Rapid positioning and tracking method and device for assisting robot

Abstract

The invention discloses a rapid positioning and tracking method for an auxiliary robot. The method comprises the following steps: S1, determining a position relation between a target size and a bony mark point through an MRI image; s2, establishing a first coordinate system between the body surface positioning plate and the target spot and a second coordinate system between the body surface positioning plate and an auxiliary robot visual positioning device, correcting the two coordinate systems into a standard coordinate system through calculation by taking the body surface positioning plate as a standard, and controlling the auxiliary robot to position according to the standard coordinate system; s3, through MRI image measurement, image fusion measurement and calculation are carried out in combination with X-ray pictures shot in real time in the operation process, real-time data of the target spot on the body surface positioning plate are obtained, a visual positioning device of the auxiliary robot carries out precise puncture positioning and tracking of movement of the target spot according to the position data of the target spot on the body surface positioning plate, and the target spot is accurately positioned. Meanwhile, the corresponding device is disclosed, the overall principle is simple, the robot system cost is reduced, efficient operation of the robot is achieved, and the operation difficulty is reduced.

Description

technical field [0001] The invention relates to the technical field of robot navigation, positioning and tracking, in particular to a fast positioning and tracking method for an auxiliary robot, and also to a fast positioning and tracking device for an auxiliary robot. Background technique [0002] During the use of auxiliary robots, precise puncture and positioning of targets, and fast tracking of target movement are the main points of medical robot applications. Existing positioning technology mainly adopts pre-use planning. During use, the image and navigation device control the positioning and movement of the robot. The precise positioning and tracking of the target needs to establish a unified coordinate system from the three independent coordinate systems of image, navigation and robot. This process is carried out through the computer. Realization of dynamic calculation. The displacement of any coordinate point in different coordinate systems will lead to a recalculat...

AI Technical Summary

Problems solved by technology

The displacement of any coordinate point in different coordinate systems will lead to a recalculation process. Due to the large amount of calculation and the limitation of computer computing power, the data acquisition of the robot is delayed. Timely dynamic tracking, which leads to prolonged registration time or even failure of registration of such robots in surgery

For example, the patent No. CN112932667A discloses a surgical navigation system, which adopts the optical navigation technology commonly used in the existing robot technology. There is an optical positioning board that needs to be fixed by Kirschner wires, and there may be deviations in positioning after rotation ( The positioning board is fixed at a single point and the optional device is complicated. The comparison patent also introduces the third coordinate system of optical navigation for tracking and positioning, which also cannot achieve fast tracking and other problems. At the same time, the positioning of the special positioning ruler on the human body is also cumbersome and the positioning accuracy is poor.

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