Surgical navigation and mechanical arm device for craniocerebral puncture and positioning method

Abstract

The invention discloses a surgical navigation and mechanical arm device for craniocerebral puncture. The device comprises a three-dimensional CT scanning device, a handheld scanner, a computer system,a mechanical arm control system and a mechanical arm execution system, wherein the three-dimensional CT scanning device, the handheld scanner, the mechanical arm control system and the mechanical armexecution system are connected with the computer system; and the mechanical arm control system is connected with the mechanical arm execution system. Moreover, the invention also provides a positioning method of the device. The method mainly comprises the following steps of obtaining a target point needing a minimally invasive surgery through preoperative brain CT, performing fixed point markingon the brain, performing scanning by using a probe, planning a surgery track, and registering the probe position of the mechanical arm and a fixed point mark in an image space. After registration, a doctor can obtain coordinates of any feature point of a human-computer interface by clicking the feature point, and the mechanical arm moves the surgical tool after receiving the coordinates of the feature point, so that the doctor can accurately find target features.

Description

technical field [0001] The invention belongs to the field of robot-assisted surgery, and in particular relates to a navigation and positioning robotic arm device for surgeons to assist in craniocerebral surgery, in particular to a surgical navigation and robotic arm device for craniocerebral puncture. In addition, the present invention also relates to the surgical navigation and the positioning method of the robot arm device for craniocerebral puncture. Background technique [0002] In craniocerebral puncture surgery, X-ray films or CT images are often used for manual spiral disk conversion and visual measurement of surgical targets. The accuracy of the machine and clinical application are limited to a certain extent. With the development and wide application of neuroimaging technology and computer technology, combining the three-dimensional reconstruction of the computer with the navigation system in medical surgery, and then combining the navigation system with the medical...

AI Technical Summary

Problems solved by technology

In this method, the position of the insertion point cannot be displayed in real time, and the position must be determined by CT scanning, so that the specific situation cannot be observed in real time during craniocerebral puncture, and the efficiency of moving the insertion point is relatively low and the accuracy is not high.

[0004] Chinese invention patent application CN201811283970 discloses a three-dimensional visual scalp craniotomy positioning method combined with optical surgical navigation. It provides a navigation system similar to the present invention, which is based on optical surgical navigation. The model is established by CT scanning before the operation, and then Establish an adaptive craniotomy contour through image processing, and then perform surgery according to the craniotomy contour. During the operation, the position of the tip of the surgical tool is recorded and displayed in real time, and then the path of the actual surgical tool is compared with the path designed in advance. , calculate the error, evaluate the surgical accuracy, but do not correct the error

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