Robot surgery positioning method and device

Abstract

The invention belongs to the technical field of robot-assisted surgery, and particularly relates to a robot surgery positioning method and device based on ultrasonic guidance. Firstly, a focus is accurately positioned by adopting an image segmentation technology based on deep learning, the focus and spatial position information of the focus are accurately identified in an ultrasonic image which changes in real time, and a robot with a mechanical arm carrying ultrasound and an instrument simultaneously generates relative motion and compensates position errors in the process that ultrasonic scanning does not leave a human body, so that the position precision of instrument control is improved. According to the device, one mechanical arm is used for carrying ultrasonic and surgical tools at the same time, a multi-degree-of-freedom movement mechanism is additionally arranged, and it is guaranteed that an ultrasonic probe and the surgical tools can move relatively; and real-time position detection is performed on a part through ultrasonic image analysis, and when a focus position is displaced, a method of performing position compensation by adopting multi-degree-of-freedom provided by an additional mechanism is adopted, so that the surgical position precision is improved.

Description

technical field [0001] The invention belongs to the technical field of robot-assisted surgery, and in particular relates to an ultrasound-guided robot surgery positioning method and device. Background technique [0002] At present, robot technology has been more and more widely used in medical surgical navigation. Under the guidance of medical images, robots can complete precise navigation for various types of surgery such as neurosurgery, orthopedics, and tumors, improving surgical accuracy. Improve operation efficiency and reduce patient pain. [0003] Ultrasound is the most commonly used and most convenient way to obtain images of lesions in medical treatment. It has good real-time performance. Especially, the types of portable ultrasound have increased, the performance has been enhanced, and the miniaturization of equipment has made it possible to combine robots and ultrasound scans. At present, robots carrying ultrasound for inspection have been applied in a certain ra...

AI Technical Summary

Problems solved by technology

[0005] When the robot carries ultrasonic positioning and performs surgery, due to the influence of body position and respiratory movement, it often encounters part displacement. At this time, if a dual-arm robot is introduced, one carries ultrasonic and the other carries an access device. This position tracking compensation method Although it is flexible, the equipment cost is relatively expensive and the control is difficult

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