Nailing robot system and nailing control method thereof

Abstract

The invention discloses a nailing robot system and a nailing control method thereof. The nailing robot system comprises a mechanical arm, wherein a force sensor, a registration device and a surgical instrument are mounted at the front end of the mechanical arm; the force sensor is mounted between the mechanical arm and the surgical instrument and used for detecting the change of force in a drilling and nailing process; the registration device is installed in a mechanical interface position of the front end of the mechanical arm and used for registration between the mechanical arm and an imageacquisition device; an image distortion correcting device is connected with the image acquisition device and used for distortion correction of the image acquisition deice; the image acquisition deviceis used for acquiring surgical images; a remote workstation is connected with the mechanical arm and the image acquisition device through data lines, and is used for processing the surgical images acquired by the image acquisition device, planning a nailing path and controlling the mechanical arm to move. The system has a low hardware equipment requirement, and can reduce the surgical cost, makeadjustment according to image information fed back in a surgery in real time and improve the nailing accuracy.

Description

technical field [0001] The invention relates to the technical field of surgical robots, in particular to a nailing robot system and a nailing control method thereof. Background technique [0002] Precise drilling is a common procedure in orthopedic surgery, such as pedicle screw placement in spinal surgery, femoral neck screw placement in trauma surgery, distal locking of intramedullary nail fixation, etc. Precise drilling. The accuracy of the drilling, including the position of the nail entry point and the direction of the drilling, all directly affect the final effect of the operation, and incorrect drilling operations may cause fatal injuries to the patient. In order to improve the accuracy of drilling operations, robotics and computer technology have been gradually applied to clinical operations in recent years. At present, there are many commercial products of surgical navigation or surgical robots on the market for doctors to choose from. [0003] At present, most su...

AI Technical Summary

Problems solved by technology

On the other hand, with the development of digital image processing technology, the demand for installing special visual markers on the target object in visual servoing is getting lower and lower, and the geometric shape information of the target itself has been better and better utilized. However, these image feedback control technologies have not been applied to surgical robots

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