An auxiliary positioning device and method

Abstract

The application relates to an auxiliary positioning device and method. The device comprises a three-way translation mechanism and a three-way rotation mechanism, a tool connecting end for moving a tool, a detection device located within a preset range around the tool connecting end for acquiring positioning data of an action object of the tool, and a processor electrically connected with the three-way translation mechanism, the three-way rotation mechanism and the detection device respectively for controlling the three-way translation mechanism and the three-way rotation mechanism to move the tool to a target position according to the positioning data. Thus, the tool to be used can be automatically adjusted to a required position, and adjustment at any angle can be realized, so that the efficiency of adjusting the tool to be used in a surgical process is greatly improved, and the precision of the surgery is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technical field, in particular to an auxiliary positioning device and method. BACKGROUND

[0002] With the development of medical technology, in order to improve the convenience and accuracy of doctor's diagnosis or operation, it is necessary to position the surgical instrument at a specified position, therefore, how to move the surgical instrument needed to the specified position is a problem to be solved at present.

[0003] In the traditional technology, a series of mechanical arms are connected to form a connecting rod mechanism, and then the surgical instrument is moved to the position to be fixed by manually adjusting the connecting rod mechanism to complete the positioning of the surgical instrument.

[0004] However, manually adjusting the position of the surgical instrument has large error and is inconvenient for high-precision surgery. SUMMARY

[0005] Therefore, it is necessary to provide an auxiliary positioning device and method capable of automatically adjusting the position of the surgical instrument in view of the above technical problems.

[0006] An auxiliary positioning device, the device comprising: a three-dimensional translation mechanism comprising a device fixed end and a moving end, the moving end moving in three mutually perpendicular directions; a three-dimensional rotation mechanism comprising a moving connection end and a tool connection end, the moving connection end being mechanically connected to the moving end of the three-dimensional translation mechanism, the tool connection end being connected to a tool, the tool connection end rotating around three mutually perpendicular rotation axes; a detection device located within a predetermined range around the tool connection end, used to obtain positioning data of an action object of the tool; a processor electrically connected to the three-dimensional translation mechanism, the three-dimensional rotation mechanism and the detection device, used to control the three-dimensional translation mechanism and the three-dimensional rotation mechanism to move the tool to a target position according to the positioning data.

[0007] In one embodiment, the processor is used to determine a first position coordinate of the action object in a world coordinate system according to the positioning data; obtain a second position coordinate of the tool in the world coordinate system; determine a moving path of the three-dimensional translation mechanism and the three-dimensional rotation mechanism according to the first position coordinate and the second position coordinate; control the three-dimensional translation mechanism and the three-dimensional rotation mechanism to move the tool to the target position according to the moving path of the three-dimensional translation mechanism and the three-dimensional rotation mechanism.

[0008] In one of the embodiments, the detection device comprises an image sensor and a distance sensor, which are electrically connected to the processor respectively, the positioning data comprises an image of the action object acquired by the image sensor and a distance between the action object and the device acquired by the distance sensor; the processor is configured to determine the position coordinates of the action object in the image according to the image of the action object, and determine the position coordinates of the action object in the world coordinate system according to the distance between the action object and the device.

[0009] In one of the embodiments, the detection device comprises a laser radar, which is electrically connected to the processor, the positioning data comprises laser scanning data of the action object acquired by the laser radar after scanning; the processor is configured to determine the relative position between the action object and the device according to the laser scanning data, and determine the position coordinates of the action object in the world coordinate system according to the relative position.

[0010] In one of the embodiments, the processor is further configured to determine the rotation angle of the tool according to the first position coordinates and the second position coordinates, and control the three-way rotation mechanism to adjust the posture of the tool to a target posture according to the rotation angle of the tool.

[0011] In one of the embodiments, the three-way translation mechanism and the three-way rotation mechanism comprise: the three-way translation mechanism comprises: a first lead screw module comprising a first lead screw and a first sliding component in sliding connection with the first lead screw, the first lead screw comprising the device fixed end; a first swing arm rotatably arranged on the first sliding component, the rotation axis of the first swing arm being perpendicular to the length direction of the first lead screw; and a second swing arm rotatably arranged on the first swing arm, the rotation axis of the second swing arm being perpendicular to the length direction of the first lead screw.

[0012] In one of the embodiments, the three-way translation mechanism comprises: a second lead screw module comprising a second lead screw and a second sliding component in sliding connection with the second lead screw, the second lead screw comprising the device fixed end; a third lead screw module comprising a third lead screw and a third sliding component in sliding connection with the third lead screw, the third lead screw being fixedly connected with the second sliding component; and a fourth lead screw module comprising a fourth lead screw and a fourth sliding component in sliding connection with the fourth lead screw, the fourth lead screw being fixedly connected with the third sliding component; wherein the sliding directions of the second sliding component, the third sliding component and the fourth sliding component are perpendicular to each other in pairs.

[0013] In one of the embodiments, the three-rotation mechanism comprises: a third swing arm rotatably arranged on the three-translation mechanism; a first rotation part rotatably arranged on the third swing arm; a fourth rotation shaft rotatably arranged on the third swing arm; and a fourth swing arm rotatably arranged on the fourth rotation shaft, wherein the third swing arm, the fourth rotation shaft and the fourth swing arm are perpendicular to each other.

[0014] In one of the embodiments, the three-rotation mechanism comprises a universal shaft.

[0015] In one of the embodiments, the processor is further configured to receive a user instruction for controlling the three-translation mechanism to move the position of the tool or for controlling the three-rotation mechanism to adjust the posture of the tool.

[0016] An auxiliary positioning method, comprising: acquiring positioning data of an action object of a tool; and controlling the three-translation mechanism and the three-rotation mechanism to move the tool to a target position according to the positioning data.

[0017] In one of the embodiments, the tool is an ultrasonic probe, and the method further comprises: acquiring an ultrasonic image of the action object by the tool; and controlling the three-translation mechanism and the three-rotation mechanism to move the tool until the definition of the ultrasonic image is greater than a preset threshold if the definition of the ultrasonic image is less than or equal to the preset threshold.

[0018] The auxiliary positioning device and method can move and rotate the tool in six degrees of freedom, so as to adjust the position and posture of the tool at will, and meet any requirement of the user for the position of the tool during the operation. The positioning data of the action object and the target position can be acquired by the detection device, so as to facilitate the subsequent adjustment of the position of the tool. The processor connected with the three-translation mechanism, the three-rotation mechanism and the detection device can automatically adjust the position of the tool according to the acquired positioning data of the target position, so that the tool can be automatically adjusted to the target position, improve the efficiency of the operation, and has relatively small error and high precision due to the adjustment according to the positioning data, which is convenient for the subsequent operation of the user. The device can automatically adjust the tool to the required position and realize the adjustment at any angle, which greatly improves the efficiency of the adjustment of the tool during the operation and the precision of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0020] Figure 1 Structure diagram of an auxiliary positioning device in an embodiment;

[0021] Figure 2 Structure diagram of a tool to be used in an embodiment;

[0022] Figure 3 Application scenario diagram of a tool to be used in an embodiment;

[0023] Figure 4 Application scenario diagram of a tool to be used in another embodiment;

[0024] Figure 5 Application scenario diagram of a tool to be used in still another embodiment;

[0025] Figure 6 Structure diagram of a detection device in an embodiment;

[0026] Figure 7 Diagram of coordinate conversion of an anal center point in an embodiment;

[0027] Figure 8 Structure diagram of a three-dimensional translation mechanism and a three-dimensional rotation mechanism in another embodiment;

[0028] Figure 9 Structure diagram of a universal shaft in an embodiment;

[0029] Figure 10 Structure diagram of a three-dimensional translation mechanism and a three-dimensional rotation mechanism in still another embodiment;

[0030] Figure 11 Structure diagram of a three-dimensional translation mechanism in an embodiment;

[0031] Figure 12 Structure diagram of a three-dimensional rotation mechanism in an embodiment;

[0032] Figure 13 Structure diagram of a three-dimensional rotation mechanism in another embodiment;

[0033] Figure 14 Structure diagram of a three-dimensional translation mechanism and a three-dimensional rotation mechanism in still another embodiment;

[0034] Figure 15 Flow chart of the method of assisting positioning in one embodiment;

[0035] Figure 16 Flow chart of the method of assisting positioning in another embodiment.

[0036] BRIEF DESCRIPTION OF DRAWINGS 20 - tool (tool to be used), 30 - detection device, 40 - processor, 100 - target position, 200 - mechanical arm, 300 - sickbed, 50 - three-way translation mechanism, 60 - three-way rotation mechanism, 70 - universal shaft, 400 - preset position, 81 - second screw module, 810 - second screw rod, 811 - second sliding part, 82 - third screw module, 820 - third screw rod, 821 - third sliding part, 83 - fourth screw module, 830 - fourth screw rod, 831 - fourth sliding part, 51 - first screw module, 52 - first screw rod, 53 - first sliding part, 54 - first rotation shaft, 55 - first swing arm, 56 - second rotation shaft, 57 second swing arm, 80 - driving motor, 61 - third rotation shaft, 62 - third swing arm, 63 - fourth rotation shaft, 64 - fifth rotation shaft, 65 - fourth swing arm, 652 - tool connecting end of fourth swing arm. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the relevant drawings. The drawings show embodiments of the present application. However, the present application can be implemented in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments of the present application, and are not intended to limit the present application.

[0039] It can be understood that the terms "first", "second" and the like used in the present application can be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0040] Spatially relative terms, such as "beneath", "below", "lower", "under", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use and / or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is inverted, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The devices can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0041] It is noted that when an element is referred to as being "connected", "coupled", or "adjacent" to another element, it can be directly connected, coupled, or adjacent to the other element, or it can be connected, coupled, or adjacent to the other element via intervening elements. In addition, "connected", "coupled", or "adjacent" in the following embodiments, if there is a transmission of electrical signals or data between the connected objects, should be understood as "electrically connected", "communicatively connected", etc.

[0042] As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It should also be understood that the term "comprising" or "including" or "having" or the like, when used in this specification, specifies the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0043] As described in the background section, the adjustment of the position of the surgical instrument in the prior art has the problems of inconvenience and low adjustment accuracy. The inventor has found that the cause of this problem is that in the prior art, the angles of the joints of a six-degree-of-freedom linkage mechanism are manually adjusted by a person to adjust the position of the surgical instrument and fix it, which is inconvenient and time-consuming, and has poor convenience.

[0044] Based on the above reasons, the present application provides an auxiliary positioning device and method capable of automatically adjusting the position of a surgical instrument.

[0045] In one embodiment, as shown in Figure 1 An auxiliary positioning device is provided, which comprises a three-dimensional translation mechanism 50, a three-dimensional rotation mechanism 60, a detection device 30, and a processor 40. Wherein:

[0046] The three-dimensional translation mechanism 50 comprises a device fixing end and a moving end, and the moving end moves in three mutually perpendicular directions.

[0047] Specifically, the device fixing end is fixed at a preset position, which can be a patient bed or a bed rail in practice.

[0048] The three-direction rotating mechanism 60 includes a moving connection end and a tool 20 connection end. The moving connection end is mechanically connected with the moving end of the three-direction translation mechanism 50, and the tool connection end performs rotating movement around three mutually perpendicular rotating axes.

[0049] Specifically, the tool connection end of the three-direction rotating mechanism 60 is connected with the tool. The three-direction translation mechanism 50 realizes the three-direction translation movement of the tool in space, and the three-direction rotating mechanism 60 realizes the three-direction rotating movement of the tool in space, so that the movement of the tool is six degrees of freedom.

[0050] Specifically, the three-direction rotating mechanism 60 is mechanically connected with the tool. The mechanical connection refers to the fixed connection or movable connection between the three-direction rotating mechanism 60 and the tool by using a mechanical connection structure.

[0051] Specifically, the three-direction translation mechanism 50 and the three-direction rotating mechanism 60 are multi-degree-of-freedom mechanical structures, and the tool is fixed at the end of the three-direction rotating mechanism 60, so that the tool can perform corresponding actions through the actions of the three-direction translation mechanism 50 and the three-direction rotating mechanism 60.

[0052] Specifically, the three-direction translation mechanism 50 and the three-direction rotating mechanism 60 can be manually adjusted, and the user can directly manually adjust the three-direction translation mechanism 50 and the three-direction rotating mechanism 60, and then adjust the position of the tool.

[0053] Exemplarily, the moving distance of the three-direction translation mechanism 50 in the three directions can also be manually adjusted.

[0054] Exemplarily, the angle of rotation of the three-direction rotating mechanism 60 in the three directions can also be manually adjusted.

[0055] Exemplarily, as shown in Figure 2 the tool 20 is an ultrasonic probe, one end of which is an ultrasonic emission end 21 for acquiring an ultrasonic image of a target position.

[0056] The detection device 30 is located within a preset range around the tool connection end, and is used to acquire positioning data of the action object of the tool 20.

[0057] Exemplarily, the detection device 30 can be arranged on the three-direction translation mechanism 50 and the three-direction rotating mechanism 60.

[0058] Specifically, the detection device 30 is arranged near the operation end 21 of the tool to be used 20, so that the position of the detection device 30 is approximately equal to the position of the operation end 21 of the tool to be used 20, for example, as shown in Figure 3 When the tool to be used is an ultrasonic probe, the detection device is arranged beside the ultrasonic emission end of the ultrasonic probe. Facing the target position 100,

[0059] Specifically, the positioning data includes image data and distance data of the target position.

[0060] Specifically, as shown in Figure 4 After the tool to be used 20 is moved to the target position, the tool to be used is inserted into the target position 100 by the mechanical arm 200, so that the ultrasonic probe can collect ultrasonic images. As shown in Figure 5 The tool to be used 20 is moved to the target position 100 by the three-dimensional translation mechanism 50 and the three-dimensional rotation mechanism 60, and then the tool to be used 20 is inserted into the target position 100 by the mechanical arm 200.

[0061] The processor 40 is electrically connected with the three-dimensional translation mechanism 50, the three-dimensional rotation mechanism 60 and the detection device 30, and is configured to control the three-dimensional translation mechanism 50 and the three-dimensional rotation mechanism 60 to move the tool to be used 20 to the target position according to the positioning data.

[0062] Specifically, the processor can also control the three-dimensional translation mechanism 50 and the three-dimensional rotation mechanism 60 to adjust the posture of the tool to be used 20 to the target posture.

[0063] Specifically, after the processor obtains the spatial coordinates of the target position obtained by the detection device, the processor can control the three-dimensional translation mechanism and the three-dimensional rotation mechanism to move the tool to be used to the target position and adjust the posture of the tool to be used, so that the operation end of the tool to be used faces the target position, facilitating the user to operate. In this process, the processor can determine whether to move the tool to be used first or adjust the posture of the tool to be used first according to the actual situation.

[0064] In the embodiment, the three-way translation mechanism and the three-way rotation mechanism are arranged to enable the tool to be used to move and rotate in six degrees of freedom, so as to adjust the position and posture of the tool to be used at will, and meet any requirement of the user on the position of the tool to be used during the operation. The detection device is arranged to obtain the positioning data of the action object and the target position, so as to facilitate subsequent adjustment of the position of the tool to be used. The processor connected with the three-way translation mechanism, the three-way rotation mechanism and the detection device is arranged to automatically adjust the position of the tool to be used according to the obtained positioning data of the target position, so that the tool to be used can be automatically adjusted to the target position, improve the efficiency of the operation, and since the adjustment is made according to the positioning data, the error is relatively small, the precision is high, and the subsequent operation of the user is facilitated. The device of the application can automatically adjust the tool to be used to the required position, and can realize adjustment at any angle, greatly improving the efficiency of adjustment of the tool to be used during the operation, and improving the precision of the operation.

[0065] In one embodiment, as shown in Figure 6 The detection device 30 includes an image sensor 31 and a distance sensor 32.

[0066] The image sensor 31 is configured to obtain image information of the action object.

[0067] Specifically, the region where the action object is located includes the target position.

[0068] Specifically, the image sensor is a functional device that divides the light image on its light receiving surface into many small units and converts them into usable electrical signals. The image sensor can be a CCD (Charge-coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

[0069] The distance sensor 32 is configured to obtain distance information of the action object.

[0070] Specifically, the distance sensor is a sensor that can sense the distance between itself and an object, and can realize distance measurement. The distance sensor can be a sound wave distance measurement sensor, a laser distance measurement sensor, etc.

[0071] Specifically, the positioning data includes the image of the action object obtained by the image sensor and the distance between the action object and the device obtained by the distance sensor.

[0072] The processor 40 is electrically connected with the image sensor 31 and the distance sensor 32, and is configured to determine the position coordinates of the action object in the action object image according to the action object image, and determine the position coordinates of the action object in the world coordinate system according to the distance between the action object and the device.

[0073] Specifically, after the image of the target region is acquired, the image needs to be pre-processed, including preliminarily extracting the image, and extracting the image of the target position required in the image. For example, the image in the present application refers to the anus image, and the part with the circular shape feature in the image is extracted. Then the image is grayed to improve the contrast of the image and highlight the target position required. Then the image is filtered to remove the noise in the image. The canny (John F. Canny) operator is used to detect the edge of the image. The specific steps are as follows: the noise in the image is removed by Gaussian blur to improve the accuracy of identification. Then the gradient amplitude and direction of the image are calculated to determine the edge of the anus in the image. Then the width of the precise point of the anus image edge is determined by non-maximum suppression. Through double threshold processing, the strong edge points and weak edge points of the anus image edge are obtained. Through lag boundary tracking, the weak edge points caused by noise or color change are removed to obtain the pixel point coordinates of the anus edge. The anus center point coordinates are calculated through the anus edge pixel point coordinates. At this time, the anus center point coordinates calculated are the coordinates in the image coordinate system.

[0074] Specifically, a plurality of planes with different depths are calibrated in advance, and the depth information of each pixel point is obtained by the distance sensor, so that the proportion of each pixel point and the coordinate in the world coordinate system can be determined through the depth information. After the anus center point in the image is identified through the above image processing method, the proportion of the anus center point in the world coordinate system can be determined. Then an image coordinate system is established in the image, and the coordinates of the anus center point in the image coordinate system can be determined. Then the coordinates of the anus center point in the image coordinate system are converted to obtain the coordinates of the anus center point in the world coordinate system through the conversion relationship between the image coordinate system and the world coordinate system.

[0075] Specifically, after the anus center point coordinates are calculated, the coordinates of the anus center point in the world coordinate system are determined through the following formula:

[0076]

[0077] wherein, is the coordinates of the anus center point in the world coordinate system, λ is a preset coefficient, M is a rotation matrix of the image coordinate system relative to the world coordinate system, is the coordinates of the anus center point in the image coordinate system (i.e. the anus center point coordinates calculated through the above method), Offset coordinates of the image coordinate system relative to the world coordinate system.

[0078] In the embodiment, the positioning data of the action object is acquired through the image sensor and the distance sensor, and then the position coordinates of the action object in the world coordinate system are determined by the processor according to the positioning data, so that the positioning of the action object is completed.

[0079] In one embodiment, the detection device comprises a laser radar. Wherein:

[0080] The laser radar is electrically connected with the processor.

[0081] Specifically, the positioning data comprises laser scanning data obtained by scanning the action object by the laser radar.

[0082] The processor 40 is configured to determine the relative position between the action object and the device according to the laser scanning data, and determine the position coordinates of the action object in the world coordinate system according to the relative position.

[0083] Specifically, the processor determines the relative position between the action object and the device according to the laser scanning data, that is, the relative distance and the relative angle between the action object and the device, so that the positioning of the action object is realized.

[0084] In the embodiment, the relative position between the action object and the device is acquired by the laser radar, and the processor can determine the relative distance and the relative angle between the action object and the device according to the relative position, so as to facilitate subsequent control of the three-way translation mechanism and the three-way rotation mechanism to move the tool to the action object.

[0085] In one embodiment, the processor 40 is configured to perform the following steps:

[0086] Step S100, determining a first position coordinates of the action object in the world coordinate system according to the positioning data.

[0087] Specifically, the first position coordinates are the coordinates of the center point of the anus in the world coordinate system calculated in the above embodiment

[0088] Step S120, acquiring a second position coordinates of the tool in the world coordinate system.

[0089] Specifically, the second position coordinates are the coordinates of the tool, which can be directly acquired since the tool is arranged on the three-way translation mechanism and the three-way rotation mechanism.

[0090] Step S140, determining a moving path of the three-way translation mechanism and the three-way rotation mechanism according to the first position coordinates and the second position coordinates.

[0091] Step S160, according to the movement path of the three-way translation mechanism and the three-way rotation mechanism, control the three-way translation mechanism and the three-way rotation mechanism to move the tool to the target position.

[0092] Specifically, according to the tool to be used and the coordinates of the action object (the center point of the anus) in the world coordinate system, the distance between the tool to be used and the center point of the anus in the horizontal direction and the vertical direction is determined by the following formula:

[0093]

[0094]

[0095] wherein H is the distance between the tool to be used and the center point of the anus in the horizontal direction, V is the distance between the tool to be used and the center point of the anus in the vertical direction, x1 is the X-axis coordinate of the center point of the anus in the world coordinate system, y1 is the Y-axis coordinate of the center point of the anus in the world coordinate system, z1 is the Z-axis coordinate of the center point of the anus in the world coordinate system, x p is the X-axis coordinate of the tool to be used in the world coordinate system, y p is the Y-axis coordinate of the tool to be used in the world coordinate system, and z p is the Z-axis coordinate of the tool to be used in the world coordinate system.

[0096] After determining the horizontal movement distance and the vertical movement distance, the processor determines the movement path of the three-way translation mechanism and the three-way rotation mechanism according to the actual surrounding obstacles, i.e., determines the distance and angle of rotation of each joint of the three-way translation mechanism and the three-way rotation mechanism. The specific movement path is not fixed. If there are obstacles in the movement path, the obstacles are bypassed as long as the distance H in the horizontal direction and the distance V in the vertical direction can be moved. The coordinates of the obstacles in the actual surrounding environment in the world coordinate system are determined in advance, and the movement information of the three-way translation mechanism and the three-way rotation mechanism is obtained, so that the movement path that can avoid the obstacle coordinates and reach the target position coordinates can be calculated.

[0097] Specifically, the processor is further configured to determine the rotation angle of the tool according to the first position coordinate and the second position coordinate, and control the three-way translation mechanism and the three-way rotation mechanism to adjust the posture of the tool to the target posture according to the rotation angle of the tool.

[0098] Exemplarily, as shown in Figure 7 , the three-way translation mechanism and the three-way rotation mechanism are controlled to move the tool to the target position according to the target position coordinate and the target posture coordinate. Figure 7The conversion between the image coordinate system and the world coordinate system is shown in the figure. The image coordinate system is established in the image. The image coordinate system can be converted into the world coordinate system by translation and rotation. Then, in the world coordinate system, the horizontal distance and the vertical distance between two points and the horizontal angle and the vertical angle of the posture of the tool to be used which need to be adjusted to the target posture can be determined by projection calculation. The target posture is the posture of the tool to be used when the tool to be used needs to be used. The target posture is set according to the actual user demand. For example, the user can set the target posture as the tool to be used is horizontally rotated a° and vertically rotated b°.

[0099] Specifically, the processor can also receive a user instruction, and control the three-dimensional translation mechanism and the three-dimensional rotation mechanism to move according to the user instruction. The user instruction is used to control the three-dimensional translation mechanism and the three-dimensional rotation mechanism to move the position of the tool or adjust the posture of the tool. Therefore, after the processor preliminarily adjusts the position of the tool to be used by the three-dimensional translation mechanism and the three-dimensional rotation mechanism according to the coordinate information, the user can manually control the three-dimensional translation mechanism and the three-dimensional rotation mechanism to make a secondary more subtle adjustment according to the actual situation. The user can send instructions to the three-dimensional translation mechanism and the three-dimensional rotation mechanism through the touch screen.

[0100] In the embodiment, the image information of the target region is obtained by the image sensor, the distance information of the target region is obtained by the distance sensor, and then the image is edge detected by image processing, and the center point coordinates of the image are determined in combination with the distance of the image edge. Then, the distance in the vertical direction and the distance in the horizontal direction are determined according to the coordinates of the tool to be used and the coordinates of the center point of the target position. Then, the motion path of the three-dimensional translation mechanism and the three-dimensional rotation mechanism is determined according to the actual scene, so that the tool to be used can be moved to the target position and rotated by a corresponding angle to reach the target posture.

[0101] In one embodiment, as shown in Figure 8 The three-dimensional translation mechanism 50 and the three-dimensional rotation mechanism 60 include:

[0102] The three-dimensional translation mechanism 50 is fixed at a first end to a predetermined position, and is used to move a second end in space along three mutually perpendicular directions.

[0103] The universal shaft 70 is connected to the second end of the three-dimensional translation mechanism, and is used to rotate in any direction.

[0104] Specifically, the three-dimensional rotation mechanism includes a universal shaft.

[0105] Specifically, the universal shaft can swing by a certain angle along the rotation shaft in any direction. The universal shaft can be a cross shaft type universal shaft or a ball cage type universal shaft.

[0106] The tool to be used 20 is connected with the universal shaft 70.

[0107] Specifically, the three-direction translation mechanism is used to realize the translation of the tool to be used in three directions in space, and the universal shaft is used to realize the rotation of the tool to be used in three directions in space, so that the movement of the tool to be used is six degrees of freedom.

[0108] Exemplarily, as shown in Figure 9 , it is a partial enlarged view of the universal shaft, which can swing at a certain angle along the rotation axis in any direction.

[0109] Exemplarily, the angle of the universal shaft swing can also be manually adjusted.

[0110] In this embodiment, the three-direction translation mechanism and the universal shaft are used to enable the tool to be used to move in six degrees of freedom, which is convenient for the user to adjust the position of the tool to be used.

[0111] In one embodiment, as shown in Figure 10 , the three-direction translation mechanism 50 includes:

[0112] The second lead screw module 81 includes a second lead screw 810 and a second sliding part 811 connected with the second lead screw 810 in sliding mode, and the second lead screw 810 includes a device fixing end fixedly arranged at the preset position 400.

[0113] Specifically, the second sliding part 811 is used to slide along the length direction of the second lead screw 810.

[0114] The third lead screw module 82 includes a third lead screw 820 and a third sliding part 821 connected with the third lead screw 820 in sliding mode, and the third lead screw 820 is fixedly connected with the second sliding part 811.

[0115] Specifically, the third sliding part 821 is used to slide along the length direction of the third lead screw 820.

[0116] The fourth lead screw module 83 includes a fourth lead screw 830 and a fourth sliding part 831 connected with the fourth lead screw 830 in sliding mode, and the fourth lead screw 830 is fixedly connected with the third sliding part 821.

[0117] Specifically, the fourth sliding part 831 is used to slide along the length direction of the fourth lead screw 830, and the sliding directions of the second sliding part, the third sliding part and the fourth sliding part are perpendicular to each other.

[0118] The three-direction rotation mechanism 60 is movably connected with the fourth sliding part, and the tool connection end is connected with the tool to be used 20, which is used to rotate the tool to be used 20 around three mutually perpendicular rotation axes in space.

[0119] Specifically, taking the length direction of the second lead screw module as the Z-axis direction in the spatial coordinate system, the movement of the tool to be used in the Z-axis direction is realized through the second lead screw module. The movement of the tool to be used in the Y-axis direction is realized through the third lead screw module. The movement of the tool to be used in the X-axis direction is realized through the fourth lead screw module. Thus, the translational movement of the tool to be used in the X, Y and Z directions is realized through the second, third and fourth lead screw modules. The rotational movement of the tool to be used in the X, Y and Z directions is realized through the three-way rotating mechanism. Thus, the translational and rotational movements of the tool to be used in the three directions in space are realized respectively, so that the movement of the tool to be used is six degrees of freedom.

[0120] In the embodiment, the six degrees of freedom movement of the tool to be used in space is realized through the three lead screw modules and the three-way rotating mechanism, which facilitates the user to adjust the position of the tool to be used.

[0121] In one embodiment, as shown in Figure 11 The three-way translational mechanism 50 includes:

[0122] The first lead screw module 51 includes a first lead screw 52 and a first sliding component 53 in sliding connection with the first lead screw 52. The first lead screw 52 includes a device fixing end which is fixedly arranged at a predetermined position 400.

[0123] Specifically, the first sliding component 53 is used for sliding along the length direction of the first lead screw 52.

[0124] The first swing arm 54 is rotatably arranged on the first sliding component 53, and the rotation axis of the first swing arm 54 is perpendicular to the length direction of the first lead screw.

[0125] Specifically, the three-way translational mechanism 50 includes a first rotation shaft 54 connected with the first sliding component 53, which is used for rotating around an axis parallel to the length direction of the first lead screw 52.

[0126] The first swing arm 55 has a first end connected with the first rotation shaft 54, and the length direction of the first swing arm 55 is perpendicular to the axis direction of the first rotation shaft 54.

[0127] The second swing arm 57 is rotatably arranged on the first swing arm 55, and the rotation axis of the second swing arm 57 is perpendicular to the length direction of the first lead screw 52.

[0128] Specifically, the three-way translational mechanism 50 includes a second rotation shaft 56 connected with the second end of the first swing arm 55, which is used for rotating around an axis parallel to the length direction of the first lead screw 52.

[0129] The second swing arm 57 is connected to the second rotating shaft 56 at a first end, and a length direction of the second swing arm 57 is perpendicular to an axis direction of the first rotating shaft 54.

[0130] Specifically, a three-way rotating mechanism is connected to a second end of the second swing arm.

[0131] Specifically, a length direction of the first screw module is a Z-axis direction in a space coordinate system, and the movement of the tool to be used in the Z-axis direction is realized through the screw module. The movement of the tool to be used in an XOY plane in the space coordinate system is realized through the first swing arm and the second swing arm.

[0132] In the embodiment, the three-way translation movement of the tool to be used in the space is realized through the first screw module, the first swing arm, and the second swing arm, which facilitates the adjustment of the position of the tool to be used by the user.

[0133] In one embodiment, as shown in Figure 12 The three-way rotating mechanism 60 includes:

[0134] The third rotating shaft 61 is connected to the second end of the second swing arm 57, and is used to rotate around an axis perpendicular to the length direction of the second swing arm 57 and the length direction of the body 52.

[0135] The third swing arm 62 is connected to the third rotating shaft 61 at a first end, and a length direction of the third swing arm 62 is perpendicular to an axis direction of the third rotating shaft 61.

[0136] The fourth rotating shaft 63 is rotatably arranged on the third swing arm 62, and is connected to a second end of the third swing arm 62, and is used to rotate around an axis parallel to the length direction of the third swing arm 62.

[0137] The fifth rotating shaft 64 is rotatably arranged on the fourth rotating shaft 63, and is connected to a side of the first rotating part 63 away from the third swing arm 62, and is used to rotate around an axis perpendicular to the length direction of the third swing arm 62.

[0138] The fourth swing arm 65 includes a fixed end and a tool connecting end 652, and the fixed end is coaxially rotatable with the fifth rotating shaft 64 for rotation of the fifth rotating shaft 64.

[0139] The tool to be used 20 is connected to the tool connecting end 652 of the fourth swing arm 65.

[0140] The rotating axis of the third swing arm, the axis of the fourth rotating shaft, and the rotating axis of the fourth swing arm are perpendicular to each other.

[0141] Exemplarily, as shown in Figure 12As shown, the driving motor 80 is connected with the second rotating part 64 to provide power for the movement of the second rotating part 64. Also as shown Figure 13 As shown, no motor is provided, and the rotation of the second rotating part is realized in a manual manner.

[0142] Specifically, the axis direction of the third rotating shaft is the X direction, so that the rotation of the tool to be used around the X axis direction is realized through the third swing arm, the rotation of the tool to be used around the Z axis direction is realized through the first rotating part, and the rotation of the tool to be used around the Y axis direction is realized through the second rotating part. Thus, the rotational movement of the tool to be used in the X, Y and Z directions is realized.

[0143] In summary, the translational movement of the tool to be used in the X, Y and Z directions is realized through the screw module, the first swing arm and the second swing arm. The rotational movement of the tool to be used in the X, Y and Z directions is realized through the third swing arm, the first rotating part and the second rotating part. Thus, the translational and rotational movements of the tool to be used in the three directions in space are realized respectively, so that the movement of the tool to be used is six degrees of freedom.

[0144] Exemplarily, as shown Figure 14 As shown, the three-way rotating mechanism can be a universal shaft.

[0145] In the embodiment, the rotational movement of the tool to be used in the three directions is realized through the third rotating shaft, the third swing arm, the first rotating part and the second rotating part, which facilitates the user to adjust the position of the tool to be used.

[0146] In one embodiment, as shown Figure 15 As shown, an auxiliary positioning method is provided, and the method comprises:

[0147] In step S1500, positioning data of an action object of a tool is acquired.

[0148] In step S1502, according to the positioning data, the three-way translational mechanism and the three-way rotating mechanism are controlled to move the tool to a target position.

[0149] Specifically, the target position is a position that meets the use condition of the tool. That is, the position that the tool needs to reach when the tool is used on the action object. For example, when the tool is an ultrasonic probe and the action object is the anus of a patient, the target position is the center of the anus of the patient. The ultrasonic probe is moved to the center of the anus, and an ultrasonic image can be acquired.

[0150] In the embodiment, the three-dimensional translation mechanism and the three-dimensional rotation mechanism are arranged to enable the tool to move and rotate in six degrees of freedom, so as to adjust the position and posture of the tool at will to meet any requirement of the user during the operation. Then the positioning data of the target position is acquired to facilitate subsequent adjustment of the position of the tool. According to the positioning data of the target position, the position of the tool is automatically adjusted, so that the tool can be automatically adjusted to the target position, improving the efficiency of the operation, and since the adjustment is made according to the spatial coordinates, the error is relatively small and the precision is high, facilitating subsequent operation of the user. Thus, the tool can be automatically adjusted to the required position, and adjustment at any angle can be achieved, greatly improving the efficiency of adjustment of the tool during the operation and improving the precision of the operation.

[0151] In one embodiment, as shown in Figure 16 the tool is an ultrasonic probe, and the auxiliary positioning method further comprises:

[0152] In step S1600, an ultrasonic image of the object is acquired by the tool.

[0153] In step S1602, if the definition of the ultrasonic image is less than or equal to a preset threshold, the three-dimensional translation mechanism and the three-dimensional rotation mechanism are controlled to move the tool until the definition of the ultrasonic image is greater than the preset threshold.

[0154] Specifically, the display device is connected with the ultrasonic probe to display the ultrasonic image, facilitating the doctor to watch.

[0155] In the embodiment, the ultrasonic image at the target position is acquired by the ultrasonic probe, and then the definition of the ultrasonic image is compared with the preset threshold. If the definition is not enough, the user or the controller controls the three-dimensional translation mechanism and the three-dimensional rotation mechanism to make fine movements until the definition of the ultrasonic image reaches the standard. In this way, after the three-dimensional translation mechanism and the three-dimensional rotation mechanism automatically make preliminary adjustment of the position of the ultrasonic probe, the user manually makes more accurate adjustment according to the definition of the actual image obtained, or the processor controls the three-dimensional translation mechanism and the three-dimensional rotation mechanism to make fine adjustment until the ultrasonic image reaches the standard, so as to meet the requirements of the operation.

[0156] It should be understood that, although Figures 15-16 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in sequence according to the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, Figures 15-16At least one of the steps in the above-mentioned embodiments can include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but can be performed at different times, and the order of the steps or stages is not necessarily sequential, but can be performed alternately or alternately with at least one of the other steps or steps in the other steps.

[0157] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments of each method. Wherein, any reference to memory, storage, database or other medium used in each embodiment provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.

[0158] In the description of the present specification, the description of the terms "some embodiments", "other embodiments", "ideal embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above-mentioned terms does not necessarily refer to the same embodiment or example.

[0159] The technical features of the above embodiments can be combined in any way. In order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present specification.

[0160] The above-mentioned embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. An auxiliary positioning device, characterized in that, The device includes: The three-way translation mechanism includes a fixed end and a moving end. The moving end translates along three mutually perpendicular directions, and the fixed end is fixed to a preset position on the patient bed frame or bed rail. The three-way rotary mechanism includes a movable connecting end and a tool connecting end. The movable connecting end is mechanically connected to the movable end of the three-way translation mechanism. The tool connecting end is connected to a tool and rotates around three mutually perpendicular rotation axes. A detection device is located within a preset range around the tool connection end, such that the position of the detection device itself is approximately or equal to the position of the operating end of the tool to be used, for obtaining the positioning data of the object to be acted upon by the tool; The processor, electrically connected to the three-way translation mechanism, the three-way rotation mechanism, and the detection device, is used to determine the first position coordinates of the target object in the world coordinate system based on the positioning data; obtain the second position coordinates of the tool in the world coordinate system; determine the movement path of the three-way translation mechanism and the three-way rotation mechanism based on the first position coordinates and the second position coordinates; control the three-way translation mechanism and the three-way rotation mechanism to move the tool to the target position according to the movement path; and is also used to control the three-way translation mechanism and the three-way rotation mechanism to move the tool until the clarity of the image data at the target position is greater than the preset threshold if the image data clarity is less than or equal to a preset threshold.

2. The apparatus according to claim 1, characterized in that, The detection device includes an image sensor and a distance sensor, which are electrically connected to the processor. The positioning data includes an image of the target object acquired by the image sensor and the distance between the target object and the device acquired by the distance sensor. The processor is configured to: determine the position coordinates of the object in the object image based on the object image; and determine the position coordinates of the object in the world coordinate system based on the distance between the object and the device.

3. The apparatus according to claim 1, characterized in that, The detection device includes a lidar, which is electrically connected to the processor, and the positioning data includes laser scanning data obtained by the lidar after scanning the target. The processor is used to determine the relative position between the target and the device based on the laser scanning data; and to determine the position coordinates of the target in the world coordinate system based on the relative position.

4. The apparatus according to claim 1, characterized in that, The processor is further configured to determine the rotation angle of the tool based on the first position coordinates and the second position coordinates; and to control the three-way rotation mechanism to adjust the posture of the tool to the target posture based on the rotation angle of the tool.

5. The apparatus according to claim 1, characterized in that, The three-way translation mechanism includes: The first lead screw module includes a first lead screw and a first sliding component slidably connected to the first lead screw, wherein the first lead screw includes the device fixed end; The first swing arm is rotatably mounted on the first sliding component, and the axis of rotation of the first swing arm is perpendicular to the length direction of the first lead screw. The second swing arm is rotatably mounted on the first swing arm, and the axis of rotation of the second swing arm is perpendicular to the length direction of the first lead screw.

6. The apparatus according to claim 1, characterized in that, The three-way translation mechanism includes: The second lead screw module includes a second lead screw and a second sliding component slidably connected to the second lead screw, wherein the second lead screw includes the device fixed end; The third lead screw module includes a third lead screw and a third sliding component slidably connected to the third lead screw, wherein the third lead screw is fixedly connected to the second sliding component; The fourth lead screw module includes a fourth lead screw and a fourth sliding component slidably connected to the fourth lead screw, wherein the fourth lead screw is fixedly connected to the third sliding component; The sliding directions of the second sliding component, the third sliding component, and the fourth sliding component are perpendicular to each other.

7. The apparatus according to claim 1, characterized in that, The three-way rotation mechanism includes: The third swing arm is rotatably mounted on the three-way translation mechanism; The fourth rotation axis is rotatably mounted on the third swing arm; The fourth swing arm is rotatably mounted on the fourth rotation axis, and the fourth swing arm includes the tool connection end; The rotation axis of the third swing arm, the axis of the fourth rotation axis, and the rotation axis of the fourth swing arm are all perpendicular to each other.

8. The apparatus according to claim 1, characterized in that, The three-way rotating mechanism includes a universal joint.

9. The apparatus according to any one of claims 1-8, characterized in that, The processor is further configured to receive user instructions, which are used to control the three-way translation mechanism to move the position of the tool or to control the three-way rotation mechanism to adjust the posture of the tool.

10. An auxiliary positioning method, characterized in that, The method includes: Obtain the location data of the object to which the tool is applied; Based on the positioning data, the three-way translation mechanism and the three-way rotation mechanism as described in any one of claims 1 to 9 are controlled to move the tool to the target position.

11. The method according to claim 10, characterized in that, The tool is an ultrasound probe, and the method further includes: The ultrasonic image of the target object is obtained using the tool. If the clarity of the ultrasound image is less than or equal to a preset threshold, the three-way translation mechanism and the three-way rotation mechanism are controlled to move the tool until the clarity of the ultrasound image is greater than the preset threshold.

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