Method for tracking movement of surgical bed, system for tracking movement of surgical bed and medium

Abstract

The invention provides a method for tracking movement of surgical bed, a system for tracking the movement of the surgical bed and a medium. The method for tracking the movement of the surgical bed ischaracterized by adopting the following parts: a surgical bed, a medical robot, a computer, an optical sensor, a surgical bed marker, a robot marker, and data lines; the surgical bed marker is attached on the surgical bed; the robot marker is attached to the medical robot; and the data lines connects the optical sensor and the computer, as well as the computer and the medical robot. The method fortracking the movement of the surgical bed specifically comprises the following steps: step 1, capturing poses of the surgical bed marker and the robot marker by the optical sensor, and carrying out calibration; step 2, calibrating relative poses of the medical robot and the robot marker; and step 3, obtaining displacement information of the surgical bed marker when the surgical bed is moving, andtracking the displacement information of the surgical bed marker by the medical robot. The method for tracking the movement of the surgical bed is relatively low in cost, high in accuracy and small in delay, so that remote wireless tracking of target objects is realized.

Description

technical field [0001] The present invention relates to the field of medical devices, in particular to a method, system and medium for tracking the motion of an operating bed. In particular, it relates to a method for a vascular interventional surgery robot to move synchronously with an operating bed. Background technique [0002] Cardiovascular diseases seriously affect human health. Endovascular interventional surgery is a kind of minimally invasive surgery, which has the advantages of accuracy, speed and less trauma. At the same time, in vascular interventional surgery, in order to obtain real-time images during the operation, X-ray subtraction technology is used to guide doctors to push the guide wire catheter. The doctor is thus exposed to a large amount of X-ray radiation, which causes great harm to the doctor's body. In recent years, with the continuous development of robot technology, the use of robots to send catheter guide wires to vascular lesions can avoid the ...

AI Technical Summary

Problems solved by technology

[0009] 1. An algorithm for determining the relative pose of the robot and the object after capturing the pose of the object has not been mentioned;

[0010] 2. There is a lack of a set of solutions for how to make the robot track the movement of the object in real time when the object moves;

[0011] 3. When the operating bed is displaced in the operating room environment, there is a lack of a method for the robot to track according to the movement characteristics of the operating bed;

[0014] So far, no matter domestic or foreign, in the field of medical equipment, there is no mature method for robots to track the movement of the operating bed in real time in the operating room environment. The existing solutions are both costly and lack of accuracy.

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