A coordinate calibration method based on ultrasonic servo surgical robot

Abstract

The invention belongs to the technical field of surgical robots, and discloses a coordinate calibration method based on an ultrasonic servo surgical robot. The method includes: arranging a stereo vision high-precision positioning camera on a surgical execution end and obliquely above a probe, and acquiring the camera coordinate system; The stereo vision high-precision positioning camera is used to take pictures of the guide frame, probe, end of the robotic arm and the end of the operation, and the coordinate system of the guide frame, the probe coordinate system, the robot arm and the end of the operation are obtained under the camera coordinate system. Further obtain the transformation relationship between the probe and the guide frame, the guide frame and the manipulator base, and the end of the operation and the end of the manipulator, respectively. Multiply the above transformation relations and transform step by step to obtain the probe coordinate system and the robot arm. The operation performs the transformation relationship of the end coordinate system. The present application can intuitively and quickly realize the coordinate calibration of the detection end and the surgical execution end, and realize the unification of the coordinates of the two.

Description

technical field [0001] The invention belongs to the technical field of surgical robots, and more particularly, relates to a coordinate calibration method based on an ultrasonic servo surgical robot. Background technique [0002] Benign prostatic hyperplasia and the most common cause of male urination disorders, benign prostatic hyperplasia has the highest incidence among the elderly. The morbidity rate is as high as 30% to 46%, and it increases with age. Transurethral resection of the prostate (TURP) is the main method for the treatment of benign prostatic hyperplasia, but the operation has problems such as safety, efficacy and consistency. With the gradual maturity of surgical robot technology, prostate surgical robots have provided a new idea for the treatment of benign prostatic hyperplasia. However, in the existing technology, ultrasonic probes are used to detect images in real time, and surgical robots cannot perform operations well synchronized. The detection image ca...

AI Technical Summary

Problems solved by technology

With the gradual maturity of surgical robot technology, the prostate surgical robot provides a new idea for the treatment of benign prostatic hyperplasia. However, in the existing technology, the ultrasonic probe is used to detect images in real time, and the surgical robot performs the operation. The two cannot be well synchronized. The detection image cannot be fed back to the execution end of the robot in time, making the operation of the surgical robot slower

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