot technology, applied in the field of positioning system, medium, and alignment structure, can solve the problems of difficult alignment and low alignment accuracy.

Active Publication Date: 2019-09-06
上海木木聚枞机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide an alignment structure, a robot, a contact recognition method, a positioning system, and a medium to solve the problems of high alignment difficulty and low alignment accuracy in the registration process of assisted medical robots

Method used

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  • Alignment structure, robot, contact recognition method, positioning system and medium
  • Alignment structure, robot, contact recognition method, positioning system and medium
  • Alignment structure, robot, contact recognition method, positioning system and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] like figure 1 and figure 2 As shown, this embodiment provides an alignment structure, including a positioning pin 10 and a marking point 20, the marking point 20 has a convex surface, the lower end of the positioning pin 10 is provided with a positioning groove 11, the groove wall of the positioning groove 11 and the marking point The convex surfaces of 20 are all arc surfaces, and the groove walls of the positioning groove 11 can be attached to the convex surfaces of the marking points 20 . When aligning, the positioning groove 11 at the lower end of the positioning pin 10 fits with the raised surface of the marking point 20, and there is surface contact between the two. Compared with the point contact alignment in the prior art, the alignment is easier, and Alignment accuracy is higher.

[0029] Further, the groove wall of the positioning groove 11 and the convex surface of the marking point 20 are both part of a spherical surface, and the curvature of the groove w...

Embodiment 2

[0035] image 3It is a flow chart of a marker point contact recognition method provided by Embodiment 2 of the present invention. The method can be executed by an analysis device, wherein the analysis device can be implemented by hardware and / or software, and is generally integrated in a positioning system. like image 3 As shown, the method includes:

[0036] Step 310, acquiring the voltage of each marking point through the positioning needle.

[0037] Wherein, the positioning pin can be arranged at the end of the mechanical arm of the auxiliary medical robot, and is used to connect the marking point with power and ground when in contact with the marking point, and transmit the voltage on the marking point to the analysis device. It should be noted that the analysis device is a chip with logic operation and analysis functions. For example, the analysis device may be a CPU or a PLC or the like. The positioning pin is electrically connected with the setting pin of the analy...

Embodiment 3

[0052] It should be noted that the embodiment of the present invention also provides an auxiliary medical robot, including the alignment structure as described in the first embodiment, and the auxiliary medical robot adopts the mark point contact recognition method as described in the second embodiment to realize Automatically judge whether the positioning needle is in contact with the marking point, and which marking point it is in contact with.

[0053] Figure 5 It is a structural block diagram of a positioning system provided by Embodiment 3 of the present invention. like Figure 5 As shown, the positioning system includes an analysis device and an auxiliary medical robot ( Figure 5 Only the alignment structure of the assisted medical robot is drawn in ).

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Abstract

The invention discloses an alignment structure, a robot, a contact recognition method, a positioning system and a medium. The alignment structure includes: a positioning pin and a marking point, the marking point has a convex surface, the lower end of the positioning pin is provided with a positioning groove, the groove wall of the positioning groove and the convex surface of the marking point areall curved surfaces, and the groove wall of the positioning groove can be attached to the convex surface of the marking point; the positioning pin is configured to cause the marking point to have a voltage when the positioning groove is in contact with the marking point, and the voltage is collected. When aligning, the positioning groove at the lower end of the positioning pin and the convex surface of the marking point are in contact with each other, and the two are in surface contact. Compared with the point contact alignment in the prior art, the alignment is easier, and the alignment accuracy is higher.

Description

technical field [0001] Embodiments of the present invention relate to positioning technology, and in particular to an alignment structure, a robot, a contact recognition method, a positioning system and a medium. Background technique [0002] With the advancement and maturity of robotic arm technology, robot-assisted stereotaxic surgery has become more and more popular. [0003] Auxiliary medical robot is a medical instrument that precisely integrates the mechanical arm into the stereotaxic method, and is suitable for brain tissue biopsy, radiofrequency / laser lesion, deep brain stimulation implantation, stereotaxic EEG electrode implantation for epileptic focus localization, Craniotomy (tumor, epileptic focus resection) and neuroendoscopic surgery (hamartoma, brain cyst, pituitary tumor resection, etc.) that require navigation; the main steps include preoperative planning, registration, etc. In the registration process of the assisted medical robot, it is necessary to utili...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B90/11A61B90/90
CPCA61B34/30A61B34/70A61B90/11A61B90/90A61B2034/301A61B2034/305A61B2090/101
Inventor 肖秀京游俊维
Owner 上海木木聚枞机器人科技有限公司
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