Human body tracking arrangement system and method for minimally invasive surgery

Abstract

The invention provides a minimally invasive surgery human body tracking arrangement system and method, and the system comprises a plurality of reflective marks and a multi-view camera, the reflective marks are disposed on a human body, the reflective marks are disposed in the field of view of the multi-view camera, and the orientation of the reflective marks corresponds to that of the multi-view camera; and the multi-view camera identifies and tracks the reflective marks. According to the invention, rapid and convenient array tracking arrangement can be realized, and the device is only contacted and fixed with the human body surface, is safe and efficient, and reduces extra wounds caused by percutaneous injection into a human body reference frame in an operation.

Description

technical field [0001] The present invention relates to the technical field of human body tracking array arrangement, in particular, to a minimally invasive surgery body tracking arrangement system and method; in particular, preferably, a minimally invasive surgery body tracking array arrangement system. Background technique [0002] like figure 1 As shown, the traditional robotic surgery process is as follows: ① image acquisition: image acquisition (bone) using CT or X-ray; ② surgical planning: how to operate, in which bone, where to do it; ③ image registration: X-ray, CT data (including position information and other impact science data) and the mutual matching of the dual vision system ("optical positioning system" on the right of the figure). Image registration can also be called "image matching" in some manufacturers; ④ automatic positioning: in the field of automatic positioning, there is a "surgical" human reference frame for positioning, and there is a major problem...

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Problems solved by technology

[0008] In view of the related technologies mentioned above, the inventor believes that the collision, movement, and displacement of the reference frame will bring huge risks: if the fixed reference frame is collided or moved during the operation, the relative position of the fixed position will fail , so that the operation of the robotic arm is out of sync, resulting in surgical abnormalities; in addition, the existing tracking arrays require a precisely positioned reference frame to install reflective markers.

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