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Device and method for guiding and realizing precise puncture based on infrared binocular camera and robot mechanical arm holding needle sleeve

A binocular camera and robotic arm technology, applied in surgical robots, puncture needles, surgical manipulators, etc., can solve the problems of the patient's living tissue movement and breathing, low puncture accuracy, and difficulty for doctors to puncture the needle, etc. and spatial judgment is prone to error, reducing the difficulty of puncture, and reducing the effect of work pressure

Pending Publication Date: 2022-01-11
南京智云医疗器械研究院有限公司
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Problems solved by technology

The current common positioning method is still the traditional CT and B-ultrasound guided puncture, and the puncture accuracy is not high
[0003] There are two problems in the current puncture surgery. One is the influence of the patient's living tissue movement and breathing; The puncture path can only be punctured along the vertical direction, which cannot avoid sensitive organs or tissues, and there are problems such as hand shaking during clinical puncture

Method used

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  • Device and method for guiding and realizing precise puncture based on infrared binocular camera and robot mechanical arm holding needle sleeve
  • Device and method for guiding and realizing precise puncture based on infrared binocular camera and robot mechanical arm holding needle sleeve
  • Device and method for guiding and realizing precise puncture based on infrared binocular camera and robot mechanical arm holding needle sleeve

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Embodiment Construction

[0022] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] In the figure, (1) is a positioning device fixed on the puncture needle cover; (2) is a puncture needle cover; (3) is a fixed bracket; (4) is a puncture center; (5) is a positioning device on the human body surface; 6) is the needle entry point; (7) is the puncture path; (8) is the human body; (9) is the high-precision infrared monitoring equipment.

[0024] The positioning device (1) is fixed on the tail of the puncture needle cover (2) by the fixing bracket (3). The puncture needle cover information is mainly the spatial relative positional relationship between the positioning device (1) and the needle entry point (6). Therefore, the computer can use the spatial position coordinates of the positioning device sent back by the high-precisio...

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Abstract

The invention discloses a device and a method for guiding and realizing precise puncture based on an infrared binocular camera and a robot mechanical arm holding needle sleeve. Unconscious movement of a human body can cause errors such as angle deviation between a puncture needle and a puncture path and distance deviation between a needle point of the puncture needle and a puncture center, and the puncture process is affected. In order to solve the existing problems, the invention provides a mechanical arm holding needle sleeve device based on the six free arms, the position of a puncture needle sleeve is monitored in real time in combination with an infrared positioning method, an operator can find deviation and adjust the position in time, and after the needle sleeve device is determined, a puncture needle is guided to puncture.

Description

technical field [0001] The invention discloses a device and method based on an infrared binocular camera and a robotic arm holding a needle cover to guide and realize precise puncture. Background technique [0002] The core of minimally invasive treatment of solid organs is still in precise positioning. The current common positioning method is still the traditional CT and B-ultrasound guided puncture, and the puncture accuracy is not high. [0003] There are two problems in the current puncture surgery. One is the influence of the patient's living tissue movement and breathing; The puncture path can only be punctured along the vertical direction, which cannot avoid sensitive organs or tissues, and there are problems such as hand shaking during clinical puncture. [0004] In view of the above problems, it is necessary to design a robotic arm to hold the needle sleeve to guide and achieve precise puncture. Contents of the invention [0005] Aiming at the deficiencies of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/34A61B34/10A61B90/00
CPCA61B34/30A61B34/70A61B17/3403A61B34/10A61B90/361A61B90/37A61B2034/301A61B2034/101A61B2034/107A61B2034/108A61B2090/372
Inventor 葛云
Owner 南京智云医疗器械研究院有限公司
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