Robot operation locating method of surgical operation leading system based on optical location

A robot surgery and navigation system technology, applied in the field of robot surgery positioning, can solve problems such as long time, complicated operation process, and impact on surgical effect, and achieve the effects of improving surgical efficiency, convenient use, and ensuring accuracy

Inactive Publication Date: 2005-08-10
天津市华志计算机应用有限公司
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AI Technical Summary

Problems solved by technology

First of all, doctors are required to have a clear concept of three-dimensional space, and at the same time have a certain understanding of the motion rules of passive robots, so that they can be more flexible when operating the robot manually; secondly, when performing surgical navigation, the method of manually pulling the robot to identify marker points , the operation process is relatively complicated, takes a long time, and has a certain amount of physical exertion for the doctor, which should be minimized during the operation; again, the accuracy of the operation depends on the human eye to observe the computer screen to make artificial judgments, which is difficult Avoiding errors will affect the effect of surgery; finally, because the robot is unpowered, it is difficult to further improve the system's technology and cannot meet the diverse needs of surgical development.

Method used

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  • Robot operation locating method of surgical operation leading system based on optical location
  • Robot operation locating method of surgical operation leading system based on optical location
  • Robot operation locating method of surgical operation leading system based on optical location

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Embodiment Construction

[0032] The following examples are provided in conjunction with the content of the present invention to further describe the present invention.

[0033] As shown in Figure 1, take a case of brain surgery as an example, based on a P41.6MHz 256 memory PC, take a robot system combined with NDI POLARIS Optical Tracking System as an example to illustrate, the specific steps are as follows:

[0034] 1. When assembling the robot, install three mark positions on the base to mark the two direction axes of the robot's reference coordinate system. The three marks are respectively marked as O, S, R, Indicates the i-axis of the robot's reference coordinate system, Indicates the k-axis;

[0035] 2. Use the positioning pointer of the NDI optical tracker to collect the three mark points of the device on the robot base, and complete the registration of the robot reference coordinate system. The coordinates of the registration points are O[105 259 -1977], S[105 275 -2000] ], R[2 259 -1977]; ...

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Abstract

A robot operation locating method based on optical location for the surgical operation navigation system includes designing 3 position markers on the base of robot for marking the directions of two coordinate axises in the reference coordinate system of robot, extracting said 3 markers by the locating probe of optical tracking instrument, sampling the same coordinate points in space by the robot probe and said locating probe at the same time when they are in butt contact, and mutual coordinate conversion between robot and optical tracking instrument by coordinate conversion algorithm.

Description

technical field [0001] The invention belongs to the application field of stereotactic surgery, and in particular relates to a robot surgical positioning method based on optical positioning applied to a medical stereotactic surgical navigation system. Background technique [0002] In recent years, the application of robot technology in the field of medical surgery has been highly valued by developed countries in the world. The application of robot technology in the field of surgery has not only brought about a series of technological changes in terms of precise surgical positioning, minimal surgical damage, and surgical quality, but also changed many concepts of conventional medical surgery. aspect is of great significance. [0003] Robot surgical navigation systems are divided into two types: active and passive: for passive robots, it is convenient to manually drive the robot to collect marker points for surgical space mapping. , does not require human intervention, but if...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20A61B34/30A61B90/13
Inventor 关伟王荣军
Owner 天津市华志计算机应用有限公司
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