Positioning tool, robotic arm system, surgical system, and registration registration method
A surgical system and robotic arm technology, applied in the field of medical devices, can solve the problems of poor reliability, poor real-time performance, cumbersome robotic arm registration and surgical object registration processes, etc., and achieve the effect of simplifying the surgical process and shortening the surgical time.
Active Publication Date: 2021-07-02
SUZHOU MICROPORT ORTHOBOT CO LTD
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Problems solved by technology
[0005] The purpose of the present invention is to provide a positioning tool, a robotic arm system, a surgical system, and a registration and registration method to solve the problems of cumbersome robotic arm registration and surgical object registration procedures, poor reliability, and poor real-time performance during surgical operations in the prior art. question
Method used
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example 3
[0063] Example three, the corresponding joint is the end joint of the mechanical arm 12, such as Figure 8 As shown, the target 113 is arranged on the autorotation joint 126 at the end of the robot arm 12 . During the registration process, the navigation tracking device 13 collects the spatial position information of the target 113, that is, the spatial position of the output shaft of the wrist joint, and the control device obtains the spatial position of the autorotation joint 126 information, since the relative position of the target 113 and the registration tip 112 is known, the registration tip can be calculated through the collected spatial position information of the target 113 and the spatial position information of the rotation joint 126 112 to realize the registration process of the robot arm 12 and the skeleton.
[0064] Example 4, the corresponding joint is a non-terminal joint of the mechanical arm 12, such as Figure 9 As shown, the target 113 is set on the wris...
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The invention provides a positioning tool, a robotic arm system, a surgical system and a registration and registration method. The positioning tool includes a tool body, a registration tip and a target; wherein, one end of the tool body is used to be fixed on the end of a mechanical arm , the other end of the tool body is connected to the registration tip; the registration tip is used to abut against a preset position, and the target is used to mark on the tool body, the registration tip or the mechanical arm, Used to communicate with a navigation device. That is, the tool used in the present invention is an integrated registration and registration tool, and the registration of the mechanical arm and the surgical object can be realized without replacement of the registration and registration tool during the process, which simplifies the operation process and shortens the operation time. In addition, the target Without repeated installation and disassembly, the navigation device can effectively monitor the spatial position of the positioning tool in real time during the entire operation process, thereby improving the degree of visualization and safety of the operation.
Description
technical field [0001] The invention relates to the technical field of medical devices, in particular to a positioning tool, a robotic arm system, a surgical system and a registration registration method. Background technique [0002] Surgical navigation systems are more and more used in surgical operations, especially in orthopedic operations, because they can observe the position of surgical instruments in real time during surgery, such as MAKO orthopedic surgical navigation system, Robodoc orthopedic surgical navigation system, etc. Using the combination of robotic arm and infrared optical navigation equipment, according to the doctor's preoperative planning, combined with the intraoperative registration and registration technology, the robot is used to assist the doctor to complete the operation. Among them, the registration and registration technology is the key technology to connect the robot and the navigation equipment; the robot knows the location of the surgical ar...
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IPC IPC(8): A61B34/20A61B34/30A61B17/14A61B17/15A61B17/16A61B17/17
CPCA61B34/20A61B34/30A61B34/70A61B17/142A61B17/15A61B17/1657A61B17/1732A61B2034/2055A61B2034/2051B25J9/1689G05B2219/45119A61B17/17B25J13/089A61B2090/3937A61B90/39A61B2034/2059A61B90/11A61B2034/2068A61B50/13A61B17/14B25J5/00B25J9/1694B25J15/0019B25J15/0066B25J17/00
Inventor 李涛何超江洲
Owner SUZHOU MICROPORT ORTHOBOT CO LTD