A nailing robot system and its nailing control method

Abstract

The invention discloses a nailing robot system and a nailing control method thereof, wherein the nailing robot system includes: a mechanical arm, a force sensor installed at the front end of the mechanical arm, a registration device and a surgical instrument; the force sensor is installed on the mechanical arm and Between surgical instruments, it is used to detect the change of force during drilling and nailing; the registration device is installed at the mechanical interface position at the front end of the mechanical arm, and is used for registration between the mechanical arm and the image acquisition device; the image distortion correction device and the image The acquisition device is connected to correct the distortion of the image acquisition device; the image acquisition device is used to acquire surgical images; the remote workstation is connected to the mechanical arm and the image acquisition device through data lines, and is used to process the surgical images acquired by the image acquisition device. Plan the nailing path and control the movement of the robotic arm. The system has low requirements on hardware equipment, reduces operation cost, adjusts according to the image information fed back in real time during operation, and improves 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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