Research On Registration And Navigation Control Of Robot Assisted Sinus Surgery

Endoscopic surgery as a complete treatment of intranas al lesions effective method,after 50 years of development has gradually matured,and surgical methods and methods have been fixed.The traditional method of endoscopic sinus surgery is the surgeon holding a mirror,the other hand with surgical instruments for surgical operations,this method allows physicians can not carry out complex two-handed surgical procedures,the quality of operations can not be guaranteed.In addition,the nasal cavity due to its complex internal structure,and the skull base and o ther key anatomical and physiological sites adjacent,making the surgery risk is extremely high.Therefore,the researchers put forward the use of robot-assisted surgical operation for the operation,through the robotic endoscope to provide the doctor with a surgical field of vision,thus overcoming the above shortcomings and improving surgical operation.In this paper,in order to solve the problems in the operation of endoscopic sinus surgery,an optical positioning system and medical image processing technology are proposed to be added to the robot control system to improve the running accuracy and ensure the safety of the operation.At present,surgical robotic products on the market are not targeted for specific functions of nasal surgery.The narrow operating space of the nasal cavity places high demands on the structure and control of robots,making the surgical robots unable to be applied to nasal surgery.Research units focused on the research products focused on fixed endoscopic treatment,the navig ation and automatic follow function is not concerned.In this paper,the technical research on navigation and automatic follow-up has been carried out.Firstly,the registration and registration of robot workspace coordinate system,optical system space co ordinate system and three-dimensional image space system coordinate system are discussed.Spatial transformation consistency method and ICP The registration algorithm ensures the registration accuracy of the mapping so that the three are consistent in space,which facilitates the following image-based tracking and navigation control of the endoscopic instrument held by the robot.Using Qt software development platform combined with open source image processing library such as ITK and VTK to process the CT images obtained by scanning the skull of the patient to obtain the soft tissue and bone tissue information of the nasal cavity and visualize the unobservable parts of the doctor in the actual operation The interface is presented for easier and more accurate treatment.According to the characteristics of nasal surgery,the nasal cavity internal tissue surface location information is obtained by image segmentation.By locating the target location in the software of the host computer,the algorithm based on the A-star trajectory search algorithm and the robot pose constraint condition algorithm is used to search the path from the initial position of the robot Until you reach the end of the selected target location path.The robot reaches the target area accordin g to the path control,and continuously adjusts the posture on the way so that the nasal endoscope does not damage the tissue of the patient and makes the patient in a safe state.The method proposed in this paper is validated experimentally and the result is in full compliance with the requirements.Robot assisted nasal endoscopic surgery to clinical there are many difficulties to be overcome,the follow-up study needs to man-machine cooperation in the direction of intelligent development.