Method for navigating and positioning dual-arm surgical robot

Abstract

The embodiment of the invention discloses a method for navigating and positioning a dual-arm surgical robot. The method is used for precise positioning of a medical robot arm and comprises an operating table car with a mesa coordinate system. Obtaining medical image information of patients; According to the outline of the lesion outlined by the patient's medical image information, a three-dimensional visualized lesion model was constructed to determine the coordinates of the surgical target points in the three-dimensional visualized lesion model, and the navigation path of the navigation manipulator was planned. The coordinate mapping relationship between the patient surface coordinate system and the table coordinate system is established, and the navigation manipulator is controlled to move to the table coordinate corresponding to the coordinates of the surgical target. The navigation and positioning method of the dual-arm surgical robot does not require additional optical positioningor electromagnetic positioning device, thereby saving cost, saving operating room space and improving surgical accuracy.

Description

technical field [0001] The invention relates to the technical field of medical surgical robots, in particular to a navigation and positioning method for a dual-arm surgical robot. Background technique [0002] Among common surgical operations, orthopedic operations such as spine and joints and brain surgery are difficult and have a high failure rate due to high precision requirements, complex operations, and serious postoperative complications. Epidemiological data show that at least 1 million to 1.5 million osteoarthritis patients, 1.5 million to 2 million spinal disease patients, and 300,000 to 400,000 brain surgery patients need surgical treatment every year in China. In order to solve the problems of insufficient precision, excessive radiation, large incision, and operator fatigue in surgical operations, people began to explore how to introduce robotic methods into surgical operations. The existing computer-aided navigation system for surgical operations is a three-dimen...

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a navigation and positioning method for a dual-arm surgical robot, which uses two mechanical arms to establish the coordinate mapping relationship between the surgical trolley and the patient, reduces product costs, saves surgical space, and solves problems at the same time. The problem that optical positioning and electromagnetic positioning are easily interfered

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