Laparoscopic surgery robot autonomous endoscope conveying method based on image experience

Abstract

The invention belongs to the technical field of laparoscope operation, and discloses an autonomous laparoscope operation robot operation method based on image experience. Comprising the steps that an instrument is marked, multi-point calibration is conducted on a laparoscope camera, and under the RCM constraint condition, three-dimensional coordinates of instrument marks are estimated according to images collected by a laparoscope; acquiring an instrument frequency diagram in the operation scene, and obtaining an evaluation function of an instrument relative to an instrument position under a laparoscope view; constructing an attitude of a laparoscope camera coordinate system in a visual coordinate system, and constructing an intuition constraint model which needs to be satisfied by the laparoscope attitude; by taking the evaluation function as a target, constructing a laparoscope pose optimization model according to an RCM constraint model and an intuitive constraint model, so as to obtain an optimal laparoscope pose; and taking the optimal laparoscope pose as an expected laparoscope pose, and converting the expected laparoscope pose into a robot tail end pose. The mirror moving strategy is more in line with the intention of a surgeon, the method is simple, and the generalization ability is high.

Description

technical field [0001] The invention belongs to the technical field of laparoscopic mirror movement, and more particularly relates to an autonomous mirror movement method of a laparoscopic surgical robot based on image experience. Background technique [0002] Minimally invasive abdominal surgery has the advantages of less trauma to the patient and shorter recovery time for the patient, and has been widely used in surgery. Minimally invasive abdominal surgery needs to make several small holes in the patient's abdomen, and the laparoscope and surgical instruments are penetrated into the vicinity of the affected area from the small holes, and the doctor performs the operation outside the body to complete the operation. During the operation, the assistant holding the mirror holds the laparoscope, and the surgeon instructs the assistant to move the laparoscope through oral instructions to provide the surgeon with the desired view. However, in the actual operation process, there...

AI Technical Summary

Problems solved by technology

However, in the actual operation process, there are the following problems: 1. The efficiency of oral instructions is low, and at the same time it increases the psychological burden on the surgeon; 3. Training excellent mirror-holding assistants requires long-term practical operation experience, and the hospital's training costs are high

This method uses a fixed mirror movement strategy, which makes the surgical scenarios that the system can use very limited, that is, the mirror movement strategy is fixed, and it cannot be used for complex surgical scenarios and has no generalization ability.

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