Operation mechanical arm positioning system

Abstract

The invention provides an operation mechanical arm positioning system. The system comprises an operation mechanical arm, a fluoroscopy device, a processing device, a space three-dimensional positioning device and a control device, wherein an A group of calibration bodies are fixed relative to the operation mechanism arm; a B group of calibration bodies are fixed relative to the fluoroscopy device,and a target object is shot from at least two angles to form at least two fluoroscopy images; the processing device receives the fluoroscopy images, target projection points are selected in the images respectively according to an external input instruction, according to the position relation between the target projection points and a light source and the position relation between at least image receiving planes of the target projection points, the space position of a target actual point relative to the B group of calibration bodies is determined, and space position data of the actual point isgenerated; the space three-dimensional positioning device forms the three-dimensional relative position relation of the A group of calibration bodies and the B group of calibration bodies; the control device controls the operation mechanical arm to move to the space position of the target actual point according to the three-dimensional relative position relation and the space position of the actual point. The operation mechanical arm positioning system improves the positioning automation degree, reduces the operation complexity, and is accurate in positioning.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a positioning system for a surgical robot arm. Background technique [0002] In surgical operations, advanced technologies such as surgical robotic arms holding surgical tools are used to achieve operations, such as installing a scalpel at the end of the surgical robotic arm for surgery or installing an electric drill for bone drilling. Especially in orthopedic bone drilling surgery, there will be a large force between the drill bit of the electric drill and the bone and it will be unstable, so a surgical robot arm is needed. Whether it is before the operation, the surgical manipulator needs to move to the patient's diseased part, or during the operation, the surgical manipulator moves according to the required cutting or drilling trajectory, and the positioning of the surgical manipulator is required. [0003] At present, the way to achieve surgical positioning is as fo...

AI Technical Summary

Problems solved by technology

[0003] At present, the way to achieve surgical positioning is as follows: 1) Firstly, the patient is calibrated with a calibration piece, and then a three-dimensional model is established by CT scanning, and surgical planning is performed according to the model obtained by modeling, and the surgical operation is performed after the planning is completed; due to the need for CT scanning Adding modeling to carry out preoperative planning, the operation is complicated and takes a long time, and the radiation is also large. In addition, it is necessary to add a calibration piece to the patient, and it is still necessary to use the calibration piece to realize navigation during the operation. The position occupied by the calibration piece will affect the operation. If it is far away, the positioning accuracy is not high; 2) The movement is guided by the development of the surgical tool itself in the fluoroscopic image until the surgical tool is positioned to the patient's diseased part. The positioning process takes a long time and the radiation is large, so automatic positioning cannot be realized. And because the imaging area of ​​the surgical tool itself is relatively large, it is easy to be inaccurate in positioning

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