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Terminal operating system of robot and minimally invasive surgery robot with vision navigation

An operating system and robot technology, applied in the field of terminal operating system and visual navigation minimally invasive surgical robot, can solve the problems of complex system and high cost, and achieve the effect of low cost and simple structure

Inactive Publication Date: 2009-04-22
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] There are at least the following disadvantages in the above-mentioned prior art: complex system, high cost

Method used

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  • Terminal operating system of robot and minimally invasive surgery robot with vision navigation
  • Terminal operating system of robot and minimally invasive surgery robot with vision navigation
  • Terminal operating system of robot and minimally invasive surgery robot with vision navigation

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specific Embodiment

[0025] Such as Figure 4 , Figure 5 As shown, on the upper surface of the base plate 1, the dovetail groove 7 and the dovetail platform 6 are respectively located in the middle and one side of the base plate 1, the dovetail groove 7 is used for restraining and positioning the main locking frame 3, and the dovetail platform 6 is used for restraining and positioning the side Lock frame 2. The slideway directions of the dovetail groove 7 and the dovetail platform 6 are parallel to each other. The other side of the base plate 1 is a bolt 8 integrated with the base plate 1, and the bolt 8 is used to connect the end operating system of the present invention with the end of the robot.

[0026] Such as Figure 6 , Figure 7 , Figure 8 As shown, the bottom of the side locking frame 2 is provided with a dovetail groove matching with the dovetail table 6, and the side locking frame 2 can move freely along the dovetail table 6, and the first manual screw 11 on the side locking fram...

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Abstract

The invention discloses a terminal operating system for a robot and a vision navigation minimally invasive surgical robot. The terminal operating system for the robot comprises a substrate, wherein a locking device is arranged on the substrate and comprises a main locking frame and a side locking frame; and surgical puncture needles are arranged on the main locking frame and the side locking frame. The terminal operating system for the robot also comprises a calibration template, wherein black-and-white square texture is arranged on the calibration template and can be identified by a visual system of the robot; the calibration template is parallel to the upper surface of the substrate; and the calibration template and the substrate can be relatively rotated. The visual system of the vision navigation minimally invasive surgical robot identifies the position information of the calibration template, and the robot judges the position information of the surgical puncture needles according to the information. The terminal operating system for the robot has a simple structure, low cost and strong adaptability and universality, can be used for controlling and guiding scalpels of neurosurgery, osteological surgery, orthopedics and abdomen and chest surgery, and not only can be used for calibration of space positions but also can be used for position trailing of a terminal manipulator of the robot.

Description

technical field [0001] The invention relates to a medical device, in particular to a robot terminal operating system and a vision-guided minimally invasive surgical robot. Background technique [0002] In recent years, the research and development of domestic medical robots has become more and more intensive, and more and more robots can be used in clinical practice. In clinical applications, the calibration and tracking of the position and attitude of the robot's terminal operating system is particularly important. [0003] In the prior art, a mapping device from the camera space to the robot space is generally established outside the terminal operating system to calibrate and track the position and attitude of the terminal operating system of the robot. [0004] The above prior art has at least the following disadvantages: the system is complicated and the cost is high. Contents of the invention [0005] The purpose of the present invention is to provide a terminal ope...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/00
Inventor 刘达王田苗唐粲
Owner BEIHANG UNIV
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