A method for unobstructed positioning of surgical instruments based on two binocular vision systems

Abstract

The invention discloses a non-blocking positioning method for a surgical instrument based on two binocular vision systems. The method comprises the following steps: 1, mounting A at the front end of a mechanical arm, and enabling the A to move along with the mechanical arm; 2, fixing B in the middle of a mechanical arm bracket, and fixing a marker on the A so as to realize the positioning of the B on the A; 3, acquiring the position of the surgical instrument in an A coordinate system, and determining the position of the surgical instrument in a world coordinate system according to the position of the A in the B; 4, when the surgical instrument is blocked by an obstacle in front of the surgical instrument, driving the A to bypass the obstacle under the control of the mechanical arm, and acquiring the position of the surgical instrument in a new A coordinate system; 5, positioning the moved A again by the B, and realizing the non-blocking positioning on the surgical instrument through spatial coordinate transformation. The non-blocking positioning method has the advantages that the problem that the marker is easily blocked in the surgical process is effectively solved, and the requirement on the motion precision of the mechanical arm is lowered.

Description

technical field [0001] The invention relates to a surgical navigation technology, in particular to an unobstructed positioning method for surgical instruments based on two binocular vision systems. Background technique [0002] The optical positioning equipment in surgical navigation is generally fixed by two fixed-focus cameras on a bracket to form a fixed effective field of view. Surgical instruments can be accurately positioned when they move within the effective field of view of the cameras. However, the current optical positioning technology has two main disadvantages: 1) The optical imaging equipment is limited by the effective field of view of the camera, so that the operation must be completed within the effective field of view of the camera. 2) The light is easily blocked during the operation. The doctor can only adjust the imaging equipment or surgical instruments to a reasonable position to complete the positioning, which brings great inconvenience to the doctor....

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings and shortcomings of the optical positioning technology in the prior art that the light is easily blocked during the operation, and provide a non-blocking positioning method for surgical instruments based on two binocular vision systems. The method effectively solves the problem that the markers are easily blocked during the operation, and at the same time reduces the requirements for the movement accuracy of the robotic arm, reduces the cost of the robotic arm, and has important application value in the field of surgical navigation

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