A fast positioning and tracking device for an auxiliary robot

Abstract

The invention discloses a fast positioning and tracking method for an auxiliary robot, comprising the following steps: S1, determining the positional relationship between the target size and the bony landmark points through MRI images; S2, establishing the first position between the body surface positioning board and the target point The first coordinate system and the second coordinate system between the body surface positioning board and the auxiliary robot visual positioning device, and the body surface positioning board is used as the standard to correct the two coordinate systems into a standard coordinate system through calculation, and the auxiliary robot is controlled according to the standard coordinate system Robot positioning; S3. Through MRI image measurement, combined with X-ray images taken in real time during the operation, image fusion calculation is performed to obtain real-time data of the target point on the body surface positioning board, and the visual positioning device of the auxiliary robot is based on the body surface positioning board. The position data of the upper target point is used for precise puncture positioning and tracking of the target point movement, and the corresponding device is disclosed at the same time. The overall principle is simple, which reduces the cost of the robot system, realizes efficient operation of the robot, and reduces the difficulty of operation.

Description

technical field [0001] The invention relates to the technical field of robot navigation, positioning and tracking, in particular to a fast positioning and tracking method for an auxiliary robot, and a fast positioning and tracking device for an auxiliary robot. Background technique [0002] In the use of auxiliary robots, precise puncturing and positioning of the target, and fast tracking of the movement of the target are the main points of medical robot applications. The existing positioning technology mainly adopts the planning before use, and the image and navigation device control the positioning and movement of the robot during use. The precise positioning and tracking of the target point needs to establish a unified coordinate for the three independent coordinate systems of the image, navigation and robot. dynamic computing implementation. The displacement of any coordinate point in different coordinate systems will lead to the recalculation process. Due to the large ...

AI Technical Summary

Problems solved by technology

The displacement of any coordinate point in different coordinate systems will lead to a recalculation process. Due to the large amount of calculation and the limitation of computer computing power, the data acquisition by the robot is delayed. Timely dynamic tracking, which leads to prolonged registration time or even failure of registration of such robots in surgery

For example, the patent No. CN112932667A discloses a surgical navigation system, which adopts the optical navigation technology commonly used in the existing robot technology, and there is an optical positioning board that needs to be fixed by Kirschner wires, and there may be deviations in positioning after rotation ( The positioning board is fixed at a single point and the optional device is complicated. The comparison patent also introduces the third coordinate system of optical navigation for tracking and positioning, which also cannot achieve fast tracking and other problems. At the same time, the positioning of the special positioning ruler on the human body is also cumbersome and the positioning accuracy is poor.

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