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Mobile robot-assisted surgical system having positioning function

A robotic surgery and mobile technology, applied in the field of mobile robotic surgery system, can solve the problems of individualized and diversified design of restraint compound operating room, single vascular machine control system and functional modules, hindering the in-depth development of interventional therapy technology, etc. Achieve the effect of improving positioning accuracy and positioning efficiency

Inactive Publication Date: 2015-11-25
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the existing surgical medical equipment, taking the surgical interventional vascular machine as an example, the traditional vascular machine control system and functional modules are relatively simple, and the installation mode can only be suspended by the sky rail or fixed on the floor. It not only hinders the in-depth development of interventional therapy technology, but also restricts the personalized and diversified design of hybrid operating room

Method used

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  • Mobile robot-assisted surgical system having positioning function
  • Mobile robot-assisted surgical system having positioning function
  • Mobile robot-assisted surgical system having positioning function

Examples

Experimental program
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Effect test

Embodiment 1

[0026] Such as figure 1 and figure 2 As shown, a mobile robotic surgery system with self-positioning function described in this embodiment includes: an omnidirectional mobile platform, an imaging system with a revolution and rotation mechanism, a positioning system, and a road sign indicating label installed on the indoor ceiling and control computer. The omni-directional mobile platform is composed of a mobile platform body (1) and 4 Meccana master wheels (2), and the 4 Meccana master wheels (2) are divided into two rows, arranged in parallel, and the Meccana master wheels (2) in the same row The main wheels (2) are respectively installed at both ends of the mobile platform body (1); the hollow cup motor is installed on the shaft core of the Mecanum main wheel (2), so that each set of Mecanum wheels can be driven independently, so as to realize Omni-directional mobile for omni-directional mobile platforms. The imaging system with a revolution and rotation mechanism is com...

Embodiment 2

[0029] Such as image 3 As shown, this embodiment also includes a numerically controlled mobile treatment bed (10), and the rest of the structure is the same as that described in Embodiment 1. In this embodiment, when the patient (11) is undergoing interventional treatment of coronary heart disease, when the coronary angiography imaging of the heart is performed, the doctor's workstation will make a plan, and the doctor will issue an instruction, requiring the robotic surgery system to move to the treatment bed (10), and Make the image system with revolution and rotation mechanism be in standard pose. The control computer (9) of the mobile robotic surgery system with self-positioning function controls the rotation of the motors of the two rows of mecanum wheels (2) after receiving instructions, and moves the omnidirectional mobile platform to move along a certain path, and is installed on the mobile platform at the same time The camera (8) is aimed at the ceiling to continuou...

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Abstract

The invention discloses a mobile robot-assisted surgical system having a positioning function, wherein the surgical system comprises an omni-directional moving platform, an image system which has revolving and rotating mechanisms, a positioning system, a road sign indicating label which is arranged on an indoor ceiling and a control computer; the omni-directional moving platform is composed of a moving platform body and a Mecanum wheel; the image system is arranged on the omni-directional moving platform; the positioning system comprises a vidicon mounted on the moving platform, and the vidicon, in coordination with the road sign indicating label mounted on the indoor ceiling, is used for assisting the positioning of the omni-directional moving platform; and a method of positioning comprises the following steps: acquiring image data of a road sign indicating point by virtue of the vidicon; comparing the image data with calibrating data saved in the computer; and selecting the closest contrast data, so as to obtain the current position of the mobile robot-assisted surgical system. By virtue of the scheme disclosed by the invention, the flexibility and the intelligence degree of the robot-assisted surgical system are greatly enhanced, so that favorable conditions are created for the comprehensive utilization of the robot-assisted surgical system in surgical departments.

Description

Technical field [0001] The invention relates to the field of medical equipment, in particular to a mobile robotic surgery system with self-positioning function. Background technique [0002] With the significant increase of patients with cardiovascular and cerebrovascular diseases, tumors and other diseases in our country, in recent years, the average growth rate of digital diagnosis and treatment equipment in my country has exceeded 20%. development trend. With the help of interventional treatment equipment and technology, hybrid surgery is precise and minimally invasive, and can organically combine the advantages of internal medicine and surgery, fully embodying the patient-centered approach, and is popular among domestic doctors. However, the existing surgical medical equipment, taking the surgical interventional vascular machine as an example, the traditional vascular machine control system and functional modules are relatively simple, and the installation mode can only ...

Claims

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Application Information

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IPC IPC(8): A61B19/00
Inventor 汤卿李超熊瑞平高文翔叶北发张兵
Owner SICHUAN UNIV
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