Ultrasonic fat dissolving robot system based on depth camera and auxiliary operation method

Abstract

The invention provides an ultrasonic fat dissolving robot system based on a depth camera. The ultrasonic fat dissolving robot system comprises a mechanical arm which is provided with a tail end clampthat is used for installing an ultrasonic transducer; an identification code which is arranged on the body of the patient; an image acquisition unit which adopts the depth camera and is used for scanning the curved surface of the skin of the to-be-treated part of the patient to obtain color and depth images, wherein the images comprise the identification code; the image acquisition unit also identifies the position of the identification code in real time during an operation; an image processing unit which receives the image of the image acquisition unit and is used for controlling the postureof the tail end clamp; and the image processing unit further compares the identification code position recognized by the image acquisition unit in real time in the operation with the identification code position during preoperative planning and calculates the relative displacement, the path of the mechanical arm is adjusted in real time according to the relative displacement, and the function thatthe mechanical arm tracks the patient is achieved. The invention further provides a corresponding operation method. Safety can be guaranteed, automation is achieved, and the labor intensity of doctors is reduced.

Description

technical field [0001] The present invention relates to the technical field of medical robots, in particular to a depth camera-based ultrasonic lipolysis robot system and an auxiliary operation method. Background technique [0002] With the continuous development of my country's economy, people's lives are constantly becoming rich, resulting in more and more people who are overweight. On the one hand, obesity seriously affects the appearance of the human body. On the other hand, obesity has become a major risk factor for many diseases such as hypertension, diabetes, and coronary heart disease, seriously threatening people's health. As a result, various methods of eliminating fat and reducing weight came into being. Ultrasonic fat dissolving, as one of them, can selectively destroy fat cells without damaging other normal tissues, so it is non-invasive and safe. However, when doctors perform ultrasonic fat melting, they need to hold the ultrasonic transducer for a long time a...

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