Surgical navigation positioning system, device and storage medium

Abstract

The present invention provides a surgical navigation positioning system, device and storage medium. The readable storage medium stores computer instructions. When the instructions are executed by a processor, the steps of the following method are implemented: obtaining multiple X-ray images including a calibration plate and a patient's lesion, determining a three-dimensional needle insertion channel based on the X-ray images, determining a movement path, a target position and a target posture of a robotic arm based on the three-dimensional needle insertion channel, and controlling the robotic arm to move to the target position and maintain the target posture according to the movement path, the target position and the target posture based on the movement path, the target position and the target posture of the robotic arm. This can help doctors accurately place nails while allowing doctors and patients to receive minimal X-ray radiation and reducing the complexity and difficulty of use of the navigation system.

Description

Technical Field

[0001] The present invention relates to the field of orthopedic medical devices, and in particular to a surgical navigation and positioning system, device, and storage medium. Background Art

[0002] In recent years, orthopedic surgery has made tremendous progress, gradually entering a stage of precision and minimally invasive procedures. Take spinal surgery, for example. The spine's complex anatomy and proximity to vital blood vessels and nerves necessitate precise placement of pedicle screws. However, due to the diverse conditions and surgical plans of each patient, precise screw placement has become a key and technical challenge in these surgeries. To improve the accuracy of screw placement during orthopedic surgery, minimize damage to nerves, organs, and blood vessels, and increase surgical success rates, a variety of orthopedic navigation systems have been developed and applied, including robotic navigation, computer-assisted intraoperative CT 3D reconstruction navigation, C-arm navigation, and electromagnetic navigation.

[0003] However, most robotic navigation systems require the acquisition of three-dimensional data during surgery, which increases intraoperative radiation. In addition, most robotic navigation systems require the installation of a reference frame on the patient and the use of a binocular camera, which makes operation complicated. A single CT navigation mode cannot provide access information for surgery. C-arm-assisted navigation only provides two-dimensional images and requires multiple X-ray images to be taken during surgery, exposing patients and medical staff to large amounts of radiation. Electromagnetic navigation combines two-dimensional or three-dimensional images to provide doctors with real-time position information of the guide needle in the human body, while the doctor needs to find the exact needle insertion direction himself. Summary of the Invention

[0004] In response to the above technical problems existing in the prior art, the present invention provides a surgical navigation and positioning system, device and storage medium.

[0005] In a first aspect, the present invention provides a readable storage medium, comprising:

[0006] Computer instructions are stored thereon, and when the instructions are executed by a processor, the steps described in the following method are implemented:

[0007] Acquiring multiple X-ray images including the calibration plate and the patient's lesion;

[0008] determining a three-dimensional needle insertion channel based on the X-ray image;

[0009] Determining a movement path, a target position, and a target posture of the robotic arm based on the three-dimensional needle insertion channel;

[0010] Based on the running path, target position and target posture of the robotic arm, the robotic arm is controlled to run to the target position according to the running path and maintain the target posture.

[0011] Optionally, according to the readable storage medium of the present invention, the determining of the three-dimensional needle insertion channel based on the X-ray image includes:

[0012] Registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images;

[0013] The three-dimensional needle insertion channel is determined based on the spatial position relationship between the multiple X-ray images.

[0014] Optionally, according to the readable storage medium of the present invention, registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images includes:

[0015] Registering the X-ray images to obtain a relationship matrix between multiple C-arm machine postures and the robotic arm;

[0016] Based on the relationship matrix, the spatial position relationship between the multiple X-ray images is determined.

[0017] Optionally, according to the readable storage medium of the present invention, determining the three-dimensional needle insertion channel based on the spatial positional relationship between the multiple X-ray images includes:

[0018] Determine the marker line segments in each X-ray image;

[0019] The three-dimensional needle insertion channel is determined based on the spatial position relationship between the marking line segments and the multiple X-ray images.

[0020] Optionally, according to the readable storage medium of the present invention, the method further includes:

[0021] Determine whether the robot arm collides with surrounding objects during movement, and if a collision occurs, control the robot arm to stop moving.

[0022] Optionally, according to the readable storage medium of the present invention, registering the X-ray image includes:

[0023] Each time an X-ray image is acquired, registration is performed.

[0024] Optionally, according to the readable storage medium of the present invention, the multiple X-ray images containing the registration plate and the patient's lesion are taken by a C-arm machine in different postures.

[0025] In a second aspect, the present invention provides a surgical navigation positioning device, comprising:

[0026] An image acquisition module, configured to acquire a plurality of X-ray images including the calibration plate and the patient's lesion;

[0027] a needle insertion channel determination module, configured to determine a three-dimensional needle insertion channel based on the X-ray image;

[0028] An operation parameter determination module, configured to determine an operation path, a target position, and a target posture of the robotic arm based on the three-dimensional needle insertion channel;

[0029] The motion control module is used to control the robotic arm to move to the target position and maintain the target posture according to the movement path, target position and target posture of the robotic arm.

[0030] In a third aspect, an embodiment of the present invention provides a surgical navigation and positioning system, comprising:

[0031] A robotic arm trolley and a C-arm machine, wherein the robotic arm trolley is communicatively connected to the C-arm machine;

[0032] The robotic arm trolley includes a computer host, a controller and a robotic arm;

[0033] The robotic arm comprises a robotic arm body and an end instrument and a registration plate installed at the end of the robotic arm;

[0034] The C-arm machine is used to obtain multiple X-ray images containing the registration plate and the patient's lesion;

[0035] The controller is in communication with the robotic arm and is configured to control the robotic arm to move to the target position and maintain the target posture according to the movement path, target position, and target posture of the robotic arm;

[0036] The computer host comprises:

[0037] a display, a processor, and a memory for storing processor-executable instructions;

[0038] The processor is configured to implement the steps of the method in the readable storage medium as described in the first aspect.

[0039] Optionally, the robotic arm trolley further includes:

[0040] A keyboard and a mouse electrically connected to the computer host;

[0041] The end instrument is a sleeve, and the target position and target posture of the sleeve are used to indicate the three-dimensional needle insertion channel;

[0042] The robotic arm also includes a force feedback device for detecting whether the robotic arm collides with surrounding objects during movement.

[0043] The surgical navigation positioning system, device and storage medium provided by the present invention obtain multiple X-ray images containing a registration plate and a patient's lesion, determine a three-dimensional needle insertion channel based on the X-ray images, and determine the movement path, target position and target posture of the robotic arm based on the three-dimensional needle insertion channel, and control the robotic arm to move to the target position according to the movement path and maintain the target posture, which can help doctors accurately place nails while allowing doctors and patients to receive minimal X-ray radiation, and greatly reduce the complexity and difficulty of use of the navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 It is a schematic diagram of a method flow corresponding to the computer instructions stored in the readable storage medium provided by the present invention;

[0046] Figure 2 It is a structural schematic diagram of the surgical navigation and positioning device provided by the present invention;

[0047] Figure 3 It is a structural diagram of the surgical navigation and positioning system provided by the present invention.

[0048] Reference numerals:

[0049] 1: Robotic arm trolley; 2: Robotic arm; 3: C-arm machine;

[0050] 4: End device. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0052] Figure 1 The following is a flow chart of a method corresponding to computer instructions stored in a readable storage medium provided by the present invention. The readable storage medium stores computer instructions thereon, which, when executed by a processor, implement the steps described in the following method:

[0053] Step 101: Acquire multiple X-ray images containing a calibration plate and a patient's lesion.

[0054] Step 102: Determine a three-dimensional needle insertion channel based on the X-ray image.

[0055] Step 103: determining the movement path, target position, and target posture of the robotic arm based on the three-dimensional needle insertion channel.

[0056] Step 104 : Based on the movement path, target position, and target posture of the robot arm, control the robot arm to move to the target position according to the movement path and maintain the target posture.

[0057] Specifically, during operation, the C-arm captures multiple X-ray images containing the registration plate and the patient's lesion. The host computer acquires the X-ray images and determines the three-dimensional needle insertion channel based on the X-ray images. The robot's path, target position, and target posture are then determined based on the three-dimensional needle insertion channel. A controller then controls the robot arm to move to the target position and maintain the target posture based on the path, target position, and target posture of the robot arm. Medical staff can precisely place the pins according to the three-dimensional needle insertion channel indicated by the robot arm. Only two X-ray images are required to determine the three-dimensional needle insertion channel during surgery, and there is no need to install a reference frame on the patient.

[0058] The readable storage medium provided by the present invention obtains multiple X-ray images containing a registration plate and a patient's lesion, determines a three-dimensional needle insertion channel based on the X-ray images, and determines the movement path, target position and target posture of the robotic arm based on the three-dimensional needle insertion channel, controls the robotic arm to move to the target position according to the movement path and maintain the target posture, thereby helping doctors to accurately place nails while allowing doctors and patients to receive minimal X-ray radiation, and greatly reducing the complexity and difficulty of use of the navigation system.

[0059] Based on the above embodiment, determining a three-dimensional needle insertion channel based on the X-ray image includes:

[0060] Registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images;

[0061] The three-dimensional needle insertion channel is determined based on the spatial position relationship between the multiple X-ray images.

[0062] Specifically, after the computer host obtains the X-ray image taken by the C-arm machine, it will align it to determine the spatial position relationship between the multiple X-ray images, and then determine the three-dimensional needle insertion channel based on the spatial position relationship between the multiple X-ray images through the built-in host computer software.

[0063] The readable storage medium provided by the present invention can quickly determine the needle insertion channel and improve the efficiency of nail placement by registering the X-ray images with a computer host and determining the spatial position relationship between the multiple X-ray images, and then determining the three-dimensional needle insertion channel based on the spatial position relationship between the multiple X-ray images.

[0064] Based on the above embodiment, registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images includes:

[0065] Registering the X-ray images to obtain a relationship matrix between multiple C-arm machine postures and the robotic arm;

[0066] Based on the relationship matrix, the spatial position relationship between the multiple X-ray images is determined.

[0067] Specifically, the computer host aligns the X-ray images to obtain a relationship matrix between multiple C-arm machine postures and robotic arms, and the host software algorithm in the computer host analyzes the relationship matrix to obtain the spatial position relationship between the multiple X-ray images.

[0068] The readable storage medium provided by the present invention aligns the X-ray images through a computer host to obtain a relationship matrix between multiple C-arm machine postures and robotic arms, and determines the spatial position relationship between the multiple X-ray images based on the relationship matrix, which can ensure the accuracy of the spatial position relationship and thus ensure the accuracy of the subsequent needle insertion channel.

[0069] Based on the above embodiment, determining the three-dimensional needle insertion channel based on the spatial position relationship between the multiple X-ray images includes:

[0070] Determine the marker line segments in each X-ray image;

[0071] The three-dimensional needle insertion channel is determined based on the spatial position relationship between the marking line segments and the multiple X-ray images.

[0072] Specifically, after obtaining the X-ray images, the computer host first determines the marked line segments in each X-ray image (these marked line segments are the two-dimensional needle insertion path), and then determines the three-dimensional needle insertion path based on the marked line segments and the spatial positional relationship between the multiple X-ray images. In actual operation, the marked line segments can be obtained by the doctor based on experience in the X-ray images, or they can be obtained by the host computer software in each X-ray image based on the skeletal structure of the lesion area in the X-ray image. This embodiment of the present invention is not specifically limited to this.

[0073] The readable storage medium provided by the present invention determines the marked line segments in each X-ray image through a computer host, and then determines the three-dimensional needle insertion channel based on the marked line segments and the spatial position relationship between the multiple X-ray images, thereby improving the efficiency of nail placement, simplifying the hardware structure of the device, and reducing the difficulty of operation.

[0074] Based on the above embodiment, the method further includes:

[0075] Determine whether the robot arm collides with surrounding objects during movement, and if a collision occurs, control the robot arm to stop moving.

[0076] Specifically, the computer host determines whether the robotic arm collides with surrounding objects during its movement. If a fault is determined, the computer host immediately controls the robotic arm to stop moving. The specific determination process can adopt any determination method known in the art and is not specifically limited in the present embodiment.

[0077] The readable storage medium provided by the present invention determines whether the robotic arm collides with surrounding objects during movement. If a collision occurs, the robotic arm is controlled to stop moving, thereby improving the safety of the robotic arm during surgery and avoiding accidents.

[0078] Based on the above embodiment, registering the X-ray image includes:

[0079] Each time an X-ray image is taken, a registration is performed.

[0080] Specifically, in order to ensure the accuracy of determining the spatial position relationship between X-ray images, the C-arm machine performs registration once for each X-ray image taken until the end of the shooting.

[0081] The readable storage medium provided by the present invention maximizes the accuracy of determining the spatial position relationship between X-ray images by performing a registration each time an X-ray image is taken, thereby ensuring the accuracy of the needle insertion channel.

[0082] Based on the above embodiment, the multiple X-ray images containing the registration plate and the patient's lesion are taken by the C-arm machine in different postures.

[0083] Specifically, the C-arm machine can take pictures at different postures to obtain pictures at different angles containing the registration plate and the patient's lesion, so as to ensure that the X-ray image can contain as much positioning information as possible. Based on these images, the accuracy of the subsequent determination of the spatial position relationship and the needle insertion channel can be guaranteed. The actual shooting process is: after the C-arm machine takes an X-ray image in a certain posture, the C-arm machine is adjusted to the next posture and continues to shoot, and so on, until all X-ray images are taken. The adjustment method is preferably automatic adjustment controlled by a program, and of course it can also be set to manual adjustment. The embodiment of the present invention does not specifically limit this.

[0084] During actual operation, the C-arm can be adjusted to capture two or more X-ray images as needed. Two X-ray images can be captured, for example, in the anteroposterior and lateral positions, while three X-ray images can be captured, for example, in the entry, exit, and lateral positions. It is understood that the C-arm's position is not limited to the anteroposterior, lateral, entry, exit, and lateral positions, and the number of X-ray images is not limited to two or three. This is not specifically limited in the present embodiment.

[0085] The readable storage medium provided by the present invention can ensure that the X-ray images can contain as much positioning information as possible by obtaining the multiple X-ray images by taking the C-arm machine in different postures, thereby ensuring the accuracy of the subsequent spatial position relationship and needle insertion channel determination.

[0086] Figure 2 FIG. 1 is a schematic diagram of the structure of the surgical navigation positioning device provided by the present invention. Figure 2 As shown, the device includes:

[0087] An image acquisition module 201 is configured to acquire multiple X-ray images including the calibration plate and the patient's lesion;

[0088] A needle insertion channel determination module 202 is configured to determine a three-dimensional needle insertion channel based on the X-ray image;

[0089] An operation parameter determination module 203 is used to determine the operation path, target position and target posture of the robot arm based on the three-dimensional needle insertion channel;

[0090] The motion control module 204 is used to control the robotic arm to move to the target position and maintain the target posture according to the movement path, target position and target posture of the robotic arm.

[0091] Based on the above embodiment, determining a three-dimensional needle insertion channel based on the X-ray image includes:

[0092] Registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images;

[0093] The three-dimensional needle insertion channel is determined based on the spatial position relationship between the multiple X-ray images.

[0094] Based on the above embodiment, registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images includes:

[0095] Registering the X-ray images to obtain a relationship matrix between multiple C-arm machine postures and the robotic arm;

[0096] Based on the relationship matrix, the spatial position relationship between the multiple X-ray images is determined.

[0097] Based on the above embodiment, determining the three-dimensional needle insertion channel based on the spatial position relationship between the multiple X-ray images includes:

[0098] Determine the marker line segments in each X-ray image;

[0099] The three-dimensional needle insertion channel is determined based on the spatial position relationship between the marking line segments and the multiple X-ray images.

[0100] Based on the above embodiment, the method further includes:

[0101] Determine whether the robot arm collides with surrounding objects during movement, and if a collision occurs, control the robot arm to stop moving.

[0102] Based on the above embodiment, registering the X-ray image includes:

[0103] Each time an X-ray image is acquired, registration is performed.

[0104] Based on the above embodiment, the multiple X-ray images containing the registration plate and the patient's lesion are taken by a C-arm machine in different postures.

[0105] Specifically, the above-mentioned surgical navigation and positioning device provided in the embodiment of the present application can implement all the method steps implemented by the above-mentioned readable storage medium embodiment, and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as those of the readable storage medium embodiment will not be described in detail here.

[0106] Figure 3 This is a schematic diagram of the structure of the surgical navigation and positioning system provided by the present invention, as shown in FIG. Figure 3 As shown, the system includes:

[0107] A robotic arm trolley 1 and a C-arm machine 3, wherein the robotic arm trolley 1 is communicatively connected to the C-arm machine 3;

[0108] The robotic arm trolley 1 includes a computer host, a controller and a robotic arm 2;

[0109] The robotic arm 2 includes a robotic arm body and an end instrument 4 and a registration plate installed at the end of the robotic arm;

[0110] The C-arm machine 3 is used to obtain multiple X-ray images containing the registration plate and the patient's lesion;

[0111] The controller is in communication with the robotic arm 2 and is configured to control the robotic arm 2 to move to the target position and maintain the target posture according to the movement path, target position, and target posture of the robotic arm 2;

[0112] The computer host comprises:

[0113] a display, a processor, and a memory for storing processor-executable instructions;

[0114] The processor is configured to implement the steps of all methods implemented by the above-mentioned readable storage medium embodiment.

[0115] Specifically, during operation, the C-arm machine 3 acquires multiple X-ray images containing the registration plate and the patient's lesions. The computer host is used to determine the three-dimensional needle insertion channel based on the X-ray images, and to determine the running path, target position and target posture of the robotic arm 2 based on the three-dimensional needle insertion channel. The controller controls the robotic arm 2 to run to the target position and maintain the target posture according to the running path, target position and target posture of the robotic arm 2, thereby realizing automatic obstacle avoidance and shortest path operation of the robotic arm 2. The end instrument 4 in the target posture is used to indicate the three-dimensional needle insertion channel. Medical staff can achieve precise nail placement according to the three-dimensional needle insertion channel indicated by the end instrument 4. At least two X-ray images are required to determine the three-dimensional needle insertion channel during the operation, and there is no need to install a reference frame on the patient.

[0116] The system provided by the present invention acquires multiple X-ray images containing a registration plate and a patient's lesion through a C-arm machine. The computer host determines a three-dimensional needle insertion channel based on the X-ray images, and determines the movement path, target position, and target posture of the robotic arm based on the three-dimensional needle insertion channel. The controller controls the robotic arm to move to the target position along the movement path and maintain the target posture, which can help doctors accurately place nails while allowing doctors and patients to receive minimal X-ray radiation, and greatly reduces the complexity and difficulty of use of the navigation system.

[0117] Based on the above embodiment, the robotic arm trolley further includes:

[0118] electrically connecting a keyboard and a mouse to the computer host;

[0119] The end instrument is a sleeve, and the target position and target posture of the sleeve are used to indicate the three-dimensional needle insertion channel;

[0120] The robotic arm also includes a force feedback device for detecting whether the robotic arm collides with surrounding objects during movement.

[0121] Specifically, during the operation, medical staff can view X-ray images, the spatial position relationship between X-ray images, and the three-dimensional needle insertion channel through a display electrically connected to the computer host, and can also input relevant instructions and operate relevant display interfaces through a keyboard and mouse electrically connected to the computer host. The target position and posture of the sleeve are used to indicate the three-dimensional needle insertion channel. Medical staff can insert the intramedullary nail into the needle insertion channel by inserting the nail through the sleeve; the robotic arm 2 realizes the force feedback control function through the force feedback device. When it is detected and determined that the robotic arm collides with the surrounding objects during movement, the robotic arm is immediately controlled to stop moving. As for the specific judgment process, any judgment method in the prior art can be adopted, and the embodiment of the present invention does not make specific limitations.

[0122] The system provided by the present invention realizes relevant command input by electrically connecting a keyboard and a mouse to the computer host, indicates the three-dimensional needle insertion channel through the target position and target posture of the sleeve, and detects and determines whether the robotic arm collides with surrounding objects during movement through a force feedback device. It can accurately indicate the needle insertion channel, greatly reducing the operating difficulty of medical staff and improving the safety of the robotic arm during surgery.

[0123] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0124] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A readable storage medium, characterized in that: Computer instructions are stored thereon, and when the instructions are executed by a processor, the steps of the following method are implemented: Acquire multiple X-ray images containing a registration plate and a patient's lesion; the registration plate is mounted on the end of the robotic arm; determining a three-dimensional needle insertion channel based on the X-ray image; Determining a movement path, a target position, and a target posture of the robotic arm based on the three-dimensional needle insertion channel; Based on the running path, target position and target posture of the robotic arm, control the robotic arm to run to the target position according to the running path and maintain the target posture; The determining of a three-dimensional needle insertion channel based on the X-ray image comprises: Registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images; determining the three-dimensional needle insertion channel based on the spatial position relationship between the multiple X-ray images; The registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images includes: Registering the X-ray images to obtain a relationship matrix between multiple C-arm machine postures and the robotic arm; Determining the spatial position relationship between the plurality of X-ray images based on the relationship matrix; Determining the three-dimensional needle insertion channel based on the spatial position relationship between the multiple X-ray images includes: Determining a marked line segment in each X-ray image; the marked line segment is obtained by a doctor marking in the X-ray image based on experience, or is obtained by software marking in each X-ray image based on the bone structure of the lesion area in the X-ray image; The three-dimensional needle insertion channel is determined based on the spatial position relationship between the marking line segments and the multiple X-ray images.

2. The readable storage medium according to claim 1, wherein The method further comprises: Determine whether the robot arm collides with surrounding objects during movement, and if a collision occurs, control the robot arm to stop moving.

3. The readable storage medium according to claim 1, wherein The registering of the X-ray images comprises: Each time an X-ray image is acquired, registration is performed.

4. The readable storage medium according to claim 1, wherein The multiple X-ray images containing the registration plate and the patient's lesions are taken by a C-arm machine in different postures.

5. A surgical navigation positioning device, characterized in that: include: An image acquisition module, configured to acquire a plurality of X-ray images including a registration plate and a patient's lesion; a needle insertion channel determination module, configured to determine a three-dimensional needle insertion channel based on the X-ray image; An operation parameter determination module, configured to determine an operation path, a target position, and a target posture of the robotic arm based on the three-dimensional needle insertion channel; A motion control module, configured to control the robotic arm to move to the target position and maintain the target posture according to the movement path, target position, and target posture of the robotic arm; The determining of a three-dimensional needle insertion channel based on the X-ray image comprises: Registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images; determining the three-dimensional needle insertion channel based on the spatial position relationship between the multiple X-ray images; The registering the X-ray images to determine the spatial positional relationship between the multiple X-ray images includes: Registering the X-ray images to obtain a relationship matrix between multiple C-arm machine postures and the robotic arm; Determining the spatial position relationship between the plurality of X-ray images based on the relationship matrix; Determining the three-dimensional needle insertion channel based on the spatial position relationship between the multiple X-ray images includes: Determining a marked line segment in each X-ray image; the marked line segment is obtained by a doctor marking in the X-ray image based on experience, or is obtained by software marking in each X-ray image based on the bone structure of the lesion area in the X-ray image; The three-dimensional needle insertion channel is determined based on the spatial position relationship between the marking line segments and the multiple X-ray images.

6. A surgical navigation and positioning system, characterized in that: include: A robotic arm trolley and a C-arm machine, wherein the robotic arm trolley is communicatively connected to the C-arm machine; The robotic arm trolley includes a computer host, a controller and a robotic arm; The robotic arm comprises a robotic arm body and an end instrument and a registration plate installed at the end of the robotic arm; The C-arm machine is used to obtain multiple X-ray images containing the registration plate and the patient's lesion; The controller is in communication with the robotic arm and is configured to control the robotic arm to move to the target position and maintain the target posture according to the movement path, target position, and target posture of the robotic arm; The computer host comprises: a display, a processor, and a memory for storing processor-executable instructions; The processor is configured to execute computer instructions stored in the readable storage medium according to any one of claims 1 to 4.

7. The surgical navigation and positioning system according to claim 6, characterized in that: The robotic arm trolley also includes: A keyboard and a mouse electrically connected to the computer host; The end instrument is a sleeve, and the target position and target posture of the sleeve are used to indicate the three-dimensional needle insertion channel; The robotic arm also includes a force feedback device for detecting whether the robotic arm collides with surrounding objects during movement.

Images