A Radiotherapy Surgical System Based on Motion Capture
A surgical system and motion capture technology, applied in the field of radiotherapy surgery system combined with motion capture equipment, can solve the problems affecting the operator's arm movement stroke and heavy operation burden, so as to reduce the difficulty of operation and operation fatigue, simplify the action, The effect of improving the control precision
Active Publication Date: 2021-09-03
HARBIN INST OF TECH
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Problems solved by technology
[0004] The purpose of the present invention is to solve the problem that when the existing master-slave robot operating system is used, all parts of the body need to be coordinated and jointly operated, and the operation burden is heavy; and the master hand mechanism of the operating system is limited by its own structure, which affects the movement of the operator's arm. The invention provides a radiotherapy operation system based on motion capture
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[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0023] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0024] see figure 1 Describe this embodiment. A radiotherapy surgery system based on motion capture described in this embodiment includes a motion capture system 1 located in the operating room, a host computer 2, and a hand-held tool 3, as well as a surgical robot arm 4 and a vision system locat...
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A radiotherapy surgery system based on motion capture, relating to a radiotherapy surgery system, which solves the problem that when the existing master-slave robot operating system is used, all parts of the body need to be coordinated and jointly operated, and the operation burden is heavy; and the main hand mechanism of the operating system is due to The limitation of its own structure affects the movement of the operator's arm. The present invention includes a motion capture system, a host computer, and a hand-held tool located in the operating room, as well as a surgical robot arm and a vision collector located in the operating room; on the operator's big arm, forearm, back of hand, and hand-held tool, a total of 4 parts At least 3 infrared target balls are pasted; the motion capture lens collects the images of the infrared target balls on the 4 parts of the operator's arm, and uploads them to the host computer for processing to obtain the space of all infrared target balls on each part position, and generate control commands to control the surgical manipulator according to the spatial positions of all infrared target balls on each part. The present invention is mainly applied in radiotherapy operation.
Description
technical field [0001] The invention relates to a radiation therapy operation system, in particular to a radiation therapy operation system combined with a motion capture device. Background technique [0002] Particle implantation brachytherapy is to implant radioactive particles into the tumor through a puncture needle, and kill cancer cells through the rays produced by decay. At present, this technology has been put into clinical treatment. Due to its ability to reasonably control the radiation dose and small surgical wounds, it has advantages in various cancer treatment options. The use of seed implantation brachytherapy surgery can achieve a high surgical success rate and a small recurrence rate. However, in the current application, this surgical plan has problems such as relying on the doctor's surgical experience and errors in the implantation position. Since the surgical process requires multiple use of CT, and the implanted particles themselves carry radiation, the ...
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IPC IPC(8): A61B34/30A61B34/20A61N5/10
CPCA61N5/1007A61N5/1048A61N2005/1074A61B34/20A61B34/30A61B34/74A61B2034/2055A61B2034/2065
Inventor 范逸伦赵杰李长乐刘刚锋
Owner HARBIN INST OF TECH