Surgical platform positioning system and pose information determination method and device

Abstract

The embodiment of the invention discloses a surgical platform positioning system and a pose information determination method and device. The system comprises a positioning module, at least one operation platform and at least one pose acquisition module, wherein the pose acquisition module is used for being installed on a measured object, acquiring initial pose information of the measured object, and sending the initial pose information to the positioning module; wherein the detected object comprises at least one operation platform, or comprises a positioning module and at least one operation platform; and the positioning module is used for receiving the initial pose information sent by the pose acquisition module, and determining target pose information of each detected object in the same space based on the initial pose information. Through the technical scheme disclosed by the embodiment of the invention, the positioning operation of the operation platform is simply, conveniently and quickly completed, and the positioning accuracy is improved.

Description

technical field [0001] The embodiments of the present invention relate to the field of computer technology, and in particular to a positioning system for an operating platform, a method and a device for determining pose information. Background technique [0002] Existing surgical platforms can be divided into single column type (similar to da Vinci Surgical system) and split multi-column type, in which the split multi-column surgical platform system needs to locate the relative orientation and / or positional relationship of each robotic arm before the operation, and this information is one of the necessary conditions for subsequent teleoperation. [0003] Existing solutions usually use machine vision methods for preoperative positioning of the manipulator, and use monocular or multi-eye cameras to identify target points or feature patterns fixed on the manipulator or trolley, so as to determine the position of the manipulator or trolley in the vision system. Under positioni...

AI Technical Summary

Problems solved by technology

[0004] The existing technology usually has the following problems in the implementation process: first, the vision-based method is easily affected by environmental factors, such as lighting, reflection, noise, occlusion, etc., which makes the preoperative preparation process complicated and requires repeated adjustments to complete For the registration work, for the special positioning operation, it is not even possible to complete the positioning work only with a single camera device; the second method is based on manual work, which is easily affected by human factors, and it is difficult to guarantee accuracy and reliability, and can only determine the position of the trolley. orientation information

The implementation of the above two solutions is cumbersome and may lead to inaccurate positioning of the surgical platform, thereby affecting subsequent surgical results

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