Positioning method and device for minimally invasive surgery navigation robot

Abstract

The invention relates to a positioning method and device for a minimally invasive surgery navigation robot. The positioning method comprises following steps: a preoperative image is mapped to a real-time human body, and organs in the real-time human body are divided; a three-dimensional space rectangular coordinate system is established on the basis of the dividing result; real-time movement coordinates of a respiratory tract endoscope camera and an in-vitro sensor in the three-dimensional space rectangular coordinate system are acquired; the real-time coordinates of the in-vitro sensor are converted into positioning coordinates of the real-time human body; whether the positioning coordinates are located in the range of the preoperative image or not is judged, and if yes, variable positioning coordinates are generated; and on the basis of the variable positioning coordinates and the preoperative image, the positioning of the surgery navigation robot for a surgical site is optimized. By means of mutual binding process of the preoperative image, the in-vitro sensor and the respiratory tract endoscope camera, the preoperative image is enabled to accurately correspond to the real-timehuman body.

Description

technical field [0001] The invention belongs to the technical field of surgical navigation, in particular to a positioning method and device for a minimally invasive interventional surgical navigation robot. Background technique [0002] Minimally invasive surgery refers to the use of medical electronic endoscopes such as laparoscopes, gastrointestinal endoscopes, thoracoscopes, and respiratory endoscopes, as well as modern related medical equipment, to implement clinical tumor disease inspection, diagnosis, resection, and treatment processes. Minimally invasive surgery has the advantages of less trauma, less pain and faster recovery. [0003] Lung cancer is the tumor with the highest morbidity and mortality rate in the world. Although new tumor-targeted drugs, chemotherapy drugs and various minimally invasive surgeries have been applied to the diagnosis and treatment of tumors in recent years, the overall average survival time of malignant tumors and 5 The annual survival ...

AI Technical Summary

Problems solved by technology

This method is exposed to CT radiation, and the puncture effect depends on the physician's clinical experience and operating techniques; the position and angle of puncture and needle insertion need to be adjusted repeatedly, and the CT scanning imaging equipment needs to be turned on repeatedly to confirm the position of the puncture needle. Automatically track and locate the position of the puncture tool and the target area of ​​the lung lobe

Especially, under the human respiratory deformation movement, it is more difficult to locate the lung lobe target area and control the surgical tools. One disadvantage of this method is that the radiation is large, and the doctor must wear a lead suit to complete the operation, which creates an additional burden for the doctor; another The disadvantage is that the anatomical position of the target area cannot be provided, and the doctor needs to repeatedly explore during the operation to find the nearest bronchial branch, which prolongs the operation time

[0005] Therefore, in minimally invasive interventional surgery, problems such as difficult positioning of the lung lobe target area and difficult manipulation of surgical tools have become more and more urgent technical problems to be solved.

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