Surgical navigation positioning method and system, surgical robot system

Abstract

The application provides a surgical navigation positioning method and system and a surgical robot system, and the surgical navigation positioning method is used for at least acquiring a pose of a target, the target is arranged on an object, and the target rotates around a rotation center together with the object, and the method comprises the following steps: acquiring position information of the rotation center; acquiring a first conversion matrix between a coordinate system of an inertial sensor arranged on the target and a coordinate system of the target; judging whether an optical positioning device collects second pose information of the target at a current time, if yes, taking the second pose information of the target at the current time as a current pose of the target; if no, acquiring first pose information of the inertial sensor collected by the inertial sensor at the current time, and acquiring the current pose of the target according to the position information, the first pose information at the current time and the first conversion matrix. The surgical navigation positioning method can still effectively position in the case that the optical positioning device is temporarily disabled, and ensures the smooth progress of the surgery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical navigation positioning method and system and a surgical robot system. BACKGROUND

[0002] In robot-assisted knee surgery, it is necessary to measure the pose of the femur in real time and control the movement of the mechanical arm according to the pose of the femur so that the tool mounted at the end of the mechanical arm can polish or perform osteotomy on the bone.

[0003] In the prior art, a target is usually arranged on the femur, image information of the target is collected by an optical positioning device, and then the femur is positioned by combining image processing. This positioning method is greatly affected by light, and in the process of surgery, the doctor or surgical instruments are also likely to block, causing the optical positioning device to fail to collect images of the target, at which time the femur cannot be positioned, adversely affecting the performance of the surgery. SUMMARY

[0004] The purpose of the present application is to provide a surgical navigation positioning method and system and a surgical robot system to obtain the position information of the target object even when the optical positioning device fails, ensuring the smooth progress of the surgery.

[0005] To achieve the above-mentioned purpose, the present application provides a surgical navigation positioning method, at least for obtaining the pose of a target, the target being arranged on a target object, the target object being capable of rotating around a rotation center to drive the target to rotate around the rotation center, the surgical navigation positioning method comprising the following steps:

[0006] obtaining the position information of the rotation center;

[0007] obtaining a first conversion matrix between the coordinate system of an inertial sensor arranged on the target and the coordinate system of the target;

[0008] determining whether the optical positioning device collects second pose information of the target at the current time, if yes, taking the second pose information of the target at the current time as the current pose of the target; if no, obtaining first pose information of the inertial sensor collected by the inertial sensor at the current time, and obtaining the current pose of the target according to the position information of the rotation center, the first pose information at the current time and the first conversion matrix.

[0009] Optionally, the first conversion matrix is obtained according to the first pose information collected by the inertial sensor and the second pose information of the target collected by the optical positioning device, and the position information of the rotation center is obtained according to the second pose information.

[0010] Optionally, the step of acquiring the first conversion matrix comprises:

[0011] The n first pose information and the n second pose information are acquired respectively when the target rotates around the rotation center;

[0012] The first conversion matrix is acquired according to the n first pose information and the n second pose information.

[0013] Optionally, the second conversion matrix remains constant.

[0014] The surgical navigation positioning method comprises:

[0015] The first pose information and the second pose information are acquired in real time;

[0016] The first conversion matrix is updated in real time;

[0017] The current pose of the target is acquired according to the first pose information in real time and the updated first conversion matrix.

[0018] Optionally, the method of updating the first conversion matrix in real time is:

[0019] The first conversion matrix is updated according to the first pose information at the current time and the second pose information at the current time; or,

[0020] The first conversion matrix is updated according to the first pose information at the current time and the second pose information at the previous time.

[0021] Optionally, the step of acquiring the position information of the rotation center according to the second pose information comprises:

[0022] The second pose information collected by the optical positioning device at different times is acquired when the target rotates around the rotation center;

[0023] The position information of the rotation center is acquired according to the plurality of second pose information.

[0024] Optionally, when the optical positioning device cannot acquire the second pose information of the target at the current time, the surgical navigation positioning method further comprises:

[0025] It is determined whether the target moves according to the first position information collected by the inertial sensor, if yes, the current pose of the target is calculated, if not, the pose of the target at the previous time is taken as the current pose of the target.

[0026] Optionally, the surgical navigation positioning method further comprises:

[0027] acquiring a current pose of the mechanical arm;

[0028] acquiring a target pose of the mechanical arm according to the current pose of the target and a preset relative pose relationship between the target and the mechanical arm;

[0029] determining whether a deviation between the current pose of the mechanical arm and the target pose is within an error range, and if not, performing path planning on the mechanical arm so that the mechanical arm can reach the target pose when moving along the planned path.

[0030] To achieve the above-mentioned purposes, the present application further provides a surgical navigation positioning method, which is at least used for positioning a target, the target being arranged on a target object, the target object being capable of rotating around a rotation center to drive the target to rotate around the rotation center, the surgical navigation positioning method comprising the following steps:

[0031] acquiring position information of the rotation center;

[0032] acquiring a first conversion matrix between a coordinate system of an inertial sensor arranged on the target and a coordinate system of the target;

[0033] acquiring first pose information of the inertial sensor at a current time collected by the inertial sensor; and

[0034] acquiring a current pose of the target according to the position information of the rotation center, the first pose information at the current time and the first conversion matrix.

[0035] To achieve the above-mentioned purposes, the present application further provides a computer readable storage medium, which stores a program, when the program is executed, the surgical navigation positioning method as any one of the preceding embodiments is executed.

[0036] To achieve the above-mentioned purposes, the present application further provides a surgical navigation positioning system, comprising:

[0037] a target, arranged on a target object, the target object being capable of rotating around a rotation center to drive the target to rotate around the rotation center;

[0038] an inertial sensor, arranged on the target, the inertial sensor being used for collecting first pose information of the inertial sensor;

[0039] an optical positioning device, used for identifying the target and collecting second pose information of the target; and

[0040] A control unit is in communication connection with the inertial sensor and the optical positioning device, and the control unit is configured to perform the surgical navigation positioning method according to any one of the preceding.

[0041] To achieve the above object, the present application further provides a surgical robot system, characterized in comprising:

[0042] A mechanical arm;

[0043] A navigation device comprising a target, an inertial sensor and an optical positioning device, the inertial sensor is arranged on the target, the target is arranged on a target object, and the optical positioning device can identify the target; and

[0044] A control unit is in communication connection with the inertial sensor and the optical positioning device, and the control unit is configured to perform the surgical navigation positioning method according to any one of the preceding.

[0045] Compared with the prior art, the surgical navigation positioning method and system and the surgical robot system have the following advantages:

[0046] The surgical navigation positioning method is at least used for acquiring the pose of the target, the target is arranged on a target object, and the target object can rotate around a rotation center to drive the target to rotate around the rotation center. The surgical navigation positioning method comprises the following steps: acquiring position information of the rotation center; acquiring a first conversion matrix between a coordinate system of an inertial sensor arranged on the target and a coordinate system of the target; judging whether the optical positioning device acquires second pose information of the target at a current time, if yes, taking the second pose information of the target at the current time as the current pose of the target; if not, acquiring first pose information of the inertial sensor collected by the inertial sensor at the current time, and acquiring the current pose of the target according to the position information of the rotation center, the first pose information at the current time and the first conversion matrix. The surgical navigation positioning method can directly utilize the optical positioning device to acquire the pose of the target, can utilize the inertial sensor to acquire the pose of the target when the optical positioning device is temporarily disabled, or can directly utilize the inertial sensor to acquire the pose of the target, the positioning method is flexible, and the interference of light on positioning can be reduced, and the problem that the optical positioning device cannot position the target due to the existence of shielding between the target and the optical positioning device can also be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings are used to better understand the present application and do not constitute an improper limitation on the present application. Among them:

[0048] Figure 1is a schematic diagram of an application scenario of a surgical robot according to an embodiment of the present application;

[0049] Figure 2 is a schematic diagram of the connection relationship between a target, an inertial sensor and a target object of a surgical robot system according to an embodiment of the present application;

[0050] Figure 3 is a schematic diagram of the connection relationship between a target and an inertial sensor of a surgical robot system according to an embodiment of the present application;

[0051] Figure 4 is a schematic diagram of the communication connection relationship between an inertial sensor, an optical positioning device, a mechanical arm and a control unit of a surgical robot system according to an embodiment of the present application;

[0052] Figure 5 is a schematic diagram of the overall framework of a surgical robot system according to an embodiment of the present application;

[0053] Figure 6 is a schematic diagram of the overall framework of a surgical robot system according to an embodiment of the present application, Figure 6 and Figure 5 differ in that, Figure 6 the man-machine interaction unit is shown in

[0054] Figure 7 is a schematic diagram of the process of assisting a surgical operation by a surgical robot according to an embodiment of the present application;

[0055] Figure 8 is a schematic diagram of the overall process of a surgical navigation positioning method performed by a control unit of a surgical robot system according to an embodiment of the present application;

[0056] Figure 9 is a flowchart of obtaining a first position of a rotation center when a target is positioned by a surgical robot system according to an embodiment of the present application;

[0057] Figure 10 is a flowchart of obtaining a first conversion matrix between a coordinate system of a target and a coordinate system of an inertial sensor, and obtaining a second conversion matrix between a coordinate system of an optical positioning device and a geodetic coordinate system when a target is positioned by a surgical robot system according to an embodiment of the present application;

[0058] Figure 11 is a schematic diagram of part of a surgical navigation positioning method performed by a control unit of a surgical robot system according to an embodiment of the present application, Figure 11 and Figure 8 differ in that, Figure 11 step S433 is shown in

[0059] Figure 12 Fig. 1 is a schematic diagram showing a target rotating from point P1 to point P2 in a surgical robotic system according to an embodiment of the present application;

[0060] Figure 13 Fig. 2 is a schematic diagram showing part of the steps of a surgical navigation positioning method performed by a control unit of a surgical robotic system according to an embodiment of the present application, Figure 13 is shown in step S440.

[0061] Figure 14 Fig. 3 is a schematic diagram showing part of the steps of a surgical navigation positioning method performed by a control unit of a surgical robotic system according to an embodiment of the present application, Figure 14 is shown in step S450. DETAILED DESCRIPTION

[0062] Other advantages and effects of the present application can be easily understood by those skilled in the art from the above description of the embodiments of the present application. The present application can also be implemented or applied in other different embodiments, and the details in the present description can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the drawings provided in the present embodiments only schematically illustrate the basic concepts of the present application, and thus the drawings only show the components related to the present application without showing the number, shape and size of the components in actual implementation. The shapes, number and proportions of the components in actual implementation can be arbitrarily changed, and the layout of the components can be more complicated.

[0063] In addition, each of the embodiments described below has one or more technical features, but this does not mean that the user of the present application must simultaneously implement all the technical features in any embodiment, or can only separately implement one or all technical features in different embodiments. In other words, under the premise of implementation, those skilled in the art can selectively implement part or all of the technical features in any embodiment, or selectively implement a combination of part or all of the technical features in multiple embodiments, according to the disclosure of the present application, and according to design specifications or implementation needs, thereby increasing the flexibility of the implementation of the present application.

[0064] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “install,” “connect,” and “link” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can represent internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] 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.

[0066] One of the objectives of this invention is to provide a surgical robot system for assisting in the performance of surgery. Figure 1 A schematic diagram of a surgical robot system assisting in the execution of surgery is shown, such as... Figure 1 As shown, the surgical robot system includes a robotic arm 110, with instruments 200 for performing surgical operations mounted at the end of the robotic arm 110. The type of instrument 200 is selected according to the actual situation, such as an osteotomy tool or a grinding tool. The robotic arm 110 is controlled to move, thereby driving the instruments 200 to perform surgical operations on the target object 300 on the hospital bed. Furthermore, the surgical robot system also includes a navigation device for locating the target object 300, and then guiding the robotic arm 110 to move based on the pose of the target object 300 to achieve the surgical operation.

[0067] In one embodiment of the present invention, the navigation device may include a target 120, an inertial sensor 130, and an optical positioning device 140, wherein, as Figure 1 and Figure 2 As shown, the target 120 is used to set on the target object 300. The target object can rotate around a center of rotation, so the target 120 can rotate around the center of rotation along with the target object. The target object 300 can be a human femur, or a femur model in a human body model. Correspondingly, the center of rotation is the center of the acetabulum or the center of the acetabulum model. Figure 3As shown, the inertial sensor 130 is arranged on the target 120 and keeps relatively static with the target 120, that is, the inertial sensor 130 rotates with the target 120 around the rotation center. Generally, the target 120 comprises a bracket 121 and a plurality of reflectors 122 arranged on the bracket 121. In one non-limiting implementation, the bracket 121 is generally a parallelogram structure (including a rectangular structure), and the number of the reflectors 122 can be four, and the four reflectors 122 are respectively located at the four vertices of the parallelogram structure. The inertial sensor 130 can be arranged at the center point of the bracket 121 or at any other suitable position of the bracket 121, and the inertial sensor 130 outputs first pose information of the inertial sensor 130. The optical positioning device 140 is used to identify the reflectors 122 on the target 120, and then acquire image information of the target 120. It is known to those skilled in the art that after the optical positioning device 140 acquires the image information of the target 120, the second pose information of the target 120 can be obtained by performing corresponding processing on the image information, and therefore the acquisition of the image information of the target 120 by the optical positioning device 140 is described as the acquisition of the second pose information of the target 120 by the optical positioning device 140.

[0068] In addition, as Figure 4 to Figure 6 shown, the surgical robot system further comprises a control unit 150, which is in communication connection with the inertial sensor 130 and the optical positioning device 140, and is used to receive the first pose information and the second pose information, and perform a surgical navigation positioning method according to the received first pose information and the second pose information, so as to obtain the current pose of the target 120.

[0069] It should be noted that the position information and the pose information (including the first pose information, the second pose information, the current pose of the target 120, the current pose of the robotic arm 100 described hereinafter, and the target pose of the robotic arm 100) described herein all refer to position information and pose information in the geodetic coordinate system.

[0070] When the surgical robot system is used to perform a knee joint surgery (that is, the target object 300 is a femur of a human), the procedure of the surgery comprises the steps as Figure 7 shown:

[0071] Step S100: acquiring a CT image of a patient. This step can be performed by any suitable method, for example, by network transmission, or by manual input through a human-computer interaction unit 160 (as Figure 6 shown) of the surgical robot system, etc. The human-computer interaction unit 160 can be a keyboard or a mouse or a virtual button in a display device.

[0072] Step S200: bone registration and preoperative planning are performed according to the CT image. This step can be performed according to the prior art, which is irrelevant to the improvement point of the present application, and is not described here.

[0073] Step S300: the inertial sensor is mounted to the target 120, and the target 120 is fixedly connected to the target object. Then, the pose of the optical positioning device 140 is adjusted so that the optical positioning device can recognize the target 120.

[0074] Step S400: the first pose information is collected by the inertial sensor 130 and / or the second pose information is collected by the optical positioning device 140, and the surgical navigation positioning method is executed by the control unit 150 to assist the doctor to complete the surgical operation. The navigation using the first pose information collected by the inertial sensor 130 can solve the problem of the influence of light on the optical positioning device during the operation, and avoid the problem of being unable to navigate due to the target 120 being blocked.

[0075] Next, the surgical navigation positioning method executed by the control unit 150 will be described in detail.

[0076] As shown in Figure 8 , in a typical embodiment, the surgical navigation positioning method comprises the following steps:

[0077] Step S410: obtaining the position information of the rotation center.

[0078] Step S420: obtaining the first conversion matrix between the coordinate system of the inertial sensor 130 and the coordinate system of the target 120.

[0079] Step S430: obtaining the current pose of the target 120. Specifically, it comprises step S431: judging whether the optical positioning device 140 obtains the second pose information of the target 120 at the current time, if yes, taking the second pose information of the target 120 at the current time as the current pose of the target 120, if not, executing step S432. The step S432 comprises: obtaining the first pose information of the inertial sensor 130 collected by the inertial sensor 130 at the current time, and obtaining the current pose of the target 120 according to the position information of the rotation center, the first pose information at the current time and the first conversion matrix.

[0080] In the execution of the step S410, the control unit 150 can obtain the position information of the rotation center according to the second pose information of the target 120 collected by the optical positioning device 140. The specific process is as shown in Figure 9 , which comprises:

[0081] Step S411: When the femur rotates to make the target 120 rotate around the rotation center, a plurality of second pose information collected by the optical positioning device 140 at different time instants are acquired.

[0082] Step S412: The position information of the rotation center is acquired according to the plurality of second pose information. Specifically, the plurality of second pose information are respectively brought into the following formula (1), and the formula (1) is solved to obtain the position information of the rotation center. The formula (1) is as follows:

[0083]

[0084]

[0085] In the formula, x1 and x2 respectively represent the coordinates corresponding to the x-axis in the second pose information at any two different time instants, y1 and y2 respectively represent the coordinates corresponding to the y-axis in the second pose information at any two different time instants, and z1 and z2 respectively represent the coordinates corresponding to the z-axis in the second pose information at any two different time instants. x represents the coordinate of the rotation center on the x-axis, y represents the coordinate of the rotation center on the y-axis, z represents the coordinate of the rotation center on the z-axis. It can be understood by those skilled in the art that the more the second pose information collected in step S411, the more accurate the position information of the rotation center obtained finally.

[0086] When step S420 is performed, the control unit 150 can acquire the first conversion matrix between the coordinate system of the inertial sensor 130 and the coordinate system of the target 120 according to the first pose information of the inertial sensor 130 collected by the inertial sensor 130 and the second pose information of the target 130 collected by the optical positioning device 140. The specific method includes steps S421 and S422 as shown in the following. Figure 10

[0087] Step S421: During the rotation of the target 120, n first pose information and n second pose information corresponding to n time instants are respectively acquired. That is, the first pose information and the second pose information are respectively acquired at the first time instant, the first pose information and the second pose information are acquired at the second time instant, and the first pose information and the second pose information are acquired at the nth time instant.

[0088] Step S422: The first conversion matrix between the coordinate system of the inertial sensor 130 and the coordinate system of the target 120 is acquired according to the n first pose information and the n second pose information. Specifically, the n first pose information and the n second pose information are brought into the following formula (2) to calculate the first conversion matrix between the coordinate system of the inertial sensor 130 and the coordinate system of the target 120. The formula (2) is as follows: ​

[0089]

[0090] wherein, represents a second conversion matrix between the coordinate system of the optical positioning device 140 and the geodetic coordinate system, represents second pose information of the inertial sensor 130, represents first pose information of the inertial sensor 130, represents a first conversion matrix between the coordinate system of the inertial sensor 130 and the coordinate system of the target 120.

[0091] It is understood by those skilled in the art that formula (2) can be solved by using an optimization algorithm such as least squares method, and the second conversion matrix is obtained at the same time as the first conversion matrix. The second conversion matrix is considered to be constant throughout the entire operation.

[0092] Under normal circumstances, the optical positioning device 140 can always identify the target 120 and collect image information of the target 120, thereby obtaining the second pose information. However, in some cases, for example, the doctor moves between the target 120 and the optical positioning device 140, causing the target 120 to be blocked for a short time. In this case, the control unit 150 acquires the current pose of the target 120 by performing step S432.

[0093] In a preferred embodiment, as shown in Figure 11 After performing step S431 and before step S432, the control unit 150 further performs step S433: judging whether the target 120 has moved according to the first pose information collected by the inertial sensor 130, if yes, calculating the current pose of the target 120, if no, taking the pose of the target 120 at the last time as the current pose of the target 120. That is, if the target 120 has not moved, the pose of the target 120 at the last time is directly called as the current pose of the target, so that step S432 does not need to be performed. Such an operation can reduce the amount of calculation of the control unit 150. It should be noted that the "last time" here is the time when the pose of the target 120 is acquired last time before the current time. The optical positioning device 140 can or can not be able to collect the second pose information of the target 120 at the last time.

[0094] In a non-restrictive implementation, the control unit 150 is pre-configured with a threshold value of the difference between the first pose information collected by the inertial sensor 130 at two adjacent time instants, and the control unit 150 judges whether the target 120 moves by comparing the difference between the first pose information collected by the inertial sensor 130 at a current time instant and the first pose information collected by the inertial sensor 130 at a previous time instant with the threshold value. Specifically, if the difference between the first pose information collected by the inertial sensor 130 at the current time instant and the first pose information collected by the inertial sensor 130 at the previous time instant is within the threshold value, it is determined that the target 120 does not move, and if the difference between the first pose information collected by the inertial sensor 130 at the current time instant and the first pose information collected by the inertial sensor 130 at the previous time instant exceeds the threshold value, it is considered that the target 120 moves.

[0095] In addition, the target 120 is rigidly connected with the inertial sensor 130, and theoretically, the first conversion matrix between the coordinate system of the target 120 and the coordinate system of the inertial sensor 130 should be fixed. However, in practice, the first conversion matrix is calculated according to the second pose information collected by the optical positioning device 140 and the first pose information collected by the inertial sensor 130, and the inertial sensor 130 inevitably has angle drift, which causes the inertial sensor 130 to have certain errors, so that the first pose information collected by the inertial sensor 130 at different time instants can have different error values. If the fixed first conversion matrix is always used to calculate the pose of the target 120, it will cause a large error between the calculated pose of the target 120 and the actual pose.

[0096] Therefore, in a preferred embodiment, the navigation positioning method further comprises updating the first conversion matrix in real time (not shown in the figure). When the optical positioning device 140 cannot collect the second pose information of the target 120, and the target 120 moves, the control unit 150 acquires the current pose of the target 120 according to the updated first conversion matrix, so as to improve the accuracy of the calculated pose of the target 120.

[0097] Therefore, the control unit 150 acquires the first pose information and the second pose information in real time, and updates the first conversion matrix according to the first pose information and the second pose information. It should be understood that acquiring the second pose information in real time means that the control unit 150 acquires the second pose information as long as the optical positioning device 140 can collect the second pose information of the target 120. When the optical positioning device 140 cannot collect the second pose information, the control unit 150 also cannot acquire the second pose information accordingly. Therefore, when the optical positioning device 140 can collect the second pose information, the control unit 150 updates the first conversion matrix according to the second pose information at the current time and the first pose information at the current time. When the optical positioning device 140 cannot collect the second pose information, the control unit 150 updates the first conversion matrix according to the first pose information at the current time and the second pose information at the previous time. The "previous time" here refers to the last time when the optical positioning device 140 collects the second pose information before the optical positioning device 140 cannot collect the second pose information. It should be understood that the control unit 150 still uses the aforementioned formula (2) and the optimization algorithm such as the least square method to update the calculation of the first conversion matrix.

[0098] Next, a specific example is used to illustrate the calculation process of the control unit 150 to acquire the current pose of the target 120 when the optical positioning device 140 cannot collect the second pose information.

[0099] Figure 12 A schematic diagram is shown when the target 120 rotates from point P1 to point P2, and O is the rotation center. When the target 120 is located at point P1, the optical positioning device 140 can collect the second pose information, and when the target 120 is located at point P2, the optical positioning device 140 cannot collect the second pose information. Therefore, the specific calculation process of the control unit 150 to acquire the pose of the target 120 at point P2 is as follows:

[0100] OP1= ndi P1- ndi O (3), and

[0101]

[0102] ndi P2= ndi O+OP2 (5), and

[0103] ndi P1 represents the first pose information of the target 120 at point P1 collected by the optical positioning device 140. ndi O represents the position information of the rotation center calculated in step S412. represents the transpose of the first pose information of the target 120 at point P2, represents the first pose information of the target 120 at point P1. represents the first transformation matrix of the target 120 at point P1, which is calculated according to formula (2), i.e. represents the transpose of the first pose information of the target 120 at point P1, is calculated in step S422, represents the transpose of the second pose information of the target 120 at point P1. represents the transpose of the first transformation matrix of the target 120 at point P2, which is also calculated according to formula (2), but since the optical positioning device can no longer collect the second pose information at point P2, the second pose information of the target 120 at point P1 is used to calculate the first transformation matrix of the target 120 at point P2, and thus the first transformation matrix of the target 120 at point P2 is: wherein represents the first pose information of the target 120 at point P2. ndi P2 represents the pose of the target 120 at point P2, i.e. the current pose to be calculated.

[0104] In a further aspect, as shown in Figure 13 the control unit 150 is further in communication connection with the mechanical arm 110, and after obtaining the current pose of the target 120, the control unit 150 further performs step S440 (i.e. the surgical navigation positioning method further comprises step S440): navigating the mechanical arm 110. The specific process comprises:

[0105] Step S441: obtaining the current pose of the mechanical arm 110. It should be understood that the current pose of the mechanical arm 110 can be obtained by various sensors installed on each joint of the mechanical arm 110.

[0106] Step S442: obtaining the target pose of the mechanical arm 110 according to the current pose of the target 120 and the preset relative pose relationship between the target 120 and the mechanical arm 110.

[0107] Step S443: determining whether the deviation between the current pose and the target pose of the mechanical arm 110 is within the allowable error range, if yes, controlling the mechanical arm 110 to remain stationary, if not, performing step S444.

[0108] Step S444: path planning for the mechanical arm 110, so that the mechanical arm 110 can reach the target pose when moving along the planned path. The path planning involved in this step is known to those skilled in the art, and thus is not described here.

[0109] Further, the step S440 can further include a step S445 of driving the robot arm 110 to move according to the planned path so that the robot arm 110 reaches the target pose.

[0110] Further, referring to Figure 14 , the surgical navigation positioning method further includes a step S450 of low-pass filtering at least one of the first pose information, the second pose information, and the current pose of the robot arm 110 to reduce noise of the sensor and improve positioning accuracy. It should be understood that the second pose information is actually acquired by the image sensor (i.e., the optical positioning device 140 is actually an image sensor). Therefore, the step S450 should be performed before the step S442, and the execution time can be selected as needed, which can be after the step S441 and before the step S442 (as shown in Figure 14 ), or after the step S411 and before the step S412 (not shown in the figure), or after the step S421 and before the step S422 (not shown in the figure), or before each update of the first conversion matrix (not shown in the figure), etc.

[0111] It should be noted that when the control unit 150 does not acquire the first conversion matrix and the first position information through the second pose information of the target acquired by the optical positioning device 140, but uses other suitable ways to acquire the first conversion matrix and the first position information, the optical positioning device can be omitted. In this case, the control unit 150 can only acquire the current pose of the target 120 according to the first conversion matrix and the current first pose information. That is, the surgical navigation positioning method does not include the step S431, but directly performs the step S432 after the step S420.

[0112] Further, the embodiment of the present application also provides a surgical navigation positioning method, which includes all operations performed by the aforementioned control unit.

[0113] It should be noted that the surgical navigation positioning method is a method executed according to a preset control logic, which is essentially a category selection of surgical autonomy, and is not used for object recognition. It can be understood that since the object on the operating table does not need to be recognized, even if the object on the operating table is a human model or other objects, the operations can still be performed. Therefore, the surgery here does not specifically refer to surgical operation on a patient, but only refers to a set of operation steps executed according to a preset control logic, which can be used in simulation training (when the target object is a human model or other objects) and other application scenarios.

[0114] Further, the embodiment of the present application also provides a computer readable storage medium, which stores a program, and when the program is executed, the aforementioned navigation positioning method is executed.

[0115] Further, the present application also provides a surgical navigation positioning system, which comprises a target, an inertial sensor, an optical positioning device and a control unit. The target is arranged on a target object, and the target object can rotate around a rotation center to drive the target to rotate around the rotation center. The inertial sensor is arranged on the target, and the inertial sensor is used to collect first pose information of the inertial sensor. The optical positioning device is used to identify the target and collect second pose information of the target. The control unit is in communication connection with the inertial sensor and the optical positioning device, and the control unit is configured to execute the surgical navigation positioning method as described above.

[0116] Although the present application has been disclosed with reference to the above embodiments, it is not intended to limit the present application. Those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and equivalent technologies thereof, the present application is also intended to include these modifications and variations.

Claims

1. A computer-readable storage medium having stored thereon a program, characterized in that, When the program is executed, a surgical navigation positioning method is performed, at least for acquiring a pose of a target, the target being arranged on a target object, the target object being capable of rotating around a rotation center to drive the target to rotate around the rotation center, the surgical navigation positioning method comprising the following steps: acquiring position information of the rotation center according to second pose information of the target acquired by the optical positioning device at different times; acquiring a first conversion matrix between a coordinate system of the inertial sensor and a coordinate system of the target according to first pose information of the inertial sensor acquired by the inertial sensor arranged on the target and the second pose information; determining whether the optical positioning device acquires the second pose information of the target at a current time, if yes, taking the second pose information of the target at the current time as a current pose of the target, if no, acquiring the first pose information of the inertial sensor acquired by the inertial sensor at the current time, and acquiring the current pose of the target according to the position information of the rotation center, the first pose information at the current time and the first conversion matrix.

2. The computer-readable storage medium of claim 1, wherein, The step of acquiring the first conversion matrix comprises: acquiring n corresponding first pose information and n second pose information at n times when the target rotates around the rotation center; acquiring the first conversion matrix according to n first pose information and n second pose information.

3. The computer-readable storage medium of claim 2, wherein, A second conversion matrix between a coordinate system of the optical positioning device and a geodetic coordinate system is constant; The surgical navigation positioning method comprises: acquiring the first pose information and the second pose information in real time; updating the first conversion matrix in real time; acquiring the current pose of the target according to the first pose information in real time and the updated first conversion matrix.

4. The computer-readable storage medium of claim 3, wherein, The method for updating the first conversion matrix in real time comprises: updating the first conversion matrix according to the first pose information at a current time and the second pose information at the current time; or updating the first conversion matrix according to the first pose information at a current time and the second pose information at a previous time.

5. The computer-readable storage medium of claim 2, wherein, The step of acquiring the position information of the rotation center according to the second pose information comprises: acquiring a plurality of second pose information acquired by the optical positioning device at different times when the target rotates around the rotation center; acquiring the position information of the rotation center according to a plurality of second pose information.

6. The computer-readable storage medium of any of claims 1-5, wherein, When the optical positioning device cannot acquire the second pose information of the target at a current time, the surgical navigation positioning method further comprises: determining whether the target moves according to the first pose information acquired by the inertial sensor, if yes, calculating the current pose of the target, if no, taking a pose of the target at a previous time as the current pose of the target.

7. The computer-readable storage medium of any of claims 1-5, wherein, The surgical navigation positioning method further comprises: acquiring a current pose of a mechanical arm; acquiring a target pose of the mechanical arm according to the current pose of the target and a preset relative pose relationship between the target and the mechanical arm; determine whether the deviation of the current pose of the robot arm from the target pose is within an error range, and if not, perform path planning for the robot arm such that the robot arm can reach the target pose when moving along the planned path.

8. A computer-readable storage medium having stored thereon a program, characterized in that, When the program is executed, a surgical navigation positioning method is performed, at least for positioning a target, the target being arranged on a target object, the target object being capable of rotating around a rotation center to drive the target to rotate around the rotation center, the surgical navigation positioning method comprising the following steps: obtaining position information of the rotation center according to second pose information of the target collected by the optical positioning device at different times; obtaining a first conversion matrix between a coordinate system of the inertial sensor and a coordinate system of the target according to first pose information of the inertial sensor collected by the inertial sensor arranged on the target and the second pose information; obtaining first pose information of the inertial sensor at a current time collected by the inertial sensor; and obtaining a current pose of the target according to the position information of the rotation center, the first pose information at the current time, and the first conversion matrix.

9. A surgical navigation positioning system, characterized by, Comprise: a target, arranged on a target object, the target object being capable of rotating around a rotation center to drive the target to rotate around the rotation center; an inertial sensor, arranged on the target, the inertial sensor being used to collect first pose information of the inertial sensor; an optical positioning device, used to identify the target and collect second pose information of the target; and a control unit, in communication connection with the inertial sensor and the optical positioning device, the control unit being configured to execute the program stored in the computer readable storage medium as claimed in any one of claims 1-8.

10. A surgical robotic system, characterized by, Comprise: a robot arm; a navigation device, comprising a target, an inertial sensor, and an optical positioning device, the inertial sensor being arranged on the target, the target being arranged on a target object, the optical positioning device being capable of identifying the target; and a control unit, the control unit being in communication connection with the robot arm, the inertial sensor, and the optical positioning device, and the control unit being configured to execute the program stored on the computer readable storage medium as claimed in any one of claims 1-8, and to control movement of the robot arm according to a pose of the target.

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