Space registration and real-time navigation method for minimally invasive mammary gland interventional surgical robot

Abstract

The invention discloses a space registration and real-time navigation method for a minimally invasive mammary gland interventional surgical robot. The method comprises the steps that S1, kinematics modeling and simulation of the robot are carried out; s2, positioning and registering by a navigation system; s3, coordinate scale calculation and spatial registration of an ICP registration algorithm; s4, the position and posture of the puncture needle are positioned in real time, kinematics modeling can be carried out on the puncture device, and forward and inverse kinematics solution is carried out; the degree of freedom, configuration and geometric parameters of the designed robot can meet the requirements of mammary gland biopsy puncture through preliminary verification, and the problem of inconsistent coordinate space scales is solved through an ICP iterative registration algorithm based on coordinate scale calculation and a registration algorithm simulation experiment; a navigation experiment platform is built based on an OptiTrack motion capture system and 3ds Max three-dimensional animation software, passive positioning probe calibration and image space registration are completed, and visualization and positioning tracking of the position and posture of a puncture needle are achieved.

Description

technical field [0001] The invention belongs to the technical field of medical robots, and in particular relates to a space registration and real-time navigation method for a robot for minimally invasive interventional surgery on the breast. Background technique [0002] Breast cancer is a common malignant tumor in women, which seriously endangers women's health and life safety. According to the latest cancer statistics, breast cancer still ranks first among new malignant tumors in women, so early detection, early diagnosis, and timely treatment of breast cancer Cancer has very important practical significance to reduce the mortality rate and improve the quality of life. [0003] With the development of robot technology and medical imaging technology, many research institutes at home and abroad have carried out research on robot-assisted doctor surgery and related products have landed. Surgical robots have become an important branch of the robotics field. my country has list...

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Problems solved by technology

[0005] The invention patent adopts the three-coordinate positioning device composed of X-axis linear module, Z-axis linear module, and Y-axis linear module, which has the advantages of high motion stability, high positioning accuracy, and large working range; Based on the design of the physiological shape of the tissue, the multi-position movement of the puncture needle can be realized. Based on the three-dimensional reconstruction of breast tissue, puncture path planning and intraoperative navigation technology, doctors can use this device to perform biopsy operations better, effectively making up for manual puncture. Insufficient, improving the accuracy of puncture surgery and the success rate of biopsy, but the device still requires doctors to hold the puncture end and manually push the biopsy gun to perform puncture, which cannot make up for the limitations of passive joint design, and cannot guarantee the positioning accuracy of puncture points and tumor puncture accuracy; Although the invention patent also discloses that the device needs to be equipped with image three-dimensional reconstruction software, path planning algorithm and optical positioning and navigation system to achieve accurate and safe biopsy of breast tumors, but there are too many manual operations in the operation process, which reduces work efficiency. , reducing the accuracy of the operation and increasing the pain of the patient

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