An ultrasonic fat-dissolving robot system and auxiliary operation method based on a depth camera

Abstract

The invention provides an ultrasonic fat-dissolving robot system based on a depth camera, comprising: a mechanical arm, on which a terminal clamp is set, and the terminal clamp is used to install an ultrasonic transducer; an identification code is set on the patient; an image acquisition unit adopts a depth The camera is used to scan the curved surface of the skin of the patient to be treated to obtain a color and depth image, and the image contains an identification code; the image acquisition unit also identifies the location of the identification code in real time during the operation; the image processing unit receives the image of the image acquisition unit for Control the posture of the end fixture; the image processing unit also compares the position of the identification code recognized by the image acquisition unit in real time during the operation with the position of the identification code during preoperative planning, calculates the relative displacement, and performs real-time on the path of the robotic arm according to the relative displacement. Adjust to realize the function of the robotic arm tracking the patient. The present invention also provides a corresponding operation method. The invention can ensure safety, realize automation, and reduce the labor intensity of doctors.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular, to an ultrasonic fat-dissolving robot system and an auxiliary operation method based on a depth camera. Background technique [0002] With the continuous development of my country's economy, people's life has become increasingly rich, resulting in more and more people 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 various diseases such as hypertension, diabetes, and coronary heart disease, which seriously threatens human health. Therefore, various methods of eliminating fat and reducing weight have emerged. Ultrasonic lipolysis, as one of them, can selectively destroy fat cells without damaging other normal tissues, so it has the characteristics of non-invasive and safe. However, when doctors implement ultrasonic fat-dissolving, they need to hold the ultrasonic transducer...

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