Surgical Navigation Robot Based on Binocular Stereovision

摘要

Using infra-medullary nail to fix the bone is the usual method in femoral fracture operation, but how to locate the distal interlocking hole is the key difficulty of the operation. Developing an operation navigation system based on binocular vision, and transferring the position of screw-hole to robot, drilling and orientation with the robot system will make minimally invasive surgery come true, and this will also resolve the above problems. The paper introduces the working principle and constitutes of operation robot system, detailed discusses the intra-medullary nail, drill and robot coordinate system and the coordinate transforming connection between them. It also gives the communication between MOTOMAN robot and PC. The system solves the problem of screw-hole's accurately orientation, reduces the shortcomings of manual operation, and also offers the position feedback method of MOTOMAN robot.