Mechanical arm controlling method and device, equipment, storage medium and system

Abstract

The invention relates to a mechanical arm controlling method and device, equipment, a storage medium and a system. The method is applied to a diagnosis and treatment system. The diagnosis and treatment system comprises medical imaging equipment, computer equipment and a telescopic mechanical arm, wherein the medical imaging equipment and the mechanical arm are separately connected with the computer equipment. The method comprises the following steps of determining a diagnosis and treatment path of a diagnosis and treatment target; according to the transforming relation between an image coordinate system of the medical image equipment and a coordinate system of the mechanical arm, transforming the diagnosis and treatment path into a target diagnosis and treatment path on the coordinate system of the mechanical arm; and according to the target diagnosis and treatment path, controlling the mechanical arm to extend into a scanning drum of the medical imaging equipment for operations. According to the mechanical arm controlling method provided by the invention, errors caused by repeated movement of the diagnosis and treatment target are avoided, and the precision rate and the efficiencyof the diagnosis and treatment operations are improved.

Description

technical field [0001] The present invention relates to the field of medical technology, in particular to a control method, device, equipment, storage medium and system of a mechanical arm. Background technique [0002] Compared with conventional surgery, minimally invasive puncture surgery has the advantages of less trauma, less pain, and faster recovery. Doctors use puncture surgery to diagnose or treat the lesion of the object of diagnosis and treatment. [0003] At present, when a doctor performs a puncture operation clinically, he uses medical imaging equipment such as Magnetic Resonance Imaging (MRI), Computed Tomography (CT), and X-ray to guide the doctor to complete the puncture operation. During the puncture operation, the doctor can obtain the medical image data of the object of diagnosis and treatment through the medical imaging equipment. data, and then move the object of diagnosis and treatment out of the scanning tube for diagnosis and treatment, or, during th...

AI Technical Summary

Problems solved by technology

[0005] Based on this, it is necessary to address the problems of large puncture path error, low puncture efficiency and success rate, and provide a control method, device, equipment, and storage medium for a mechanical arm that can reduce puncture path errors and improve puncture efficiency and success rate. and system

Images