基于磁定位器的微创手术机器人空间定位方法研究

Study on spatial orientation method in magnetic tracker-based 3D ultrasound-guided robot system

在机器人辅助微创介入治疗手术过程中,需要解决医师、手术病人、医疗监测和治疗仪器等复杂多维障碍环境下,机器人辅助手术系统的精确空间定位难题。为此,研究提出了一种基于磁定位器的微创手术机器人空间定位方法。该方法通过手术三维磁场坐标环境与机器人坐标的配准,确定手术障碍环境中定位磁场与手术机器人操作末端之间的空间关系,从而快捷方便和精确可靠地迅速完成手术辅助机器人系统的术前自动标定。医学实验表明采用该方法,手术机器人的定位精度达到3mm,满足微创介入治疗肝癌的临床手术需求。

In the process of robot-assisted minimally invasive surgical intervention treatment,the precise spatial orientation problems of the medical robot system needs to be solved,which involves the physician,patients and medical monitoring as well as treatment equipment and so on under a complex mul- ti-dimensional obstacle environment.Therefore it presents a magnetic tracker-based spatial orientation method.Through the registration between three-dimensional magnetic field coordinates of the surgical envi- ronment and robot coordinates ,the spatial relationship between location field and the end of surgical robotic is determined.Thus automatic calibration of an accurate and reliable robot-assisted surgery system can be completed quickly and conveniently,accurately and reliably.Medical experiments show that the location ac- curacy of surgical robot is less than or equal to 5mm invasive clinical surgical treatment of liver cancer. with this method,which meet the needs of minimally