Surgical robot navigation board and navigation method

Abstract

The invention discloses a surgical robot navigation board, comprising a navigation board body, an outer frame is arranged around the navigation board body, a plurality of correction targets are distributed on the navigation board body, and a central correction target point is opened in the center of the navigation board body. And discloses a method of using the navigation board as a guide, calibrating and tracking a surgical robot. By using the navigation board as an intermediate bridge, the stable tissue structure image obtained by intraoperative X-ray and the preoperative MRI image are matched and unified with the robot. The coordinate system is used to guide the robot for positioning, and the robot vision system is guided through the navigation board to complete the tracking and positioning in the operation. The present invention does not require third-party dedicated navigation equipment, which is generally used now, and has the advantages of being unobstructed, simple, mature and stable algorithm, low cost, simple and easy to operate, stable system, high flexibility, strong expansibility, wide application range, faster, and accurate. higher advantage.

Description

technical field [0001] The invention relates to a surgical robot navigation board, in particular to a surgical robot navigation board and a navigation method. Background technique [0002] Traditional surgical robot navigation uses preoperative planning, combined with intraoperative X-ray image fusion matching measurement technology, combined with real-time optical image tracking technology. Using this navigation technology requires a computer with powerful computing power to track the movement of the target (target) in time. , to prevent the robot's action from lagging, but the computing power of the existing computer system is limited, which leads to the situation that the movement of the living target cannot track the target in time, and the operation of the entire surgical robot system is unstable or even fails to track and register. Patent CN201811069744.3 discloses a flexible positioning device and a navigation method suitable for robotic surgical navigation under X-ra...

AI Technical Summary

Problems solved by technology

[0002] Traditional surgical robot navigation uses preoperative planning, combined with intraoperative X-ray image fusion and matching measurement technology, combined with real-time optical image tracking technology, the use of this navigation technology requires a computer with powerful computing power to track the movement of the target (target) in time , to prevent the movement of the robot from lagging, but the computing power of the existing computer system is limited, resulting in such a situation that the lag is often caused by the movement of the living target, and the target cannot be tracked in time. The operation of the entire surgical robot system is unstable or even the tracking registration fails.

Patent CN201811069744.3 discloses a flexible positioning device and navigation method suitable for robot surgical navigation under X-rays. It needs third-party infrared positioning equipment to assist the robot in navigation, which is complicated and costly to operate. In addition, the navigation board is only set around The target point is corrected, and the positioning and correction of the middle area of ​​the navigation board cannot be performed, and the scope of application is narrow

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