Navigation method and system, computer-readable storage medium, and surgical robot system

Abstract

The application provides a navigation method and system, a readable storage medium and a robot system. The navigation method comprises the following steps: acquiring a field of view boundary of an optical navigation device and a current pose of a tool target installed at the end of a mechanical arm in a coordinate system of the optical navigation device; judging whether the tool target is in the field of view range of the optical navigation device according to the current pose of the tool target and the field of view boundary of the optical navigation device; if the tool target is not in the field of view range of the optical navigation device, acquiring a target pose of the optical navigation device; when the optical navigation device is in the target pose, the tool target is in the field of view range of the optical navigation device; and driving the optical navigation device to move to reach the target pose. The navigation method can make the optical navigation device automatically track the tool target in the surgical process, so that the tool target is always located in the field of view range of the optical navigation device.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to navigation methods and systems, computer-readable storage media, and surgical robot systems. Background Technology

[0002] Surgical robot systems that utilize optical navigation rely on image navigation technology to precisely locate surgical tools, resulting in highly accurate and safe surgeries. This has led to the increasing importance and application of surgical robot systems in various surgical procedures.

[0003] In existing technologies, optical navigation devices are mainly positioned by manual dragging during application to ensure that surgical tools are within the field of view of the device. Summary of the Invention

[0004] The purpose of this invention is to provide a navigation method and system, a computer-readable storage medium, and a surgical robot system, which are designed to automatically adjust an optical navigation device so that surgical tools are always within the field of view of the optical navigation device.

[0005] To achieve the above objectives, the present invention provides a navigation method, comprising:

[0006] The field of view boundary of the optical navigation device and the current pose of the tool target mounted at the end of the robotic arm in the coordinate system of the optical navigation device are obtained.

[0007] It is determined whether the tool target is within the field of view of the optical navigation device based on the current pose of the tool target and the field of view boundary of the optical navigation device;

[0008] If the tool target is not within the field of view of the optical navigation device, then the target pose of the optical navigation device is acquired; when the optical navigation device is in the target pose, the tool target is within the field of view of the optical navigation device; and...

[0009] The optical navigation device is driven to move in order to reach the target pose.

[0010] Optionally, the current pose of the tool target can be obtained by identifying the tool target through the optical navigation device; or, the current pose of the tool target can be obtained through the robot's kinematic equations.

[0011] Optionally, the field of view boundary includes a first boundary and a second boundary, wherein the first boundary is the boundary of the top view of the field of view space of the optical navigation device, and the second boundary is the boundary of the plane view of the field of view space of the optical navigation device.

[0012] Optionally, the step of obtaining the first boundary includes:

[0013] Obtain a top view of the field of view of the optical navigation device;

[0014] A first coordinate system is established with the first designated point within the top view as the origin; and,

[0015] The first boundary is obtained according to the first coordinate system;

[0016] And / or, the step of obtaining the second boundary includes:

[0017] Obtain a plan view of the field of view of the optical navigation device;

[0018] A second coordinate system is established with the second designated point within the plan view as the origin; and,

[0019] The second boundary is obtained based on the second coordinate system.

[0020] Optionally, the step of obtaining the target pose of the optical navigation device includes:

[0021] In the coordinate system of the optical navigation device, the distance and direction matrix between the third designated point and the tool target are obtained based on the pose of the third designated point within the field of view of the optical navigation device and the current pose of the tool target;

[0022] The target pose is obtained based on the distance and direction matrix.

[0023] Optionally, the step of obtaining the pose of the third designated point in the coordinate system of the optical navigation device includes:

[0024] The robotic arm is moved so that the tool target is located at the third designated point;

[0025] The pose of the tool target at the third designated point, as measured by the optical navigation device, is recorded as the pose of the third designated point in the coordinate system of the optical navigation device.

[0026] Optionally, the optical navigation device is driven to move by a pose adjustment mechanism, which includes multiple joints;

[0027] After acquiring the target pose and before driving the optical navigation device to move, the navigation method further includes:

[0028] Obtain the joint angles of each joint of the pose adjustment mechanism when the optical navigation device is in the target pose.

[0029] Optionally, the navigation method further includes:

[0030] Determine whether each joint angle is within the movable range of the corresponding joint. If so, drive the optical navigation device to move; otherwise, update the target pose.

[0031] To achieve the above objectives, the present invention also provides a computer-readable storage medium having a program stored thereon, which, when executed, performs the navigation method as described in any of the preceding descriptions.

[0032] To achieve the above objectives, the present invention also provides a surgical navigation system, comprising:

[0033] Target assembly, including a tool target, for mounting to the end effector of a robotic arm;

[0034] An optical navigation device is used to identify the tool target in order to obtain the pose of the tool target in the coordinate system of the optical navigation device.

[0035] A pose adjustment mechanism, connected to the optical navigation device, is used to drive the optical navigation device to move; and...

[0036] The control unit is communicatively connected to the pose adjustment mechanism and the optical navigation device, and is configured to perform the navigation method as described above.

[0037] Optionally, the posture adjustment mechanism includes a base, a motion component, and a drive component, wherein the motion component includes a first connecting part, a second connecting part, a third connecting part, and a fourth connecting part;

[0038] The first connecting portion is rotatably connected to the base to form a first joint, the second connecting portion is rotatably connected to the first connecting portion to form a second joint, the third connecting portion is rotatably connected to the second connecting portion to form a third joint, and the fourth connecting portion is rotatably connected to the third connecting portion to form a fourth joint, and the fourth connecting portion is connected to the optical navigation device; the rotation axis of the first joint and the rotation axis of the second joint both extend in the vertical direction, the rotation axis of the third joint and the rotation axis of the fourth joint both extend in the horizontal direction, and the rotation axis of the third joint and the rotation axis of the fourth joint are parallel to each other;

[0039] The drive component is connected to the control unit and communicates with the motion component. The drive component is used to drive at least one of the first joint, the second joint, the third joint and the fourth joint to rotate under the control of the control unit.

[0040] Optionally, the posture adjustment mechanism includes a base, a motion component, and a drive component, wherein the motion component includes a fifth connecting part, an arc-shaped guide part, a sixth connecting part, and a seventh connecting part;

[0041] The fifth connecting part is rotatably connected to the base to form a fifth joint; the arc-shaped guide part is connected to the fifth connecting part and is arranged horizontally; the sixth connecting part is movably disposed on the arc-shaped guide part and can move along the arc-shaped guide part to form a sixth joint; the seventh connecting part is rotatably connected to the seventh connecting part to form a seventh joint, and the seventh connecting part is also connected to the optical navigation device; the rotation axis of the fifth joint extends vertically, and the rotation axis of the seventh joint extends horizontally.

[0042] The drive component is communicatively connected to the control unit and the motion component, and the drive component is used to drive at least one of the fifth joint, the sixth joint and the seventh joint to move under the control of the control unit.

[0043] To achieve the above objectives, the present invention also provides a surgical robot system, comprising:

[0044] robotic arm;

[0045] A target assembly, including a tool target disposed at the end of the robotic arm;

[0046] An optical navigation device is used to identify the tool target in order to obtain the pose of the tool target in the coordinate system of the optical navigation device.

[0047] A pose adjustment mechanism, connected to the optical navigation device, is used to drive the optical navigation device to move; and,

[0048] The control unit is communicatively connected to the pose adjustment mechanism and the optical navigation device, and is configured to perform the navigation method as described above.

[0049] Compared with the prior art, the navigation method and system, computer-readable storage medium, and surgical robot system of the present invention have the following advantages:

[0050] The method acquires the field-of-view boundary of an optical navigation device and the current pose of a tool target mounted on the end effector of a robotic arm in the coordinate system of the optical navigation device. Based on the current pose of the tool target and the field-of-view boundary of the optical navigation device, it determines whether the tool target is within the field of view of the optical navigation device. If the tool target is not within the field of view, it acquires the target pose of the optical navigation device. When the optical navigation device is in the target pose, the tool target is within the field of view of the optical navigation device. The method then drives the optical navigation device to move to reach the target pose. This navigation method can automatically determine whether the tool target is within the field of view of the optical navigation device, and when it determines that the tool target is outside the field of view, it can drive the navigation device to move automatically until the tool target returns to the field of view of the optical navigation device, eliminating the need for manual operation and improving automation and accuracy. Attached Figure Description

[0051] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0052] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot system provided by the present invention according to an embodiment;

[0053] Figure 2 This is a partial structural schematic diagram of a surgical robot system provided according to an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of the optical navigation device and pose adjustment mechanism of the surgical robot system provided in the first embodiment of the present invention;

[0055] Figure 4 This is a schematic diagram of the optical navigation device and pose adjustment mechanism of the surgical robot system provided by the second embodiment of the present invention;

[0056] Figure 5 This is a schematic diagram of the optical navigation device and pose adjustment mechanism of the surgical robot system provided by the second embodiment of the present invention. Figure 5 and Figure 4 The observation directions are different;

[0057] Figure 6 This is a partial structural schematic diagram of the pose adjustment mechanism of the surgical robot system provided by the second embodiment of the present invention;

[0058] Figure 7 This is a flowchart of a navigation method executed by the control unit of a surgical robot system according to an embodiment of the present invention;

[0059] Figure 8 This is a partial structural diagram of a surgical robot system provided according to an embodiment of the present invention, in which the tool target and the base target are temporarily obscured;

[0060] Figure 9 This is a schematic diagram of the field of view of the optical navigation device of the surgical robot system provided according to an embodiment of the present invention;

[0061] Figure 10 This is a top view of the field of view of the optical navigation device of the surgical robot system provided according to an embodiment of the present invention;

[0062] Figure 11 This is a plan view of the field of view of the optical navigation device of the surgical robot system provided according to an embodiment of the present invention;

[0063] Figure 12 This is a flowchart illustrating the process of obtaining the center point of the field of view of an optical navigation device in a navigation method executed by the control unit of a surgical robot system according to an embodiment of the present invention.

[0064] Figure 13 This is a schematic diagram illustrating the principle of the particle swarm optimization algorithm;

[0065] Figure 14 yes Figure 4 The diagram shows the optical navigation equipment and pose adjustment mechanism of the surgical robot system, with the coordinate systems of each joint shown in the figure.

[0066] Figure 15 yes Figure 5 The diagram shows the structure of the optical navigation equipment and pose adjustment mechanism of the surgical robot system, with the coordinate systems of each joint shown. Detailed Implementation

[0067] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0068] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0069] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0070] like Figure 1 and Figure 2 As shown, a surgical robot system typically includes a robotic arm 1000, a target assembly 2000, and an optical navigation device 3000. The robotic arm 1000 is mounted on a base 5000, and its end effector is equipped with a surgical tool 6000. Depending on the specific scenario, the tool 6000 can be an osteotomy tool or any other suitable tool; this embodiment of the invention does not limit this. The target assembly 2000 includes a tool target 2100, which is disposed at the end effector of the robotic arm 1000. Further, the target assembly 2000 also includes a base target 2200, which is disposed on the base 5000. The optical navigation device 3000 can be a binocular vision camera (NDI). The optical navigation device 3000 can identify the tool target 2100 and the base target 2200, thereby directly measuring their poses in the coordinate system of the optical navigation device 3000.

[0071] In this embodiment of the invention, the surgical robot system further includes a pose adjustment mechanism 4000. The pose adjustment mechanism 4000 is connected to the optical navigation device 3000, and at least a portion of the structure of the pose adjustment mechanism 4000 is movable to drive the optical navigation device 3000 to move, thereby adjusting the pose of the optical navigation device 3000 and changing its viewing angle. Thus, the viewing angle of the optical navigation device 3000 can be adjusted by the movement of the movable structure of the pose adjustment mechanism 4000.

[0072] like Figure 3As shown, in the first embodiment, the pose adjustment mechanism 4000 includes a base 4100, a motion component 4200, and a drive component (not shown). The motion component 4200 includes a first connecting portion 4210, a second connecting portion 4220, a third connecting portion 4230, and a fourth connecting portion 4240. The first connecting portion 4210 is rotatably connected to the base 4100 to form a first joint. The second connecting portion 4220 is rotatably connected to the first connecting portion 4210 to form a second joint. The third connecting portion 4230 is rotatably connected to the second connecting portion 4220 to form a third joint. The fourth connecting portion 4240 is rotatably connected to the third connecting portion 4230 to form a fourth joint, and the fourth connecting portion 4240 is also connected to the optical navigation device 3000. The rotation axes of the first and second joints extend vertically, while the rotation axes of the third and fourth joints extend horizontally. Furthermore, the rotation axes of the third and fourth joints are parallel to each other; that is, the first and second joints are horizontal rotational joints, and the third and fourth joints are pitch rotational joints. The drive assembly is communicatively connected to the motion assembly 4200 and is used to drive at least one of the first, second, third, and fourth joints to move, thereby adjusting the pose of the optical navigation device 3000 in at least one of the following directions: forward, backward, left, right, up, and down.

[0073] Optionally, the drive assembly may include a first drive unit, a second drive unit, a third drive unit, and a fourth drive unit. The first drive unit is connected to the first connecting part 4210 to drive the first connecting part 4210 to rotate relative to the base 4100, thereby moving the first joint. The second drive unit is connected to the second connecting part 4220 to drive the second connecting part 4220 to rotate relative to the first connecting part 4210, thereby moving the second joint. The third drive unit is connected to the third connecting part 4230 to drive the third connecting part 4230 to rotate relative to the second connecting part 4220, thereby moving the third joint. And the fourth drive unit is connected to the fourth connecting part 4240 to drive the fourth connecting part 4240 to rotate relative to the third connecting part 4230, thereby moving the fourth joint.

[0074] Or, such as Figure 4 , Figure 5 and Figure 6As shown, in the second embodiment, the motion component 4200 may include a fifth connecting portion 4250, an arcuate guide portion 4260, a sixth connecting portion 4270, and a seventh connecting portion 4280. The fifth connecting portion 4250 is rotatably connected to the base 4100 to form a fifth joint. The arcuate guide portion 4260 is connected to the fifth connecting portion 4250 and is horizontally arranged. The sixth connecting portion 4270 is disposed on the arcuate guide portion 4260 and is movable along the arcuate guide portion 4260 to form a sixth joint. The seventh connecting portion 4280 is rotatably connected to the sixth connecting portion 4270 to form a seventh joint, and the seventh connecting portion 4280 is also connected to the optical navigation device 3000. The rotation axis of the fifth joint extends vertically, and the rotation axis of the seventh joint extends horizontally. In this embodiment, the fifth joint is a horizontal rotary joint, and the seventh joint is a pitch rotary joint. For the sixth joint, since the sixth connecting portion 4270 actually rotates around a vertical line passing through the center of the arc-shaped guide portion 4260, the sixth joint is considered to be a horizontal rotary joint in this paper, and the rotation axis of the sixth joint is a vertical line passing through the center of the arc-shaped guide portion 4260. The drive assembly is connected to the motion assembly 4200 and is used to drive at least one of the fifth, sixth, and seventh joints to move, so as to achieve the purpose of adjusting the pose of the optical navigation device 3000 in at least one of the following directions: front, back, up, down, left, and right. In this embodiment, the left and right directions are viewed from the extension direction of the arc-shaped guide portion 4260. The two ends of the arc-shaped guide portion 4260 are the first end and the second end, respectively. The first end is located to the left of the second end, and the second end is located to the right of the first end.

[0075] In practice, the arc-shaped guide part 4260 can be arranged according to the surgical position. Its purpose is to enable the optical navigation device 3000 to rotate around the surgical position when the sixth connecting part 4270 drives the optical navigation device 3000 to move, thereby widening the surgical field of view available to the optical navigation device 3000.

[0076] In this embodiment, the driving assembly may include a fifth driving part, a sixth driving part, and a seventh driving part. The fifth driving part is connected to the fifth connecting part 4250 and is used to drive the fifth connecting part 4250 to rotate relative to the base 4100, thereby realizing the movement of the fifth joint. The sixth driving part is used to drive the sixth connecting part 4270 to move along the arc-shaped guide part 4260, thereby realizing the movement of the sixth joint. The seventh driving part is connected to the seventh connecting part 4280 and is used to drive the seventh connecting part 4280 to rotate relative to the sixth connecting part 4270, thereby realizing the movement of the seventh joint.

[0077] Among them, such as Figure 6As shown, in one non-limiting implementation, the arc-shaped guide portion 4260 includes a base plate 4261, a guide bump 4262, and a transmission mechanism 4263. The base plate 4261 is connected to the fifth connecting portion 4250. The guide bump 4262 has an arc-shaped structure and is disposed on the base plate 4261. The transmission member 4263 can be a chain or a flexible rack. Here, "flexible rack" refers to a rack made of a flexible material that can be bent. The transmission member 4263 is sleeved on the guide bump 4262 and forms a bent structure under the support of the guide bump 4262. The sixth drive portion may include a motor and a gear 4311 connected to the output shaft of the motor, the gear meshing with the transmission member 4263. The sixth connecting portion 4260 is connected to the transmission member 4263.

[0078] Furthermore, the surgical robot system also includes a control unit (not shown in the figure), which is communicatively connected to the optical navigation device 3000 and the pose adjustment mechanism 4000. The control unit is configured to execute a navigation method to enable navigation of the tool 6000 during the operation.

[0079] like Figure 7 As shown, the navigation method includes the following steps:

[0080] Step S10: Obtain the current pose of the tool target 2100 in the coordinate system of the optical navigation device 3000. It includes a 3x3 attitude matrix and a position column vector.

[0081] Step S20: Obtain the field of view boundary of the optical navigation device 3000.

[0082] Step S30: Based on the current pose of the tool target 2100 Whether the target 2100 of the field of view boundary judgment tool of the optical navigation device 3000 is within the field of view of the optical navigation device 3000. If yes, return to step S10; otherwise, execute steps S40 and S50.

[0083] Step S40: Obtain the target pose of the optical navigation device 3000 in the optical navigation device base coordinate system. When the optical navigation device 3000 is in the target position At that time, the tool target 2100 is within the field of view of the optical navigation device 3000. The base coordinate system of the optical navigation device is a user-defined coordinate system that remains fixed.

[0084] Step S50: Drive the optical navigation device 3000 to move to reach the target pose. In this embodiment of the invention, the pose adjustment mechanism 4000 is actually driven to move, thereby driving the optical navigation device 3000 to move until the optical navigation device 3000 reaches the target pose.

[0085] In practice, when the tool target 2100 is within the field of view of the optical navigation device 3000 and is not obstructed, the tool target 2100 can be directly identified by the optical navigation device 3000, thereby obtaining the current pose of the tool 6000 in the coordinate system of the optical navigation device 3000. like Figure 8 As shown, when the tool target 2100 is within the field of view of the optical navigation device 3000, but the tool target 2100 is obstructed, i.e. Figure 8 When the black patch shown in the diagram obstructs the tool target 2100, the optical navigation device 3000 cannot recognize the tool target 2100. Similarly, the optical navigation device 3000 cannot recognize the tool target 2100 when it is outside its field of view. Therefore, if the optical navigation device 3000 can recognize the tool target 2100, it can directly confirm that the tool 6000, which is fixedly connected to the tool target 2100, is within its field of view. If the optical navigation device 3000 cannot recognize the tool target 2100, steps S20 and S30 need to be executed to confirm whether the tool 6000, which is fixedly connected to the tool target 2100, is within its field of view.

[0086] Those skilled in the art will understand that, since the surgical robot system registers the robotic arm through an optical navigation device in practical applications, obtaining a fixed transformation relationship between the robotic arm coordinate system and the optical navigation device coordinate system, if the optical navigation device 3000 cannot recognize the tool target 2100, the current pose of the tool 6000 in the coordinate system of the optical navigation device 3000 can be obtained by solving the robot's forward kinematics equations and based on the fixed transformation relationship between the robotic arm coordinate system and the optical navigation device coordinate system.

[0087] like Figure 9 As shown, the field of view 3100 of the optical navigation device 3000 is a three-dimensional space. Optionally, the field of view boundary of the optical navigation device 3000 includes a first boundary f1 and a second boundary f2. Wherein, the first boundary f1 is a top view 3110 of the field of view 3100 of the optical navigation device 3000 (e.g., ...). Figure 10 The boundary of the first boundary (as shown) is the second boundary f2, which is the plan view 3120 of the field of view space 3100 of the optical navigation device 3000 (as shown). Figure 11 (as shown) the boundary.

[0088] The steps to obtain the first boundary f1 include steps S21, S22 and S23.

[0089] Step S21 is: Obtain a top view 3110 of the field of view 3100 of the optical navigation device 3000. Step S22 is: Establish a first coordinate system with a designated point within the top view (referred to as the first designated point) as the origin. Step S23 is: Obtain the coordinates of the first boundary f1 according to the first coordinate system. The method for obtaining the second boundary f2 is similar, including steps S24, S25, and S26. Step S24 is: Obtain a plan view 3120 of the field of view 3100 of the optical navigation device 3000. Step S25 is: Establish a second coordinate system with a designated point within the plan view 3120 (referred to as the second designated point) as the origin. Step S26 is: Obtain the coordinates of the second boundary f2 according to the second coordinate system. Optionally, the first designated point can be the center point of the top view 3110, and the second designated point can be the center point of the plan view 3120.

[0090] When the pose of the tool target 2100 is simultaneously within the range of the first boundary f1 and the second boundary f2 (i.e. and When the target 2100 is located outside the first boundary and / or outside the second boundary (i.e., when the target 2100 is located outside the first boundary and / or outside the second boundary), it can be determined that the target 2100 is within the field of view of the optical navigation device 3000. and / or When the target 2100 is located outside the field of view of the optical navigation device 3000, it is determined that the target 2100 is located outside the field of view of the optical navigation device 3000.

[0091] Obtain the target pose of the optical navigation device 3000 The steps include:

[0092] Step S41: In the coordinates of the optical navigation device 3000, based on the pose of a designated point (referred to as the third designated point) within the field of view of the optical navigation device 3000. Current pose of tool target 2100 Obtain the distance and direction matrix f between the third specified point and the tool target. opt .

[0093] Step S42: Based on the distance and direction matrix f opt Obtain target pose

[0094] Among them, such as Figure 12 As shown, the pose of the third designated point in the coordinate system of the optical navigation device 3000 This can be obtained in advance through the following steps S01 and S02. Step S01 involves moving the robotic arm 1000 so that the tool target 2100 is located at the third designated point. Step S02 involves recording the pose of the tool target 2100 at the third designated point as measured by the optical navigation device 3000, which serves as the pose of the third designated point in the coordinate system of the optical navigation device 3000. It should be noted that "making the tool target 2100 located at the third designated point" here means that the tool target 2100 is located at the third designated point when the optical navigation device 3000 observes it. It should also be noted that the third designated point can be any point within the field of view of the optical navigation device 3000, but from a calculation perspective, it is preferable that the third designated point is the center point of the field of view of the optical navigation device 3000. When the third designated point is the center point of the field of view of the optical navigation device 3000, it is also possible to achieve the effect that the movement of the optical navigation device 3000 keeps the tool target 2100 always near the center point of the field of view of the optical navigation device 3000.

[0095] The following section will explain in detail how to determine the pose of a third specified point within the coordinate system of the optical navigation device 3000. The pose of the tool target 2100 is obtained by determining the distance and orientation matrix f between the third specified point and the tool target 2100. opt The process.

[0096] When the robotic arm 1000 remains stationary, the following equation (1) applies to the robotic arm 1000:

[0097]

[0098] In the formula, This indicates the pose of the tool target 2100 in the coordinate system of the base target 2200. This indicates the pose of the robotic arm 1000 in the coordinate system of the base target 2200. This indicates the pose of tool 6000 in the robot's base coordinate system, which can be user-defined. The coordinate system represents the pose of the tool target 2100 in the coordinate system of the tool 6000. The coordinate system of the tool 6000 is the actual tool center control point coordinate system defined at the end of the robotic arm. As those skilled in the art can understand, the pose of the tool 6000 coordinate system based on the robot base coordinate system changes accordingly with the movement of the robotic arm, but it can be calculated by the robot's forward kinematics equations.

[0099] Assuming the robotic arm remains relatively stationary, before the pose adjustment mechanism 4000 drives the optical navigation device 3000 to move, the tool target 2100 relative to the base target 2200 has the following equation (2), and after the pose adjustment mechanism 4000 drives the optical navigation device 3000 to move, the following equation (3) applies. Equations (2) and (3) are respectively:

[0100]

[0101]

[0102] In the formula, This represents the transformation relationship between the coordinate system of the base target 2200 and the base coordinate system of the optical navigation device. This transformation relationship is known. This indicates the initial pose of the optical navigation device 3000 in the optical navigation device base coordinate system before the optical navigation device 3000 moves. In some implementations, the joint angles of each joint of the pose adjustment mechanism 4000 can all be zero in this pose. This indicates the current pose of the optical navigation device 3000 in the coordinate system of the optical navigation device 3000 after the optical navigation device 3000 has moved. In this pose, the joint angle of at least one joint of the pose adjustment mechanism 4000 is not zero (when the optical navigation device 3000 is in the initial pose). At that time, the joint angles of each joint of the posture adjustment mechanism 4000 are all based on zero. This indicates the pose of the tool target 2100 in the coordinate system of the optical navigation device 3000 after the optical navigation device 3000 has moved. It can be directly measured by the optical navigation device 3000 or obtained by solving the forward kinematic equations of the robot.

[0103] For optical navigation device 3000, equation (4) holds:

[0104]

[0105] make:

[0106]

[0107]

[0108]

[0109] Where, q 1f =q1+Δq1,q 2f =q² + Δq², q 3f =q3 + Δq3, where i is the number of joints in the pose adjustment mechanism 4000, and q 1f q2f ……q if To position the optical navigation device 3000 at the target position At that time, the joint angles corresponding to each joint of the posture adjustment mechanism 4000, q1, q2...q i When the optical navigation device 3000 is in its initial pose, the joint angles corresponding to each joint of the pose adjustment mechanism 4000 are given by q1, q2...q i When both are zero, there are Δq1, Δq2, ..., Δq i The amount of movement (i.e., the angle of rotation) of each joint of the pose adjustment mechanism 4000 when the optical navigation device 3000 moves from the initial pose to the target pose.

[0110] For the pose adjustment mechanism 4000 provided in the first embodiment, i is 4, when the optical navigation device 3000 is in the target pose. At that time, q 1f Let q be the joint angle of the first joint. 2f Let q be the joint angle of the second joint. 3f Let q be the joint angle of the third joint. 4f Let q1 be the joint angle of the first joint, q2 be the joint angle of the second joint, q3 be the joint angle of the third joint, and q4 be the joint angle of the fourth joint. When the optical navigation device 3000 moves from the initial pose to the target pose, the rotation angle of the first joint is Δq1, the rotation angle of the second joint is Δq2, the rotation angle of the third joint is Δq3, and the rotation angle of the fourth joint is Δq4. For the pose adjustment mechanism provided in the second embodiment, i is 3. When the optical navigation device 3000 is in the target pose... At that time, q 1f The joint angle of the fifth joint, q 2f q1 is the joint angle of the sixth joint, q2 is the joint angle of the sixth joint, and q3 is the joint angle of the seventh joint. When the optical navigation device 3000 is in the initial pose, q1 is the joint angle of the fifth joint, q2 is the joint angle of the sixth joint, and q3 is the joint angle of the seventh joint. When the optical navigation device 3000 moves from the initial pose to the target pose, the rotation angle of the fifth joint is Δq1, the rotation angle of the sixth joint is Δq2, and the rotation angle of the seventh joint is Δq3.

[0111] When the robotic arm 1000 moves and the optical navigation device 3000 also moves, the following equation (8) applies to the robotic arm 1000, and the following equation (9) applies to the optical navigation device 3000. Equations (8) and (9) are respectively:

[0112]

[0113]

[0114] In the formula, This indicates the pose of the tool target 2100 in the coordinate system of the base target 2200 after the robotic arm 1000 and the optical navigation device 3000 have moved. This indicates the pose of tool 6000 in the robot's base coordinate system after the robotic arm 1000 and optical navigation device 3000 have moved. This indicates the pose of the tool target 2100 in the coordinate system of the moved tool 6000 after the robotic arm 1000 and optical navigation device 3000 have moved. This indicates the pose of the tool target 2100 in the coordinate system of the optical navigation device 3000 after the robotic arm 1000 and optical navigation device 3000 have moved. Furthermore, since the relative positional relationship between the tool target 2100 and the tool 6000 is known and fixed, therefore... This indicates the pose of the tool target 2100 in the coordinate system of the tool 6000 before the movement of the robotic arm 1000 and the optical navigation device 3000.

[0115] Define the correlation function f between the tool target 2100 and the optical navigation device 3000, and we have the following equation (10):

[0116]

[0117] When defining the relevant function f, the constraint condition is that when the optical navigation device 3000 moves to the point where the tool target 2100 returns to the field of view of the optical navigation device 3000, the distance and pose change between the coordinate system of the tool target 2100 and the coordinate system of the optical navigation device 3000 are minimized.

[0118] If the relevant function f is an identity matrix, then equation (11) holds:

[0119]

[0120] Combining equations (1) to (9) above, we can obtain equation (12):

[0121]

[0122] Of course, in practice, the correlation function f is not necessarily the identity matrix.

[0123] After the optical navigation device 3000 moves, the tool target 2100 returns to the field of view of the optical navigation device 3000, and the pose of the third designated point in the coordinate system of the optical navigation device 3000 remains unchanged, that is, the pose of the third designated point in the coordinate system of the optical navigation device 3000 after the movement. Its pose in the coordinate system of the optical navigation device 3000 before motion They are equal. Thus, we have equation (13):

[0124]

[0125] Therefore, the distance and direction matrix f between the tool target 2100 and the third designated point opt The solution can be obtained through the following equation (14):

[0126]

[0127] In this embodiment of the invention, the particle swarm optimization algorithm can be used to solve equation (14) to obtain the distance and direction matrix f. opt The principle of the particle swarm optimization algorithm is as follows: Figure 13 As shown, Figure 13 In the diagram, the intersection of the coordinate axes (represented by x and y in the illustration) is the center point that the target object can reach. The other points in the illustration represent the poses that the target object can reach within its movable range. Taking the target object as tool target 2100 as an example... Figure 13 The points other than the reachable center point of the tool target represent the poses that the tool target 2100 can reach within the movable range of each joint of the robotic arm 1000. The particle swarm optimization algorithm uses the joint angles of each joint of the robotic arm 1000 as variables, iterates through all reachable poses of the tool target 2100 in space, calculates the pose difference between each pose and the center point, and selects the pose corresponding to the smallest pose difference as the pose of the tool target 2100 in the coordinate system of the optical navigation device 3000 after its movement. From this, the range and orientation matrices can be obtained, and the target pose of the optical navigation device 3000 can then be calculated. That is, we get A(q) 1f ,q 2f ,…q if ,).

[0128] Optionally, in solving equation (14) using the particle swarm optimization algorithm, the field of view boundary of the optical navigation device 3000 and the movable range of each joint of the pose adjustment mechanism 4000 are used as constraints. The specific process of solving equation (14) is well known to those skilled in the art and will not be described here.

[0129] The pose of the optical navigation device 3000 is determined by the joint angles of each joint of the pose adjustment mechanism 4000. Therefore, in acquiring the target pose... After that, please return to the reference. Figure 7 The navigation method further includes step S60, which is performed before step S50. Step S60 includes acquiring the joint angles q of each joint of the pose adjustment mechanism 4000 when the optical navigation device 3000 is in the target pose. 1f q 2f 、...q if .

[0130] For the pose adjustment mechanism 4000 provided in the first embodiment, each joint coordinate system can be established first, and the rotation axis of each joint can be used as the Z-axis of the corresponding joint coordinate system. In other words, as... Figure 14 As shown, the rotation axis of the first joint is taken as the Z-axis of the first joint coordinate system, the rotation axis of the second joint is taken as the Z-axis of the second joint coordinate system, the rotation axis of the third joint is taken as the Z-axis of the third joint coordinate system, and the rotation axis of the fourth joint is taken as the Z-axis of the fourth joint coordinate system. From this, the transformation relationship between the first joint coordinate system and the base coordinate system of the optical navigation device can be obtained. Transformation relationship between the second joint coordinate system and the first joint coordinate system Transformation relationship between the third joint coordinate system and the second joint coordinate system Transformation relationship between the fourth joint coordinate system and the third joint coordinate system and Solving this equation will give us q. 1f q 2f q 3f and q 4f That is, to obtain the joint angles q of each joint of the pose adjustment mechanism 4000 when the optical navigation device 3000 is in the target pose. 1f q 2f q 3f and q 4f .

[0131] The pose adjustment mechanism 4000 provided in the second embodiment can be obtained in the same way. 1f q 2f q 3f Specifically, such as Figure 15As shown, first establish the fifth joint coordinate system, the sixth joint coordinate system, and the seventh joint coordinate system. In the fifth joint coordinate system, the Z-axis is the rotation axis of the fifth joint. In the sixth joint coordinate system, the Z-axis is the rotation axis of the sixth joint; as mentioned earlier, the rotation axis of the sixth joint is the vertical line passing through the center of the arc-shaped guide part 4260. The Z-axis of the seventh joint coordinate system is the rotation axis of the seventh joint. Then, obtain the transformation relationship between the fifth joint coordinate system and the optical navigation device's base coordinate system. Transformation relationship between the sixth joint coordinate system and the fifth joint coordinate system And the transformation relationship between the seventh joint coordinate system and the sixth joint coordinate system. Finally, according to Get q 1f q 2f q 3f That is, to obtain the joint angles q of each joint of the pose adjustment mechanism 4000 when the optical navigation device 3000 is in the target pose. 1f q 2f and q 3f .

[0132] Furthermore, the navigation method also includes step S70, which is performed after step S60 and before step S50. Step S70 includes: determining that each joint of the pose adjustment mechanism 4000 is in the target pose of the optical navigation device 3000. Whether the joint angle corresponding to the time is within the range of motion of the corresponding joint. For the pose adjustment mechanism 4000 provided in the first embodiment, step S60 is to determine whether q is within the range of motion of the corresponding joint. 1f Determine whether q is within the range of motion of the first joint. 2f Determine whether q is within the range of motion of the second joint. 3f Whether it is within the range of motion of the third joint, and how to determine q 4f Whether it is within the movable range of the fourth joint. For the pose adjustment mechanism 4000 provided in the second embodiment, step S60 is to determine q. 1f Determine whether q is within the range of motion of the fifth joint. 2f Determine whether q is within the range of motion of the sixth joint. 3f Check if the movement is within the range of motion of the seventh joint. If each joint angle is within the range of motion of the corresponding joint, proceed to step S50. If at least one joint angle is not within the range of motion of the corresponding joint, return to step S40, that is, return and execute steps S41 and S42 in sequence. This ensures that each joint of the posture adjustment mechanism 4000 moves within the allowable range of motion, avoiding accidents caused by exceeding the movement limits and resulting in damage to the posture adjustment mechanism 4000.

[0133] Furthermore, this embodiment of the invention also provides a navigation method, which is the navigation method executed by the aforementioned control unit.

[0134] It should be noted that the navigation and positioning method is a method executed according to preset control logic; its essence is autonomous category selection by the surgeon, not object identification. Understandably, since it is not necessary to control the operating table 10 (e.g., ... Figure 1 The object 20 on the operating table 10 is identified. Even if the object 20 on the operating table 10 is a human model or other object, it can still perform these operations. Therefore, the operation here does not specifically refer to performing surgical operations on the patient, but is just a set of operation steps performed according to the preset control logic. For example, it can be used for simulation training (at this time, the object on the operating table can be a human model or other object) and other application scenarios.

[0135] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing a program, which, when executed, performs the navigation method as described above.

[0136] Furthermore, embodiments of the present invention also provide a surgical navigation system, which includes a target assembly, the aforementioned optical navigation device 3000, the aforementioned pose adjustment mechanism 4000, and a control unit. The target assembly includes at least a tool target 2100 and is used to mount on the end effector of a robotic arm 1000. The control unit is communicatively connected to the optical navigation device 3000 and the pose adjustment mechanism 4000 and is configured to execute the aforementioned navigation method.

[0137] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed, a navigation method is performed, the navigation method including: The field of view boundary of the optical navigation device and the current pose of the tool target mounted at the end of the robotic arm in the coordinate system of the optical navigation device are obtained. It is determined whether the tool target is within the field of view of the optical navigation device based on the current pose of the tool target and the field of view boundary of the optical navigation device; If the tool target is not within the field of view of the optical navigation device, then in the coordinate system of the optical navigation device, the distance and direction matrix between the third designated point and the tool target are obtained based on the pose of the third designated point within the field of view of the optical navigation device and the current pose of the tool target, and the target pose of the optical navigation device is obtained based on the distance and direction matrix; when the optical navigation device is in the target pose, the tool target is within the field of view of the optical navigation device; and, To drive the optical navigation device to move in order to reach the target pose; The step of obtaining the pose of the third designated point in the coordinate system of the optical navigation device includes: The robotic arm is moved so that the tool target is located at the third designated point; The pose of the tool target at the third designated point, as measured by the optical navigation device, is recorded as the pose of the third designated point in the coordinate system of the optical navigation device.

2. The computer-readable storage medium according to claim 1, characterized in that, The current pose of the tool target is obtained by identifying the tool target using the optical navigation device; or, the current pose of the tool target is obtained by the robot's kinematic equations.

3. The computer-readable storage medium according to claim 1, characterized in that, The field of view boundary includes a first boundary and a second boundary, wherein the first boundary is the boundary of the top view of the field of view space of the optical navigation device, and the second boundary is the boundary of the plane view of the field of view space of the optical navigation device.

4. The computer-readable storage medium according to claim 3, characterized in that, The steps for obtaining the first boundary include: Obtain a top view of the field of view of the optical navigation device; A first coordinate system is established with the first designated point within the top view as the origin; and, The first boundary is obtained according to the first coordinate system; And / or, the step of obtaining the second boundary includes: Obtain a plan view of the field of view of the optical navigation device; A second coordinate system is established with the second designated point within the plan view as the origin; and, The second boundary is obtained based on the second coordinate system.

5. The computer-readable storage medium according to claim 1, characterized in that, The optical navigation device is moved by a pose adjustment mechanism, which includes multiple joints. After acquiring the target pose and before driving the optical navigation device to move, the navigation method further includes: Obtain the joint angles of each joint of the pose adjustment mechanism when the optical navigation device is in the target pose.

6. The computer-readable storage medium according to claim 5, characterized in that, The navigation method further includes: Determine whether each joint angle is within the movable range of the corresponding joint. If so, drive the optical navigation device to move; otherwise, update the target pose.

7. A surgical navigation system, characterized in that, include: Target assembly, including a tool target, for mounting to the end effector of a robotic arm; An optical navigation device is used to identify the tool target in order to obtain the pose of the tool target in the coordinate system of the optical navigation device. A pose adjustment mechanism, connected to the optical navigation device, is used to drive the optical navigation device to move; and... The control unit is communicatively connected to the pose adjustment mechanism and the optical navigation device, and is configured to execute the program stored on the computer-readable storage medium as described in any one of claims 1-6.

8. The surgical navigation system according to claim 7, characterized in that, The posture adjustment mechanism includes a base, a motion component, and a drive component. The motion component includes a first connecting part, a second connecting part, a third connecting part, and a fourth connecting part. The first connecting portion is rotatably connected to the base to form a first joint, the second connecting portion is rotatably connected to the first connecting portion to form a second joint, the third connecting portion is rotatably connected to the second connecting portion to form a third joint, and the fourth connecting portion is rotatably connected to the third connecting portion to form a fourth joint, and the fourth connecting portion is connected to the optical navigation device; the rotation axis of the first joint and the rotation axis of the second joint both extend in the vertical direction, the rotation axis of the third joint and the rotation axis of the fourth joint both extend in the horizontal direction, and the rotation axis of the third joint and the rotation axis of the fourth joint are parallel to each other; The drive component is connected to the control unit and communicates with the motion component. The drive component is used to drive at least one of the first joint, the second joint, the third joint and the fourth joint to rotate under the control of the control unit.

9. The surgical navigation system according to claim 7, characterized in that, The posture adjustment mechanism includes a base, a motion component, and a drive component. The motion component includes a fifth connecting part, an arc-shaped guide part, a sixth connecting part, and a seventh connecting part. The fifth connecting part is rotatably connected to the base to form a fifth joint; the arc-shaped guide part is connected to the fifth connecting part and is arranged horizontally; the sixth connecting part is movably disposed on the arc-shaped guide part and can move along the arc-shaped guide part to form a sixth joint; the seventh connecting part is rotatably connected to the seventh connecting part to form a seventh joint, and the seventh connecting part is also connected to the optical navigation device; the rotation axis of the fifth joint extends vertically, and the rotation axis of the seventh joint extends horizontally. The drive component is communicatively connected to the control unit and the motion component, and the drive component is used to drive at least one of the fifth joint, the sixth joint and the seventh joint to move under the control of the control unit.

10. A surgical robot system, characterized in that, include: robotic arm; A target assembly, including a tool target disposed at the end of the robotic arm; An optical navigation device is used to identify the tool target in order to obtain the pose of the tool target in the coordinate system of the optical navigation device. A pose adjustment mechanism, connected to the optical navigation device, is used to drive the optical navigation device to move; and, The control unit is communicatively connected to the pose adjustment mechanism and the optical navigation device, and is configured to execute the program stored on the computer-readable storage medium as described in any one of claims 1-6.

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