Surgical navigation positioning system and method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a surgical navigation positioning system and method, electronic equipment and a storage medium, and relates to the technical field of medical instruments.The system comprises a double-face tracer, a mechanical arm, a binocular camera and a controller, the double-face tracer is two-face spherical markers installed on the two sides of the tail end of the mechanical arm respectively, and the binocular camera is a binocular camera; each side comprises four spherical markers, and the double-sided tracer is placed in the field of view of the binocular camera; the binocular camera collects first position coordinates of the double-sided tracer and sends the first position coordinates to the controller; the controller determines a Z-axis included angle between a first coordinate system where the double-sided tracer is located and a second coordinate system where the binocular camera is located based on the first position coordinates; sending an adjusting instruction to the mechanical arm based on the Z-axis included angle, wherein the adjusting instruction is used for indicating the mechanical arm to adjust the position until the first coordinate system is parallel to the Z axis of the second coordinate system; and the mechanical arm drives the double-sided tracer to adjust the position according to the adjusting instruction. According to the embodiment of the invention, the efficiency of surgical navigation positioning is improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a surgical navigation and positioning system, method, electronic device and storage medium. Background Art

[0002] With the rapid development of surgical techniques, surgical navigation systems have become an indispensable core technology in minimally invasive surgery. At present, most commonly used surgical navigation uses a positioning tracer installed on a robotic arm to achieve precise positioning of the surgical site during surgery. However, when the tracer is installed on the robotic arm, it is easy to introduce positioning errors because the positioning it provides depends on the position adjustment of the robotic arm; and when the tracer is installed at the end of the robotic arm, although it reduces the positioning error caused by the position adjustment of the robotic arm itself, it is easy to be blocked by the doctor's movement or the use position of other instruments at the surgical site, causing positioning obstacles. If you want to avoid obstruction, you need to constantly manually adjust the installation position of the tracer on the robotic arm, which is complicated and cumbersome, and inefficient. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a surgical navigation positioning system, method, electronic device and storage medium to improve the efficiency of surgical navigation positioning. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a surgical navigation and positioning system, comprising: a double-sided tracer, a robotic arm, a binocular camera, and a controller, wherein the double-sided tracer is a two-sided spherical marker respectively installed on both sides of the end of the robotic arm, each side including four of the spherical markers, and the double-sided tracer is placed within the field of view of the binocular camera;

[0005] The binocular camera is used to collect the first position coordinates of the double-sided tracer and send them to the controller;

[0006] The controller is used to determine, based on the first position coordinates, a Z-axis angle between a first coordinate system where the double-sided tracer is located and a second coordinate system where the binocular camera is located; and send an adjustment instruction to the robotic arm based on the Z-axis angle, wherein the adjustment instruction is used to instruct the robotic arm to adjust its position until the Z axes of the first coordinate system and the second coordinate system are parallel;

[0007] The mechanical arm is used to drive the double-sided tracer to adjust its position according to the adjustment instruction.

[0008] In one embodiment of the present application, it includes:

[0009] The controller is used to obtain the first unit vector of the Z axis of the first coordinate system based on the first position coordinate, and use a preset transformation matrix to convert the first unit vector to the second coordinate system to obtain a second unit vector; obtain the third unit vector of the Z axis of the second coordinate system; and obtain the Z axis angle based on the second unit vector and the third unit vector.

[0010] In one embodiment of the present application, the origin of the first coordinate system is the center point between the spherical markers on one side, the XY plane is the plane where the spherical markers are located, and the Z axis is perpendicular to the XY plane; the origin of the second coordinate system is the center point between the two cameras of the binocular camera, the Y axis is the baseline of the two cameras, the X axis is perpendicular to the baseline and perpendicular to the directions of the two cameras, and the Z axis is perpendicular to the XY plane.

[0011] In one embodiment of the present application, the Z-axis angle is calculated according to the following formula:

[0012]

[0013] Among them, θ is the Z-axis angle, (x1, y1, z1) is the third unit vector, and (x2, y2, z2) is the second unit vector.

[0014] In a second aspect, an embodiment of the present application provides a surgical navigation positioning method, which is applied to any of the above-mentioned surgical navigation positioning systems, and the method includes:

[0015] Using a binocular camera to collect the first position coordinates of a double-sided tracer, wherein the double-sided tracer is a two-sided spherical marker respectively installed on both sides of the end of the robot arm, each side includes four of the spherical markers, and the double-sided tracer is placed within the field of view of the binocular camera;

[0016] Based on the first position coordinates, determining a Z-axis angle between a first coordinate system where the double-sided tracer is located and a second coordinate system where the binocular camera is located;

[0017] An adjustment instruction is sent to the robotic arm based on the Z-axis angle, so that the robotic arm drives the double-sided tracer to adjust its position according to the adjustment instruction, wherein the adjustment instruction is used to instruct the robotic arm to adjust its position until the Z-axis of the first coordinate system is parallel to the Z-axis of the second coordinate system.

[0018] In one embodiment of the present application, determining the Z-axis angle between the first coordinate system where the double-sided tracer is located and the second coordinate system where the binocular camera is located based on the first position coordinates includes:

[0019] Obtaining a first unit vector of the Z axis of the first coordinate system based on the first position coordinates;

[0020] Using a preset transformation matrix, transform the first unit vector to the second coordinate system to obtain a second unit vector;

[0021] Obtain a third unit vector of the Z axis of the second coordinate system;

[0022] The Z-axis angle is obtained according to the second unit vector and the third unit vector.

[0023] In one embodiment of the present application, the origin of the first coordinate system is the center point between the spherical markers on one side, the XY plane is the plane where the spherical markers are located, and the Z axis is perpendicular to the XY plane; the origin of the second coordinate system is the center point between the two cameras of the binocular camera, the Y axis is the baseline of the two cameras, the X axis is perpendicular to the baseline and perpendicular to the directions of the two cameras, and the Z axis is perpendicular to the XY plane.

[0024] In one embodiment of the present application, the Z-axis angle is calculated according to the following formula:

[0025]

[0026] Among them, θ is the Z-axis angle, (x1, y1, z1) is the third unit vector, and (x2, y2, z2) is the second unit vector.

[0027] In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0028] Memory, used to store computer programs;

[0029] The processor is used to implement any of the above-mentioned surgical navigation and positioning methods when executing the program stored in the memory.

[0030] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the surgical navigation and positioning method described above is implemented.

[0031] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the surgical navigation and positioning methods described above.

[0032] Beneficial effects of the embodiments of the present application:

[0033] The surgical navigation and positioning system provided in the embodiment of the present application has a double-sided tracer that installs two spherical markers on both sides of the end of the robotic arm, so that the double-sided tracer is placed within the field of view of the binocular camera, and no matter what angle the robotic arm rotates to, at least one spherical marker maintains an unobstructed visual path, which can provide current position information, solves the problem of line of sight obstruction that may be caused by a single-sided tracer, and not only improves the spatial positioning accuracy of the surgical navigation system, but also significantly reduces the potential errors caused by visual interference, ensuring that the surgical operation is accurate to the millimeter level, and improving the success rate of the operation. In addition, there is no need for the doctor to manually adjust the position of the tracer, which reduces the frequency of manual adjustment of the tracer, optimizes the surgical process, reduces the workload of the doctor, and improves the efficiency of surgical navigation positioning and even the surgical process.

[0034] The binocular camera collects the first position coordinates of the double-sided tracer and sends them to the controller; based on the first position coordinates, the controller determines the Z-axis angle between the first coordinate system where the double-sided tracer is located and the second coordinate system where the binocular camera is located; based on the Z-axis angle, an adjustment instruction is sent to the robotic arm, so that the robotic arm drives the double-sided tracer to adjust its position according to the adjustment instruction until the Z-axis of the first coordinate system and the second coordinate system are parallel, so that at least one spherical marker 105 is always within the optimal recognition field of view of the binocular camera, meeting the requirement that the double-sided tracer is always in the optimal recognition area, and improving the safety factor of the operation. During the operation, continuous positioning detection and real-time adjustment are carried out, which reduces the errors that may be caused when the single-sided tracer is blocked and cannot be positioned, and when the tracer is not in the optimal recognition area, the current position information of the robotic arm and even the surgical tool is judged, and at the same time, the operation of manually adjusting the tracer is reduced, and the errors that may be caused by human error factors are reduced, the accuracy of surgical navigation positioning is improved, and the positioning accuracy and operational flexibility of the robotic arm in various surgical postures are enhanced, while improving the safety and reliability of the surgical process. It is widely applicable in various surgeries, especially suitable for complex ones such as spinal surgery and trauma surgery. Specifically, in spinal surgery, the double-sided tracer can accurately follow complex bone structures and can accurately locate even in tortuous anatomical surfaces. In trauma surgery, its rapid response and instant adjustment capabilities can cope with emergencies and ensure the smooth progress of operations under urgent circumstances, fully demonstrating its role in improving the safety factor of high-difficulty operations.

[0035] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0037] Figure 1 A schematic diagram of the structure of a first surgical navigation and positioning system provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the structure of a second surgical navigation and positioning system provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of a surgical navigation and positioning method provided in an embodiment of the present application;

[0040] Figure 4 A possible implementation method of step S102 provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0043] In the related art, in order to avoid the tracer installed at the end of the robotic arm from being blocked during surgery, which would cause the problem of being unable to locate the robotic arm, multiple tracer installation slots are set at the end of the robotic arm. The doctor can choose to install the tracer in the installation slot that will not be blocked at the moment. Different installation slots are used to install tracers of different structures, so that the host computer can determine the current installation slot by identifying the structure of the tracer. This method not only requires clarifying the tracer structure that each installation slot is adapted to, but also requires the doctor to constantly adjust the installation position of the tracer during surgery, which is complicated to operate and inefficient.

[0044] In order to solve this problem, the embodiments of the present application provide a surgical navigation and positioning system, method, electronic device and storage medium.

[0045] The following is a detailed description of the surgical navigation and positioning system provided in the embodiment of the present application. Figure 1 , Figure 1The schematic diagram of the structure of the first surgical navigation and positioning system provided in the embodiment of the present application includes: a double-sided tracer 101, a robot arm 102, a binocular camera 103, and a controller 104. The double-sided tracer 101 is a two-sided spherical marker 105 respectively installed on both sides of the end of the robot arm 102, each side includes four spherical markers 105, and the double-sided tracer 101 is placed within the field of view of the binocular camera 103;

[0046] The binocular camera 103 is used to collect the first position coordinates of the double-sided tracer 101 and send them to the controller 104;

[0047] The controller 104 is used to determine the Z-axis angle between the first coordinate system where the double-sided tracer 101 is located and the second coordinate system where the binocular camera 103 is located based on the first position coordinate; based on the Z-axis angle, send an adjustment instruction to the robot 102, wherein the adjustment instruction is used to instruct the robot 102 to adjust the position until the Z axes of the first coordinate system and the second coordinate system are parallel;

[0048] The mechanical arm 102 is used to drive the double-sided tracer 101 to adjust its position according to the adjustment instruction.

[0049] The robotic arm 102 is used to implement surgical navigation and drive the surgical tools to the desired position during the operation; the double-sided tracer 101 is used as a positioning tool to provide current position information; the binocular camera 103 is used to obtain the position information of the double-sided tracer 101, and determine whether the position of the surgical tools is accurate based on the predetermined positional relationship between the double-sided tracer 101 and the surgical tools driven by the robotic arm 102.

[0050] The double-sided tracer 101 is installed at the end of the robot 102, and two high-precision spherical markers 105 (four spherical markers on each side, a total of eight spherical markers) are installed on both sides of the end of the robot 102. The binocular camera 103 is placed opposite to the robot 102, so that the double-sided tracer 101 at the end of the robot 102 is placed within the field of view of the binocular camera 103. The two-sided spherical markers 105 arranged on both sides of the end of the robot can ensure that no matter which direction the robot 102 rotates to, at least one side of the tracer is facing the binocular camera 103 and is not blocked, so that the binocular camera 103 can collect position information.

[0051] The binocular camera 103 collects the first position coordinates of the double-sided tracer 101, specifically, the position coordinates of the spherical markers 105 on any one side of the double-sided tracer 101. Specifically, the position information of three or more spherical markers on one side of the spherical markers 105 is collected by the binocular camera 103, and the first position coordinates of the double-sided tracer 101 can be determined. The Z-axis angle between the first coordinate system (tool coordinate system) where the double-sided tracer 101 is located and the second coordinate system (camera coordinate system) where the binocular camera 103 is located is determined by the first position coordinates and the predetermined information such as the camera parameters and camera coordinates of the binocular camera 103.

[0052] The Z axis of the first coordinate system is parallel to the Z axis of the second coordinate system, so that at least one spherical marker 105 is always within the optimal recognition field of view of the binocular camera 103, indicating that the double-sided tracer 101 is currently in the optimal recognition area. In the case where the current Z axes are not parallel, even if one spherical marker 105 is within the field of view of the binocular camera 103 and can be recognized, since the spherical marker 105 is not in the optimal recognition area, the positioning of the robot arm and even the surgical tool according to the current position of the spherical marker 105 still has large errors and inaccurate positioning.

[0053] In one embodiment of the present application, Figure 2 As shown, an embodiment of the present application provides a structural schematic diagram of a second surgical navigation and positioning system, wherein the origin of the first coordinate system is the center point between the spherical markers 105 on one side, the XY plane is the plane where the spherical markers 105 are located, and the Z axis is perpendicular to the XY plane; the origin of the second coordinate system is the center point between the two cameras 106 of the binocular camera 103, the Y axis is the baseline of the two cameras 106, the X axis is perpendicular to the baseline and perpendicular to the orientation of the two cameras 106, and the Z axis is perpendicular to the XY plane.

[0054] The Z axes of the first coordinate system and the second coordinate system are parallel, so that at least one spherical marker 105 is always within the optimal recognition field of view of the binocular camera 103 without being blocked, and can provide relatively accurate positioning for the binocular camera 103.

[0055] When the controller 104 detects that the Z-axis angle between the first coordinate system and the second coordinate system deviates from a preset angle (the preset angle is 0 degrees so that the Z-axis is parallel), the controller 104 sends an adjustment instruction to the robot arm 102, so that the robot arm 102 drives the double-sided tracer 101 to adjust its position until the Z-axis angle is adjusted to the preset angle, the Z-axis of the first coordinate system and the second coordinate system are parallel, and the double-sided tracer 101 is in the optimal recognition area.

[0056] Specifically, during the operation, the binocular camera 103 can collect the first position coordinates in real time, and the controller 104 can detect the Z-axis angle in real time, so that it can timely discover and adjust when the angle of the robotic arm 102 deviates and causes the double-sided tracer 101 to be not in the optimal recognition area.

[0057] In one example, during spinal surgery, the binocular camera 103 only needs to capture one side of the tracer, which can leave more space for the doctor to operate. In this case, the preset angle makes one side of the double-sided tracer 101 in the optimal recognition area, which can provide more accurate positioning for the binocular camera 103. Cervical spine, brain surgery and complex trauma surgery require that both sides of the tracer be captured in real time to ensure that the surgical area is fully covered without blind spots. In this case, the preset angle needs to enable the binocular camera 103 to capture both sides of the double-sided tracer 101, and both sides are in the optimal recognition area.

[0058] As can be seen from the above, in the surgical navigation and positioning system provided by the embodiment of the present application, the double-sided tracer installs two spherical markers on both sides of the end of the robotic arm, so that the double-sided tracer is placed within the field of view of the binocular camera, and no matter what angle the robotic arm rotates to, at least one side of the spherical marker maintains an unobstructed visual path, which can provide current position information, solves the problem of line of sight obstruction that may be caused by a single-sided tracer, and not only improves the spatial positioning accuracy of the surgical navigation system, but also significantly reduces the potential errors caused by visual interference, ensuring that the surgical operation is accurate to the millimeter level, and improving the success rate of the operation. In addition, there is no need for the doctor to manually adjust the position of the tracer, which reduces the frequency of manual adjustment of the tracer, optimizes the surgical process, reduces the workload of the doctor, and improves the efficiency of surgical navigation positioning and even the surgical process.

[0059] The binocular camera collects the first position coordinates of the double-sided tracer and sends them to the controller; based on the first position coordinates, the controller determines the Z-axis angle between the first coordinate system where the double-sided tracer is located and the second coordinate system where the binocular camera is located; based on the Z-axis angle, an adjustment instruction is sent to the robotic arm, so that the robotic arm drives the double-sided tracer to adjust its position according to the adjustment instruction until the Z-axis of the first coordinate system and the second coordinate system are parallel, so that at least one spherical marker 105 is always within the optimal recognition field of view of the binocular camera, meeting the requirement that the double-sided tracer is always in the optimal recognition area, and improving the safety factor of the operation. During the operation, continuous positioning detection and real-time adjustment are carried out, which reduces the errors that may be caused when the single-sided tracer is blocked and cannot be positioned, and when the tracer is not in the optimal recognition area, the current position information of the robotic arm and even the surgical tool is judged, and at the same time, the operation of manually adjusting the tracer is reduced, and the errors that may be caused by human error factors are reduced, the accuracy of surgical navigation positioning is improved, and the positioning accuracy and operational flexibility of the robotic arm in various surgical postures are enhanced, while improving the safety and reliability of the surgical process. It is widely applicable in various surgeries, especially suitable for complex ones such as spinal surgery and trauma surgery. Specifically, in spinal surgery, the double-sided tracer can accurately follow complex bone structures and can accurately locate even in tortuous anatomical surfaces. In trauma surgery, its rapid response and instant adjustment capabilities can cope with emergencies and ensure the smooth progress of operations under urgent circumstances, fully demonstrating its role in improving the safety factor of high-difficulty operations.

[0060] In one embodiment of the present application, the controller 104 is used to obtain a first unit vector of the Z axis of the first coordinate system based on the first position coordinates, and use a preset transformation matrix to convert the first unit vector to the second coordinate system to obtain a second unit vector; obtain a third unit vector of the Z axis of the second coordinate system; and obtain the Z axis angle based on the second unit vector and the third unit vector.

[0061] The unit vector of the Z axis of the first coordinate system is calculated according to the first position coordinate to obtain the first unit vector. The first unit vector is converted to the second coordinate system using the transformation matrix, and the Z axis angle is calculated using the obtained second unit vector and the third unit vector of the Z axis of the second coordinate system.

[0062] Exemplarily, the transformation matrix is ​​related to the camera parameters of the binocular camera. The controller can directly obtain the second position information of the feature point of the binocular camera in the second coordinate system, and the transformation matrix can be obtained by reading the camera parameters, the first position information and the second position information using a program installed in the surgical navigation positioning system, and can be implemented specifically according to any transformation matrix reading program.

[0063] In one embodiment of the present application, the Z-axis angle is calculated according to the following formula:

[0064]

[0065] Among them, θ is the Z-axis angle, (x1, y1, z1) is the third unit vector, and (x2, y2, z2) is the second unit vector.

[0066] As can be seen from the above, the surgical navigation positioning system provided in the embodiment of the present application obtains the first unit vector of the Z axis of the first coordinate system based on the first position coordinate, and determines the Z axis angle after converting it to the second coordinate system, thereby ensuring that the obtained Z axis angle is obtained by real-time detection and calculation, thereby improving the accuracy of positioning.

[0067] See also Figure 3 , Figure 3 A schematic flow chart of a surgical navigation positioning method provided in an embodiment of the present application, the method is applied to any of the above-mentioned surgical navigation positioning systems, the method comprising:

[0068] Step S101, using a binocular camera to collect the first position coordinates of the double-sided tracer;

[0069] Wherein, the double-sided tracer is a two-sided spherical marker installed on both sides of the end of the robot arm, each side includes four of the spherical markers, and the double-sided tracer is placed within the field of view of the binocular camera;

[0070] Step S102, based on the first position coordinates, determining a Z-axis angle between a first coordinate system where the double-sided tracer is located and a second coordinate system where the binocular camera is located;

[0071] Step S103, sending an adjustment instruction to the robot arm based on the Z-axis angle, so that the robot arm drives the double-sided tracer to adjust its position according to the adjustment instruction;

[0072] The adjustment instruction is used to instruct the robotic arm to adjust its position until the Z axis of the first coordinate system is parallel to the Z axis of the second coordinate system.

[0073] The surgical navigation positioning method provided in the embodiment of the present application has a double-sided tracer that installs two spherical markers on both sides of the end of the robotic arm, so that the double-sided tracer is placed within the field of view of the binocular camera, and no matter what angle the robotic arm rotates to, at least one side of the spherical marker maintains an unobstructed visual path, which can provide current position information, solves the problem of line of sight obstruction that may be caused by a single-sided tracer, and not only improves the spatial positioning accuracy of the surgical navigation system, but also significantly reduces the potential errors caused by visual interference, ensuring that the surgical operation is accurate to the millimeter level, and improving the success rate of the operation. In addition, there is no need for the doctor to manually adjust the position of the tracer, which reduces the frequency of manual adjustment of the tracer, optimizes the surgical process, reduces the workload of the doctor, and improves the efficiency of surgical navigation positioning and even the surgical process.

[0074] The binocular camera collects the first position coordinates of the double-sided tracer and sends them to the controller; based on the first position coordinates, the controller determines the Z-axis angle between the first coordinate system where the double-sided tracer is located and the second coordinate system where the binocular camera is located; based on the Z-axis angle, an adjustment instruction is sent to the robotic arm, so that the robotic arm drives the double-sided tracer to adjust its position according to the adjustment instruction until the Z-axis of the first coordinate system and the second coordinate system are parallel, so that at least one spherical marker 105 is always within the optimal recognition field of view of the binocular camera, meeting the requirement that the double-sided tracer is always in the optimal recognition area, and improving the safety factor of the operation. During the operation, continuous positioning detection and real-time adjustment are carried out, which reduces the errors that may be caused when the single-sided tracer is blocked and cannot be positioned, and when the tracer is not in the optimal recognition area, the current position information of the robotic arm and even the surgical tool is judged, and at the same time, the operation of manually adjusting the tracer is reduced, and the errors that may be caused by human error factors are reduced, the accuracy of surgical navigation positioning is improved, and the positioning accuracy and operational flexibility of the robotic arm in various surgical postures are enhanced, while improving the safety and reliability of the surgical process. It is widely applicable in various surgeries, especially suitable for complex ones such as spinal surgery and trauma surgery. Specifically, in spinal surgery, the double-sided tracer can accurately follow complex bone structures and can accurately locate even in tortuous anatomical surfaces. In trauma surgery, its rapid response and instant adjustment capabilities can cope with emergencies and ensure the smooth progress of operations under urgent circumstances, fully demonstrating its role in improving the safety factor of high-difficulty operations.

[0075] In one embodiment of the present application, Figure 4 As shown, the above step S102 determines the Z-axis angle between the first coordinate system where the double-sided tracer is located and the second coordinate system where the binocular camera is located based on the first position coordinate, including:

[0076] Step S201, obtaining a first unit vector of the Z axis of the first coordinate system based on the first position coordinates;

[0077] Step S202, using a preset transformation matrix, transforming the first unit vector to the second coordinate system to obtain a second unit vector;

[0078] Step S203, obtaining a third unit vector of the Z axis of the second coordinate system;

[0079] Step S204: obtaining the Z-axis angle according to the second unit vector and the third unit vector.

[0080] In one embodiment of the present application, the origin of the first coordinate system is the center point between the spherical markers on one side, the XY plane is the plane where the spherical markers are located, and the Z axis is perpendicular to the XY plane; the origin of the second coordinate system is the center point between the two cameras of the binocular camera, the Y axis is the baseline of the two cameras, the X axis is perpendicular to the baseline and perpendicular to the directions of the two cameras, and the Z axis is perpendicular to the XY plane.

[0081] In one embodiment of the present application, the Z-axis angle is calculated according to the following formula:

[0082]

[0083] Among them, θ is the Z-axis angle, (x1, y1, z1) is the third unit vector, and (x2, y2, z2) is the second unit vector.

[0084] The surgical navigation positioning method provided in the embodiment of the present application obtains the first unit vector of the Z axis of the first coordinate system based on the first position coordinate, and determines the Z axis angle after converting it to the second coordinate system, thereby ensuring that the obtained Z axis angle is obtained by real-time detection and calculation, thereby improving the accuracy of positioning.

[0085] The present application also provides an electronic device, such as Figure 5 As shown, it includes a processor 501 , a communication interface 502 , a memory 503 and a communication bus 504 , wherein the processor 501 , the communication interface 502 , and the memory 503 communicate with each other via the communication bus 504 .

[0086] Memory 503, used for storing computer programs;

[0087] The processor 501 is used to implement any of the above-mentioned surgical navigation positioning methods when executing the program stored in the memory 503.

[0088] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0089] The communication interface is used for communication between the above electronic device and other devices.

[0090] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0091] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0092] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned surgical navigation positioning methods are implemented.

[0093] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any surgical navigation and positioning method in the above-mentioned embodiments.

[0094] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0095] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0096] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0097] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A surgical navigation and positioning system, characterized in that: include: A double-sided tracer, a robotic arm, a binocular camera, and a controller, wherein the double-sided tracer is a two-sided spherical marker respectively installed on both sides of the end of the robotic arm, each side includes four of the spherical markers, and the double-sided tracer is placed within the field of view of the binocular camera; The binocular camera is used to collect the first position coordinates of the double-sided tracer and send them to the controller; The controller is used to determine, based on the first position coordinates, a Z-axis angle between a first coordinate system where the double-sided tracer is located and a second coordinate system where the binocular camera is located; and send an adjustment instruction to the robotic arm based on the Z-axis angle, wherein the adjustment instruction is used to instruct the robotic arm to adjust its position until the Z axes of the first coordinate system and the second coordinate system are parallel; The mechanical arm is used to drive the double-sided tracer to adjust its position according to the adjustment instruction.

2. The system according to claim 1, characterized in that include: The controller is used to obtain a first unit vector of the Z axis of the first coordinate system based on the first position coordinate, and convert the first unit vector to the second coordinate system using a preset transformation matrix to obtain a second unit vector; Obtain a third unit vector of the Z axis of the second coordinate system; The Z-axis angle is obtained according to the second unit vector and the third unit vector.

3. The system according to claim 1, characterized in that The origin of the first coordinate system is the center point between the spherical markers on one side, the XY plane is the plane where the spherical markers are located, and the Z axis is perpendicular to the XY plane; the origin of the second coordinate system is the center point between the two cameras of the binocular camera, the Y axis is the baseline of the two cameras, the X axis is perpendicular to the baseline and perpendicular to the directions of the two cameras, and the Z axis is perpendicular to the XY plane.

4. The system according to claim 2, characterized in that The Z-axis angle is calculated according to the following formula: Among them, θ is the Z-axis angle, (x1, y1, z1) is the third unit vector, and (x2, y2, z2) is the second unit vector.

5. A surgical navigation positioning method, characterized in that: Applied to the surgical navigation and positioning system according to any one of claims 1 to 4, the method comprising: Using a binocular camera to collect the first position coordinates of a double-sided tracer, wherein the double-sided tracer is a two-sided spherical marker respectively installed on both sides of the end of the robot arm, each side includes four of the spherical markers, and the double-sided tracer is placed within the field of view of the binocular camera; Based on the first position coordinates, determining a Z-axis angle between a first coordinate system where the double-sided tracer is located and a second coordinate system where the binocular camera is located; An adjustment instruction is sent to the robotic arm based on the Z-axis angle, so that the robotic arm drives the double-sided tracer to adjust its position according to the adjustment instruction, wherein the adjustment instruction is used to instruct the robotic arm to adjust its position until the Z-axis of the first coordinate system is parallel to the Z-axis of the second coordinate system.

6. The method according to claim 5, characterized in that The method of determining the Z-axis angle between the first coordinate system where the double-sided tracer is located and the second coordinate system where the binocular camera is located based on the first position coordinates includes: Obtaining a first unit vector of the Z axis of the first coordinate system based on the first position coordinates; Using a preset transformation matrix, transform the first unit vector to the second coordinate system to obtain a second unit vector; Obtain a third unit vector of the Z axis of the second coordinate system; The Z-axis angle is obtained according to the second unit vector and the third unit vector.

7. The method according to claim 6, characterized in that The origin of the first coordinate system is the center point between the spherical markers on one side, the XY plane is the plane where the spherical markers are located, and the Z axis is perpendicular to the XY plane; the origin of the second coordinate system is the center point between the two cameras of the binocular camera, the Y axis is the baseline of the two cameras, the X axis is perpendicular to the baseline and perpendicular to the directions of the two cameras, and the Z axis is perpendicular to the XY plane.

8. The method according to claim 7, characterized in that The Z-axis angle is calculated according to the following formula: Among them, θ is the Z-axis angle, (x1, y1, z1) is the third unit vector, and (x2, y2, z2) is the second unit vector.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 5-8 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 5 to 8 are implemented.

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