Guanwu Jiang, Keqiang Bai, Shiliang Nie, Ran Wang, and Abdelaziz Omar
Precise puncture, body micro motion, spatial mapping, position vision, dynamic tracking
How to achieve accurate positioning of assisted puncture robot in medical puncture surgery is a key problem. Through the mapping between CT coordinate system, robot coordinate system and visual space coordinate system, the patient’s focus target and puncture needle point are mapped into the robot workspace to realise auxiliary guidance and accurate positioning, and good results are achieved in the static model. In the process of clinical puncture operation, due to the long operation time, the micro motion of the patient’s body will cause the puncture position error, which can’t ensure the accuracy of puncture operation. To solve this problem, this paper studies the dynamic measurement method based on position vision, accurately extracts the mark point coordinates on the patient’s body surface through binocular vision positioning, collects the change difference of the patient’s body micro motion error in real time, and solves the change difference of the puncture path after the patient’s body micro motion, so as to make error compensation in the process of robot puncture positioning, realise error elimination and accurate positioning. Through 3D model and living animal experiment, good experimental results are obtained.
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