Celebral operating robot system based on optical tracking and closed-loop control and its realizing method

Abstract

The cerebral operating robot system based on optical tracking and closed-loop control for receiving medical image information, detecting and determining disease focus position, assisting operation plan and performing operation guidance is one closed-loop pose measuring and real-time feedback controlling robot system comprising one computer, one five-freedom robot, one optical tracking device and one passive marker. The passive marker is mounted in the end of the five-freedom robot, and the five-freedom robot includes one mechanical arm and one mechanical arm controller. The operation plan assisting and operation guiding software includes a digital image inputting and pre-treating module, a disease focus extracting and 3D reconstructing module, an operation planning module, and an operation executing module. The present invention has the advantages of raised precision, low cost, simplified calibration process, etc.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a closed-loop control brain surgery robot system based on optical tracking and its implementation method, specifically a high-precision robot system and its implementation method that can assist doctors in fine brain surgery minimally invasive operations . Background technique [0002] Brain surgery minimally invasive surgical robot is a robot system that can assist doctors in performing frameless stereotaxic surgery. It generally includes a computer that can assist in surgical planning and guidance, and a robot that performs stereotaxic assisted surgical operations. Among them, the computer that assists in surgical planning and guidance is installed with supporting auxiliary surgical planning and guidance software. Send motion commands to the robot controller to control the robot movement. The software usually includes functional modules such as digital image input ...

AI Technical Summary

Problems solved by technology

Obviously, it is inappropriate to require strict and cumbersome on-site calibration for each operation, and some non-geometric error factors such as elastic deformation of the mechanism, joint gap and flexibility are also difficult to solve by calibration.

At present, many works consider the method of improving the precision from the mechanical point of view. It is difficult to achieve the desired effect by relying on high-precision mechanism processing, assembly and high-precision control and compensation to ensure the accuracy of the system, and it greatly increases the design and labor of the robot. manufacturing cost

Existing brain surgery robots are globally open-loop, that is, from the position command given by the computer to the process of guiding the robot's movement and positioning, there is a lack of feedback and correction of the robot's end pose, and various error factors cannot be globally closed-loop corrected , the absolute pose accuracy is difficult to guarantee

[0005] In addition, from published reports (such as Chinese Patent Publication No. CN1243690A), the so-called mapping and positioning method to determine the position of the lesion relative to the robot's operating space is too complicated, requiring the use of stereotaxic frames, mapping pins, or double-layer templates, six Joint digital robotic arm, force control human-computer interaction technology, etc., are time-consuming and labor-intensive, and bring pain and pressure to patients; there are also registration methods using visual measurement technology (such as Chinese Patent Publication No. CN1554315A), but the accuracy and environmental adaptation Performance still needs to be improved, it is difficult to be practical

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