Visual servo control method of multi-task surgical robot

Abstract

The invention provides a visual servo control method of a multi-task surgical robot, and belongs to the technical field of surgical robots. The method comprises the steps of adopting the relative coordinate relation of the front end of the surgical robot and a surgery part as a control basis, extracting a control characteristic from an image acquired by image acquisition equipment, updating relative coordinate information in real time, according to the relative coordinate information, planning a surgery motion path, controlling the motion of a motion mechanism, achieving target surgery operation, and by replacing types of the control characteristic and the front end of the surgical robot, achieving a multi-task function. According to the visual servo control method of the multi-task surgical robot, the installation of additional markers and a calibration process are avoided, moreover, when a work mode based on visual servo is compared with a traditional work mode of the surgical robot,namely, 'planning before surgery and execution during surgery', higher surgery precision can be obtained.

Description

technical field [0001] The invention relates to the technical field of surgical robots, in particular to a fracture reduction surgical robot system and method. Background technique [0002] Minimally invasive techniques are widely used in the reduction and fixation of traumatic fractures, but the problem that comes with them is that doctors need to be exposed to X-rays. For complex fracture operations, a large amount of X-ray irradiation is often required during the operation, causing doctors to suffer from a large amount of radiation and affecting health. Therefore, a remote-controlled surgical robot system has become an urgent need. [0003] The orthopedic surgical robot in the existing research performs corresponding operations according to the coordinates provided by the specialized surgical navigation system. The commonly used surgical navigation techniques include CT and X-ray registration, optical tracking and positioning, and so on. These surgical navigation techno...

AI Technical Summary

Problems solved by technology

This navigation method has the following three disadvantages: one is that imaging equipment such as X-ray machines need to be calibrated before surgery, which is not only time-consuming, but may also cause a decrease in navigation accuracy due to calibration errors; The installation of additional markers increases the surgical steps and trauma to the patient; the third is that additional special navigation equipment is often required, such as intraoperative CT and infrared optical tracking and positioning system, etc., greatly increasing the cost of equipment

Although artificial intelligence technology has made significant progress, it is still not competent for complex fractures and incomplete information.

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