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Method for determining puncture path, storage device and robot-assisted surgery surgical system

A technology to determine the method and path, applied in computer-aided surgery, computer-aided planning/modeling, surgery, etc., can solve the problem of high surgical risk and achieve the effect of reducing surgical risk

Inactive Publication Date: 2019-12-06
SHANGHAI UNITED IMAGING HEALTHCARE
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  • Claims
  • Application Information

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Problems solved by technology

[0003] Based on this, it is necessary to provide a method for determining the puncture path, a storage device and a robot-assisted surgical system for the problem that the traditional robot-assisted surgery system needs the physician to judge the puncture path based on experience and the risk of surgery is high.

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  • Method for determining puncture path, storage device and robot-assisted surgery surgical system
  • Method for determining puncture path, storage device and robot-assisted surgery surgical system
  • Method for determining puncture path, storage device and robot-assisted surgery surgical system

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Embodiment Construction

[0036] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0037] The method for determining a puncture path in an embodiment is used for determining a puncture path when a robot-assisted surgery system performs puncture. The method can be used in operations such as puncture positioning, spinal puncture or craniocerebral puncture. The determination method of the puncture path can be in figure 1 The robot-assisted surgery system shown is implemented. see figure 1 , the surgical robot system includes a surgical robot 110 and a control device (not shown in the figure). Surgical robot 110 is used to perform assisted surgical procedures. Specifically, a su...

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Abstract

The invention relates to a method for determining a puncture path, a storage device and a robot-assisted surgery system. The method includes the steps that medical images of a puncture object are received; a three-dimensional model of the puncture object is reconstructed according to the medical images; lesions, skin and other soft tissue are identified according to the three-dimensional model, wherein the other soft tissue comprises blood vessels and nerves; target points positions of the lesions are received; an optional skin area of a puncture point is determined according to the identifiedlesions and skin; a plurality of virtual puncture paths passing through the target point positions and the optional skin area are constructed; and at least one virtual puncture path meeting the constraint conditions is selected from the multiple virtual puncture paths to serve as the target puncture path, and the constraint conditions include not passing through the other soft tissue. According to the method for determining the puncture path, the puncture path in the puncture process is automatically determined and does not need to be determined by a physician according to the experience, andthus the surgical risk is greatly reduced.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to a method for determining a puncture path, a storage device and a robot-assisted operation system. Background technique [0002] The principle of robot-assisted surgery based on CT navigation is that the CT image directly provides coordinate information, and the patient can be directly anesthetized without transfer, thereby reducing the error caused by the patient's movement, shortening the operation time, and improving the operation coordinates. the accuracy. When the robot-assisted surgical system performs auxiliary operations such as puncture, the doctor usually needs to determine the puncture path according to the inspection, and the operation risk is relatively high. Contents of the invention [0003] Based on this, it is necessary to provide a method for determining the puncture path, a storage device and a robot-assisted surgery system for the problem that the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/34A61B34/10
CPCA61B17/3403A61B34/10A61B2034/105A61B2034/108
Inventor 刘剑王芸方啸佟留住
Owner SHANGHAI UNITED IMAGING HEALTHCARE
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