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

An operating bed and motion technology, applied in the field of medical equipment, can solve the problems of lack of robot tracking method, not being mentioned, lack of accuracy, etc., to achieve the effect of small error, small delay, and risk reduction

CN111202583AInactive Publication Date: 2020-05-29SHANGHAI OPERATION ROBOT CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-05-29
Estimated Expiration
Not applicable · inactive patent

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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.
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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 ...

Examples

Embodiment Construction

[0050] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0051] According to the method for tracking the movement of the operating table provided by the present invention, such as figure 1 shown, including:

[0052] Step 1: Calibrate the relative pose relationship between the robot marker and the robot;

[0053] Step 2: Arrange the relative positional relationship between the operating table and the robot;

[0054] Step 3: Calculate the pose relationship between the operating table and the robot;

[0055] Step 4: The optical sensor measures the bed markers...