Device for positioning surgical operation tools and positioning method thereof

Abstract

The invention relates to the field of medical equipment, in particular to a device for positing surgical operation tools and a positioning method thereof. The device for positing surgical operation tools comprises a medical imaging device which is used for shooting the medical image of the patient, a support system which is used for supporting the patient and translating the patient, a mechanicalarm for loading the surgical operation tools and driving the surgical tools to adjust the tool position, and a controller which is in communication connection with the medical imaging device, the support system and the mechanical arm and controls the support system and the mechanical arm; the controller calculates position data of the surgical operation tools relative to the patient according to the medical image and controls the movement of the supporting system and the mechanical arm according to the positioning data of the surgical operation tool relative to the patient. For the support system and the mechanical arm, one of them is able to move along a first direction and the other is able to translate along a second direction and a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to a surgical tool positioning device and the surgical tool positioning method. Background technique [0002] At present, in clinical practice, especially in tumor treatment, in order to accurately locate surgical tools, positioning methods based on medical images combined with robotic arms are more and more widely used. When positioning, first calculate based on the results of medical images, and then use the robotic arm to position the surgical tools based on the calculation results, so as to position the surgical tools to the best position, so as to reduce the patient's wound and speed up the patient's recovery. [0003] Taking the surgical equipment as the puncture needle as an example, when using the above positioning method, positioning the puncture needle to the best puncture point and needle insertion angle is the key to the smooth progress of the operation, and due to the c...

AI Technical Summary

Problems solved by technology

For this reason, the robotic arms used in the prior art are generally complex systems with 6 degrees of freedom or 7 degrees of freedom, such as the Da Vinci system of Intuitive Surgical and the Versius system of CMR, etc. These robotic arms can accurately position the puncture needle , but due to the complex structure of the system, it is expensive, and the economic burden on the patient is too heavy; at the same time, the calculation complexity of the mechanical arm motion calculation is also high; moreover, due to the huge mechanical system, it takes up a lot of space in the operating room also many

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