Artificial cochlea implantation surgical robot and auxiliary method and auxiliary system thereof

Abstract

The invention provides an artificial cochlea implantation surgical robot and an auxiliary method and an auxiliary system thereof. The method comprises the steps of setting a registration marker at the head of a patient, and obtaining medical image collection data of the head of the patient and the registration marker; reconstructing a three-dimensional image according to the medical image acquisition data; acquiring position information of internal tissues of the head of the patient and the registration marker in the three-dimensional image; establishing a coordinate system A by taking the position information of the registration marker as a reference; according to the position information of the internal tissues of the head of the patient, determining two end points and a drilling point of a preoperative planned operation path, and obtaining a relative position relation of the two end points and the drilling point of the operation path in the coordinate system A; acquiring actual position information of the registration marker, and re-establishing a coordinate system B; according to the relative position relation of the two end points of the operation path and the drilling point in the coordinate system A, obtaining the pose information of the operation path in the coordinate system B, namely the pose of the actual drilling point, and completing positioning registration.

Description

technical field [0001] The present invention relates to the technical field of intelligent robots, in particular to a cochlear implant surgery robot and its auxiliary method and auxiliary system. Background technique [0002] According to the 2018 World Health Organization (WHO) Global Status Report on Hearing Disability, there are 466 million people with hearing disabilities in the world, and China accounts for about 100 million (21.6%). Among them, there are nearly 10 million patients with severe hearing impairment. There are about 23,000 neonatal deaf patients in China, and the increase in presbycusis is even more serious due to the aging population. Although cochlear implants are the most effective method of hearing rehabilitation for patients with severe or profound sensorineural deafness, only 80,000 patients have undergone cochlear implant surgery. Cochlear implants are the most effective method of hearing rehabilitation for patients with severe or very severe sensor...

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