关键词: 辅助腹腔镜手术机器人；穿刺孔定位；定位模型；图像导航

Abstract:

On the basis of characteristics of laparoscopic robot with active and passive joints, a method based on geometric model and image to locate the relative position of patient’s puncture to the robot was provided. The method offered the laparoscope posture information for the robot to control laparoscope posture precisely. The location system included two laser and one mirco CCD camera. Experimental results indicate that the method can get the puncture location precisely. The process of puncture location is completed by the robot automatically. It can save surgical time, improve efficiency and avoid the errors caused by the doctors.

Key words: assistant laparoscope surgical robot, puncture location, posture location model, image navigation