Interactive system, surgical robot navigation positioning system and control method thereof

Abstract

This invention relates to an interactive system, a surgical robot navigation and positioning system, and a control method thereof. The surgical robot navigation and positioning system includes a robotic arm and a tamper, and has a fixed point on the robotic arm and an actual fixed point. The interactive system includes a position information module, a robotic arm information module, and a controller. The position information module is used to acquire the positioning information of the actual fixed point; the robotic arm information module is used to acquire the position information of the fixed point on the robotic arm; the controller is communicatively connected to the position information module, and is used to determine the positional relationship between the actual fixed point and the fixed point on the robotic arm based on the positioning information of the actual fixed point and the position information of the fixed point on the robotic arm, and control the movement of the robotic arm until it automatically moves until the actual fixed point and the fixed point on the robotic arm coincide, without the need for medical personnel intervention. This avoids the expansion of the patient's surgical wound and prevents surgical accidents, improving automation and safety.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an interactive system, a surgical robot navigation and positioning system, and a control method thereof. Background Technology

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less patient suffering. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations, such as filtering hand tremors during operation, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity.

[0003] Currently, minimally invasive surgical robots consist of a main operating arm and a robotic arm. The main operating arm collects the surgeon's operation signals, which are then processed by the control system to generate control signals for the robotic arm, which then performs the surgical procedures. During robotic surgery, the robotic arm engages surgical instruments, which are inserted into the patient's body through a trocar inserted into the incision. The intersection of the trocar's centerline and the skin surface is the "actual fixed point." During the surgery, the robotic arm must pass through this point via the trocar to hold the surgical instrument; this is called the "robotic arm fixed point." A mismatch between the "actual fixed point" and the "robotic arm fixed point" can lead to enlargement of the wound and even surgical accidents. There are two existing methods for achieving the robotic arm fixed point: the first is a mechanical fixed point, based on mechanisms such as parallelogram linkages, where the actual fixed point is fixed relative to the base; the second is an active fixed point, using motion control algorithms to constrain the surgical instruments through a fixed point. Currently, both methods require manual manipulation of the robotic arm by medical staff during the matching process between the actual and robotic arm fixed points, resulting in high operational complexity and a long preoperative preparation time. Summary of the Invention

[0004] Therefore, it is necessary to provide an interactive system, a surgical robot navigation and positioning system, and a control method to address the low safety of the alignment process between the fixed point and the actual fixed point of the robotic arm.

[0005] An interactive system is applied to a surgical robot navigation and positioning system. The surgical robot navigation and positioning system includes a robotic arm and a card, and has fixed points on the robotic arm and actual fixed points. The interactive system includes a position information module, a robotic arm information module, and a controller, wherein:

[0006] The location information module is used to obtain the positioning information of the actual stationary point;

[0007] The robotic arm information module is used to obtain the position information of the fixed point of the robotic arm;

[0008] The controller is communicatively connected to the position information module and the robotic arm information module. The controller is used to determine the positional relationship between the actual fixed point and the robotic arm fixed point based on the positioning information of the actual fixed point and the position information of the robotic arm fixed point, and to control the movement of the robotic arm.

[0009] In the aforementioned interactive system, the position information module acquires the positioning information of the actual stationary point and transmits this information to the controller. The robotic arm information module acquires the position information of the robotic arm's stationary point and transmits this information to the controller. The controller determines the positional relationship between the actual stationary point and the robotic arm's stationary point based on their respective positioning information. Based on this determined relationship, the controller controls the robotic arm to move automatically until the two points coincide. Therefore, this interactive system enables the robotic arm to move automatically until the two points coincide, without the need for medical personnel. This helps prevent the patient's wound from enlarging and avoids surgical accidents, thus improving automation and safety.

[0010] In one embodiment, the location information module includes a magnetic field generator and a sensor communicatively connected to the controller. The magnetic field generator is used to generate an electromagnetic field covering the sensor, and the sensor is used to generate a positioning current within the electromagnetic field. The controller stores the location information of the magnetic field generator and generates a spatial position matrix of the sensor based on the positioning current.

[0011] In one embodiment, the position information of the magnetic field generator is used to characterize the position information of the actual stationary point, and the spatial position matrix includes the position information of the stamp card and the axis information of the stamp card, which is used to characterize the positioning information of the actual stationary point.

[0012] In one embodiment, the position information of the magnetic field generator is used to characterize the position information of the actual fixed point, and the spatial position matrix includes the location information of the wound, which is used to characterize the location information of the actual fixed point.

[0013] In one embodiment, the controller includes an information amplification and processing unit, which includes a signal amplifier and a signal converter that are integrated into a communication connection.

[0014] In one embodiment, the location information module includes an optical tracker and a navigation marker. The optical tracker is communicatively connected to the controller and is used to emit emitted light and receive reflected light reflected by the navigation marker. The controller stores the location information of the optical tracker and generates the spatial coordinates of the navigation marker based on the emitted light and the reflected light. The spatial coordinates include the location information of the marker and the axis information of the marker, which are used to characterize the positioning information of the actual stationary point.

[0015] In one embodiment, the location information module includes an image acquisition unit and a location marker. The image acquisition unit is communicatively connected to the controller and is used to acquire the location information of the location marker to represent the actual fixed point. The controller stores the location information of the image acquisition unit and generates the spatial coordinates of the location marker based on the location information of the location marker. The spatial coordinates include the location information of the stamp and the axis information of the stamp, which are used to represent the positioning information of the actual fixed point.

[0016] In one embodiment, the robotic arm information module is an angle sensor installed on the robotic arm.

[0017] In addition, the present invention also provides a surgical robot navigation and positioning system, including a surgical cart, a robotic arm, a tamper, and the interactive system described in any of the above technical solutions, wherein the controller is communicatively connected to the surgical cart and the robotic arm.

[0018] In the aforementioned surgical robot navigation and positioning system, the position information module of the interactive system acquires the positioning information of the actual stationary point and the position information of the robotic arm stationary point. This position information module then transmits the positioning information of the actual stationary point and the robotic arm stationary point to the controller. The controller determines the positional relationship between the actual stationary point and the robotic arm stationary point based on this relationship. Furthermore, the controller controls the robotic arm to move automatically based on this determined positional relationship. Therefore, the aforementioned surgical robot navigation and positioning system can enable the robotic arm to move automatically until the actual stationary point and the robotic arm stationary point coincide, without the need for medical personnel intervention. This helps to prevent the patient's wound from enlarging and to avoid surgical accidents, thus improving the level of automation and safety.

[0019] In one embodiment, the interactive system as described in the above technical solution includes: the sensor is installed on the puncture card or the wound, the puncture card is marked with an actual fixed point, and the magnetic field generator is installed on the operating table.

[0020] In one embodiment, the magnetic field generator is movably mounted on the column of the surgical cart.

[0021] In one embodiment, the interactive system is as described in the other technical solution above; the navigation marker is installed on the stamp card, the stamp card is provided with actual fixed point markers, and the optical tracker is installed on the operating table.

[0022] In one embodiment, the interactive system is as described in the other technical solution above; the position marker is installed on the stamp card, the stamp card is provided with actual fixed point markers, and the image acquisition device is installed on the operating table.

[0023] In addition, the present invention also provides a control method for a surgical robot navigation and positioning system as described in any of the above technical solutions, comprising:

[0024] Step S701: Obtain and transmit the positioning information of the actual stationary point;

[0025] Step S702: Obtain the position information of the fixed point of the robotic arm;

[0026] Step S703: Determine the positional relationship between the actual fixed point and the robotic arm fixed point based on the positioning information of the actual fixed point and the position information of the robotic arm fixed point;

[0027] Step S704: Control the movement of the robotic arm based on the positional relationship between the actual fixed point and the fixed point of the robotic arm.

[0028] In the control method of the above-mentioned surgical robot navigation and positioning system, firstly, in step S701, the position information module obtains the positioning information of the actual stationary point and transmits the positioning information of the actual stationary point to the controller. Secondly, in step S702, the robotic arm information module obtains the position information of the robotic arm stationary point and transmits the position information of the robotic arm stationary point to the controller. Then, in step S703, the controller determines the positional relationship between the actual stationary point and the robotic arm stationary point based on the positioning information of the actual stationary point and the positional information of the robotic arm stationary point. Then, in step S704, the controller controls the robotic arm to move automatically based on the determined positional relationship between the actual stationary point and the robotic arm stationary point until the actual stationary point and the robotic arm stationary point coincide. The above-mentioned control method of the surgical robot navigation and positioning system can conveniently realize the automatic movement of the robotic arm to coincide with the actual stationary point and the robotic arm stationary point without the intervention of medical personnel. This can avoid the expansion of the patient's wound and the occurrence of surgical accidents, and improve the degree of automation and safety.

[0029] In one embodiment, the interactive system of claim 13, prior to the step of "acquiring and transmitting the positioning information of the actual stationary point", further includes:

[0030] The magnetic field generator is moved on the column toward the stamp card so that the electromagnetic field of the magnetic field generator covers the sensor. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of a surgical robot navigation and positioning system and its body surface components provided by the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of a surgical cart in a surgical robot navigation and positioning system provided by the present invention;

[0033] Figure 3 A schematic diagram of the structure of a robotic arm in a surgical robot navigation and positioning system provided by the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of a stamp card in a surgical robot navigation and positioning system provided by the present invention;

[0035] Figure 5 A flowchart of a surgical robot navigation and positioning system provided by the present invention;

[0036] Figure 6 A flowchart of another surgical robot navigation and positioning system provided by the present invention;

[0037] Figure 7 A flowchart of a control method for a surgical robot navigation and positioning system provided by the present invention.

[0038] Figure label:

[0039] 10. Surgical robot navigation and positioning system;

[0040] A. Fixed point of the robotic arm;

[0041] 100. Location information module; 110. Magnetic field generator; 120. Sensor; 130. Connection interface; 140. Optical tracker; 150. Navigation marker;

[0042] 200. Controller; 210. Information amplification and processing unit; 211. Signal amplifier; 212. Signal converter; 220. System controller; 230. Main unit;

[0043] 300. Operating table cart; 310. Base; 320. Column; 330. Orientation platform;

[0044] 400. Robotic arm; 410. Spatial positioning mechanism; 411. Base; 412. First rotary joint; 413. First link; 414. First gliding joint; 415. Second link; 416. Second rotary joint; 417. Third link; 420. Planar motion mechanism; 421. Fourth link; 422. Third rotary joint; 423. Fifth link; 424. Fourth rotary joint; 425. Sixth link; 426. Fifth rotary joint; 427. Seventh link; 428. Second gliding joint; 430. Rotational joint;

[0045] 500. Stamp card; 510. Actual fixed point marker;

[0046] 600. Telescopic boom;

[0047] 20. Surgical instruments;

[0048] 30. Body surface; 31. Wound. Detailed Implementation

[0049] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0055] The technical solutions provided by the embodiments of the present invention are described below with reference to the accompanying drawings.

[0056] like Figure 1 As shown, the present invention provides an interactive system applied to a surgical robot navigation and positioning system 10. The surgical robot navigation and positioning system 10 includes a robotic arm 400 and a card 500. The surgical robot navigation and positioning system 10 has a fixed point A on the robotic arm and an actual fixed point. The interactive system includes a position information module 100, a robotic arm information module, and a controller, wherein:

[0057] The location information module 100 is used to obtain the positioning information of the actual stationary point;

[0058] The robotic arm information module is used to obtain the position information of the robotic arm's fixed point A;

[0059] The controller 200 is communicatively connected to the position information module 100 and the robotic arm information module. The controller 200 is used to determine the positional relationship between the actual fixed point and the robotic arm fixed point A based on the positioning information of the actual fixed point and the position information of the robotic arm fixed point A, and to control the movement of the robotic arm 400.

[0060] In the aforementioned interactive system, the position information module 100 acquires the positioning information of the actual stationary point and transmits it to the controller 200. The robotic arm information module acquires the position information of the robotic arm stationary point A and transmits it to the controller 200. The controller 200 determines the positional relationship between the actual stationary point and the robotic arm stationary point A based on their positioning information. Based on this relationship, the controller 200 controls the robotic arm 400 to move automatically until the actual stationary point and the robotic arm stationary point A coincide. Therefore, the aforementioned interactive system enables the robotic arm 400 to move automatically until the actual stationary point and the robotic arm stationary point A coincide, without the need for medical personnel. This helps to prevent the patient's wound 31 from expanding and avoids surgical accidents, thus improving automation and safety.

[0061] In addition, such as Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, the present invention also provides a surgical robot navigation and positioning system 10, including a surgical cart 300, a robotic arm 400, a card reader 500, and an interactive system based on the above-mentioned technical solutions, wherein:

[0062] The controller 200 is communicatively connected to the operating table 300 and to the robotic arm 400. In a specific configuration, the operating table 300 includes at least a base 310 and a column 320, with the column 320 fixed on the base 310. The controller 200 includes a host 230 mounted on the base 310 and a system controller 220 mounted on the column 320. The robotic arm 400 is connected to the column 320 via a connecting mechanism. To adapt to different surgical scenarios, multiple robotic arms 400 can be configured, along with corresponding multiple interactive systems.

[0063] The robotic arm 400 comprises three parts: a spatial positioning mechanism 410, a planar motion mechanism 420, and a rotation joint 430. The rotation joint 430 connects the spatial positioning mechanism 410 and the planar motion mechanism 420. The end of the planar motion mechanism 420 is connected to the surgical instrument 20. The intersection of the rotation axis 340 of the rotation joint 430 and the axis of the surgical instrument 20 is the fixed point A of the robotic arm. The beginning of the spatial positioning mechanism 410 is rotatably connected to the surgical trolley 300. In a specific configuration, the spatial positioning mechanism 410 includes a base 411, a first rotation joint 412, a first connecting rod 413, a first locating joint 414, and a second connecting rod 415 connected in sequence. The second rotating joint 416 and the third link 417 are connected to the base 411 and the rotating disk 350. The third link 417 is connected to the self-rotating joint 430. The planar motion mechanism 420 includes the fourth link 421, the third rotating joint 422, the fifth link 423, the fourth rotating joint 424, the sixth link 425, the fifth rotating joint 426, the seventh link 427, and the second moving joint 428 connected in sequence. The fourth link 421 is connected to the self-rotating joint 430, and the second moving joint 428 is connected to the surgical instrument 20. The perpendicular line of the plane where the planar motion mechanism 420 is located is perpendicular to the rotation axis 340 of the self-rotating joint 430.

[0064] The puncture card 500 is installed at the wound 31 on the body surface 30, and the intersection of the axis of the puncture card 500 and the body surface 30 is the actual fixed point. The rotation axis 340 of the self-rotating joint 430 always rotates through the fixed point A of the robotic arm during the operation.

[0065] In the aforementioned surgical robot navigation and positioning system 10, the position information module 100 of the interactive system acquires the positioning information of the actual fixed point and transmits this information to the controller 200. The robotic arm information module acquires the position information of the robotic arm fixed point A and transmits this information to the controller 200. The controller 200 determines the positional relationship between the actual fixed point and the robotic arm fixed point A based on their respective positioning information. The positional relationship controls the automatic movement of the robotic arm 400. The spatial positioning mechanism 410 of the robotic arm 400 moves to achieve large-scale spatial positioning of the fixed point A of the robotic arm. The planar motion mechanism 420 moves to achieve precise positioning of the fixed point A of the robotic arm on the plane where the planar motion mechanism 420 is located, until the actual fixed point and the fixed point A of the robotic arm coincide. Therefore, the above-mentioned surgical robot navigation and positioning system 10 can realize the automatic movement of the robotic arm 400 until the actual fixed point and the fixed point A of the robotic arm coincide, without the need for medical personnel to participate. This can avoid the expansion of the wound 31 on the patient's body surface 30 and the occurrence of surgical accidents, and improve the degree of automation and safety.

[0066] The location information module 100 has various structural forms, such as Figure 5 As shown, in a preferred embodiment, the location information module 100 includes a magnetic field generator 110 and a sensor 120. The sensor 120 is communicatively connected to the controller 200. The magnetic field generator 110 is used to generate an electromagnetic field covering the sensor 120. The sensor 120 is used to generate a positioning current in the electromagnetic field. The controller 200 stores the location information of the magnetic field generator 110 and generates a spatial position matrix of the sensor 120 based on the positioning current.

[0067] In the above-mentioned interactive system, after the magnetic field generator 110 is installed, its position information is pre-stored in the controller 200. After the magnetic field generator 110 is started, it generates an electromagnetic field that covers the sensor 120. The sensor 120 generates a positioning current in the electromagnetic field, which is transmitted to the controller 200. The controller 200 generates a spatial position matrix of the sensor 120 based on the positioning current, thereby enabling the position information module 100 to obtain the positioning information of the actual fixed point and the position information of the fixed point A of the robotic arm. The position information module 100 then transmits the positioning information of the actual fixed point and the position information of the fixed point A of the robotic arm to the controller 200. In specific configurations, the magnetic field generator 110 can be a 20*20 planar model. This type of magnetic field generator 110 can cover a 500mm*500mm*500 cube, a hemisphere with R=660mm, or a cylinder with R=480mm. The magnetic field generator 110 can emit a low-intensity, constantly changing electromagnetic field to determine the measurement volume. Of course, the magnetic field generator 110 is not limited to the above models and can also be other structural forms that meet the requirements. The sensor 120 can be a 5- or 6-DOF sensor 120, which can be easily integrated into the carrier instrument. The minimum diameter of the sensor 120 can reach 0.3mm. In the magnetic field, the sensor 120 can output 5 or 6 position information and attitude signals. Of course, the sensor 120 is not limited to the above structural forms and can also be other structural forms that meet the requirements.

[0068] A preferred embodiment, such as Figure 2 As shown, the magnetic field generator 110 in the surgical robot navigation and positioning system 10 is fixedly installed on the surgical cart 300 by means of threaded connection, snap-fit ​​connection, concave-convex fit, welding, etc. In specific settings, the magnetic field generator 110 is fixedly installed on the column 320, the orientation platform 330 or the base 310 of the surgical cart 300. The position of the magnetic field generator 110 is not limited, as long as the spatial positional relationship between the magnetic field generator 110 and the fixed point A of the robotic arm is determined.

[0069] In the aforementioned surgical robot navigation and positioning system 10, after the magnetic field generator 110 is fixed on the surgical trolley 300, the position of the magnetic field generator 110 is determined and stored in the controller 200. In specific configurations, the column 320 is provided with connection interfaces 130, and the number of these interfaces 130 can reach eight. Each connection interface 130 can be connected to one sensor 120. Depending on the different positions of the sensors 120, the information module can be configured in various ways, as shown below:

[0070] Example 1:

[0071] In the surgical robot navigation and positioning system 10, the sensor 120 is fixedly installed on the puncture card 500 by means of threaded connection, snap-fit ​​connection, concave-convex fit, welding, etc. The puncture card 500 is provided with actual fixed point mark 510 to characterize the actual fixed point.

[0072] In the above-mentioned surgical robot navigation and positioning system 10, the center of the actual fixed point mark 510 is the actual fixed point. After the sensor 120 is fixed on the card 500, the positional relationship between the sensor 120 and the actual fixed point mark 510 is determined. At this time, the position of the actual fixed point can be determined according to the spatial position of the center point of the sensor 120.

[0073] In order to facilitate the acquisition of the positioning information of the actual fixed point, in a preferred embodiment, the position information of the magnetic field generator 110 is used to characterize the position information of the actual fixed point, and the spatial position matrix includes the position information of the stamp card 500 and the axis information of the stamp card 500. The spatial position matrix is ​​used to characterize the positioning information of the actual fixed point.

[0074] In the aforementioned interactive system, the magnetic field generator 110 is mounted on the column 320, and the robotic arm 400 is connected to the column 320 via a connecting mechanism. Therefore, the positions of the magnetic field generator 110 and the rotation joint 430 are determined. Based on the position information of the magnetic field generator 110, the position information of the actual fixed point can be determined, thus representing the position information of the actual fixed point. The spatial position matrix includes the position information of the stamp card 500 in the spatial coordinate system and the spatial orientation information of the axis of the stamp card 500, which can represent the positioning information of the actual fixed point.

[0075] Example 2:

[0076] In the surgical robot navigation and positioning system 10, the sensor 120 is attached to the wound 31 by an adhesive, and the puncture card 500 is marked with an actual fixed point 510 to represent the actual fixed point. In specific settings, the sensor 120 can be attached to the wound 31 by an adhesive, and the sensor 120 can also be attached to the puncture card 500 by an adhesive.

[0077] In the above-mentioned surgical robot navigation and positioning system 10, the center of the actual fixed point mark 510 is the actual fixed point. After the sensor 120 is fixed at the wound 31 or on the puncture card 500, the positional relationship between the sensor 120 and the actual fixed point mark 510 is determined. At this time, the position of the actual fixed point can be determined according to the spatial position of the center point of the sensor 120.

[0078] In order to facilitate the acquisition of the location information of the actual fixed point, in a preferred embodiment, the location information of the magnetic field generator 110 is used to characterize the location information of the actual fixed point, and the spatial location matrix includes the location information of the wound 31. The spatial location matrix is ​​used to characterize the location information of the actual fixed point.

[0079] In the aforementioned interactive system, the magnetic field generator 110 is mounted on the column 320. Therefore, the positions of the magnetic field generator 110 and the rotation joint 430 are determined. Based on the position information of the magnetic field generator 110, the position information of the actual fixed point can be determined, thus representing the position information of the actual fixed point. The spatial position matrix includes the position information of the wound 31 in the spatial coordinate system, which can represent the positioning information of the actual fixed point.

[0080] To facilitate the installation of the sensor 120, in a preferred embodiment, the sensor 120 can be a flexible sensor.

[0081] In the above-mentioned surgical robot navigation and positioning system 10, by defining the sensor 120 as a flexible sensor, the sensor can be bent according to the shape of the wound 31 and the sensor 120 can be pasted and fixed around the wound 31. On the one hand, it can facilitate the installation of the sensor 120, and on the other hand, the sensor 120 changes shape with the wound 31 during the operation, thereby improving the accuracy of the positioning information of the actual stationary point.

[0082] In the above embodiments one and two, in order to ensure that the sensor 120 is within the coverage area of ​​the electromagnetic field, a preferred embodiment is as follows: Figure 2 As shown, the magnetic field generator 110 is movably mounted on the column 320 of the operating table 300. In a specific setup, the magnetic field generator 110 can be mounted on the column 320 of the operating table 300 via a telescopic arm 600. Of course, the movable mounting method between the magnetic field generator 110 and the column 320 is not limited to this, and other methods that meet the requirements can also be used.

[0083] In the aforementioned surgical robot navigation and positioning system 10, when the electromagnetic field generated by the magnetic field generator 110 does not cover the sensor 120, the magnetic field generator 110 is activated, but the sensor 120 cannot generate a positioning current. This can be addressed by adjusting the telescopic arm 600, which moves back and forth, causing the magnetic field generator 110 to move accordingly, thus ensuring the electromagnetic field covers the sensor 120. This telescopic arm 600 can accurately reflect its movement distance via a servo transmission mechanism or by adding a displacement sensing unit.

[0084] In the above embodiments one and two, in order to ensure the accuracy of information processing, such as Figure 5 As shown, in a preferred embodiment, the controller 200 includes an information amplification and processing unit 210, which includes a signal amplifier 211 and a signal converter 212, and the signal amplifier 211 and the signal converter 212 are communicatively connected as one unit.

[0085] In the aforementioned surgical robot navigation and positioning system 10, since the positioning current generated by sensor 120 in the electromagnetic field is relatively small, the positioning current enters signal amplifier 211 through connection interface 130. Signal amplifier 211 amplifies the current, and signal converter 212 converts the amplified positioning current into a digital signal. This digital signal is transmitted to system controller 220 in controller 200 on column 320. In system controller 220, the spatial position and orientation of each sensor 120 can be calculated, and the position and orientation data can be converted into a spatial position matrix. From this, the spatial positional relationship between sensor 120 and magnetic field generator 110 can be derived, and indirectly, the spatial positional relationship between magnetic field generator 110 and the actual fixed point can be calculated. This spatial relationship is transmitted to the host 230 in the controller 200 on the base 310. The host 230 can control the movement of the surgical robotic arm 400. Since the surgical robotic arm 400 and the magnetic field generator 110 are connected to the surgical trolley 300, there is a certain spatial relationship between the fixed point A of the robotic arm 400 and the magnetic field generator. Taking the magnetic field generator 110 as the reference point, the host 230 converts the positional relationship between the magnetic field generator 110 and the actual fixed point into the spatial relationship between the fixed point A of the robotic arm 400 and the actual fixed point through an internal algorithm. Then, the host 230 controls the surgical robotic arm 400 to move automatically so that the fixed point A of the robotic arm coincides with the actual fixed point. In a specific setting, the controller 200 includes an information amplification and processing unit 210, a system controller 220, and a host 230. Of course, the structure of the controller 200 is not limited to this and can also be other structural forms that meet the requirements.

[0086] The location information module 100 has various structural forms, such as Figure 6 As shown, in a preferred embodiment, the location information module 100 includes an optical tracker 140 and a navigation marker 150. The optical tracker 140 is communicatively connected to the controller 200. The optical tracker 140 is used to emit emitted light and receive reflected light reflected by the navigation marker 150. The controller 200 stores the location information of the optical tracker 140 and generates the spatial coordinates of the navigation marker 150 based on the emitted and reflected light.

[0087] In the above-described interactive system, after installation, the optical tracker 140's position information is pre-stored in the controller 200. After the optical tracker 140 is activated, it emits a light beam. The emitted light beam is reflected back to the optical tracker 140 through the navigation marker 150. The emitted and reflected light beam information is transmitted to the controller 200 through the optical tracker 140. The controller 200 generates the spatial coordinates of the navigation marker 150 based on the emitted and reflected light beams, thereby enabling the position information module 100 to obtain the positioning information of the actual fixed point. The position information module 100 then transmits the positioning information of the actual fixed point to the controller 200. In specific configurations, the optical tracker 140 Polaris Vega ST model is used. This model of optical tracker 140 is highly accurate, compact, and also provides radiation protection. The optical tracker 140 is equipped with an infrared emitter and an infrared receiver sensor 120. When the optical tracker 140 emits infrared light, the infrared light is reflected back to the optical tracker 140 through the navigation marker 150, and the returned infrared light data is received by the infrared receiver. The navigation marker 150 can be a passive marker ball with a unique retroreflective surface, which allows the optical tracker 140 to receive the retroreflected light. Of course, the structure of the optical tracker 140 and the navigation marker 150 is not limited to this, and other structural forms that meet the requirements can also be used.

[0088] Specifically, in the surgical robot navigation and positioning system 10, the navigation marker 150 is fixedly installed on the puncture card 500 by means of threaded connection, snap-fit ​​connection, concave-convex fit, welding, or pasting. The puncture card 500 is provided with an actual fixed point marker 510 to represent the actual fixed point. The optical tracker 140 is installed on the surgical trolley 300 by means of threaded connection, snap-fit ​​connection, concave-convex fit, welding, or pasting. In specific settings, the optical tracker 140 can be set on the column 320 or on the connecting mechanism (not shown in the figure). Of course, the position of the optical tracker 140 is not limited, as long as the spatial positional relationship between the optical tracker 140 and the fixed point A of the robotic arm is determined.

[0089] In the aforementioned surgical robot navigation and positioning system 10, the optical tracker 140 emits infrared light from an infrared transmitter to illuminate the stamp card 500. The infrared light is reflected back to the optical tracker 140 via the navigation marker 150 on the stamp card 500, and the returned infrared light data is received by the infrared receiver. The host 230 of the controller 200 calculates the spatial coordinates of the stamp card 500 by analyzing the emitted and received infrared data. This spatial information is then transmitted to the system controller 220, and after processing by the internal algorithm of the host 230, the final position data is transmitted to the surgical robotic arm 400, which then controls the robotic arm to move automatically, so that the fixed point A of the robotic arm moves to coincide with the actual fixed point position.

[0090] To facilitate obtaining the positioning information of the actual fixed point, specifically, the position information of the optical tracker 140 is used to represent the position information of the actual fixed point, and the spatial coordinates of the navigation marker 150 include the position information of the stamp card 500 and the axis information of the stamp card 500. The spatial coordinates of the navigation marker 150 are used to represent the positioning information of the actual fixed point.

[0091] In the aforementioned interactive system, the optical tracker 140 is mounted on the column 320, and the robotic arm 400 is connected to the column 320 via a connecting mechanism. Therefore, the positions of the optical tracker 140 and the rotation joint 430 are determined. Based on the position information of the optical tracker 140, the position information of the actual fixed point can be determined, thus representing the position information of the actual fixed point. The spatial coordinates of the navigation marker 150 include the position information of the stamp card 500 in the spatial coordinate system and the spatial pointing information of the axis of the stamp card 500, which can represent the positioning information of the actual fixed point.

[0092] The location information module 100 has various structural forms. In a preferred embodiment, the location information module 100 includes an image acquisition device and a location marker. The image acquisition device is communicatively connected to the controller 200. The image acquisition device is used to acquire the location information of the location marker. The controller 200 stores the location information of the image acquisition device and generates the spatial coordinates of the location marker based on the location information of the location marker.

[0093] In the aforementioned interactive system, after installation, the image acquisition device's position information is pre-stored in the controller 200. Upon startup, the image acquisition device is configured to acquire the position information of the location marker in real time and transmit this information to the controller 200. The controller 200 generates the spatial coordinates of the location marker based on this position information, enabling the position information module 100 to obtain the positioning information of the actual fixed point. The position information module 100 then transmits this positioning information back to the controller 200. In specific configurations, the image acquisition device can be a camera or any other suitable structural form.

[0094] Specifically, in the surgical robot navigation and positioning system 10, the position marker is installed on the puncture card 500 through threaded connection, snap-fit ​​connection, concave-convex fit, welding, or pasting. The puncture card 500 is equipped with an actual fixed point marker 510 to represent the actual fixed point. The image acquisition device is installed on the surgical trolley 300 through threaded connection, snap-fit ​​connection, concave-convex fit, welding, or pasting. In specific settings, the image acquisition device can be installed on the column 320 or the orientation platform 330. Of course, the location of the image acquisition device is not limited to these. The location of the image acquisition device is not limited, as long as the spatial positional relationship between the image acquisition device and the fixed point A of the robotic arm is determined.

[0095] In the aforementioned surgical robot navigation and positioning system 10, the image acquisition unit collects the position information of the position marker in real time and transmits the collected position information to the controller 200. The controller 200 can obtain the spatial coordinates of the position marker through the position information. The spatial coordinates of the position marker are then transmitted to the system controller 220. After processing by the internal algorithm of the host 230, the final position data is transmitted to the surgical robotic arm 400 and the surgical robotic arm 400 is controlled to move automatically, so that the position of the robotic arm's fixed point A coincides with the actual fixed point position.

[0096] In order to facilitate the acquisition of the positioning information of the actual fixed point, in a preferred embodiment, the position information of the image acquisition device is used to represent the position information of the actual fixed point, and the spatial coordinates of the position marker include the position information of the stamp card 500 and the axis information of the stamp card 500, which are used to represent the positioning information of the actual fixed point.

[0097] In the aforementioned interactive system, the image acquisition device is mounted on the column 320, and the robotic arm 400 is connected to the column 320 via a connecting mechanism. Therefore, the positions of the image acquisition device and the rotating joint 430 are determined. Based on the position information of the image acquisition device, the position information of the actual fixed point can be determined, thus representing the position information of the actual fixed point. The spatial coordinates of the position marker include the position information of the stamp card 500 in the spatial coordinate system and the spatial orientation information of the axis of the stamp card 500, which can represent the positioning information of the actual fixed point.

[0098] To facilitate obtaining the position information of the fixed point A of the robotic arm, in a preferred embodiment, the robotic arm information module can be an angle sensor. The angle sensor is installed on the robotic arm 400 by means of threaded connection, snap-fit ​​connection, concave-convex fit, welding, or pasting. Of course, the robotic arm information module is not limited to the above-mentioned angle sensor, and can also be other structural forms that can meet the requirements.

[0099] In addition, such as Figure 7As shown, the present invention also provides a control method for a surgical robot navigation and positioning system 10 as described in any of the above technical solutions, comprising:

[0100] Step S701: Obtain and transmit the positioning information of the actual stationary point;

[0101] Step S702: Obtain and transmit the position information of the robotic arm's fixed point A;

[0102] Step S703: Determine the positional relationship between the actual fixed point and the fixed point A of the robotic arm based on the positioning information of the actual fixed point and the position information of the fixed point A of the robotic arm.

[0103] Step S704: Control the movement of the robotic arm 400 based on the positional relationship between the actual fixed point and the fixed point A of the robotic arm.

[0104] In the control method of the surgical robot navigation and positioning system 10 described above, firstly, in step S701, the position information module 100 acquires the positioning information of the actual fixed point and transmits the positioning information of the actual fixed point to the controller 200; then, in step S702, the robotic arm information module acquires the position information of the robotic arm fixed point A and transmits the position information of the robotic arm fixed point A to the controller 200; then, in step S703, the controller 200 determines the position of the actual fixed point based on the positioning information of the actual fixed point and the position information of the robotic arm fixed point A. The positional relationship between the actual fixed point and the robotic arm fixed point A is determined. Then, in step S704, the controller 200 controls the robotic arm 400 to move automatically until the actual fixed point and the robotic arm fixed point A coincide. The control method of the surgical robot navigation and positioning system 10 described above can conveniently achieve the automatic movement of the robotic arm 400 until the actual fixed point and the robotic arm fixed point A coincide, without the need for medical personnel. This can avoid the expansion of the patient's wound 31 on the body surface 30 and prevent surgical accidents, thus improving the degree of automation and safety. In specific settings, the order of steps S701 and S702 can be reversed or performed simultaneously.

[0105] To ensure that sensor 120 is within the coverage area of ​​the electromagnetic field, in a preferred embodiment, when magnetic field generator 110 is movably mounted on column 320 of surgical cart 300 in the interactive system, before the step of "acquiring and transmitting positioning information of actual stationary points", the following method is also included:

[0106] The magnetic field generator 110 is moved on the column 320 toward the card 500 so that the electromagnetic field of the magnetic field generator 110 covers the sensor 120.

[0107] In the control method of the surgical robot navigation and positioning system 10 described above, when the magnetic field generator 110 is started, but the sensor 120 cannot generate a positioning current, it indicates that the sensor 120 is located outside the electromagnetic field. By moving the magnetic field generator 110 towards the card 500 on the column 320, the magnetic field generator 110 is brought closer to the card 500, thereby causing the electromagnetic field of the magnetic field generator 110 to move towards the card 500, so that the electromagnetic field of the magnetic field generator 110 covers the sensor 120.

[0108] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An interactive system for a surgical robot navigation and positioning system, the surgical robot navigation and positioning system comprising a robotic arm and a card, having a fixed point of the robotic arm and an actual fixed point, characterized in that, It includes a location information module, a robotic arm information module, and a controller, among which: The location information module is used to obtain the positioning information of the actual stationary point; The robotic arm information module is used to obtain the position information of the fixed point of the robotic arm; The controller is communicatively connected to the position information module and the robotic arm information module. The controller is used to determine the positional relationship between the actual fixed point and the robotic arm fixed point based on the positioning information of the actual fixed point and the position information of the robotic arm fixed point, and to control the movement of the robotic arm.

2. The interactive system applied to a surgical robot navigation and positioning system according to claim 1, characterized in that, The location information module includes a magnetic field generator and a sensor that is communicatively connected to the controller. The magnetic field generator is used to generate an electromagnetic field covering the sensor, and the sensor is used to generate a positioning current within the electromagnetic field. The controller stores the location information of the magnetic field generator and generates a spatial location matrix of the sensor based on the positioning current.

3. The interactive system applied to the navigation and positioning system of a surgical robot according to claim 2, characterized in that, The position information of the magnetic field generator is used to characterize the position information of the actual stationary point. The spatial position matrix includes the position information of the stamp card and the axis information of the stamp card, which is used to characterize the positioning information of the actual stationary point.

4. The interactive system applied to a surgical robot navigation and positioning system according to claim 2, characterized in that, The position information of the magnetic field generator is used to characterize the position information of the actual fixed point, and the spatial position matrix includes the location information of the wound, which is used to characterize the location information of the actual fixed point.

5. The interactive system applied to a surgical robot navigation and positioning system according to claim 2, characterized in that, The controller includes an information amplification and processing unit, which includes a signal amplifier and a signal converter that are integrated for communication.

6. The interactive system applied to a surgical robot navigation and positioning system according to claim 1, characterized in that, The location information module includes an optical tracker and a navigation marker. The optical tracker is communicatively connected to the controller and is used to emit emitted light and receive reflected light reflected by the navigation marker. The controller stores the location information of the optical tracker and generates the spatial coordinates of the navigation marker based on the emitted light and the reflected light. The spatial coordinates include the location information of the marker and the axis information of the marker, which are used to characterize the positioning information of the actual stationary point.

7. The interactive system applied to a surgical robot navigation and positioning system according to claim 1, characterized in that, The location information module includes an image acquisition device and a location marker. The image acquisition device is communicatively connected to the controller and is used to acquire the location information of the location marker to represent the actual fixed point. The controller stores the location information of the image acquisition device and generates the spatial coordinates of the location marker based on the location information of the location marker. The spatial coordinates include the location information of the stamp and the axis information of the stamp, which are used to represent the positioning information of the actual fixed point.

8. The interactive system applied to a surgical robot navigation and positioning system according to claim 1, characterized in that, The robotic arm information module is an angle sensor installed on the robotic arm.

9. A surgical robot navigation and positioning system, characterized in that, The device includes an operating table, a robotic arm, a tamper, and an interactive system as described in any one of claims 1-8, wherein the controller is communicatively connected to the operating table and the robotic arm.

10. The surgical robot navigation and positioning system according to claim 9, characterized in that, The interactive system as described in claim 3; the sensor is installed at the puncture card or the wound, the puncture card is marked with an actual fixed point, and the magnetic field generator is installed on the operating table.

11. The surgical robot navigation and positioning system according to claim 10, characterized in that, The magnetic field generator is movably mounted on the column of the operating table.

12. The surgical robot navigation and positioning system according to claim 9, characterized in that, The interactive system as described in claim 6; the navigation marker is installed on the stamp card, the stamp card is provided with actual fixed point markers, and the optical tracker is installed on the operating table cart.

13. The surgical robot navigation and positioning system according to claim 9, characterized in that, The interactive system as described in claim 7; the position marker is installed on the stamp card, the stamp card is provided with actual fixed point markers, and the image acquisition device is installed on the operating table.

14. A control method for a surgical robot navigation and positioning system as described in any one of claims 9-13, characterized in that, include: Acquire and transmit the positioning information of the actual stationary point; Acquire and transmit the position information of the robot arm's stationary points; The positional relationship between the actual fixed point and the robotic arm fixed point is determined based on the positioning information of the actual fixed point and the position information of the robotic arm fixed point. The movement of the robotic arm is controlled based on the positional relationship between the actual fixed point and the fixed point of the robotic arm.

15. The control method for the surgical robot navigation and positioning system according to claim 14, characterized in that, As in claim 11, the surgical robot navigation and positioning system, before the step of "acquiring and transmitting the positioning information of the actual fixed point", further includes: The magnetic field generator is moved on the column toward the stamp card so that the electromagnetic field of the magnetic field generator covers the sensor.

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