Robot puncturing control method and device

Abstract

The embodiment of the invention provides a robot puncturing method and device. The method comprises steps of controlling a C-arm machine to illuminate an operating bed with different illumination directions by rotating the C-arm machine to obtain X-ray grid images corresponding to different illumination directions; obtaining the coordinates of a stone on an XYZ coordinate system according to the positions of the stone on different X-ray grid images; according to an organ boundary pattern in each X-ray grid image and a pre-configured iconography image, constructing a three-dimensional image ofan organ in which the stone is located in the XYZ coordinate system; determining an optimal piercing path according to the three-dimensional image of the organ and the coordinates of the stone on theXYZ coordinate system; and controlling a robot arm to perform a puncture operation on the stone according to the optimal piercing path. The method and the device provided by the embodiments of the invention eliminate the need for the doctor to manually operate the puncture needle during the operation, thereby reducing the workload of the doctor; and the doctor does not need to be exposed to the X-ray, and the puncture precision is high.

Description

technical field [0001] The invention relates to the technical field of medical operations, in particular to a robot puncture control method and device. Background technique [0002] Existing puncture operations, such as percutaneous renal puncture, percutaneous neurosurgical puncture, and percutaneous orthopedic puncture, all require doctors to operate the puncture needle while looking at the X-ray image of the patient obtained by the C-arm machine. For the puncture operation, the entire operation process basically requires the participation of the doctor, and the doctor's workload is very heavy. At the same time, the doctor must be exposed to X-rays. Long-term exposure to X-rays will cause radiation hazards to the doctor's body. Contents of the invention [0003] The purpose of the present invention is to propose a robot puncture control method and device, which does not require the doctor to manually operate the puncture needle during the operation, which reduces the doc...

AI Technical Summary

Problems solved by technology

[0002] Existing puncture operations, such as percutaneous renal puncture, percutaneous neurosurgical puncture, and percutaneous orthopedic puncture, all require doctors to operate the puncture needle while looking at the X-ray image of the patient obtained by the C-arm machine. For the puncture operation, the entire operation process basically requires the participation of doctors, and the workload of doctors is very heavy. At the same time, doctors must be exposed to X-rays. Long-term exposure to X-rays will cause radiation hazards to the doctor’s body.

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