Target area planning method, transfer path planning method, surgical robot system, and storage medium

Abstract

The present invention provides a target area planning method, a transfer path planning method, a surgical robot system, and a storage medium. The target area planning method includes obtaining three-dimensional models of a first device, a second device, and a first operator; dividing a first target sub-area regarding the first device, a second target sub-area regarding the second device, and a third target sub-area regarding the first operator according to the three-dimensional models of the first device, the second device, and the first operator and a preset area division criterion; determining whether a connected area is formed among the first target sub-area, the second target sub-area, and the third target sub-area; and if so, using the connected area defined by the first target sub-area, the second target sub-area, and the third target sub-area as the target area. The present invention can help medical staff distinguish between sterile areas and contaminated areas, ensure the normal transfer of surgical medical devices within the sterile area, and reduce the infection rate of germs during the operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a method for target area planning, a method for transfer path planning, a surgical robot system, and a storage medium. Background Art

[0002] Surgical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, resistance to radiation and infection, etc., and are widely used in various surgeries. Surgical robots can not only assist doctors in accurately positioning the surgical site, but also achieve minimal surgical damage, improve the accuracy and quality of disease diagnosis and surgical treatment, improve surgical safety, shorten the treatment time, and reduce medical costs. In recent years, the research on surgical robots has become a new field of robot application.

[0003] In order to reduce the infection rate of germs during surgical operations, it is necessary to ensure that the surgical instruments are transferred within the sterile area. Since the placement positions of the operating tables, surgical robots, and instrument tables in different operating rooms may vary, for different placement positions, medical staff cannot quickly and accurately identify the sterile area in the operating room, thus greatly increasing the time for instrument transfer. At the same time, it cannot be ensured that the instruments can be normally transferred within the sterile area, increasing the infection rate of germs during the surgical process. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for target area planning, a method for transfer path planning, a surgical robot system, and a storage medium, which can help medical staff accurately distinguish the sterile area and the germy area to ensure the normal transfer of medical devices for surgery within the sterile area and reduce the infection rate of germs during the surgical process.

[0005] To achieve the above purpose, the present invention provides a method for target area planning, including:

[0006] Obtaining three-dimensional models of a first device, a second device, and a first operator;

[0007] According to the three-dimensional models of the first device, the second device, the first operator, and a preset area division standard, dividing a first target sub-area regarding the first device, a second target sub-area regarding the second device, and a third target sub-area regarding the first operator;

[0008] Judging whether a connected area is formed among the first target sub-area, the second target sub-area, and the third target sub-area;

[0009] If so, taking the connected area defined by the first target sub-area, the second target sub-area, and the third target sub-area as the target area.

[0010] Optionally, determining whether a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region includes:

[0011] Obtaining a position vector between the first target sub-region and the second target sub-region The position vector between the first target sub-region and the third target sub-region And the position vector between the second target sub-region and the third target sub-region

[0012] Determining the position vector The position vector And the position vector Whether they are all non-positive vectors;

[0013] If so, it is determined that a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region.

[0014] Optionally, obtaining three-dimensional models of the first device, the second device, and the first operator based on a positioning device.

[0015] Optionally, the positioning device is a binocular vision device, and obtaining three-dimensional models of the first device, the second device, and the first operator based on the positioning device includes:

[0016] Obtaining three-dimensional coordinate information of the first device, the second device, and the first operator in the coordinate system of the binocular vision device based on the binocular vision device;

[0017] Obtaining three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system according to the three-dimensional coordinate information of the first device, the second device, and the first operator in the coordinate system of the binocular vision device, and the mapping relationship between the coordinate system of the binocular vision device and the world coordinate system;

[0018] Obtaining three-dimensional models of the first device, the second device, and the first operator according to the three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system.

[0019] Optionally, the target area planning method further includes:

[0020] Displaying the target area through an AR device.

[0021] Optionally, the target area planning method further includes:

[0022] The first target sub-region, the second target sub-region, and the third target sub-region are displayed through the AR device.

[0023] Optionally, the positioning device is integrated on the AR device.

[0024] Optionally, if no connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region, the target region planning method further includes:

[0025] Adjusting the positions of the first device and / or the second device and / or the first operator.

[0026] To achieve the above object, the present invention further provides a transfer path planning method, including:

[0027] Dividing a target region according to the target region planning method described above, where the first device is used to place a transfer item to be transferred, and the second device is used for a second operator to perform an action through the transfer item to be transferred;

[0028] Obtaining a spatial mapping relationship between the transfer item to be transferred and the second operator;

[0029] According to the spatial mapping relationship between the transfer item to be transferred and the second operator, obtaining a target transfer path of the transfer item to be transferred within the target region.

[0030] Optionally, the target transfer path is far from the boundary of the target region.

[0031] Optionally, the target transfer path is a path that is far from the boundary of the target region and has the shortest transfer distance of the transfer item to be transferred.

[0032] Optionally, the obtaining of the spatial mapping relationship between the transfer item to be transferred and the second operator includes:

[0033] Obtaining the spatial mapping relationship between the transfer item to be transferred and the second operator in real time;

[0034] The obtaining of the target transfer path of the transfer item to be transferred within the target region according to the spatial mapping relationship between the transfer item to be transferred and the second operator includes:

[0035] According to the real-time spatial mapping relationship between the transfer item to be transferred and the second operator, obtaining the target transfer path of the transfer item to be transferred within the target region in real time.

[0036] Optionally, the obtaining of the spatial mapping relationship between the transfer item to be transferred and the second operator includes:

[0037] Obtain the three-dimensional models of the piece to be transferred and the second operator based on the positioning device;

[0038] According to the three-dimensional models of the piece to be transferred and the second operator, obtain the spatial mapping relationship between the piece to be transferred and the second operator.

[0039] Optionally, the positioning device is a binocular vision device, and the obtaining of the three-dimensional models of the piece to be transferred and the second operator based on the positioning device includes:

[0040] Obtain the three-dimensional coordinate information of the piece to be transferred and the second operator in the coordinate system of the binocular vision device based on the binocular vision device;

[0041] According to the three-dimensional coordinate information of the piece to be transferred, the second operator in the coordinate system of the binocular vision device, and the mapping relationship between the coordinate system of the binocular vision device and the world coordinate system, obtain the three-dimensional coordinate information of the piece to be transferred and the second operator in the world coordinate system;

[0042] According to the three-dimensional coordinate information of the piece to be transferred and the second operator in the world coordinate system, obtain the three-dimensional models of the piece to be transferred and the second operator.

[0043] Optionally, the transfer path planning method further includes:

[0044] Display the target transfer path through the AR device.

[0045] To achieve the above object, the present invention also provides a surgical robot system, which includes a surgical robot and a controller. The controller includes a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, it implements the target area planning method described above to obtain a sterile area, or implements the transfer path planning method described above to obtain the transfer path of the medical device from the placement position to the surgical robot in the sterile area.

[0046] To achieve the above object, the present invention also provides a readable storage medium. A computer program is stored in the readable storage medium. When the computer program is executed by a processor, it implements the target area planning method or the transfer path planning method described above.

[0047] Compared with the prior art, the target area planning method, transfer path planning method, surgical robot system, and storage medium provided by the present invention have the following advantages:

[0048] (1) The target area planning method provided by the present invention obtains the three-dimensional models of the first device, the second device, and the first operator; then, according to the three-dimensional models of the first device, the second device, the first operator, and the preset area division criteria, divides the first target sub-area regarding the first device, the second target sub-area regarding the second device, and the third target sub-area regarding the first operator; then determines whether a connected area is formed among the first target sub-area, the second target sub-area, and the third target sub-area. If so, the connected area defined by the first target sub-area, the second target sub-area, and the third target sub-area is used as the target area. Thus, by adopting the target area planning method provided by the present invention, a target area that meets the area division criteria can be accurately divided, and then it is convenient for the operator to perform subsequent operations. For example, for the application scenario where medical devices for surgery must be transferred in a sterile area, by adopting the target area planning method provided by the present invention, the sterile area can be accurately divided, which is convenient for medical staff to accurately distinguish the contaminated area and the sterile area during the transfer of medical devices, so that it is convenient for medical staff to quickly transfer surgical medical devices within the sterile area.

[0049] (2) The transfer path planning method provided by the present invention first divides the target area by using the target area planning method described above; then obtains the spatial mapping relationship between the item to be transferred and the second operator; finally, according to the spatial mapping relationship between the item to be transferred and the second operator, obtains the target transfer path of the item to be transferred within the target area. Thus, by adopting the transfer path planning method provided by the present invention, the target transfer path of the item to be transferred within the target area can be obtained, so that it is convenient for the first operator (such as medical staff) to transfer the item to be transferred (such as medical devices) from the first device (such as an instrument table) to the second operator (such as a surgical robot) within the target area (such as a sterile area) according to the target transfer path, so that the item to be transferred can be transferred according to specific requirements (such as sterility), effectively improving the transfer efficiency.

[0050] (3) The surgical robot system provided by the present invention can accurately divide the sterile area, which is convenient for medical staff to accurately distinguish the contaminated area and the sterile area during the transfer of medical devices, so that it is convenient for medical staff to quickly transfer medical devices within the sterile area, and thus effectively reduces the infection rate of germs during the operation.

[0051] (4) The storage medium provided by the present invention can accurately divide the target area that meets the area division standard, and can divide the target transfer path according to the target area, so that the first operator can transfer the item to be transferred from the first device to the second operator within the target area according to the target transfer path, so that the item to be transferred can be transferred according to specific requirements, effectively improving the transfer efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a flowchart of a target area planning method in an embodiment of the present invention;

[0053] Figure 2 is a schematic diagram of the principle of binocular stereo vision three-dimensional measurement;

[0054] Figure 3 is a schematic diagram when there is no connected area formed between the first target sub-area, the second target sub-area and the third target sub-area;

[0055] Figure 4 is a flowchart of a transfer path planning method in an embodiment of the present invention;

[0056] Figure 5 is a specific example diagram of an application scenario of the present invention;

[0057] Figure 6 is another specific example diagram of an application scenario of the present invention;

[0058] Figure 7 is a schematic diagram of the sterile areas of the operating table and the instrument table;

[0059] Figure 8 is a schematic block diagram of a controller in an embodiment of the present invention.

[0060] Among them, the reference numerals are as follows:

[0061] First device - 110, second device - 120, first operator - 130; first target sub-area - 111; second target sub-area - 121; third target sub-area - 131; instrument table - 210; operating table - 220, medical staff - 230; surgical robot - 240; positioning device - 250; AR device - 260; medical device - 270; air purification system - 280; tabletop - 290; first sterile sub-area - 211; second sterile sub-area - 221; processor - 301; communication interface - 302; memory - 303; communication bus - 304. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0062] The following will be combined with the attached Figures 1 to 8The following detailed description and specific embodiments further elaborate on the target area planning method, transfer path planning method, surgical robot system, and storage medium proposed by the present invention. According to the following description, the advantages and features of the present invention will become clearer. It should be noted that the accompanying drawings are in a very simplified form and use non-precise scales, solely for the purpose of facilitating and clearly assisting in explaining the embodiments of the present invention. To make the objectives, features, and advantages of the present invention more apparent and understandable, please refer to the accompanying drawings. It should be understood that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to match the content disclosed in the specification, for those skilled in this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have any technical substance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that the present invention can produce and the objectives that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0063] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article, or device comprising the said element.

[0064] The core idea of the present invention is to provide a target area planning method, a transfer path planning method, a surgical robot system, and a storage medium, which can help medical staff accurately distinguish between the sterile area and the contaminated area, ensure the normal transfer of surgical medical devices within the sterile area, and reduce the infection rate of pathogens during the operation.

[0065] To achieve the above idea, the present invention provides a target area planning method. Please refer to Figure 1 , which schematically shows the flowchart of the target area planning method provided by an embodiment of the present invention. As shown in Figure 1 , the target area planning method includes the following steps:

[0066] Step S11: Obtain the three-dimensional models of the first device, the second device, and the first operator.

[0067] The target area planning method provided by the present invention can be used in application scenarios where a certain action needs to be performed within a specific area. For example, according to the regulations of the aseptic management principle in the operating room, medical devices used in surgery must be transferred within the aseptic area. For this application scenario, the first device is an instrument table for placing medical devices to be transferred, the second device is an operating table, and the first operator is a medical staff member.

[0068] Preferably, in this step, a three-dimensional model of the first device, the second device, and the first operator is obtained based on the positioning device. Specifically, the three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system can be obtained based on the positioning device, and then a three-dimensional model of the first device, the second device, and the first operator can be obtained according to the three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system. The positioning device can obtain the three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system based on principles such as optical tracking, binocular vision, and electromagnetic induction in the prior art.

[0069] Specifically, binocular stereo vision is a method for obtaining the three-dimensional geometric information of a measured object from multiple images based on the principle of parallax. In a machine vision system, binocular vision generally obtains two images of the measured object from different positions by two cameras, or obtains two images of the measured object from different positions by a single camera at different times, and the three-dimensional geometric information of the measured object can be restored based on the principle of parallax, and the three-dimensional shape and position of the object to be measured can be reconstructed.

[0070] Please refer to Figure 2 , to illustrate the principle of the binocular stereo vision algorithm. For any spatial point P on the surface of a spatial object, if observed by camera C1, its image point on camera C1 is located at P1, but we cannot know the three-dimensional position of P from P1. In fact, for any point P' on the line O1P (O1 is the optical center of camera C1), its image point on camera C1 is P1. Therefore, from the position of point P1, we can only know that the spatial point P is located on the line O1P1. Similarly, from the perspective of camera C2, it can be known that the spatial point P is located on the line O2P2 (O2 is the optical center of camera C2, and P2 is the image point of the spatial point P on camera C2). Thus, the intersection point of the two lines O1P1 and O2P2 can be determined as the position where the spatial point P is located, that is, the three-dimensional coordinates of the spatial point P are uniquely determined.

[0071] Furthermore, as Figure 2 shown, the distance between the optical centers of the two cameras, that is, the baseline, is denoted as b, and the focal lengths of the two cameras are both f. The two cameras view the same feature point P(x, y, z) of the measured object at the same time, and obtain the image P of point P in the "left eye" and "right eye"l and P2, where P l has coordinates (x l , y l ), and P2 has coordinates (x r + b, y r ). According to the principle of similar triangles, the following relational expressions can be obtained:

[0072]

[0073] From the above formula (1), the following relational expressions can be obtained:

[0074]

[0075] According to the above formulas (2) to (4), the three-dimensional coordinate information of the feature point P on the object to be measured in the binocular vision device coordinate system can be obtained. Similarly, according to the above formulas (2) to (4), the three-dimensional coordinate information of any other feature point on the object to be measured in the binocular vision device coordinate system can be obtained, and then the three-dimensional model of the object to be measured can be constructed.

[0076] In order to improve the efficiency of target area planning, preferably, the positioning device in this embodiment uses a binocular vision device, that is, in this embodiment, two cameras simultaneously acquire two images of the first device, the second device, and the first operator from different angles.

[0077] Specifically, obtaining the three-dimensional models of the first device, the second device, and the first operator based on the positioning device includes:

[0078] Obtaining the three-dimensional coordinate information of the first device, the second device, and the first operator in the binocular vision device coordinate system based on the binocular vision device;

[0079] According to the three-dimensional coordinate information of the first device, the second device, and the first operator in the binocular vision device coordinate system, and the mapping relationship between the binocular vision device coordinate system and the world coordinate system, obtaining the three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system;

[0080] Obtaining the three-dimensional models of the first device, the second device, and the first operator according to the three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system.

[0081] Among them, the mapping relationship between the binocular vision device coordinate system and the world coordinate system can be obtained through the rotation matrix R and the translation vector t. The coordinates of the measured point in the binocular vision device coordinate system are (x c , y c , zc ) and the coordinates (x w , y w , z w ) of the point to be measured in the world coordinate system satisfy the following relational expression:

[0082]

[0083] wherein, R is a 3×3 matrix, t is a 3×1 vector, 0 is (0, 0, 0), and M b is a 4×4 matrix, also known as the camera extrinsic parameter matrix. The camera extrinsic parameter matrix can be obtained through existing camera calibration methods, and the present invention will not elaborate on this in detail. Thus, according to the camera extrinsic parameter matrix of the binocular vision device, the mapping relationship between the binocular vision device coordinate system and the world coordinate system can be obtained. According to the mapping relationship between the binocular vision device coordinate system and the world coordinate system and the coordinates of the first device in the binocular vision device coordinate system, the three-dimensional coordinate information of the first device in the world coordinate system can be obtained; according to the mapping relationship between the binocular vision device coordinate system and the world coordinate system and the coordinates of the second device in the binocular vision device coordinate system, the three-dimensional coordinate information of the second device in the world coordinate system can be obtained; according to the mapping relationship between the binocular vision device coordinate system and the world coordinate system and the coordinates of the first operator in the binocular vision device coordinate system, the three-dimensional coordinate information of the first operator in the world coordinate system can be obtained.

[0084] Step S12: According to the three-dimensional models of the first device, the second device, and the first operator, and a preset area division standard, divide the first target sub-area regarding the first device, the second target sub-area regarding the second device, and the third target sub-area regarding the first operator.

[0085] The area division standard is set according to the actual application scenario. For example, for an application scenario where medical devices used in surgery must be transferred in a sterile area, the area division standard is as follows:

[0086] (1) The area between the operating table surface and the operating room air purification system is a sterile area;

[0087] (2) The area within 10 cm around the operating table and the instrument table is a sterile area;

[0088] (3) The area within 30 cm below the edge of the operating table is a sterile area;

[0089] (4) The area between the instrument table surface and the operating room air purification system is a sterile area;

[0090] (5) Medical staff wear sterile gowns, and the area from the shoulders to the waist in front is the sterile area.

[0091] Thus, according to the above regional division criteria, when the first device is an instrument table, the second device is an operating table, and the first operator is a medical staff member, the first target sub-region includes the area between the tabletop of the first device and the operating room air purification system, the area within 10 cm around the first device, and the area within 30 cm below the edge of the first device; the second target sub-region includes the area between the tabletop of the second device and the operating room air purification system, the area within 10 cm around the second device, and the area within 30 cm below the edge of the second device.

[0092] Step S13: Determine whether a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region.

[0093] If so, execute the following step S14:

[0094] Step S14: Use the connected region defined by the first target sub-region, the second target sub-region, and the third target sub-region as the target region.

[0095] Since the first target sub-region, the second target sub-region, and the third target sub-region are all obtained according to the pre-set regional division criteria, using the connected region formed among the first target sub-region, the second target sub-region, and the third target sub-region as the target region can make the finally divided target region also conform to the pre-set regional division criteria, thereby facilitating the operator to perform specific actions within this target region. For example, for the application scenario where surgical medical devices must be transferred in a sterile area, by planning the target region, that is, the sterile area, it is convenient for medical staff to accurately distinguish the contaminated area and the sterile area during the transfer of instruments, and thus it is convenient for medical staff to quickly transfer surgical medical devices within the sterile area.

[0096] Preferably, the determination of whether a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region includes:

[0097] Obtain the position vector between the first target sub-region and the second target sub-region The position vector between the first target sub-region and the third target sub-region And the position vector between the second target sub-region and the third target sub-region

[0098] Determine the position vector the position vector and the position vector both be non-positive vectors;

[0099] If so, it is determined that a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region.

[0100] Thus, by judging the position vector between the first target sub-region and the second target sub-region the position vector between the first target sub-region and the third target sub-region and the position vector between the second target sub-region and the third target sub-region whether they are all non-positive vectors, it can be accurately and quickly judged whether a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region. It should be noted that the position vector mentioned in this article refers to a vector formed by taking the point on the first target sub-region closest to the second target sub-region as the starting point and the point on the second target sub-region closest to the first target sub-region as the end point. And when at least a part of the first target sub-region overlaps with the second target sub-region, the position vector is a non-positive vector. The so-called position vector refers to a vector formed by taking the point on the first target sub-region closest to the third target sub-region as the starting point and the point on the third target sub-region closest to the first target sub-region as the end point. And when at least a part of the first target sub-region overlaps with the third target sub-region, the position vector is a non-positive vector. The so-called position vector refers to a vector formed by taking the point on the second target sub-region closest to the third target sub-region as the starting point and the point on the third target sub-region closest to the second target sub-region as the end point. And when at least a part of the second target sub-region overlaps with the third target sub-region, the position vector is a non-positive vector.

[0101] Preferably, please refer to Figure 3 , which schematically shows a projection schematic diagram of the first target sub-region 111, the second target sub-region 121, and the third target sub-region 131 provided by an embodiment of the present invention on the XOY plane. As Figure 3 shown, is the position vector between the projection of the first target sub-region 111 on the XOY plane and the projection of the second target sub-region 121 on the XOY plane; is the position vector between the projection of the first target sub-region 111 on the XOY plane and the projection of the third target sub-region 131 on the XOY plane; is the position vector between the projection of the second target sub-region 121 on the XOY plane and the projection of the third target sub-region 131 on the XOY plane. For Figure 3 the situation shown, since there is no overlapping part between the projection of the first target region on the XOY plane and the projection of the second target sub-region 121 on the XOY plane, so the is a positive vector; since there is no overlapping part between the projection of the first target sub-region 111 on the XOY plane and the projection of the third target sub-region 131 on the XOY plane, so the is a positive vector; since there is no overlapping part between the projection of the second target sub-region 121 on the XOY plane and the projection of the third target sub-region 131 on the XOY plane, so the is a positive vector.

[0102] Preferably, if no connected region is formed among the first target sub-region, the second target sub-region and the third target sub-region, the target region planning method further includes the following steps:

[0103] Step S15, adjust the positions of the first device and / or the second device and / or the first operator.

[0104] After completing the adjustment of the positions of the first device and / or the second device and / or the first operator, re-execute steps S11 to S13 until a connected region is formed among the first target sub-region, the second target sub-region and the third target sub-region.

[0105] Thus, it can be seen that the target region planning method provided by the present invention can also help the operator quickly achieve the correct positioning of the first device (such as an instrument table), the second device (such as an operating table), and help the first operator (such as medical staff) quickly stand at a suitable transfer position.

[0106] Specifically, as Figure 3 shown, when the position vector between the first target sub-region 111 and the second target sub-region 121 is a positive vector, the first device 110 and / or the second device 120 can be moved to make the position vector a non-positive vector; when the position vector When the position vector is a positive vector, the first device 110 and / or the first operator 130 can be moved to make the position vector a non-positive vector; when the position vector between the second target sub-region 121 and the third target sub-region 131 is a positive vector, the second device 120 and / or the first operator 130 can be moved to make the position vector a non-positive vector.

[0107] Preferably, the target area planning method further includes:

[0108] Displaying the first target sub-region, the second target sub-region, and the third target sub-region through an AR device.

[0109] Thus, by outputting the first target sub-region, the second target sub-region, and the third target sub-region to the AR device and displaying them through the AR device, it is convenient for the first operator (such as a medical staff) to quickly judge whether a connected area is formed between the first target sub-region, the second target sub-region, and the third target sub-region by wearing the AR device displaying the target area. And when a connected area is not formed among the three, the first device (such as an instrument table) and / or the second device (such as an operating table) can be quickly placed in a suitable position through the indication of the AR device, and / or the position where the operator is located can be adjusted to a suitable position.

[0110] Preferably, the target area planning method further includes:

[0111] Displaying the target area through the AR device.

[0112] Thus, by outputting the target area to the AR device (such as AR glasses) and displaying it through the AR device, it is convenient for the first operator (such as a medical staff) to accurately identify the target area (such as a sterile area) by wearing the AR device displaying the target area, so as to facilitate the execution of subsequent operations (such as the transfer of medical devices).

[0113] Preferably, the positioning device is integrated on the AR device. Thus, by integrating the positioning device on the AR device, it is more convenient to install the positioning device, reduce the types of components, and lower the cost. It should be noted that in some other embodiments, the positioning device and the AR device can also be separately arranged, and the positioning device can be fixed on a trolley.

[0114] Based on the same inventive concept, the present invention also provides a transfer path planning method. Please refer to Figure 4, which schematically shows the transfer path planning method provided by an embodiment of the present invention, as Figure 4 shown, the transfer path planning method includes the following steps:

[0115] Step S21, divide the target area.

[0116] Among them, the target area is divided by using the target area planning method described above. The first device is used to place the item to be transferred, and the second device is used for a second operator to perform an action through the item to be transferred.

[0117] Step S22, obtain the spatial mapping relationship between the item to be transferred and the second operator.

[0118] Preferably, the spatial mapping relationship between the item to be transferred and the second operator can be obtained through the following steps:

[0119] Obtain the three-dimensional models of the item to be transferred and the second operator based on the positioning device;

[0120] According to the three-dimensional models of the item to be transferred and the second operator, obtain the spatial mapping relationship between the item to be transferred and the second operator.

[0121] Preferably, the positioning device is a binocular vision device. Specifically, the three-dimensional models of the item to be transferred and the second operator can be obtained through the following steps:

[0122] Obtain the three-dimensional coordinate information of the item to be transferred and the second operator in the coordinate system of the binocular vision device based on the binocular vision device;

[0123] According to the three-dimensional coordinate information of the item to be transferred, the second operator in the coordinate system of the binocular vision device and the mapping relationship between the coordinate system of the binocular vision device and the world coordinate system, obtain the three-dimensional coordinate information of the item to be transferred and the second operator in the world coordinate system;

[0124] According to the three-dimensional coordinate information of the item to be transferred and the second operator in the world coordinate system, obtain the three-dimensional models of the item to be transferred and the second operator.

[0125] Step S23, according to the spatial mapping relationship between the item to be transferred and the second operator, obtain the target transfer path of the item to be transferred in the target area.

[0126] Thus, through the obtained target transfer path, it is convenient for the first operator (such as medical staff) to transfer the item to be transferred (such as a medical device) from the first device (such as an instrument table) to the second operator (such as a surgical robot) within the target area (such as a sterile area) according to the target transfer path. As a result, the item to be transferred can be transferred according to specific requirements (such as sterility), effectively improving the transfer efficiency.

[0127] Preferably, the target transfer path is far from the boundary of the target area.

[0128] Since the target transfer path is far from the boundary of the target area, it can effectively prevent the item to be transferred from moving outside the target area during the transfer process, ensuring that the item to be transferred can always be located inside the target area in real time during the transfer process and improving the safety performance of the item to be transferred during the transfer process. For example, when the item to be transferred is a medical device and the target area is a sterile area, by setting the target transfer path to be far from the boundary of the target area (sterile area), the risk of the item to be transferred (medical device) being infected with germs can be effectively reduced.

[0129] Preferably, the target transfer path is the path that is far from the boundary of the target area and has the shortest transfer distance for the item to be transferred.

[0130] Since the target transfer path is the path that is far from the boundary of the target area and has the shortest transfer distance for the item to be transferred, thus, not only can the safety performance of the item to be transferred during the transfer process be improved, but also the transfer efficiency can be further improved.

[0131] Preferably, obtaining the spatial mapping relationship between the item to be transferred and the second operator includes:

[0132] Obtaining the spatial mapping relationship between the item to be transferred and the second operator in real time;

[0133] Obtaining the target transfer path of the item to be transferred within the target area according to the spatial mapping relationship between the item to be transferred and the second operator includes:

[0134] According to the real-time spatial mapping relationship between the item to be transferred and the second operator, obtaining the target transfer path of the item to be transferred within the target area in real time.

[0135] During the transfer process, due to various reasons, the actual transfer path of the item to be transferred may deviate from the initially planned target transfer path. Therefore, the present invention obtains the spatial mapping relationship between the item to be transferred and the second operator in real time, and based on the real-time spatial mapping relationship between the item to be transferred and the second operator, obtains the target transfer path of the item to be transferred in the target area in real time. Furthermore, the transfer path of the item to be transferred can be planned in real time according to the actual situation, so that the item to be transferred (medical device) can be smoothly and quickly transferred to the second operator (such as a surgical robot) in the target area (such as a sterile area).

[0136] Preferably, the transfer path planning method further includes:

[0137] Displaying the target transfer path through an AR device.

[0138] Thus, by outputting the target transfer path to the AR device and displaying it through the AR device, it is convenient for the first operator (such as medical staff) to wear the AR device displaying the target transfer path. Under the indication of the AR device, the first operator (such as medical staff) can be guided to quickly and accurately transfer the item to be transferred (such as a medical device) to the second operator (such as a surgical robot) in the target area (such as a sterile area).

[0139] The application scenarios of the target area planning method and the transfer path planning method provided by the present invention are described below through specific examples. Please refer to Figures 5 to 7 , wherein Figure 5 In the given application scenario, the positioning device (such as a binocular vision device) and the AR device are independently set. Figure 6 In the given application scenario, the positioning device (such as a binocular vision device) is integrated on the AR device. Figure 7 A schematic diagram of the sterile area of the operating table and the instrument table is schematically given. As Figures 5 to 7 shown, in this example, the first device is an instrument table 210 for storing surgical instruments; the second device is an operating table 220; the first operator is medical staff 230, such as a nurse; the second operator is a surgical robot 240; the item to be transferred is a medical device 270; the target area is a sterile area, and the sterile area division standard is:

[0140] (1) The area between the tabletop 290 of the operating table 220 and the operating room air purification system 280 is a sterile area;

[0141] (2) The area within 10 cm around the operating table 220 and the instrument table 210 is a sterile area;

[0142] (3) The area within 30 cm below the edge of the operating table 220 is the sterile area;

[0143] (4) The area between the tabletop 290 of the instrument table 210 and the operating room air purification system 280 is the sterile area;

[0144] (5) The medical staff 230 wears a sterile gown, and the area from the front below the shoulders to above the waist is the sterile area.

[0145] It should be noted that although this article uses the surgical robot system as an example to illustrate the application scenarios of the target area planning method and the transfer path planning method provided by the present invention, as those skilled in the art can understand, the target area planning method and the transfer path planning method provided by the present invention can also be used in other systems other than the surgical robot system, and the present invention does not limit it.

[0146] The medical staff 230 wears a sterile gown to prepare the preoperative items and complete the placement of the operating table 220 and the instrument table 210; obtain the three-dimensional models of the instrument table 210, the operating table 220, and the medical staff 230 through the positioning device 250; according to the three-dimensional model of the instrument table 210 and the division criteria of the sterile area, divide the first sterile sub-area 211 of the instrument table 210, according to the three-dimensional model of the operating table 220 and the division criteria of the sterile area, divide the second sterile sub-area 221 of the operating table 220, and according to the three-dimensional model of the medical staff 230, divide the third sterile sub-area of the medical staff 230; judge the position vectors between the first sterile sub-area 211 and the third sterile sub-area and the position vectors between the second sterile sub-area 221 and the third sterile sub-area whether they are all non-positive vectors; if the position vectors position vector and position vector are all non-positive vectors, it means that a connected domain has been formed between the first sterile sub-area 211, the second sterile sub-area 221, and the third sterile sub-area, indicating that the placement positions of the instrument table 210, the operating table 220, and the position of the medical staff 230 meet the requirements; if the position vectors position vector and position vector at least one of them is a positive vector, it means that a connected area has not been formed between the first sterile sub-area 211, the second sterile sub-area 221, and the third sterile sub-area. Specifically, if the position vector If the position vector is a positive vector, the instrument table 210 can be moved in a direction approaching the operating table 220 to make the position vector a non-positive vector; if the position vector is a positive vector, the instrument table 210 can be moved in a direction approaching the medical staff 230, or the medical staff 230 can be moved in a direction approaching the instrument table 210 to make the position vector a non-positive vector; if the position vector is a positive vector, the medical staff 230 can be moved in a direction approaching the operating table 220 to make the position vector a non-positive vector. To improve the adjustment efficiency, the medical staff 230 can wear an AR device 260, such as AR glasses, and under the indication of the AR device 260, adjust the placement positions of the instrument table 210 and / or the operating table 220 and / or their own positions to appropriate positions.

[0147] After adjusting the placement positions of the instrument table 210 and the operating table 220 and the position of the medical staff 230 to meet the requirements, the position of the sterile area can be obtained, and only then can the transfer of the medical device 270 be carried out. Thus, it can be ensured that the medical device 270 is transferred from the instrument table 210 to the surgical robot 240 by the medical staff 230 within the sterile area, reducing the risk of bacterial infection for the patient. When transferring the medical device 270, the medical staff 230 must face the sterile area, and the arm must be kept above the waist or the tabletop 290 of the instrument table 210.

[0148] During the transfer process of the medical device 270, the spatial mapping relationship between the medical device 270 and the surgical robot 240 can be obtained in real time through the positioning device 250. According to the spatial mapping relationship, the target transfer path of the medical device 270 within the sterile area can be obtained in real time, that is, the path that is far from the boundary of the sterile area and has the shortest transfer distance of the medical device 270. The medical staff 230 can transfer the medical device 270 from the instrument table 210 to the surgical robot 240 according to the planned target transfer path.

[0149] To improve the transfer efficiency of the medical device 270, the medical staff 230 can wear the AR device 260. Through the AR device 260, the planned target transfer path can be displayed in real time, and the medical staff 230 can be prompted to operate in a standardized manner, guiding the medical staff 230 to transfer the medical device 270 according to the planned target transfer path. If the medical staff 230 does not transfer the medical device 270 according to the planned target transfer path, then according to the current spatial mapping relationship between the medical device 270 and the surgical robot 240, the target transfer path of the medical device 270 is re-planned, and the re-planned target transfer path is displayed through the AR device 260 until the medical device 270 is transferred to the surgical robot 240.

[0150] Based on the same inventive concept, the present invention also provides a surgical robot system, which includes a surgical robot and a controller. Please refer to Figure 8 , which schematically shows a block structure diagram of the controller provided by an embodiment of the present invention. As Figure 8 shown, the controller includes a processor 301 and a memory 303. A computer program is stored on the memory 303. When the computer program is executed by the processor 301, the above-mentioned target area planning method is implemented to obtain a sterile area, or the above-mentioned transfer path planning method is implemented to obtain the transfer path of the medical device from the placement position to the surgical robot in the sterile area. Thus, the surgical robot system provided by the present invention can accurately divide the sterile area, facilitating the medical staff to accurately distinguish the contaminated area and the sterile area during the transfer of the medical device, so that the medical staff can quickly transfer the medical device in the sterile area, thereby effectively reducing the infection rate of germs during the operation.

[0151] As Figure 8 shown, the controller further includes a communication interface 302 and a communication bus 304. Among them, the processor 301, the communication interface 302, and the memory 303 complete mutual communication through the communication bus 304. The communication bus 304 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 304 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface 302 is used for communication between the controller and other devices.

[0152] The processor 301 mentioned in the present invention may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor 301 is the control center of the controller, and connects various parts of the entire controller through various interfaces and lines.

[0153] The memory 303 can be used to store the computer program. The processor 301 realizes various functions of the controller by running or executing the computer program stored in the memory 303 and calling the data stored in the memory 303.

[0154] The memory 303 may include non-volatile and / or volatile memory. The non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. The volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0155] The present invention also provides a readable storage medium. The readable storage medium stores a computer program, and when the computer program is executed by a processor, it can implement the target area planning method or the transfer path planning method described above. Thus, the storage medium provided by the present invention can accurately divide the target area that meets the area division standard, and can divide the target transfer path according to the target area, so that it is convenient for the first operator to transfer the item to be transferred from the first device to the second operator within the target area according to the target transfer path, so that the item to be transferred can be transferred according to specific requirements, effectively improving the transfer efficiency.

[0156] The readable storage medium according to the embodiment of the present invention may adopt any combination of one or more computer-readable media. The readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer hard disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this article, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

[0157] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0158] In summary, the target area planning method, transfer path planning method, surgical robot system, and storage medium provided by the present invention have the following advantages:

[0159] (1) The target area planning method provided by the present invention obtains the three-dimensional models of the first device, the second device, and the first operator; then, according to the three-dimensional models of the first device, the second device, the first operator, and the preset area division criteria, divides the first target sub-area regarding the first device, the second target sub-area regarding the second device, and the third target sub-area regarding the first operator; then determines whether a connected area is formed among the first target sub-area, the second target sub-area, and the third target sub-area. If so, the connected area defined by the first target sub-area, the second target sub-area, and the third target sub-area is used as the target area. Thus, by adopting the target area planning method provided by the present invention, a target area that meets the area division criteria can be accurately divided, which is convenient for the operator to perform subsequent operations. For example, for the application scenario where medical devices used in surgery must be transferred in a sterile area, by adopting the target area planning method provided by the present invention, the sterile area can be accurately divided, which is convenient for medical staff to accurately distinguish the contaminated area and the sterile area during the transfer of medical devices, so that medical staff can quickly transfer the medical devices used in surgery within the sterile area.

[0160] (2) The transfer path planning method provided by the present invention first divides the target area by using the target area planning method described above; then obtains the spatial mapping relationship between the item to be transferred and the second operator; finally, according to the spatial mapping relationship between the item to be transferred and the second operator, obtains the target transfer path of the item to be transferred within the target area. Thus, by adopting the transfer path planning method provided by the present invention, the target transfer path of the item to be transferred within the target area can be obtained, which is convenient for the first operator (such as medical staff) to transfer the item to be transferred (such as medical devices) from the first device (such as an instrument table) to the second operator (such as a surgical robot) within the target area (such as a sterile area) according to the target transfer path, so that the item to be transferred can be transferred according to specific requirements (such as sterility), effectively improving the transfer efficiency.

[0161] (3) The surgical robot system provided by the present invention can accurately divide the sterile area, which is convenient for medical staff to accurately distinguish the contaminated area and the sterile area during the transfer of medical devices, so that medical staff can quickly transfer medical devices within the sterile area, thereby effectively reducing the infection rate of pathogens during the operation.

[0162] (4) The storage medium provided by the present invention can accurately divide the target area that meets the area division standard, and can divide the target transfer path according to the target area, so that the first operator can transfer the item to be transferred from the first device to the second operator within the target area according to the target transfer path, so that the item to be transferred can be transferred according to specific requirements, effectively improving the transfer efficiency.

[0163] It should be noted that computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0164] It should be noted that the devices and methods disclosed in the embodiments herein can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments herein. In this regard, each block in the flowchart or block diagram can represent a module, program, or part of the code, and the module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0165] In addition, each functional module in various embodiments of this document may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0166] The above description is only a description of the preferred embodiments of the present invention and does not limit the scope of the present invention in any way. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosure fall within the scope of protection of the claims. Obviously, those skilled in the art can make various changes and modifications to the invention without departing from the spirit and scope of the invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A target area planning method, which is applied to a scenario where medical devices used in surgery must be transferred in a sterile area, is characterized in that, Including: Obtaining three-dimensional models of a first device, a second device, and a first operator; Dividing a first target sub-region regarding the first device, a second target sub-region regarding the second device, and a third target sub-region regarding the first operator according to the three-dimensional models of the first device, the second device, the first operator, and a preset area division criterion; Judging whether a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region; If so, taking the connected region defined by the first target sub-region, the second target sub-region, and the third target sub-region as the target region.

2. The target area planning method according to claim 1, characterized in that, The judging whether a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region includes: Obtain the position vector between the first target sub-region and the second target sub-region The position vector between the first target sub-region and the third target sub-region And the position vector between the second target sub-region and the third target sub-region Determine the position vector the position vector and the position vector are both non-positive vectors; If so, determining that a connected region is formed among the first target sub-region, the second target sub-region, and the third target sub-region.

3. The target area planning method according to claim 1, characterized in that Obtaining the three-dimensional models of the first device, the second device, and the first operator based on a positioning device.

4. The target area planning method according to claim 3, wherein The positioning device is a binocular vision device, and the obtaining the three-dimensional models of the first device, the second device, and the first operator based on the positioning device includes: Obtaining three-dimensional coordinate information of the first device, the second device, and the first operator in the coordinate system of the binocular vision device based on the binocular vision device; Obtaining the three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system according to the three-dimensional coordinate information of the first device, the second device, and the first operator in the coordinate system of the binocular vision device and the mapping relationship between the coordinate system of the binocular vision device and the world coordinate system; Obtaining the three-dimensional models of the first device, the second device, and the first operator according to the three-dimensional coordinate information of the first device, the second device, and the first operator in the world coordinate system.

5. The target area planning method according to claim 3, characterized in that The target region planning method further includes: Displaying the target region through an AR device.

6. The target area planning method according to claim 5, wherein The target region planning method further includes: Displaying the first target sub-region, the second target sub-region, and the third target sub-region through the AR device.

7. The target area planning method according to claim 5 or 6, characterized in that, The positioning device is integrated on the AR device.

8. The target area planning method according to claim 1, wherein, If a connected region is not formed among the first target sub-region, the second target sub-region, and the third target sub-region, the target region planning method further includes: Adjusting the positions of the first device and / or the second device and / or the first operator.

9. A transfer path planning method, characterized in that, Including: Dividing a target region according to the target region planning method according to any one of claims 1 to 8, where the first device is used for placing a to-be-transferred item, and the second device is used for a second operator to perform an action through the to-be-transferred item; Obtaining the spatial mapping relationship between the to-be-transferred item and the second operator; Obtain a target transfer path of the item to be transferred within the target area according to the spatial mapping relationship between the item to be transferred and the second operator, so that the first operator can transfer the item to be transferred from the first device to the second operator within the target area according to the target transfer path.

10. The transfer path planning method according to claim 9, characterized in that The target transfer path is away from the boundary of the target area.

11. The transfer path planning method according to claim 10, characterized in that The target transfer path is the path that is away from the boundary of the target area and has the shortest transfer distance of the item to be transferred.

12. The transfer path planning method according to claim 9, wherein The obtaining of the spatial mapping relationship between the item to be transferred and the second operator includes: Obtain the spatial mapping relationship between the item to be transferred and the second operator in real time; The obtaining of the target transfer path of the item to be transferred within the target area according to the spatial mapping relationship between the item to be transferred and the second operator includes: Obtain the target transfer path of the item to be transferred within the target area in real time according to the real-time spatial mapping relationship between the item to be transferred and the second operator.

13. The transfer path planning method according to claim 9, wherein The obtaining of the spatial mapping relationship between the item to be transferred and the second operator includes: Obtain the three-dimensional models of the item to be transferred and the second operator based on a positioning device; Obtain the spatial mapping relationship between the item to be transferred and the second operator according to the three-dimensional models of the item to be transferred and the second operator.

14. The transfer path planning method according to claim 13, wherein The positioning device is a binocular vision device, and the obtaining of the three-dimensional models of the item to be transferred and the second operator based on the positioning device includes: Obtain the three-dimensional coordinate information of the item to be transferred and the second operator in the coordinate system of the binocular vision device based on the binocular vision device; Obtain the three-dimensional coordinate information of the item to be transferred and the second operator in the world coordinate system according to the three-dimensional coordinate information of the item to be transferred, the second operator in the coordinate system of the binocular vision device and the mapping relationship between the coordinate system of the binocular vision device and the world coordinate system; Obtain the three-dimensional models of the item to be transferred and the second operator according to the three-dimensional coordinate information of the item to be transferred and the second operator in the world coordinate system.

15. The transfer path planning method according to claim 9, characterized in that, The transfer path planning method further includes: Display the target transfer path through an AR device.

16. A surgical robot system, characterized in that, It includes a surgical robot and a controller. The controller includes a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, it implements the target area planning method according to any one of claims 1 to 8 to obtain a sterile area, or implements the transfer path planning method according to any one of claims 9 to 15 to obtain the transfer path of a medical device from the placement position to the surgical robot within the sterile area.

17. A readable storage medium, characterized in that, A computer program is stored in the readable storage medium. When the computer program is executed by a processor, it implements the target area planning method according to any one of claims 1 to 8 or the transfer path planning method according to any one of claims 9 to 15.

Images