| The radio ablation of the intervertebral disc guided by the C-arm’s X-ray image is a percutaneous puncture for the minimally invasive surgery of disc herniation,which has the advantages of small trauma and fast recovery.The precise positioning of the puncture needle is the key to the operation.The traditional radiofrequency ablation of the intervertebral disc has a long operation time and a cumbersome operation process.The doctor is harmed by X-ray radiation,there is no protection mechanism,and the puncture is easy to fail.In order to solve the above problems,this paper designs a set of spinal puncture surgery robot system,and conducts research on the interactive guidance control of the robot system to assist doctors to complete the operation safely and efficiently.In view of the characteristics of spinal puncture robots,this paper firstly uses a step-by-step kinematics analysis method to solve the robot’s positive and negative solutions.Then,in order to solve the problem of insufficient automation of the positioning operation of the robot system,this paper proposes an automatic initial positioning control for position based visual positioning and image based positioning strategy,and for the identification of markers,a feature point detection and matching algorithm is proposed to achieve automatic initial positioning of the robot.Aiming at the shortcomings of less teleoperation information feedback,this paper also proposes a point cloud-based interactive guidance control algorithm,which provides doctors with three-dimensional visual feedback and tactile feedback,and at the same time limits the motion of the puncture needle.At the end of this paper,a separate incremental teleoperation control algorithm is also proposed to improve the ease of teleoperation.This paper verifies the accuracy of the visual positioning and the interactivity of the teleoperation control algorithm.The experimental results show that the robot’s initial positioning accuracy based on visual guidance is 1.96 pixels,and the maximum teleoperation accuracy is 1.58 mm,which meets the needs of surgery.At the same time,the system provides doctors with a good teleoperation system with visual tactile feedback,simplifying operation The process improves the accuracy and efficiency of the operation and ensures the safety of the operation. |
