Research of robot-assisted puncture navigation based on 3D reconstruction images

Aiming at the current traditional tumor puncture and interventional surgery, there are problems such as the inability to directly observe the complex interior of the organ, hand-eye coordination, and easy to lose direction, etc., a robot-assisted puncture navigation system as shown in Fig. The robot can complete the navigation of the puncture needle and assist the doctor in completing the surgery under the drive of the navigation software. The navigation system is mainly composed of a robotic puncture system, an electromagnetic localization system, and an upper computer system. In this paper, the CT 3D reconstruction software is firstly designed and integrated into the platform of the assisted puncture navigation system. The alignment technology of the preoperative assisted puncture navigation system is investigated based on the platform. The puncture error is verified to be less than 3mm through experiments, which verifies that the navigation system is reliable and has high accuracy, and it can meet the requirements of surgical use.