CN109199586A - A kind of laser bone-culting operation robot system and its paths planning method - Google Patents
A kind of laser bone-culting operation robot system and its paths planning method Download PDFInfo
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- CN109199586A CN109199586A CN201811332228.5A CN201811332228A CN109199586A CN 109199586 A CN109199586 A CN 109199586A CN 201811332228 A CN201811332228 A CN 201811332228A CN 109199586 A CN109199586 A CN 109199586A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000013461 design Methods 0.000 claims abstract description 13
- 238000001356 surgical procedure Methods 0.000 claims description 15
- 210000000988 bone and bone Anatomy 0.000 claims description 10
- 238000004088 simulation Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000007787 solid Substances 0.000 description 4
- 230000002980 postoperative effect Effects 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
Abstract
The invention discloses a kind of laser bone-culting operation robot system and its paths planning methods, it solves the problems, such as that laser osteotomy site accuracy is not high in the prior art, with can effectively control robot, improve the beneficial effect of procedure efficiency, its scheme is as follows: a kind of paths planning method of laser bone-culting operation robot system, medical worker completes the design of operation osteotomy scheme based on preoperative 3D image reconstruction and editor, and osteotomy line is extracted in the location information of image space, the location information is mapped in the mechanical arm coordinate system of robot, to obtain path planning.
Description
Technical field
The present invention relates to field of surgery, more particularly to a kind of laser bone-culting operation robot system and its path planning side
Method.
Background technique
With the development of medical image and Computer Aided Surgery, it is with three-dimensional operation designing software and image-guidance technology
The digital surgical technic of representative clinically starts to popularize.Traditional surgical operation operation plan is surveyed by the craft to CT image
Amount relies only on hand dipping also to complete to complete the implementation of scheme in art.Error adds up layer by layer in these manual operationss,
It eventually leads to and occurs larger difference between postoperative effect and design scheme.In recent years, the application of preoperative three-dimensional operation designing software,
The loss of significance in traditional manual conceptual design is avoided, the operation plan in doctor's brain is accurately expressed
On image, it might even be possible to by way of 3 D-printing, in expression to 3 D-printing model.But this perfect scheme is in art
When implementation, but lack measurement, supervision and an executive means well, wherein osteotomy operation is exactly an especially typical operation
Task.Osteotomy operation is a key link of surgical operation, and osteotomy site can not only influence the degree of injury of surrounding tissue, more
It can determine the precision and post-operative recovery that postoperative bone block repositions.Therefore, in most operation designing softwares, osteotomy all can
It is accurately planned and is simulated as important step.And it is how that the preoperative osteotomy line cooked up is accurate real during surgery
Reveal and, becomes urgently to be resolved for problem.
Therefore, it is necessary to the paths planning methods to a kind of laser bone-culting operation robot system to carry out new researching and designing.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of path of laser bone-culting operation robot system rule
The method of drawing solves the technical issues of preoperative osteotomy path in 3-dimensional image design can not accurately execute during surgery, avoids
Doctor fatigue caused by long-term holding laser osteotome in art, can improve procedure efficiency to a certain extent.
A kind of concrete scheme of the paths planning method of laser bone-culting operation robot system is as follows:
A kind of paths planning method of laser bone-culting operation robot system, including medical worker are based on preoperative 3-dimensional image
It rebuilds and editor completes the design of operation osteotomy scheme, and extract osteotomy line in the location information of image space, by the position
Information MAP is into the mechanical arm coordinate system of robot, to obtain path planning, the position of osteotomy line is extracted according to design scheme
Confidence breath, then projects in mechanical arm coordinate system again, hand-held without medical worker, can accurately realize deep, improves hand
Art efficiency, unnecessary trouble caused by also avoiding because of lacking practice and skill medical staff's fault.
Further, the specific steps are as follows:
1) medical worker completes the design of operation osteotomy scheme based on preoperative 3D image reconstruction and editor, and extracts and cut
Location information of the bone line in image space；
2) operation tool is installed in mechanical arm end；
3) to coordinate system and image space coordinate where coordinate system, the navigation camera set on mechanical arm side where mechanical arm
System, three carry out integrated unified；
4) operative space is mapped to by the osteotomy line that step 1) is extracted to the integrated unification of three coordinate systems by step 3)
In camera coordinates system and mechanical arm coordinate system, to realize the path planning of laser bone-culting operation robot.
Further, the medical worker completes the design of operation osteotomy scheme based on preoperative 3D image reconstruction and editor
It is to realize that preoperative three-dimensional surgery planning and simulation softward are installed on calculating by preoperative three-dimensional surgery planning and simulation softward
Machine, the image-guidance software being also equipped in computer in robot on-line controller software and surgical procedure, robot is in line traffic control
Software processed is connect with the controller of laser bone-culting operation robot, and in segmentation scheme, which is programmable PLC control
Device, or the movement of robot arm is directly controlled by controller by robot On-line Control software.
Further, the osteotomy line is the bone tissue surface point cloud data and surgical simulation software that 3D image reconstruction goes out
In virtual osteotomy plane intersectionmL1, i.e.,mL1=mpi(x,y,z)|mpi∈S1∩O1, i ∈ [0, n] }, S1It is outermost for bone tissue
Layer surface point cloud, O1For virtual osteotomy plane,mpiFor point setmL1Interior any point, it is in image coordinate that subscript m, which represents point set,
Under system.
Further, the operation tool includes the clamping device set on the mechanical arm end, and clamping device clamping swashs
Optical transmitting set, clamping device includes two supporting rods, wherein rotating electric machine, rotating electric machine and laser emitter are arranged in a supporting rod
Side connection, for adjusting the angle of laser emitter, one end of laser emitter is used for emitting laser, other end setting
In the infrared reflecting flag member with the navigation camera cooperation, clamping device is connect by flange with mechanical arm end, infrared
Reflective marker component is used for the focal position of the emitted laser of laser emitter at calibration in camera coordinates system.
Further, the infrared reflecting flag member includes multiple, the setting position of infrared reflecting flag member according to
The inner parameter of the navigation camera is determined, and navigation camera is infrared light stereoscopic camera, in segmentation scheme, laser hair
Cross is arranged in the other end of emitter, the setting infrared reflecting flag member in each end of cross.
Further, it is as follows to realize that three carries out integrating unified method in the step 3):
The focus of the emitted laser of laser emitter is calibrated in camera coordinates system by infrared reflecting flag member
Position；Position and the appearance of the tool center point of mechanical arm default are calibrated in camera coordinates system by infrared reflecting flag member
State, and then acquire the base coordinate system of mechanical arm and the transformational relation of camera coordinates system；Finally by being set in advance in patient body
On same place, realize the relationship between preoperative 3-dimensional image image coordinate system and camera coordinates system, finally realize mechanical arm, lead
Boat camera and image space coordinate system, and then complete the system integration.
Further, the paths planning method of the step 4), geometric path planning and operation including osteotomy robot
The planning of tool posture；
Geometric path planning is based on the osteotomy line extracted in step 1)mL1Upper all discrete pointsmpi(x, y, z), passes through three
Secondary B-spline difference approaches approximating method completion；
Operation tool posture be withmL1Upper all discrete pointsmpi(x, y, z) is the operation tool coordinate system and phase of origin
Angle between machine coordinate system, three reference axis of operation tool coordinate systemIt is respectively defined as
WhereinFor virtual osteotomy plane O1Unit normal vector inwards, pn-i, pnFor osteotomy linemL1Upper two adjacent points.
Further, the sequence of the step 1) and step 2) is replaceable.
The present invention also provides a kind of laser bone-culting operation robot system, including mechanical arm, the setting of mechanical arm end is used
In the operation tool of osteotomy, navigation camera is arranged in the side of mechanical arm,
Operation tool includes the clamping device set on the mechanical arm end, and clamping device clamps laser emitter, clamping
Tool includes two supporting rods, wherein rotating electric machine is arranged in a supporting rod, the side of rotating electric machine and laser emitter is connected, and is used
In the angle of adjustment laser emitter, one end of laser emitter for emitting laser, other end setting for the navigation
The infrared reflecting flag member of camera cooperation；Robot, navigation camera and operation tool are connect with master controller, and master controller is
Computer.
Compared with prior art, the beneficial effects of the present invention are:
1) present invention is by the design of entire method, and solving the preoperative osteotomy path designed on 3-dimensional image can not be
The technical issues of accurately executing in operation avoids doctor fatigue caused by long-term holding laser osteotome, Neng Gou in art
Procedure efficiency is improved to a certain extent.
2) present invention is avoided the lacking practice and skill doctor personnel in part and is lost during osteotomy by the design of entire method
Accidentally situation.
3) by the integrated unification to three coordinate systems, the effectively location information by osteotomy line in spatial image reflects the present invention
It is mapped to mechanical arm coordinate system, the accuracy of realizing route planning.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the integrated morphology and workflow of laser bone-culting operation robot system
Fig. 2 is the structural map of laser surgey robot system
Fig. 3 is laser bone-culting operation robot end's tool
Fig. 4 is the planning of operating robot end-of-arm tooling posture
Wherein, 1- mechanical arm, 2- binocular solid camera, 3- master controller, 4- operation tool, 5- laser osteotome controller,
6- operating table, 7- robot manipulating task target, 8- flange, 9- clamping device, 10- laser emitter, 11- infrared reflecting labeling section
Part, 12- laser rays, 13- virtual osteotomy plane, the intersection of 14- bone tissue superficies and virtual osteotomy plane, 15- operation work
Has posture.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, the deficiencies in the prior art, in order to solve technical problem as above, this Shen
It please propose a kind of paths planning method of laser bone-culting operation robot system.
In a kind of typical embodiment of the application, as shown in Fig. 2, a kind of road of laser bone-culting operation robot system
Diameter planing method, laser bone-culting operation robot includes sixdegree-of-freedom simulation 1 in this method, which is set to operating table
Side, 1 end of mechanical arm can be set to the top of operating table 6, and navigation camera is arranged in the oblique upper of 6 side mechanical arm of operating table,
Navigation camera is infrared light binocular solid camera 2, and operation tool is arranged by flange 8 in 1 end of mechanical arm, and operation tool is figure
Executing agency in 1, navigation camera are supported by bracket.
Operation tool includes the clamping device 9 set on 1 end of mechanical arm, as shown in figure 3, clamping device 9 clamps laser hair
Emitter 10, clamping device 9 includes two supporting rods, wherein rotating electric machine, rotating electric machine and laser emitter are arranged in a supporting rod
Side connection, for adjusting the angle of laser emitter 10, one end of laser emitter 10 is another for emitting osteotomy laser
End setting passes through flange 8 and mechanical arm end for the infrared reflecting flag member 11 with the navigation camera cooperation, clamping device
Portion's connection, infrared reflecting flag member are used for the focus position of the emitted laser of laser emitter at calibration in camera coordinates system
It sets.
Infrared reflecting flag member include it is multiple, the setting position of infrared reflecting flag member is according to the navigation camera
Inner parameter is determined (prior art repeats no more), and in segmentation scheme, cross is arranged in the other end of laser emitter
Frame, the setting infrared reflecting flag member in each end of cross.
Robot, navigation camera and operation tool connect with master controller, operation tool pass through surgical tool controller and
Master controller connection, master controller are computer computer, and preoperative three-dimensional surgery planning is arranged in computer computer and simulates soft
Image-guidance software in part, robot On-line Control software and surgical procedure, robot On-line Control software and robot
Controller is wirelessly connected, and realizes the control to robot, image-guidance software is connect with navigation camera, for operation tool
Position is tracked, and the focal position of the transmitting laser of tracking is sent to image-guidance software by navigation camera.
Paths planning method, as shown in Figure 1, including the following steps:
3D image reconstruction of step 1 doctor by computer based on preoperative CT and editor complete setting for operation osteotomy scheme
Meter, and extract the location information of osteotomy line in image space.It include that preoperative three-dimensional surgery planning and simulation are soft in computer
Image-guidance software three parts in part, robot On-line Control software and surgical procedure are collection 3-D graphic work stations, hand
Art process tracking, mechanical arm are controlled in integrated Surgery robot workstation.
Special operation tool 4 is installed on the end flange 8 of mechanical arm 1 by step 2.Wherein osteotomy line is three dimensional CT weight
The intersection for the virtual osteotomy plane 13 in bone tissue surface point cloud data 14 and surgical simulation software built out, i.e.,mL1=mpi
(x,y,z)|mpi∈S1∩O1, i ∈ [0, n] }, S1For bone tissue outermost surface point cloud, O1For virtual osteotomy plane 13.Wherein
Operation tool 4 is made of infrared reflecting flag member 11, laser emitter 10 and clamping device 9, and three parts are solid by screw
Connection.Infrared reflecting flag member 11 is mounted on four angles of quadrangle by cross according to preset position by four infrared reflecting balls
Frame is supported, and it is the inside ginseng demarcated according to the binocular solid camera 2 of infrared light that infrared reflecting, which seeks predeterminated position,
Number is determined.
Step 3 passes through demarcation flow, the system of realization laser bone-culting operation robot by infrared reflecting flag member 11
In each module it is integrated.Demarcation flow are as follows: laser is calibrated in camera coordinates system by infrared reflecting flag member 11 first
The position of the focus of the emitted laser of transmitter 10；Then it is calibrated in camera coordinates system by infrared reflecting flag member 11
The position for the tool center point (TCP) that mechanical arm 1 is defaulted and posture, and then acquire the base coordinate system and camera coordinates of mechanical arm 1
The transformational relation of system；Finally by the same place being set in advance on patient body, preoperative CT image coordinate system and camera are realized
Relationship between coordinate system, the final unification for realizing mechanical arm 1, navigation camera 2 and image space coordinate system, and then complete system
System is integrated.
The integrated unification for three coordinate systems that step 4 is completed by step 3 maps the osteotomy line extracted in step 1
It is real in computer 3 by robot path planning method in camera coordinates system and mechanical arm coordinate system into operative space
The path planning of existing laser bone-culting operation robot, makes control strategy.
Paths planning method, as shown in figure 4, including that the geometric path planning of osteotomy robot and operation tool posture 15 are advised
Draw two parts.Geometric path is planned based on the osteotomy line extracted in step 1mL1Upper all discrete pointsmpi(x, y, z), passes through three
Secondary B-spline difference approaches approximating method completion.Operation tool posture 15 be withmL1Upper all discrete pointsmpi(x, y, z) is original
Angle between the operation tool coordinate system and camera coordinates system of point.
Three reference axis of operation tool coordinate system are respectively defined as
WhereinFor virtual osteotomy plane O1Unit normal vector inwards, pn-i, pnFor osteotomy linemL1Upper two adjacent points.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of paths planning method of laser bone-culting operation robot system, which is characterized in that medical worker is based on preoperative three
It ties up image reconstruction and editor completes the design of operation osteotomy scheme, and extract osteotomy line in the location information of image space, it will
The location information is mapped in the mechanical arm coordinate system of robot, to obtain path planning.
2. a kind of paths planning method of laser bone-culting operation robot system according to claim 1, which is characterized in that
Specific step is as follows:
1) medical worker completes the design of operation osteotomy scheme based on preoperative 3D image reconstruction and editor, and extracts osteotomy line
In the location information of image space；
2) operation tool is installed in mechanical arm end；
3) to coordinate system and image space coordinate system where coordinate system, the navigation camera set on mechanical arm side where mechanical arm,
Three carries out integrated unified；
4) the osteotomy line that step 1) is extracted is mapped in operative space by the integrated unification of three coordinate systems by step 3)
Camera coordinates system and mechanical arm coordinate system, to realize the path planning of laser bone-culting operation robot.
3. a kind of paths planning method of laser bone-culting operation robot system according to claim 1 or 2, feature exist
In the medical worker is by preoperative three-dimensional based on the design that preoperative 3D image reconstruction and editor complete operation osteotomy scheme
What surgery planning and simulation softward were realized, preoperative three-dimensional surgery planning and simulation softward are installed on computer, also fill in computer
There is the image-guidance software in robot on-line controller software and surgical procedure.
4. a kind of paths planning method of laser bone-culting operation robot system according to claim 3, which is characterized in that
The osteotomy line is the virtual osteotomy plane in bone tissue surface point cloud data and surgical simulation software that 3D image reconstruction goes out
IntersectionmL1, i.e.,mL1=mpi(x,y,z)|mpi∈S1∩O1, i ∈ [0, n] }, S1For bone tissue outermost surface point cloud, O1For
Virtual osteotomy plane.
5. a kind of paths planning method of laser bone-culting operation robot system according to claim 2, which is characterized in that
The operation tool includes the clamping device set on the mechanical arm end, and clamping device clamps laser emitter, Laser emission
One end of device is for emitting laser, and other end setting is for the infrared reflecting flag member with the navigation camera cooperation.
6. a kind of paths planning method of laser bone-culting operation robot system according to claim 5, which is characterized in that
The infrared reflecting flag member include it is multiple, infrared reflecting flag member setting position according to it is described navigation camera inside
Parameter is determined, and navigation camera is infrared light stereoscopic camera.
7. a kind of paths planning method of laser bone-culting operation robot system according to claim 5, which is characterized in that
It is as follows to realize that three carries out integrating unified method in the step 3):
The position of the focus of the emitted laser of laser emitter is calibrated in camera coordinates system by infrared reflecting flag member；
Position and the posture for calibrating the tool center point of mechanical arm default in camera coordinates system by infrared reflecting flag member, into
And acquire the base coordinate system of mechanical arm and the transformational relation of camera coordinates system；It is same on patient body finally by being set in advance in
Famous cake realizes the relationship between preoperative 3-dimensional image image coordinate system and camera coordinates system, finally realizes mechanical arm, navigation camera
And image space coordinate system, and then complete the system integration.
8. a kind of paths planning method of laser bone-culting operation robot system according to claim 2, which is characterized in that
The paths planning method of the step 4), geometric path planning and the planning of operation tool posture including osteotomy robot；
Geometric path planning is based on the osteotomy line extracted in step 1)mL1Upper all discrete pointsmpi(x, y, z) passes through B sample three times
Difference approaches approximating method completion；
Operation tool posture be withmL1Upper all discrete pointsmpi(x, y, z) is the operation tool coordinate system and camera coordinates of origin
Three reference axis of the angle between system, operation tool coordinate system are respectively defined as
WhereinFor virtual osteotomy plane O1Unit normal vector inwards, pn-i, pnFor osteotomy linemL1Upper two adjacent points.
9. a kind of paths planning method of laser bone-culting operation robot system according to claim 1, which is characterized in that
The sequence of the step 1) and step 2) is replaceable.
10. a kind of laser bone-culting operation robot system, which is characterized in that including mechanical arm, the setting of mechanical arm end is for cutting
The operation tool of bone, the side setting navigation camera of mechanical arm,
Operation tool includes the clamping device set on the mechanical arm end, and clamping device clamps laser emitter, clamping device
Including two supporting rods, wherein rotating electric machine is arranged in a supporting rod, the side of rotating electric machine and laser emitter is connected, for adjusting
The angle of whole laser emitter, one end of laser emitter for emitting laser, other end setting for the navigation camera
The infrared reflecting flag member of cooperation；Robot, navigation camera and operation tool are connect with master controller.
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| CN110811832A (en) * | 2019-11-21 | 2020-02-21 | 苏州微创畅行机器人有限公司 | Osteotomy checking method, checking equipment, readable storage medium and orthopedic surgery system |
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| CN112842521A (en) * | 2021-02-09 | 2021-05-28 | 中国人民解放军陆军军医大学第二附属医院 | Laser cuts supplementary full knee joint replacement surgery robot of bone |
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| CN114888792A (en) * | 2022-04-21 | 2022-08-12 | 北京航空航天大学 | Tool coordinate system calibration method in osteotomy robot system based on TCP method |
| CN114888792B (en) * | 2022-04-21 | 2023-09-05 | 北京航空航天大学 | Tool coordinate system calibration method in osteotomy robot system based on TCP method |
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