Nailing surgical robot system based on surface tracking and control method

A technology of surgical robot and control method, which is applied in the field of nailing surgical robot system and control based on surface tracking, can solve the problems that cannot be completely overcome, such as complicated process, difficult perception of positioning error, and increased trauma of patients, so as to achieve simple operation process and excellent equipment The effect of simplicity and high nailing precision
CN112006777AActive Publication Date: 2020-12-01TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
TSINGHUA UNIV
Publication Date
2020-12-01

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Abstract

The invention discloses a nailing surgical robot system based on surface tracking and a control method, the nailing surgical robot system comprises a mechanical arm, a surgical instrument, a surface scanning device and a workstation, the mechanical arm has a translational degree of freedom and a rotational degree of freedom and is used for moving the surgical instrument; the surgical instrument ismounted at the front end of the mechanical arm and used for drilling and nailing a surgical target; the surface scanning device is used for acquiring surface three-dimensional geometrical informationand color information of the object in the operation area; the workstation is connected with the mechanical arm and the surface scanning device through data lines and used for processing the surfacethree-dimensional geometrical information and color information, obtaining the relative poses of the surgical target and the surgical instrument, planning the drilling and nailing path and controllingthe mechanical arm to move. The system directly performs control according to the surface image without an additional optical mark, is simple in equipment and concise in operation process, can perform feedback adjustment according to image information fed back in real time in an operation, and has higher nailing precision.
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Description

technical field

[0001] The invention relates to the technical field of surgical robots, in particular to a nailing surgical robot system and control method based on surface tracking. Background technique

[0002] Precision drilling is a common surgical step in orthopedic procedures such as pedicle screw placement. 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 surgical navigation systems or surgical robot systems for drilling and nailing operations are based on optical posi...

Claims

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