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Positioning tool, mechanical arm system, surgical system and registration method

A surgical system and robotic arm technology, applied in the field of medical devices, can solve the problems of cumbersome robotic arm registration and surgical object registration procedures, poor reliability, and poor real-time performance.

Active Publication Date: 2020-04-21
SUZHOU MICROPORT ORTHOBOT CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a positioning tool, a robotic arm system, a surgical system, and a registration and registration method to solve the problems of cumbersome robotic arm registration and surgical object registration procedures, poor reliability, and poor real-time performance during surgical operations in the prior art. question

Method used

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  • Positioning tool, mechanical arm system, surgical system and registration method
  • Positioning tool, mechanical arm system, surgical system and registration method
  • Positioning tool, mechanical arm system, surgical system and registration method

Examples

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example 3

[0063] Example three, the corresponding joint is the end joint of the mechanical arm 12, such as Figure 8 As shown, the target 113 is arranged on the autorotation joint 126 at the end of the robot arm 12 . During the registration process, the navigation tracking device 13 collects the spatial position information of the target 113, that is, the spatial position of the output shaft of the wrist joint, and the control device obtains the spatial position of the autorotation joint 126 information, since the relative position of the target 113 and the registration tip 112 is known, the registration tip can be calculated through the collected spatial position information of the target 113 and the spatial position information of the rotation joint 126 112 to realize the registration process of the mechanical arm 12 and the skeleton.

[0064] Example 4, the corresponding joint is a non-terminal joint of the mechanical arm 12, such as Figure 9 As shown, the target 113 is set on the...

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Abstract

The invention provides a positioning tool, a mechanical arm system, a surgical system and a registration method. The positioning tool comprises a tool body, a registration tip and a target. One end ofthe tool body is used for being fixed to the tail end of a mechanical arm, and the other end of the tool body is connected with the registration tip. The registration tip is used for abutting againsta preset position. The target is used for being marked on the tool body, the registration tip or the mechanical arm and used for being communicated with navigation equipment. Namely, the tool adoptedby the invention is an integrated registration tool, registration of the mechanical arm and a surgical object can be achieved without the need for replacement of a registration tool in the process, the surgical process is simplified, and the surgical time is shortened. In addition, the target does not need to be repeatedly assembled and disassembled, the navigation equipment can effectively monitor the spatial position of the positioning tool in real time in the whole surgical process, and therefore, the surgical visualization degree and safety are improved.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a positioning tool, a robotic arm system, a surgical system and a registration registration method. Background technique [0002] Surgical navigation systems are more and more used in surgical operations, especially in orthopedic operations, because they can observe the position of surgical instruments in real time during surgery, such as MAKO orthopedic surgical navigation system, Robodoc orthopedic surgical navigation system, etc. Using the combination of robotic arm and infrared optical navigation equipment, according to the doctor's preoperative planning, combined with the intraoperative registration and registration technology, the robot is used to assist the doctor to complete the operation. Among them, the registration and registration technology is the key technology to connect the robot and the navigation equipment; the robot knows the location of the surgical ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20A61B34/30A61B17/14A61B17/15A61B17/16A61B17/17
CPCA61B34/20A61B34/30A61B34/70A61B17/142A61B17/15A61B17/1657A61B17/1732A61B2034/2055A61B2034/2051B25J9/1689G05B2219/45119A61B17/17B25J13/089A61B2090/3937A61B90/39A61B2034/2059A61B90/11A61B2034/2068A61B50/13A61B17/14B25J5/00B25J9/1694B25J15/0019B25J15/0066B25J17/00
Inventor 李涛何超江洲
Owner SUZHOU MICROPORT ORTHOBOT CO LTD
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