Method, equipment and device for tracking operation position of patient

Abstract

The invention discloses a patient operation position tracking method, equipment and device, and the method comprises the steps: pre-determining a patient operation position and a relative pose of an optical calibration label disposed on a patient through optical tracking equipment, and obtaining a depth image of a patient operation region collected by depth equipment in an operation process; determining the pose of the optical calibration label and the position of the operation area of the patient, assisting in judging whether the relative pose of the optical calibration label and the operation pose of the patient is not changed or not, and under the condition that the relative pose is not changed, determining the position of the operation area of the patient according to the pose of the optical calibration label and the relative pose collected by optical tracking equipment. Coordinates of the surgical site of the patient are determined. According to the method, the pose of the optical calibration label and the position of the operation area of the patient are determined through the depth image, whether the relative pose is not changed or not is judged in an auxiliary mode, the change condition of the relative pose can be determined in time, the coordinates of the operation position of the patient can be accurately determined, and potential safety hazards are reduced.

Description

technical field [0001] The present specification relates to the technical field of artificial intelligence, and in particular, to a method, device and device for tracking the surgical position of a patient. Background technique [0002] At present, with the development of artificial intelligence technology, medical robots have become one of the research hotspots in the field of robotics. The application of medical robots in rescue, surgical treatment, rehabilitation training and other medical processes has greatly promoted the development of medicine. However, during the operation of the medical robot, the coordinates of the patient's surgical position may change, so the coordinates of the patient's surgical position need to be tracked. [0003] A commonly used method to track the patient's surgical position is based on infrared cameras. Specifically, the optical calibration label can be fixed at the patient's surgical position first, and the position of the optical calibr...

AI Technical Summary

Problems solved by technology

[0004] However, since the prior art is based on the assumption that the relative pose between the optical calibration tag fixed at the patient's surgical position and the patient's surgical position is constant

However, during the operation, the relative pose between the optical calibration label and the patient's operation position may change, which makes the existing technology have large errors in determining the coordinates of the patient's operation position, and there are potential safety hazards

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