Laser surgical robot system based on visual navigation

Abstract

The invention discloses a laser surgical robot system based on visual navigation, and relates to the technical field of medical instruments. Comprising a laser surgical robot, a laser generator, a laser guide arm, a galvanometer, a binocular vision camera and a central control operation system, the galvanometer is arranged on a mechanical arm of the laser surgical robot, an inlet of the laser guide arm is connected with an outlet of the laser generator, and an outlet of the laser guide arm is connected with an inlet of the galvanometer; the central control operation system is in communication connection with the binocular vision camera, the laser surgical robot, the laser generator and the galvanometer; the binocular vision camera is used for identifying and tracking a first marking ball arranged on the galvanometer and a second marking ball arranged in an operation cutting area of a patient, and sending real-time relative coordinates to the central control operation system; and the central control operation system is used for controlling the incidence direction of the cutting laser of the galvanometer based on the real-time relative coordinates of the second marking ball and the second marking ball. The laser surgical robot system based on visual navigation disclosed by the invention can improve the cutting precision.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a laser surgical robot system based on vision navigation. Background Art

[0002] In clinical surgery, it is often necessary to cut the bones and soft tissues of the patient's diseased area. Common traditional cutting tools include mechanical surgical instruments such as oscillating saws, wire saws, bone drills, and new surgical instruments such as ultrasonic bone knives and high-frequency electric knives. These instruments need to be held by the doctor and act on the cutting part to achieve a contact cutting process. The cutting accuracy depends not only on the design accuracy of the surgical instrument, but also on the operating accuracy of the doctor's hands. In clinical practice, the actual cutting accuracy can usually only be controlled at 2-5mm. In some operations, the actual cutting accuracy is even lower than 5mm. Too low cutting accuracy will have a serious impact on the installation of orthopedic prostheses, soft tissue regeneration, and postoperative recovery of patients.

[0003] Therefore, how to provide an effective solution to improve the cutting accuracy in surgical operations has become a difficult problem that needs to be solved urgently in the prior art. Summary of the invention

[0004] The purpose of the present invention is to provide a laser surgical robot system based on vision navigation to solve the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A laser surgical robot system based on vision navigation, comprising:

[0007] A laser surgical robot, a laser generator, a laser light guide arm, a galvanometer, a binocular vision camera and a central control operating system, wherein the galvanometer is arranged on the mechanical arm of the laser surgical robot, the inlet of the laser light guide arm is connected to the outlet of the laser generator, the outlet of the laser light guide arm is connected to the inlet of the galvanometer, and the central control operating system is respectively connected to the binocular vision camera, the laser surgical robot, the laser generator and the galvanometer for communication;

[0008] The binocular vision camera is used to identify and track the first marker ball set on the galvanometer and the second marker ball set in the surgical cutting area of ​​the patient through image recognition, and send the real-time relative coordinates of the first marker ball and the second marker ball to the central control operating system;

[0009] The central control operating system is used to control the incident direction of the cutting laser of the galvanometer based on the real-time relative coordinates of the first marking ball and the second marking ball, so as to cut the cutting target of the designated surgical cutting area of ​​the patient by laser.

[0010] Based on the above disclosed content, the present invention is provided with a laser surgical robot, a laser generator, a laser light guide arm, a galvanometer, a binocular vision camera and a central control operating system. The galvanometer is provided on the mechanical arm of the laser surgical robot, the inlet of the laser light guide arm is connected with the outlet of the laser generator, and the outlet of the laser light guide arm is connected with the inlet of the galvanometer. The central control operating system is respectively communicated with the binocular vision camera, the laser surgical robot, the laser generator and the galvanometer; the binocular vision camera is used to identify and track the first marker ball set on the galvanometer and the second marker ball set in the patient's surgical cutting area through image recognition, and send the real-time relative coordinates of the first marker ball and the second marker ball to the central control operating system; the central control operating system is used to control the cutting laser incident direction of the galvanometer based on the real-time relative coordinates of the first marker ball and the second marker ball, so as to cut the cutting target in the designated surgical cutting area of ​​the patient by laser. In this way, the patient's surgical cutting area and the galvanometer used for cutting can be positioned through image recognition, so as to control the galvanometer to accurately cut the cutting targets such as bones or soft tissues in the patient's designated surgical cutting area, and the cutting process can be completed autonomously without contacting the diseased area. At the same time, since the spot of the laser focal length is small and there is no collision or friction with the diseased area during cutting, the cutting accuracy can be improved, avoiding subsequent impacts on orthopedic prosthesis installation, soft tissue regeneration and patient postoperative recovery. In addition, the laser provides high energy in a very short pulse period, and the overall average power is low, which will not cause a large amount of heat input to the diseased area, and therefore will not cause carbonization of bones or soft tissues.

[0011] In a possible design, the laser surgical robot system based on vision navigation also includes a camera group, which is communicatively connected to the central control operating system and is arranged on the galvanometer, and the camera group is used to obtain at least two images of the patient's surgical cutting area at different angles, perform real-time positioning of the patient's surgical cutting area according to the at least two images obtained at the same time, determine the real-time displacement of the patient's surgical cutting area according to the real-time position of the patient's surgical cutting area, and send the real-time displacement of the patient's surgical cutting area to the central control operating system;

[0012] The central control operating system is also used to adjust the cutting laser incident direction of the galvanometer based on the real-time displacement of the patient's surgical cutting area, so as to cut the cutting target of the patient's designated surgical cutting area by laser.

[0013] In a possible design, the laser surgical robot system based on vision navigation also includes a camera group, which is communicatively connected to the central control operating system and is arranged on the galvanometer, and the camera group is used to obtain at least two images of the patient's surgical cutting area at different angles, perform real-time positioning of the patient's surgical cutting area according to the at least two images obtained at the same time, determine the real-time displacement of the patient's surgical cutting area according to the real-time position of the patient's surgical cutting area, and send the real-time displacement of the patient's surgical cutting area to the central control operating system;

[0014] The central control operating system is also used to adjust the cutting laser incident direction of the galvanometer based on the real-time displacement of the patient's surgical cutting area, so as to cut the cutting target of the patient's designated surgical cutting area by laser.

[0015] In a possible design, the camera group or the central control operating system is further used to perform image recognition on at least two images acquired most recently, so as to identify whether the cutting target currently being cut in the surgical cutting area of ​​the patient has been cut;

[0016] The central control operating system is also used to control the galvanometer to stop cutting or cut other uncut cutting targets when it is identified that the cutting target currently being cut in the patient's surgical cutting area has been cut.

[0017] In one possible design, the camera group includes 2 cameras.

[0018] In one possible design, the vision-navigation-based laser surgical robot system also includes a laser rangefinder, which is communicatively connected to the central control operating system and is arranged on the galvanometer. The laser rangefinder is used to detect the cutting distance of the patient's surgical cutting area and feed back the cutting distance of the patient's surgical cutting area to the central control operating system so that the central control operating system can plan the cutting process of the unfinished cutting area in the patient's surgical cutting area.

[0019] In one possible design, the vision-navigation-based laser surgical robot system also includes a display screen, which is communicatively connected to the central control operating system, and the display screen is used to display an image of a specific surgical cutting area and / or a three-dimensional modeling image of the specific surgical cutting area.

[0020] In a possible design, the vision-navigation-based laser surgical robot system also includes an intelligent sprayer, which is communicatively connected to the central control operating system, and the atomizing nozzle of the intelligent sprayer is arranged on the galvanometer.

[0021] In a possible design, the vision-navigation-based laser surgical robot system further includes a smoke-smoke device, which is communicatively connected to the central control operating system, and a smoke-smoke device has a smoke-smoke port disposed on the galvanometer.

[0022] In a possible design, the vision-navigation-based laser surgical robot system further includes a beam expander, which is disposed between the outlet of the laser generator and the inlet of the laser light guide arm, and a field mirror is disposed on the outlet of the galvanometer.

[0023] In one possible design, the vision-navigation-based laser surgical robot system also includes the first marker ball and the second marker ball.

[0024] Beneficial effects:

[0025] The laser surgical robot system based on visual navigation provided by the present invention can locate the patient's surgical cutting area and the galvanometer used for cutting through image recognition, thereby controlling the galvanometer to accurately cut the cutting targets such as bones or soft tissues in the patient's designated surgical cutting area, and can autonomously complete the cutting process without contacting the diseased area. At the same time, since the spot of the laser focal length is small and there is no collision or friction with the diseased area during cutting, the cutting accuracy can be improved, avoiding subsequent impacts on orthopedic prosthesis installation, soft tissue regeneration, and patient postoperative recovery. In addition, the laser provides high energy in a very short pulse period, and the overall average power is low, which will not cause a large amount of heat input to the diseased area, so there will be no carbonization of bones or soft tissues. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a laser surgical robot system based on vision navigation provided in an embodiment of the present application;

[0027] Figure 2 A circuit block diagram of a laser surgical robot system based on vision navigation provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of the partial structure of a laser surgical robot system based on vision navigation provided in an embodiment of the present application.

[0029] icon:

[0030] 11-laser surgical robot; 12-laser generator; 13-laser light guide arm; 14-galvanometer; 141-field mirror; 15-binocular vision camera; 16-central control operating system; 17-camera group; 18-laser rangefinder; 19-display screen; 20-intelligent sprayer; 201-atomizing nozzle; 21-smoke mist device. DETAILED DESCRIPTION

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0032] It should be understood that although the terms first, second, etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another unit. For example, a first unit can be referred to as a second unit, and similarly, a second unit can be referred to as a first unit without departing from the scope of the exemplary embodiments of the present invention.

[0033] It should be understood that the term "and / or" that may appear in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" that may appear in this article describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B can represent two situations: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0034] like Figure 1 and Figure 2 As shown, this embodiment provides a laser surgery robot 11 system based on visual navigation, which is used to cut bones or soft tissues of patients in clinical surgical operations. The laser surgery robot 11 system based on visual navigation may include, but is not limited to, a laser surgery robot 11, a laser generator 12, a laser light guide arm 13, a galvanometer 14, a binocular vision camera 15, and a central control operating system 16. The galvanometer 14 is arranged on the mechanical arm of the laser surgery robot 11, the inlet of the laser light guide arm 13 is connected to the outlet of the laser generator 12, the outlet of the laser light guide arm 13 is connected to the inlet of the galvanometer 14, and the central control operating system 16 is respectively connected to the binocular vision camera 15, the laser surgery robot 11, the laser generator 12, and the galvanometer 14.

[0035] Among them, the laser generator 12 is a device that can produce highly focused and powerful excitation energy, and is used to generate a laser beam. The laser light guide arm 13 is based on the optical transmission principle of optical fiber technology, and utilizes the high refractive index and total reflection characteristics of optical fiber to efficiently transmit the laser beam from one port to another port. The galvanometer 14 is used to convert the laser introduced by the light guide arm into the required cutting shape for cutting cutting targets such as bones or soft tissues. The binocular vision camera 15 is used to identify and track the first marker ball set on the galvanometer 14 and the second marker ball set in the patient's surgical cutting area through image recognition, and send the real-time relative coordinates of the first marker ball and the second marker ball to the central control operating system 16. The central control operating system 16 is used to control the cutting laser incident direction of the galvanometer 14 based on the real-time relative coordinates of the first marker ball and the second marker ball, so as to cut the cutting target in the designated surgical cutting area of ​​the patient by laser.

[0036] The binocular vision camera 15 is used to identify and track the first marker ball set on the galvanometer 14 and the second marker ball set in the surgical cutting area of ​​the patient through image recognition. Specifically, the first marker ball can be deployed on the galvanometer 14, and the second marker ball can be deployed in the surgical cutting area of ​​the patient, and the image of the surgical cutting area of ​​the patient can be obtained in real time through the binocular vision camera 15, and the image obtained in real time can be image recognized to identify the first marker ball set on the galvanometer 14 and the second marker ball set in the surgical cutting area of ​​the patient, and the real-time coordinates of the first marker ball and the second marker ball can be recorded to identify and track the first marker ball set on the galvanometer 14 and the second marker ball set in the surgical cutting area of ​​the patient in real time. At the same time, the binocular vision camera 15 can also send the real-time relative coordinates of the first marker ball and the second marker ball to the central control operating system 16. After receiving the real-time relative coordinates of the first marker ball and the second marker ball, the central control operating system 16 can control the incident direction of the cutting laser of the galvanometer 14 based on the real-time relative coordinates of the first marker ball and the second marker ball, so as to cut the cutting target of the designated surgical cutting area of ​​the patient by laser.

[0037] In the embodiment of the present application, the binocular vision camera 15 identifies and tracks the first marker ball set on the galvanometer 14 and the second marker ball set in the surgical incision area of ​​the patient through image recognition. It can be understood that in some other embodiments, the central control operating system 16 can also identify and track the first marker ball set on the galvanometer 14 and the second marker ball set in the surgical incision area of ​​the patient through image recognition.

[0038] The accuracy of the binocular vision camera 15 is very low. If the patient moves slightly during surgery, it is difficult to accurately navigate and track. Figure 1-3In one or more embodiments, the laser surgical robot 11 system based on visual navigation is further provided with a camera group 17, which is communicatively connected with the central control operating system 16 and is arranged on the galvanometer 14, and the camera group 17 includes at least two cameras, which are used to obtain at least two images of the patient's surgical cutting area at different angles, and to locate the patient's surgical cutting area in real time according to the at least two images obtained at the same time, and to determine the real-time displacement of the patient's surgical cutting area according to the real-time position of the patient's surgical cutting area, and to send the real-time displacement of the patient's surgical cutting area to the central control operating system 16. The central control operating system 16 is also used to adjust the cutting laser incident direction of the galvanometer 14 based on the real-time displacement of the patient's surgical cutting area, so as to cut the cutting target of the designated surgical cutting area of ​​the patient by laser.

[0039] The camera group 17 is used to locate the surgical incision area of ​​the patient in real time according to at least two images acquired at the same time, and to determine the real-time displacement of the surgical incision area of ​​the patient according to the real-time position of the surgical incision area of ​​the patient. Specifically, the camera group 17 can, but is not limited to, use at least two cameras to shoot images of the surface of the surgical incision area of ​​the patient from different angles through a 3D-DIC (three-dimensional digital image phase) algorithm, and then use an image matching algorithm to find different image textures and marking positions, and finally calculate the three-dimensional coordinates of these corresponding points based on the camera calibration results and the principle of stereoscopic vision. By comparing the three-dimensional coordinates at different times, the displacement of the surface of the surgical incision area of ​​the patient can be obtained and fed back to the central control operating system 16. In the embodiment of the present application, the camera group 17 includes two cameras. By setting the camera group 17, accurate navigation and tracking can be achieved, and the cutting accuracy of the bones or soft tissues of the patient's diseased parts during surgical operations can be improved.

[0040] It can be understood that in some other embodiments, the central control operating system 16 can also perform real-time positioning of the patient's surgical cutting area based on at least two images acquired at the same time, and determine the real-time displacement of the patient's surgical cutting area based on the real-time position of the patient's surgical cutting area.

[0041] In one or more embodiments, the camera group 17 or the central control operating system 16 is also used to perform image recognition on at least two recently acquired images to identify whether the cutting target currently being cut in the patient's surgical cutting area has been completed. The central control operating system 16 is also used to control the galvanometer 14 to stop cutting or cut other uncut cutting targets when it is identified that the cutting target currently being cut in the patient's surgical cutting area has been completed.

[0042] See also Figure 2 and Figure 3The laser surgical robot 11 system based on visual navigation may also include a laser rangefinder 18, which is connected to the central control operating system 16 and arranged on the galvanometer 14. The laser rangefinder 18 is used to detect the cutting distance of the surgical cutting area of ​​the patient, and feed back the cutting distance of the surgical cutting area of ​​the patient to the central control operating system 16, so that the central control operating system 16 can plan the cutting process of the unfinished cutting area in the surgical cutting area of ​​the patient. By setting the laser rangefinder 18, the central control operating system 16 can accurately find and irradiate the laser cutting focus position according to the ranging function of the laser rangefinder 18.

[0043] like Figure 1-3 The laser surgical robot 11 system based on visual navigation also includes a display screen 19, an intelligent sprayer 20 and a smoke-inhaling mist device 21, and the display screen 19, the intelligent sprayer 20 and the smoke-inhaling mist device 21 are all connected to the central control operating system 16 in communication. Among them, the display screen 19 is used to display an image of a predetermined surgical cutting area and / or a three-dimensional modeling image of a predetermined surgical cutting area. The atomizing nozzle 201 of the intelligent sprayer 20 is arranged on the galvanometer 14, and is used to spray water mist at a fixed time during the cutting process. The intelligent sprayer 20 can adjust the size of the water mist and spray the bones at a fixed time and quantity. The smoking port of the smoke-inhaling mist device 21 is arranged on the galvanometer 14, and is used to absorb and filter the smoke and odor generated during the cutting process of bones or soft tissues. In the embodiment of the present application, the atomizing nozzle 201 of the intelligent sprayer 20 and the smoking port of the smoke-inhaling mist device 21 have the same structure.

[0044] In one or more embodiments, in order to facilitate the adjustment and focusing of the laser beam, the laser surgical robot 11 system is further provided with a beam expander, which is arranged between the outlet of the laser generator 12 and the inlet of the laser light guide arm 13, and a field lens 141 is arranged at the outlet of the galvanometer 14. The beam expander is a lens assembly that can change the diameter and divergence angle of the laser beam, and the field lens 141 can be arranged to focus the expanded laser beam for use in cutting bones or soft tissues, etc.

[0045] In one or more embodiments, the vision-navigation-based laser surgical robot 11 system may further include the first marker ball (not shown) and the second marker ball (not shown).

[0046] When cutting the bones or soft tissues of the patient's diseased parts through the laser surgical robot 11 system based on visual navigation, the central control operating system 16 can be used to call the corresponding organ three-dimensional model database to plan the surgical plan according to the patient's surgical needs, and the first marker ball can be deployed on the galvanometer 14, and the second marker ball can be deployed in the patient's surgical cutting area, and the identification and calibration can be completed through the binocular vision camera 15. At the same time, the CT (Computed Tomography) file of the patient before the marker ball can be imported into the central control operating system 16 to complete the customized three-dimensional reconstruction. Based on the pre-operative diagnosis and intraoperative three-dimensional images, the doctor can specify the surgical parameters such as cutting image, cutting path, cutting starting position and cutting direction in the central control operating system 16. The central control operating system 16 can automatically convert the doctor's intraoperative planning path into the robot's spatial motion trajectory and generate a corresponding control program. Then the doctor starts the laser surgical robot 11 to test the spatial motion trajectory to confirm the correctness of the surgical position and surgical path. After completing the path confirmation, the doctor can start the laser surgery robot 11 to perform intraoperative cutting and monitor the cutting process in real time. During the cutting process, it is necessary to spray water mist and absorb smoke and odor regularly. The laser rangefinder 18 detects the cutting distance of the patient's surgical cutting area, and ensures the accuracy of the cutting position through the binocular vision camera 15 and the camera group 17. After the cutting is completed, the laser surgery robot 11 returns to the initial position, the doctor clinically checks the cutting effect, and plans the next step of cutting according to actual needs.

[0047] In summary, the laser surgical robot 11 system based on visual navigation provided by the present invention is provided with a laser surgical robot 11, a laser generator 12, a laser light guide arm 13, a galvanometer 14, a binocular vision camera 15 and a central control operating system 16. The galvanometer 14 is provided on the mechanical arm of the laser surgical robot 11, the inlet of the laser light guide arm 13 is connected to the outlet of the laser generator 12, and the outlet of the laser light guide arm 13 is connected to the inlet of the galvanometer 14. The central control operating system 16 is respectively communicated with the binocular vision camera 15, the laser surgical robot 11, the laser generator 12 and the galvanometer 14; the binocular vision camera 15 is used to identify and track the first marker ball set on the galvanometer 14 and the second marker ball set in the patient's surgical cutting area through image recognition, and send the real-time relative coordinates of the first marker ball and the second marker ball to the central control operating system 16; the central control operating system 16 is used to control the cutting laser incident direction of the galvanometer 14 based on the real-time relative coordinates of the first marker ball and the second marker ball, so as to cut the cutting target of the designated surgical cutting area of ​​the patient by laser. In this way, the surgical cutting area of ​​the patient and the galvanometer 14 used for cutting can be positioned through image recognition, so as to control the galvanometer 14 to accurately cut the cutting targets such as bones or soft tissues in the designated surgical cutting area of ​​the patient, and the cutting process can be completed autonomously without contacting the diseased area. At the same time, since the spot of the laser focal length is small and there is no collision or friction with the diseased area during cutting, the cutting accuracy can be improved, avoiding the subsequent impact on the installation of orthopedic prostheses, soft tissue regeneration, and postoperative recovery of patients. In addition, the laser provides high energy in a very short pulse period, and the overall average power is low, which will not cause a large amount of heat input to the diseased area, so there will be no carbonization of bones or soft tissues. In addition, by setting up the camera group 17, accurate navigation tracking can be achieved, and the cutting accuracy of bones or soft tissues in the patient's diseased area during surgery can be improved.

[0048] It should be understood that certain details are provided in the following description to facilitate a complete understanding of the example embodiments. However, it should be understood by those of ordinary skill in the art that the example embodiments can be implemented without these certain details. For example, the system can be shown in a block diagram to avoid obscuring the example with unnecessary details. In other examples, well-known processes, structures, and techniques may not be shown in unnecessary detail to avoid obscuring the example embodiments.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser surgical robot system based on vision navigation, characterized in that: include: A laser surgical robot, a laser generator, a laser light guide arm, a galvanometer, a binocular vision camera and a central control operating system, wherein the galvanometer is arranged on the mechanical arm of the laser surgical robot, the inlet of the laser light guide arm is connected to the outlet of the laser generator, the outlet of the laser light guide arm is connected to the inlet of the galvanometer, and the central control operating system is respectively connected to the binocular vision camera, the laser surgical robot, the laser generator and the galvanometer for communication; The binocular vision camera is used to identify and track the first marker ball set on the galvanometer and the second marker ball set in the surgical cutting area of ​​the patient through image recognition, and send the real-time relative coordinates of the first marker ball and the second marker ball to the central control operating system; The central control operating system is used to control the incident direction of the cutting laser of the galvanometer based on the real-time relative coordinates of the first marking ball and the second marking ball, so as to cut the cutting target of the designated surgical cutting area of ​​the patient by laser.

2. The laser surgical robot system based on vision navigation according to claim 1, characterized in that: It also includes a camera group, which is communicatively connected to the central control operating system and is arranged on the galvanometer, and is used to obtain at least two images of the patient's surgical incision area at different angles, to locate the patient's surgical incision area in real time according to the at least two images acquired at the same time, to determine the real-time displacement of the patient's surgical incision area according to the real-time position of the patient's surgical incision area, and to send the real-time displacement of the patient's surgical incision area to the central control operating system; The central control operating system is also used to adjust the cutting laser incident direction of the galvanometer based on the real-time displacement of the patient's surgical cutting area, so as to cut the cutting target of the patient's designated surgical cutting area by laser.

3. The laser surgical robot system based on vision navigation according to claim 2, characterized in that: The camera group or the central control operating system is further used to perform image recognition on at least two images acquired most recently, so as to identify whether the cutting target currently cut in the surgical cutting area of ​​the patient has been cut; The central control operating system is also used to control the galvanometer to stop cutting or cut other uncut cutting targets when it is identified that the cutting target currently being cut in the patient's surgical cutting area has been cut.

4. The laser surgical robot system based on vision navigation according to claim 2, characterized in that: The camera group includes 2 cameras.

5. The laser surgical robot system based on vision navigation according to claim 1, characterized in that: It also includes a laser rangefinder, which is communicatively connected to the central control operating system and is arranged on the galvanometer. The laser rangefinder is used to detect the cutting distance of the patient's surgical cutting area and feed back the cutting distance of the patient's surgical cutting area to the central control operating system so that the central control operating system can plan the cutting process of the unfinished cutting area in the patient's surgical cutting area.

6. The laser surgical robot system based on vision navigation according to claim 1, characterized in that: It also includes a display screen, which is communicatively connected to the central control operating system, and is used to display an image of a specific surgical cutting area and / or a three-dimensional modeling image of the specific surgical cutting area.

7. The laser surgical robot system based on vision navigation according to claim 1, characterized in that: It also includes an intelligent sprayer, which is communicatively connected with the central control operating system, and the atomizing nozzle of the intelligent sprayer is arranged on the galvanometer.

8. The laser surgical robot system based on vision navigation according to claim 1, characterized in that: It also includes a smoke-smoke device, which is communicatively connected with the central control operating system, and a smoke-smoke device has a smoke-smoke outlet disposed on the galvanometer.

9. The laser surgical robot system based on vision navigation according to claim 1, characterized in that: It also includes a beam expander, which is arranged between the outlet of the laser generator and the inlet of the laser light guide arm, and a field mirror is arranged on the outlet of the galvanometer.

10. The laser surgical robot system based on vision navigation according to claim 1, characterized in that: Also included is the first marker ball and the second marker ball.

Images