Integrated surgical positioning and navigation system

Abstract

The invention discloses an integrated surgical positioning and navigation system which comprises imaging equipment, a pitching self-adaption device and markers, the pitching self-adaption device is connected with the imaging equipment and carried on a surgical robot, and the markers are arranged on the surface of an end effector and the body surface above the focus of a patient respectively. The accurate motion direction of each degree of freedom of the multi-degree-of-freedom mechanical arm is calibrated and determined, an imaging equipment coordinate system and a robot coordinate system are unified, and motion navigation of the multi-degree-of-freedom mechanical arm at the far end of a focus is carried out based on detection of a focus marker and the measurement position of imaging equipment. A relative space geometrical relationship is calculated based on detection of the focus marker and the actuator marker, and motion navigation of the multi-degree-of-freedom mechanical arm at the near end of the focus is executed. The structure is compact, the process is simple, and the intelligence, automation and integration degree of the surgical robot are improved; and meanwhile, by tracking surgical instruments and lesions in real time, good robustness is achieved for patient position movement.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to an integrated surgical positioning and navigation system. Background technique [0002] Robot-assisted surgery is to replace doctors with surgical robots to complete some traditional surgical tasks. The robot can be operated by a doctor or trained by the doctor's experience. Robot-assisted surgery combines the experience of doctors, and has the advantages of high precision, stable work, no hand trembling, simplified working steps, avoiding radiation damage, minimizing surgical damage, and reducing patient pain. The precise work of the surgical robot needs to ensure the exact location of the lesion and surgical instruments during the operation, so as to plan and guide the robot's action execution. [0003] The current medical imaging technology can complete the inspection and observation of patient lesions. Common imaging techniques include CT scanning (Computer Tomog...

AI Technical Summary

Problems solved by technology

[0010] However, the navigation equipment mentioned above mainly adopts an independent design, and is generally installed separately from the surgical robot. The operation process is relatively complicated and occupies a large space. In addition, the existing clinical navigation equipment is expensive, which is not conducive to popularization.

Images