Vision registering method for medical robot

A technology of robots and surgical robots, which is applied in surgical robots, medical science, surgery, etc., can solve the problems of high price, manual operation by doctors, and high cost, and achieve the effect of low price, simple and convenient operation, and high positioning accuracy

Inactive Publication Date: 2006-11-29
BEIHANG UNIV
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Problems solved by technology

The advantage of this method is that it is easy to implement, and the operation is intuitive and convenient. The disadvantage is that it needs manual operation by a doctor, and the measurement accuracy is affected by human factors, and it cannot realize automatic measurement.
The other type is non-contact, such as ultrasonic, electromagnetic and infrared, etc. These methods can realize automatic real-time positioning of marking points, but they have their own shortcomings, such as the ultrasonic method is affected by the temperat

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  • Vision registering method for medical robot
  • Vision registering method for medical robot
  • Vision registering method for medical robot

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Embodiment Construction

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0023] In robot-assisted stereotaxic neurosurgery, after the patient's head is scanned by scanning imaging equipment, the image is input to the computer's "surgery planning software", and the doctor outlines the lesion in the scanned image through the software, and determines the target point and puncture path . The "surgery planning software" converts the doctor's plan in the scanned image into the target pose of the robot in the robot coordinate system, and controls the robot to align with the target according to the planned path to guide the doctor to perform the operation. To complete the conversion from the scanned image coordinate system to the robot coordinate system, it is necessary to establish a mapping relationship between the scanned image coordinate system and the robot coordinate system, that is, to complete the registration betw...

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Abstract

The present invention completes the registering from scanning image coordinate system to the robot coordinate system via robot, video camera, computer and scanning imaging device and marker. During neurosurgery operation, in order to make the robot aim at the disease focus according to the plan of doctor in the scanning image, it is needed to establish the relation between the scanning image coordinate system and the robot coordinate system, and this is named as the registering from the scanning image coordinate system to the robot coordinate system. During operation, the computer determines the coordinates of the patient head marking point in the scanning image coordinate system and the video camera measures the coordinates of the marking point in the robot coordinate system to complete the registering. Compared with available technology, the present invention has high positioning precision, low cost and convenient operation.

Description

technical field [0001] The invention relates to a method for registration between coordinate systems in medical operations, in particular to a method for visual registration in auxiliary stereotaxic neurosurgery robots. Background technique [0002] Stereotactic neurosurgery is a branch of the development of modern neurosurgery. It uses imaging positioning and orientation instrument guidance to place micro-electrodes, puncture needles or endoscopes and other tiny surgical instruments into designated targets in the brain. Diagnose and treat various diseases of the central nervous system by recording electrophysiology, taking tissue samples, producing damaged lesions, and removing lesions. Traditional stereotaxic neurosurgery generally uses a stereotaxic frame to locate the lesion. Before the operation begins, a stereotaxic frame is firmly fixed on the patient's head. Since the stereotaxic frame is a metal structure, the scanning imaging device It is visible in the resulting ...

Claims

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Application Information

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IPC IPC(8): A61B19/00A61B34/30
Inventor 张玉茹王田苗丑武胜刘军传张寿红孟偲朱艳菊栾胜唐粲
Owner BEIHANG UNIV
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