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Autonomous stereoscopic vision navigation method and system for corneal transplantation surgical robot

A surgical robot and stereoscopic vision technology, applied in the field of medical surgical robots, can solve the problems of easy fatigue and other problems, and achieve the effect of solving easy fatigue, increasing speed, and reducing the amount of calculation

Pending Publication Date: 2021-10-15
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] ③ Solve the problem that doctors are prone to fatigue during long-term operations

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  • Autonomous stereoscopic vision navigation method and system for corneal transplantation surgical robot
  • Autonomous stereoscopic vision navigation method and system for corneal transplantation surgical robot
  • Autonomous stereoscopic vision navigation method and system for corneal transplantation surgical robot

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Embodiment Construction

[0062] 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 some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0063] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and / or collections thereof.

[0064] It should also be understood that the terminology used ...

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Abstract

The invention discloses an autonomous stereoscopic vision navigation method and system for a corneal transplantation surgical robot, and the method comprises the steps of obtaining the registration data of a stereoscopic microscope camera and a world coordinate system Oxyz and the calibration and correction data of the stereoscopic microscope camera, and collecting two facial images according to the stereoscopic microscope camera, and respectively taking the two facial images as a reference image R and a target image T; inputting the reference image R and the target image T into a convolutional neural network CNN for feature extraction, capturing and updating three-dimensional information of a target object and pose information of a surgical tool in real time, and obtaining the reference image R and the target image T through a deep learning method to complete vision sensing information of autonomous stereoscopic vision navigation; and controlling the corneal transplantation surgical robot to perform autonomous stereoscopic visual navigation on corneal transplantation surgical suture needle insertion and suture knotting by utilizing visual sensing information.

Description

technical field [0001] The invention belongs to the technical field of medical surgical robots, and in particular relates to an autonomous stereo vision navigation method and system for a corneal transplant surgical robot. Background technique [0002] Corneal transplantation is to replace the cloudy or diseased part of the cornea with a transparent cornea, in order to increase vision, treat certain corneal diseases and improve the appearance. Corneal suturing is the most difficult and time-consuming part of corneal transplantation. Corneal suturing mainly involves suturing the donor corneal graft to the implant bed with needles and sutures. When the doctor performs trepanning and suturing, the slight physical shaking of the hand and weak vision make it difficult to judge the depth of the keratome and suture needles, which will lead to inconsistency between the cutting edges of the graft and the implant bed, inconsistent suture size and depth, and asymmetrical suture tension...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/14A61F9/007A61B34/20A61B34/32A61B34/00G06T7/00G06T7/33G06T7/593G06T7/73G06T7/80G06T17/20G06T19/00
CPCA61F2/148A61F2/142A61F9/007A61B34/20A61B34/32A61B34/70G06T19/003G06T7/97G06T7/593G06T17/20G06T7/73G06T7/33G06T7/85A61B2034/2055A61B2034/2065G06T2207/10028G06T2207/30041
Inventor 张小栋冯晓静黎黎史晓军汪绍鹏王宁李明阳
Owner XI AN JIAOTONG UNIV
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