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Navigation operation system, registration method thereof and electronic equipment

A surgical system and navigation system technology, applied in the field of navigation surgery system and its registration method and electronic equipment, can solve the problems of poor reliability and real-time performance, influence of position accuracy, low precision of mechanical arm, etc., so as to ensure reliability and real-time performance , reduce the chance of infection, and simplify the surgical procedure

Active Publication Date: 2020-03-24
SUZHOU MICROPORT ORTHOBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] (2) Poor reliability and real-time performance
However, the mechanical arm will vibrate during the movement, so that the position accuracy of the target collected by the navigation equipment will also be affected by the vibration. Therefore, the registration accuracy of the mechanical arm is low.

Method used

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  • Navigation operation system, registration method thereof and electronic equipment
  • Navigation operation system, registration method thereof and electronic equipment
  • Navigation operation system, registration method thereof and electronic equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0068] figure 2 It is a schematic structural diagram of the navigation surgery system 200 according to Embodiment 1 of the present invention. Such as figure 2 As shown, the present embodiment provides a navigation surgery system 200, which includes a robot system and a navigation system connected in communication. Described robot system comprises mechanical arm 2, and the end of described mechanical arm 2 is used for installing surgical instrument, and surgical instrument can be any surgical instrument that is suitable for robot system to use, for example clamp, flanging device, reaming device, impactor device or humeral head impactor, etc.

[0069] The navigation system includes an optical navigation tracking device 4 and a plurality of optical markers that can be identified by the optical navigation tracking device 4 . In this embodiment, a plurality of said optical markers are installed on a support device 1 (such as a hospital bed), and the positions of these optical ...

Embodiment 2

[0079] image 3 and Figure 4 They are structural schematic diagrams of the navigation surgery system 300 provided in Embodiment 2 of the present invention in different orientations. The structure of the navigation surgery system 300 provided in this embodiment is basically the same as that of the navigation surgery system 200 in the first embodiment, and the following description will mainly focus on the differences between the two.

[0080] Such as image 3 and Figure 4 As shown, the navigation surgery system 300 of this embodiment also includes a surgical trolley 6, and the robotic arm 2 is directly fixed on the surgical trolley 6, and the position of the surgical trolley 6 relative to the supporting device 1 is fixed and known. Based on the same principle, since the position of the base joint 21 of the manipulator 2 relative to the operating trolley 1 is fixed and known, the position of the base coordinate system of the manipulator relative to the support device 1 is a...

Embodiment 3

[0083] Figure 5 It is a schematic structural diagram of the navigation surgery system 400 provided by the third embodiment of the present invention. The structure of the navigation surgery system 400 provided in this embodiment is basically the same as that of the navigation surgery system 300 in the second embodiment, and the following description will mainly focus on the differences between the two.

[0084] The reference coordinate system of this embodiment is not established on the support device 1 , but on the operating trolley 6 . Such as Figure 5 As shown, an optical target 7 is set on the operating trolley 6, and there are usually at least three reflective spheres on an optical target 7, which is convenient for establishing a reference coordinate system based on a plurality of reflective spheres. Since the position of the operating trolley 6 relative to the support device 1 is fixed and known, the position of the reference coordinate system relative to the support ...

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Abstract

The invention relates to a navigation operation system, a registration method thereof and electronic equipment. The navigation operation system comprises a robot system and a navigation system which are in communication connection, the robot system comprises a mechanical arm, and the navigation system comprises navigation tracking equipment. The robot system is provided with a mechanical arm basecoordinate system established on the mechanical arm, and the mechanical arm base coordinate system is configured to be fixed relative to the position of a supporting device. The navigation system is provided with a reference coordinate system which can be recognized by the navigation tracking equipment, and the reference coordinate system is configured to be fixed relative to the position of the supporting device; the navigation operation system is configured to obtain the position relation between the mechanical arm and the navigation tracking equipment according to the position relation between the mechanical arm base coordinate system and the supporting device, and the position relation between the reference coordinate system and the supporting device, so that mechanical arm registration is not needed, the position between the mechanical arm and the navigation tracking equipment can be directly registered, the operation process is simplified, the operation time is shortened, and thereliability and real-time performance of mechanical arm tail end position collection can be guaranteed.

Description

technical field [0001] The invention relates to the field of robot-assisted navigation surgery, in particular to a navigation surgery system, a registration method thereof, and electronic equipment. Background technique [0002] Surgical navigation systems are increasingly being used in surgical operations, especially in orthopedic operations. For example, MAKO orthopedic navigation surgery system and Robodoc orthopedic navigation surgery system, etc., use the combination of robotic arm and infrared optical navigation equipment. The real position of the robot matches the coordinate system of the bone model in the software, and the robot is used to assist the doctor to complete the operation. Among them, registration and registration technology is the key technology for connecting robots and navigation devices. The robot learns the location of the surgical area to be operated through the registration and registration technology, and performs active positioning operations or...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20A61B34/30A61B90/00A61B50/13
CPCA61B34/20A61B34/30A61B34/70A61B90/39A61B50/13A61B2034/2055A61B2034/2051A61B2090/3941A61B34/35A61B34/32A61B2090/3937A61B2090/364A61B34/37A61B90/50A61B2560/0437
Inventor 李涛何超程武超
Owner SUZHOU MICROPORT ORTHOBOT CO LTD
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