Path guidance method for laser surgery, computer equipment and system thereof

Abstract

The present application provides a laser surgery path guidance method, and its computer equipment and system, which constructs a three-dimensional model by acquiring three-dimensional image information of the patient's orbit; marks the key point coordinates of the surgical path on the three-dimensional model; collects the patient through a camera The ArUco tag set on the orbital reference point to calculate the pose coordinate information of at least two robotic arms equipped with laser transmitters in the world coordinate system, and to realize the space between the 3D model and each robotic arm in the world coordinate system Registration: According to the coordinates of the key points, each mechanical arm performs joint parameter transformation and coordinate transformation, so as to realize the key point of positioning the lasers emitted by at least two laser emitters on the mechanical arms to the corresponding three-dimensional model on the patient's eye socket point coordinates. This application enables the smooth movement of the laser beam at key points of the pre-marked surgical path on the skull model, as well as posture adjustment and precise laser projection of key points after model position changes.

Description

technical field

[0001] The invention relates to the field of reality augmentation technology, in particular to a laser surgery path guidance method, computer equipment and system thereof. Background technique

[0002] Navigation surgery is used in orbital diseases, head and neck diseases, orthopedic diseases, craniocerebral diseases and other surgeries that require high precision. The accuracy of surgical operations is an important factor affecting the prognosis of patients. Traditional navigation technology only solves the problem of positioning, but how to guide the surgeon intuitively and in situ to accurately implement the predetermined surgical operation is still an unsolved problem, and the high price limits its use.

[0003] For example, the existing surgical computer-aided navigation system is a three-dimensional positioning operation support system, which provides relatively objective and accurate means for surgeons to plan operations, and can perform surgical posit...

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