Navigation positioning system

Abstract

The application provides a navigation positioning system, which comprises a mechanical arm trolley, a mechanical arm body, a first target arranged at the end of the mechanical arm body and a second target arranged on the mechanical arm trolley, the first target comprises two target parts; when a tracking device can identify a current specified target part, the coordinate system of the current specified target part is used as a tool target coordinate system; when the tracking device cannot identify the current specified target part, the coordinate system of another target part is used as the tool target coordinate system; and / or when the tracking device can identify the second target at a current position, the coordinate system of the second target at the current position is used as a base coordinate system; when the tracking device cannot identify the second target at the current position, the second target is moved to another position to be identified by the tracking device, and the coordinate system of the second target at the other position is used as the base coordinate system. When the navigation positioning system is applied, the navigation reliability is improved, and the operation time is shortened.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and specifically relates to a navigation and positioning system. Background Technology

[0002] Surgical robot systems are increasingly widely used in the medical field. When using a surgical robot system, it is typically necessary to confirm the spatial pose of the tool mounted at the end of the robotic arm using several positioning targets, thereby navigating the entire surgical procedure. Existing positioning targets usually include a tool target mounted at the end of the robotic arm and a base target mounted on the robotic arm carriage. The tool target generally has only one target surface that can be identified by a tracking device, while the base target is immovably mounted on the robotic arm carriage.

[0003] Typically, the positioning target includes a reflective sphere, and the tracking device includes an optical navigation device (NDI). That is, the surgical robot system navigates using optical navigation equipment. However, if the target surface of the tool target is obstructed and / or the base target is obstructed, the NDI will be unable to identify the corresponding positioning target, adversely affecting surgical navigation. Summary of the Invention

[0004] The purpose of this invention is to provide a navigation and positioning system that improves the navigation reliability when performing surgery using a surgical robot system and reduces the adverse effects on the surgery caused by the obstruction of target components.

[0005] To achieve the above objectives, the present invention provides a navigation and positioning system, including a robot device and a navigation device connected in communication; the robot device includes a robotic arm trolley and a robotic arm body mounted on the robotic arm trolley; the navigation device includes a target assembly and a tracking device for identifying the target assembly; the target assembly includes a first target and a second target; the first target is disposed at the end of the robotic arm body, and the second target is disposed on the robotic arm trolley;

[0006] The first target includes two target parts, at least one of which can be identified by the tracking device; the navigation and positioning system is configured to use the coordinate system of the currently designated target part as the tool target coordinate system when the tracking device can identify the currently designated target part; the navigation and positioning system is further configured to use the coordinate system of the other target part as the tool target coordinate system when the tracking device cannot identify the currently designated target part; and / or,

[0007] The second target is mounted on the robotic arm trolley and configured to move on the robotic arm trolley; the navigation and positioning system is configured to use the coordinate system of the second target at the current position as the base coordinate system when the tracking device can identify the second target at the current position; the navigation and positioning system is further configured to control the second target to move from the current position to another position when the tracking device cannot identify the second target at the current position so that the tracking device can identify the second target, and use the coordinate system of the second target at the other position as the base coordinate system.

[0008] Optionally, the planes containing the two target portions intersect, and the included angle formed by the planes containing the two target portions is greater than or equal to 180°.

[0009] Optionally, the two target portions are arranged symmetrically.

[0010] Optionally, when the tracking device cannot identify the currently designated target portion, another target portion faces the tracking device, so that the tracking device can identify the other target portion.

[0011] Optionally, the robotic arm trolley includes a mounting surface, on which the second target is provided; the second target has multiple preset positions; the multiple preset positions are arranged at intervals around a central axis and symmetrically distributed on opposite sides of a reference plane; the central axis is perpendicular to the mounting surface and passes through the mounting surface, the reference plane is a vertical plane, the reference plane is perpendicular to the mounting surface and passes through the central axis;

[0012] The second target is located at one of the preset positions, and the navigation and positioning system is configured to control the second target to move from its current preset position to another preset position when the tracking device cannot recognize the second target at its current preset position. The preset position where the second target is currently located and the other preset position are symmetrical about the reference plane.

[0013] Optionally, the angle of the circumferential angle corresponding to the two farthest preset positions is greater than or equal to 270°.

[0014] Optionally, the navigation and positioning system further includes a drive mechanism, which includes a power unit and a transmission link. The power unit is mounted on the robotic arm trolley and has an output shaft. One end of the transmission link is connected to the output shaft, and the other end is connected to the second target.

[0015] Optionally, the robotic arm trolley includes a trolley body and a first guide portion disposed on the trolley body, the first guide portion passing through all the preset positions;

[0016] At least some of the preset positions are located on different circumferences; the transmission link is provided with a second guide portion extending along its length direction;

[0017] The second target includes a target body and a slider connected to the target body. The slider is movably disposed on the first guide portion and also movably disposed on the second guide portion.

[0018] Optionally, the navigation and positioning system further includes a collision monitoring unit, which is disposed on the drive mechanism;

[0019] The navigation and positioning system is configured to monitor, through the collision monitoring unit, whether the driving mechanism and / or the second target collides with an external mechanism during the movement of the second target, and to stop driving the second target to move or generate an intervention prompt when the driving mechanism and / or the second target collides with an external mechanism.

[0020] Optionally, it also includes a navigation control unit, which is configured to:

[0021] The system determines whether the tracking device can identify the currently designated target portion of the first target mounted at the end of the robotic arm body. If yes, the coordinate system of the currently designated target portion is used as the working target coordinate system; otherwise, the coordinate system of the currently reserved target portion is used as the tool target coordinate system. The tracking device can identify at least one of the currently designated target portion and the currently reserved target portion; and / or,

[0022] If the tracking device can identify the second target mounted on the robotic arm trolley and in its current position, then the coordinate system of the second target in its current position is used as the base coordinate system. If not, the tracking device controls the second target to move from its current position to another position so that the tracking device can identify the second target and uses the coordinate system of the second target in the other position as the base coordinate system.

[0023] Optionally, controlling the second target to move from the current position to another position means controlling the second target to move from the current position to another position that is symmetrical about a reference plane, wherein the reference plane is a vertical plane and perpendicular to the plane on which the second target is mounted on the robotic arm trolley.

[0024] Compared with the prior art, the navigation and positioning system and computer-readable storage medium of the present invention have the following advantages:

[0025] The aforementioned navigation and positioning system includes a robot device and a navigation device connected by communication; the robot device includes a robotic arm trolley and a robotic arm body mounted on the robotic arm trolley; the navigation device includes a target assembly and a tracking device for identifying the target assembly; the target assembly includes a ground target and a second target; the first target is disposed at the end of the robotic arm body, and the second target is disposed on the robotic arm trolley; the first target includes two target parts, at least one of the other two target parts being recognizable by the tracking device; the navigation and positioning system is configured to use the coordinate system of the currently specified target part as the tool target coordinate system when the tracking device can identify the currently specified target part. The positioning system is further configured to use the coordinate system of another target as the tool target coordinate system when the tracking device cannot identify the currently designated target; and / or, the second target is movably mounted on the robotic arm trolley, and the navigation positioning system is configured to use the coordinate system of the second target at the current position as the base coordinate system when the tracking device can identify the second target at the current position; the navigation positioning system is further configured to control the second target to move from the current position to another position so that the tracking device can identify the second target, and use the coordinate system of the second target at the other position as the base coordinate system when the tracking device cannot identify the second target at the current position. When applied to surgery, this navigation and positioning system uses a first target as a tool target and a second target as a base target. Since the first target has two target parts, and at least one of these parts can be identified by the tracking device, the navigation and positioning system uses the coordinate system of the identifiable target part as the coordinate system of the tool target. This prevents the tool target from becoming unidentifiable. The second target can move on the robotic arm trolley, and if the tracking device cannot identify the second target, it can be moved to another position so that the tracking device can identify it. The navigation and positioning system then uses the coordinate system of the second target in the new position as the base coordinate system, allowing the navigation and positioning system to continue operating normally. In other words, the application of this navigation and positioning system ensures that both the tool target and the base target are identified, improving the navigation reliability of the system and reducing the possibility of surgical interruption due to at least some targets being unidentifiable. Attached Figure Description

[0026] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0027] Figure 1 This is a schematic diagram of an application scenario of the navigation and positioning system provided by the present invention according to an embodiment;

[0028] Figure 2 This is a schematic diagram of the structure of the first target of the navigation and positioning system provided by the present invention according to an embodiment;

[0029] Figure 3 This is a schematic diagram of the structure of the first target of the navigation and positioning system provided by the present invention according to an embodiment. Figure 3 and Figure 2 The observation directions are different;

[0030] Figure 4 This is a schematic diagram of the tracking device identifying the first target portion of the first target when the navigation and positioning system provided by the present invention according to an embodiment is applied.

[0031] Figure 5 This is a schematic diagram of the second target portion of the tracking device identifying the first target when the navigation and positioning system provided by the present invention according to an embodiment is applied;

[0032] Figure 6 This is a schematic diagram of the second target of the navigation and positioning system provided by the present invention installed on a robotic arm trolley according to an embodiment. Some of the preset positions in the diagram are located on different circumferences, and the second target in the diagram is located at a fourth preset position.

[0033] Figure 7 This is a schematic diagram of the second target of the navigation and positioning system provided by the present invention, according to an embodiment, installed on a robotic arm trolley. In the diagram, the second target is located at a first preset position.

[0034] Figure 8 This is a schematic diagram of the second target of the navigation and positioning system provided by the present invention, according to an embodiment, installed on a robotic arm trolley. In the diagram, the second target is located at a fourth preset position.

[0035] Figure 9 This is a schematic diagram of the structure of the second target of the navigation and positioning system provided by the present invention according to an embodiment;

[0036] Figure 10 This is a partial structural schematic diagram of the drive mechanism of the navigation and positioning system provided by the present invention according to an embodiment, wherein the transmission link is not shown in the figure;

[0037] Figure 11 This is a schematic diagram of the transmission link of the drive mechanism of the navigation and positioning system provided according to an embodiment of the present invention;

[0038] Figure 12 This is a schematic diagram showing the cooperation between the second target of the navigation and positioning system provided by the present invention and the first guide part and drive mechanism of the robotic arm trolley according to an embodiment;

[0039] Figure 13This is a simplified structural diagram of the robotic arm trolley of the navigation and positioning system provided by the present invention according to an embodiment. In the diagram, the first guide part is an arc-shaped structure, and the second target is in the process of moving.

[0040] Figure 14 This is a schematic flowchart of the control method for a navigation and positioning system provided by the present invention according to an embodiment;

[0041] Figure 15 This is a flowchart illustrating the process of controlling the movement of a second target in the control method of a navigation and positioning system according to an embodiment of the present invention.

[0042] Figure 16 This is a flowchart illustrating the process of controlling the movement of a second target according to a collision monitoring unit in the control method of a navigation and positioning system provided by an embodiment of the present invention.

[0043] Figure 17 This is a control flowchart of the manual control mode and the automatic control mode in the control method of the navigation and positioning system provided by the present invention according to an embodiment. Detailed Implementation

[0044] 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.

[0045] The purpose of this invention is to provide a navigation and positioning system that improves the reliability of navigation when the system is used, reduces navigation failure caused by target obstruction, and improves surgical efficiency and safety.

[0046] 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.

[0047] Figure 1 This diagram illustrates an application scenario of a navigation and positioning system provided in one embodiment. Please refer to... Figure 1The navigation and positioning system includes a robotic device (not shown in the figure) and a navigation device (not shown in the figure) connected by communication. The robotic device includes a robotic arm carriage 1000 and a robotic arm body 2000 mounted on the robotic arm carriage 1000. The end effector of the robotic arm body 2000 is used to load an end effector tool. When the navigation and positioning system is applied to orthopedic surgery such as joint replacement surgery, the end effector tool includes, but is not limited to, an osteotomy guide tool. The navigation device includes a target assembly 3000 and a tracking device 4000. The target assembly 3000 includes a first target 3100 and a second target 3200. The first target 3100 is located at the end effector tool control point at the end effector of the robotic arm body 2000 and serves as a tool target. The second target 3200 is mounted on the robotic arm carriage 1000 and serves as a base target for constructing a base coordinate system. The tracking device 4000 obtains the pose information of the end-effector control point by identifying the tool target coordinate system and the base coordinate system, and combining the results of robotic arm registration and bone registration, thereby navigating the surgical operation. In this embodiment of the invention, the navigation device is an optical navigation device. The tool target coordinate system, base coordinate system, pose information of the end-effector control point, and the first target part 3110a (as described below) mentioned herein are also referred to. Figure 4 and Figure 5 The coordinate system shown, the second target part 3110b (as shown) Figure 4 and Figure 5 The coordinate systems shown, including the coordinate system of the second target 3200 and the homogeneous transformation matrix of each coordinate system, are all relative to the coordinate system of the robotic arm joint base. The coordinate system of the robotic arm joint base is set on the robotic arm joint base and remains fixed throughout the entire surgical procedure. The method of setting the coordinate system of the robotic arm joint base is a well-known technique in the art and will not be described in detail here.

[0048] In some alternative embodiments, such as Figure 2 and Figure 3 As shown, the first target 3100 includes two target portions 3110. At any point during the surgical procedure, one of the two target portions 3110 is designated as the primary target portion 3110, and the other is designated as a backup target portion 3110. Furthermore, at least one of the two target portions 3110 can be identified by the tracking device 4000. The navigation and positioning system is configured to use the coordinate system of the currently designated target portion 3110 as the tool target coordinate system when the tracking device 4000 can identify the currently designated target portion 3110. The navigation and positioning system is also configured to use the coordinate system of the other target portion 3110, i.e., the currently backup target portion 3110, as the tool target coordinate system when the tracking device 4000 cannot identify the currently designated target portion 3110.

[0049] Specifically, in application, the navigation and positioning system ensures that both target portions 3110 of the first target 3100 are within the field of view of the tracking device 4000 through preoperative positioning. It should be understood that after the positioning is confirmed, the pose of the first target 3100 is at the optimal pose for the corresponding surgical procedure. Then, one of the two target portions 3110 is selected as the currently designated target portion 3110, and the other is used as a backup target portion 3110. Therefore, at the start of surgery, and when no object obstructs the two target portions 3110, the tracking device 4000 can simultaneously identify both target portions 3110. In this case, the navigation and positioning system uses the coordinate system of the currently designated target portion 3110 as the tool target coordinate system for surgical navigation. In actual surgical procedures, because the first target 3110 is close to the tracking device 4000, the currently designated target 3110 may be obscured by patient tissue or surgical instruments, while the currently reserved target 3110 may not be obscured. In this case, the tracking device 4000 cannot identify the currently designated target 3110, but it can identify the currently reserved target 3110. In this situation, the navigation and positioning system will use the coordinate system based on the currently reserved target 3110 as the tool target coordinate system.

[0050] For ease of description, the two target sections 3110 are referred to as the first target section 3110a and the second target section 3110b, respectively. Figure 4 and Figure 5 (As shown). Initially, the first target part 3110a is designated as the target part 3110, and the second target part 3110b serves as the backup target part 3110. Therefore, during the surgical procedure, if the tracking device 2200 can continuously identify the first target part 3110a, the navigation and positioning system continuously uses the coordinate system of the first target part 3110a as the tool target coordinate system. If, at some point, the tracking device 2200 cannot identify the first target part 3110a, the navigation and positioning system will switch coordinate systems and use the coordinate system of the second target part 3110b as the tool target coordinate system for navigation during the surgical operation. After the switch, the second target part 3110b becomes the new currently designated target part, and the first target part 3110a becomes the new currently backup target part.

[0051] As can be seen from the above introduction, the navigation and positioning system always has a recognizable tool target coordinate system. This can avoid navigation failure and surgical interruption due to the tool target coordinate system not being recognizable, thereby shortening the operation time and improving the safety of the operation.

[0052] To ensure that the two target portions 3110 are not simultaneously obscured during the operation, it is preferable that the planes on which the two target portions 3110 of the first target 3100 are located intersect, and the angle formed by the planes on which the two target portions 3110 are located is greater than or equal to 180°.

[0053] Please continue to refer to this. Figure 2 and Figure 3 In one implementation, each target portion 3110 includes a support body (not shown in the figure) and multiple reflective spheres (not shown in the figure). The support body is, for example, a parallelogram, meaning it has four vertices. There are four reflective spheres, each positioned at one of the four vertices of the support body. The plane containing the target portion 3110 is the plane passing through the centers of all the reflective spheres on the same target portion 3110. In a preferred embodiment, the angle formed by the planes containing two target portions 3110 is 300°, and in this case, the angle formed by the central axes of the two target portions 3110 is 120°. The central axis of the target portion 3110 is a straight line perpendicular to the plane containing the target portion 3110 and passing through the center point of the support body. The center point of the support body is the intersection of the two diagonals of the parallelogram.

[0054] In addition, the first target 3100 also includes a connecting arm assembly 3120 and a connecting portion 3130. The connecting arm assembly 3120 has a Y-shaped structure and includes three connecting arms: a first connecting arm 3121, a second connecting arm 3122, and a third connecting arm 3123. The first connecting arm 3121 and the second connecting arm 3122 are respectively connected to the two target portions 3110. The end of the third connecting arm 3123 away from the two target portions 3110 is connected to the connecting portion 3130. The connecting portion 3130 is used to connect to the end of the robotic arm body 2000. In other words, the connecting portion 3130 is connected to the end tool control point at the end of the robotic arm body 2000.

[0055] Furthermore, the two target sections 3110 are arranged symmetrically. Those skilled in the art will understand that the navigation device also includes a navigation control unit, which is at least used to perform calculations such as coordinate system transformation calculations and pose information calculations involved in the surgical navigation process. The advantage of symmetrically arranging the two target sections 3110 is that when the navigation and positioning system switches from using the coordinate system of the currently designated target section 3110 (i.e., the first target section 3110a) as the tool target coordinate system to using the coordinate system of the currently standby target section 3110 (i.e., the second target section 3110b) as the tool target coordinate system, the computational load can be reduced, lowering the configuration requirements for the navigation control unit. Typically, when the tracking device 4000 cannot recognize the currently designated target section 3110, the currently standby target section 3110 faces the tracking device 4000 to ensure that the tracking device 4000 can recognize the currently standby target section 3110.

[0056] It should be understood that the navigation control unit is also used to determine whether the tracking device 4000 can identify the currently designated target 3110 based on whether the tracking device 4000 can acquire an image of the currently designated target 3110, and then determine whether it is necessary to switch the tool target coordinate system (i.e., switch from using the coordinate system of the currently designated target 3110 as the tool target coordinate system to using the coordinate system of the currently standby target 3110 as the tool coordinate system).

[0057] In addition, please refer to the embodiments of the present invention. Figure 4 The four reflective spheres of the first target section 3110a are the first reflective sphere 3111a, the second reflective sphere 3112a, the third reflective sphere 3113a and the fourth reflective sphere 3114a, and the four reflective spheres of the second target section 3110b are the fifth reflective sphere 3111b, the sixth reflective sphere 3112b, the seventh reflective sphere 3113b and the eighth reflective sphere 3114b. The first reflective sphere 3111a is symmetrical with the seventh reflective sphere 3111c, the second reflective sphere 3112a is symmetrical with the sixth reflective sphere 3112b, the third reflective sphere 3113c is symmetrical with the fifth reflective sphere 3111b, and the fourth reflective sphere 3114a is symmetrical with the eighth reflective sphere 3114d. The coordinate system of the first target part 3110a is centered on the center of the first reflective sphere 3111a, and the coordinate system of the second target part 3110b is centered on the center of the fifth reflective sphere 3111b. The coordinate system of the second target part 3110b has the same orientation as the coordinate system of the first target part 3110a.

[0058] In some optional embodiments, the second target 3200 is movably mounted on the robotic arm trolley 1000. When the tracking device 4000 can identify the second target 3200 at its current position, the navigation and positioning system uses the coordinate system of the second target 3200 at its current position as the base coordinate system. When the tracking device 4000 cannot identify the second target 3200 at its current position, it controls the second target 3200 to move from its current position to another position, allowing the tracking device 4000 to re-identify the second target 3200. Simultaneously, the navigation and positioning system uses the coordinate system of the second target 3200 at the other position as the base coordinate system. Thus, the navigation and positioning system always has a recognizable base coordinate system, which avoids navigation failure and surgical interruption due to the unrecognizable base coordinate system, thereby shortening surgical time and improving surgical safety.

[0059] Please refer to Figure 6 and join Figures 9 to 10 The navigation and positioning system also includes a drive mechanism, which is connected to the second target 3200 and is used to drive the second target 3200 to move.

[0060] Preferably, the second target 3200 has multiple preset positions, which are selectively located at one preset position. In other words, when the second target 3200 is at one preset position, if the tracking device 4000 cannot recognize the second target 3200 at the current preset position, the drive mechanism drives the second target 3200 to move to another preset position, so that the tracking device 4000 can recognize the second target 3200 at the other preset position, and the navigation and positioning system performs surgical navigation based on the coordinate system of the second target 3200 at the other preset position. It should be understood that all preset positions together cover the entire surgical scene, so that when the second target 3200 is located at any preset position and the tracking device 4000 can recognize the second target 3200, the navigation and positioning system can navigate the surgical operation.

[0061] refer to Figure 6 The side of the robotic arm trolley 1000 with the second target 3200 is called the mounting surface 1001. The mounting surface 1001 is usually the side of the robotic arm trolley 1000 facing the operating table, which is a vertical plane.

[0062] Define a central axis 10, which is perpendicular to and passes through the mounting surface 1001. All preset positions are arranged at intervals around the central axis 10. Typically, when the angle between the central angles corresponding to the two farthest preset positions is greater than or equal to 270°, all preset positions together cover the entire surgical area.

[0063] Continue to refer to Figure 6 and join Figure 7 and Figure 8 A reference plane 20 is also defined. The reference plane 20 is a vertical plane, perpendicular to the mounting surface 1001, and also passes through the central axis 10 (that is, the central axis 10 is a straight line on the reference plane 20). All preset positions are distributed on opposite sides of the reference plane 20, and the preset positions on opposite sides of the reference plane 20 are symmetrical.

[0064] In a preferred embodiment, when the tracking device 4000 cannot identify the second target 3200, the navigation and positioning system controls the second target 3200 to move from its current preset position to another preset position that is symmetrical about the reference plane 20 to the current preset position of the second target 3200.

[0065] For example, please refer to Figure 7 and Figure 8 The second target 3200 has four preset positions, which are a first preset position 30a, a second preset position 30b, a third preset position 30c, and a fourth preset position 30d arranged sequentially around the central axis 10. The first preset position 30a and the second preset position 30b are located on one side of the reference plane 20, while the third preset position 30c and the fourth preset position 30d are located on the other side of the reference plane 20. The first preset position 30a and the fourth preset position 30d are symmetrical about the reference plane 20, and the second preset position 30b and the third preset position 30c are also symmetrical about the reference plane 20. When the second target 3200 is in the first preset position 30a, if the tracking device 4000 cannot recognize the second target 3200, the drive mechanism controls the second target 3200 to move from the first preset position 30a to the fourth preset position 30d. This ensures that the tracking device 4000 can identify the second target 3200 after the position is switched, and prevents the tracking device 4000 from having to readjust the position of the second target 3200 because it cannot identify the second target 3200 after the position is switched. This simplifies the position adjustment process of the second target 3200, shortens the time spent on position adjustment, improves navigation quality, shortens the operation time, and reduces the risk of surgery.

[0066] When the second target 3200 has four preset positions, "the angle of the central angle corresponding to the two preset positions that are farthest apart is greater than or equal to 270°" means that the angle α formed by the straight line passing through the first preset position 30a and intersecting the central axis 10 and the straight line passing through the fourth preset position 30d and intersecting the central axis 10 is greater than or equal to 270°.

[0067] In addition, it should be noted that all preset positions can be on different circles or on the same circle.

[0068] Alternatively, please refer to Figures 6 to 8 The robotic arm trolley 1000 includes a trolley body 1100 and a first guide section 1200. The trolley body 1100 includes a mounting surface 1001. The first guide section 1200 is disposed on the mounting surface 1001 and passes through all preset positions.

[0069] Please refer to Figure 9 The second target 3200 includes a target body 3210 and a slider 3220 connected to the target body 3210. The slider 3220 is movably disposed on the first guide portion 1200. A drive mechanism is connected to the slider 3220, and by driving the slider 3220 to move on the first guide portion 1200, the second target 3200 can be selectively positioned at a preset position.

[0070] Optionally, the first guide portion 1200 may be a slide rail, and the slider 3220 may be provided with a first mating groove 3221 that matches the slide rail. The slider 3220 is movably connected to the first guide portion 1200 through the first mating groove 3221. In other words, the second target 3200 is indirectly disposed on the mounting surface 1001 through the first guide portion 1200.

[0071] Furthermore, the structure of the target body 3210 is similar to that of the target portion 3110 of the first target 3100, also including a support body and multiple reflective spheres. In the target body 3210, the support body can be a parallelogram, giving it four vertices, and four reflective spheres are positioned at the four vertices of the support body. The coordinate system of the second target 3200 can use the center of any suitable reflective sphere as its origin.

[0072] Alternatively, please refer to Figure 6 and join Figures 9 to 10 The drive mechanism includes a power unit 5000 and a transmission link 6000. The power unit 5000 is mounted on the robotic arm trolley 1000 and has an output shaft 5100, the axis of which coincides with the central axis 10. One end of the transmission link 6000 is connected to the output shaft 5100, and the other end is connected to the second target 3200. The transmission link 6000 remains relatively stationary with the output shaft 5100, allowing it to rotate synchronously with the output shaft 5100. That is, the power unit 5000 controls the rotation of the transmission link 6000 around the output shaft 5100 through the rotation of the output shaft 5100, thereby driving the second target 3200 to move. The power unit 5000 may include a motor 5200 and a reducer 5300 connected in sequence.

[0073] In a preferred embodiment, at least some of the preset positions are located on different circumferences, thus the first guide portion 1200 is a non-circular arc-shaped structure. For example, the first guide portion 1200 is part of a runway-shaped structure; please refer to [reference needed]. Figures 6 to 8 The first guide portion 1200 includes a first sub-guide portion 1210, a second sub-guide portion 1220, and a third sub-guide portion 1230 connected in sequence. The first sub-guide portion 1210 and the second sub-guide portion 1230 are both semi-circular arc-shaped structures, with their concave sides arranged opposite each other. The first sub-guide portion 1210 and the third sub-guide portion 1230 are symmetrical about the reference plane 20. The second sub-guide portion 1220 has a straight structure.

[0074] Correspondingly, the transmission link 6000 is provided with a second guide portion 6100 extending along its length. The second target 3200 is also movably disposed on the second guide portion 6100, so that the second target 3200 can move relative to the second guide portion 6100.

[0075] Optionally, the second guide portion 6100 is a slide groove, and the slider 3220 of the second target 3200 is provided with a mating block 3222 that matches the slide groove 6100. The slider 3220 is movably connected to the second guide portion 6100 through the mating block 3222.

[0076] By placing multiple preset positions on different circumferences and providing a second guide on the transmission link 6000, the assembly precision between the robotic arm trolley body 1100, the first guide 1200, the drive unit 5000, the transmission link 6000, and the second target 3200 can be reduced, making it easier to connect the various components.

[0077] Understandably, all preset positions can also be located on the same circumference, thus the first guide part 1200 has an arc-shaped structure. The disadvantage of this is that extremely high assembly precision is required between the robotic arm trolley body 1100, the first guide part 1200, the drive part 5000, the transmission link 6000, and the second target 3200 in order to avoid motion interference between the components when driving the second target 3200 to move. In other words, this kind of fit increases the assembly difficulty.

[0078] Furthermore, the drive mechanism also includes a stroke monitoring unit 7000, which monitors the rotation angle of the output shaft 5100. The rotation angle of the output shaft 5100 is used to determine whether the second target 3200 has moved to the expected position. That is, when the second target 3200 moves from the first preset position 30a to the fourth preset position 30d, the rotation angle of the output shaft 5100 can be used to determine whether the second target 3200 has reached the fourth preset position 30d.

[0079] Preferably, in this embodiment of the invention, an encoder is used as the travel monitoring unit 7000. The advantage of this setting is that the moving distance of the second target 3200 can be obtained in real time, and there will be no situation where the travel distance of the second target 3200 cannot be obtained at a certain moment, so it is impossible to determine whether the second target 3200 has reached the preset position.

[0080] Furthermore, the navigation and positioning system may also include a collision monitoring unit (not shown in the figure), configured to monitor whether the drive mechanism and / or the second target 3200 collide, such as with a doctor or other equipment. Optionally, the collision monitoring unit is a torque sensor disposed on the output shaft 5100, or other suitable location. Generally, when the drive mechanism and / or the second target 3200 collide, the torque detected by the torque sensor is greater than a preset torque, such as 50 Nm.

[0081] If the collision monitoring unit detects a collision between the drive mechanism and / or the second target 3200 while the drive mechanism is moving the second target 3200, it will control the drive mechanism to stop moving the second target 3200, or generate an intervention prompt message to instruct the doctor to manually stop the drive mechanism from moving the second target 3200. After the person or object that collided with the drive mechanism and / or the second target 3200 has been removed, the drive mechanism will be restarted to move the second target 3200. The collision monitoring unit improves the safety of the navigation and positioning system.

[0082] It is understood that the drive mechanism also includes a drive control unit 8000, which is communicatively connected to the navigation control unit. When the tracking device 4000 cannot acquire an image of the second target 3200, the navigation control unit determines that the tracking device 4000 cannot recognize the second target 3200 at its current preset position. The navigation control unit then sends a corresponding action command to the drive control unit 8000, causing the drive control unit 8000 to control the drive unit 5000 to operate, thereby rotating the output shaft 5100. This, in turn, drives the second target 3200 to move to another preset position on the first guide unit 1200 via the transmission link 6000.

[0083] Furthermore, the drive control unit 8000 is also communicatively connected to the stroke monitoring unit 7000, and controls the drive unit 5000 to stop working when the rotation angle of the output shaft 5100 detected by the stroke monitoring unit 7000 reaches a preset angle (e.g., the angle between the central angles corresponding to the first preset position and the fourth preset position). It can be understood that when the rotation angle of the output shaft 5100 reaches the preset angle, the second target 3200 moves to the expected position. Additionally, the drive control unit 8000 is also communicatively connected to the collision monitoring unit, and controls the drive unit 5000 to stop working when a sudden change in torque detected by the collision monitoring unit occurs.

[0084] In a preferred embodiment, the first target 3100 of the navigation and positioning system includes two target parts 3110, while the second target 3200 is movably connected to the robotic arm trolley 1000. The control method of the navigation and positioning system will now be described using the example of the first target 3100 including two target parts 3110 and the second target 3200 being movably connected to the robotic arm trolley 1000.

[0085] Control methods of navigation and positioning systems, such as Figure 14 As shown. Reference Figure 14 The control method of the navigation and positioning system includes the following steps:

[0086] Step S10: Determine whether the tracking device 4000 can identify the currently designated target portion 3110 of the first target 3100, such as the first target portion 3110a. If yes, proceed to step S20; otherwise, proceed to step S30.

[0087] Step S20: Use the coordinate system of the first target part 3110a as the tool target coordinate system.

[0088] Step S30: The coordinate system of the currently reserved target section 3110, such as the second target section 3110b, is used as the tool target coordinate system. Afterwards, the second target section 3110b becomes the newly designated target section, while the first target section 3110a becomes the new reserved target section.

[0089] Step S40: Determine whether the tracking device 4000 can identify the second target 3200 at the current position, such as the first preset position 30a. If yes, then execute step S50; otherwise, execute steps S50 and S60.

[0090] Step S50: Use the coordinate system of the second target 3200 located at the first preset position 30a as the base coordinate system.

[0091] Step S60: Control the second target 3200 to move from its current position to another position, such as the fourth preset position 30d, so that the tracking device 4000 can re-identify the second target 3200.

[0092] Step S70: Use the coordinate system of the second target 3200 when it is in the fourth preset position 30d as the base coordinate system.

[0093] In other words, when the tracking device 4000 can identify the first target portion 3110a (i.e., the currently designated target portion 3110) and the second target 3100 at the first preset position 30a (i.e., the current position), the navigation and positioning system uses the coordinate system of the first target portion 3110a as the tool target coordinate system and the coordinate system of the second target 3200 at the first preset position 30a as the base coordinate system for surgical navigation. That is, the navigation and positioning system does not need to switch between the tool target and base coordinate systems. When the tracking device 4000 cannot identify the first target portion 3110a but can identify the second target portion 3200 at the first preset position 30a, the navigation and positioning system will use the coordinate system of the second target portion 3110b as the tool target coordinate system and the coordinate system of the second target 3200 at the first preset position 30a as the base coordinate system for surgical navigation. That is, the navigation surgical information requires switching between the tool target coordinate systems. When the tracking device 4000 can identify the first target part 3110a, but cannot identify the second target part 3200 located at the first preset position 30a, the drive mechanism drives the second target 3200 to move to the fourth preset position 30d, and the navigation and positioning system will use the coordinate system of the first target part 3110a as the tool target coordinate system and the coordinate system of the second target 3200 located at the fourth preset position 30d as the base coordinate system for surgical navigation, that is, the navigation and positioning system switches the base coordinate system. When the tracking device 4000 cannot identify either the first target part 3100a or the second target 3200 located at the first preset position 30a, the drive mechanism drives the second target 3200 to move to the fourth preset position 30d. The navigation and positioning system performs surgical navigation based on the coordinate system of the second target part 3110b and the coordinate system of the second target 3200 located at the fourth preset position 30d. That is, the navigation and positioning system needs to switch both the tool target coordinate system and the base coordinate system.

[0094] Next, we will introduce the calculation methods for obtaining the pose information of the end-effector control points after the navigation and positioning system switches the target coordinate system, the calculation methods for obtaining the pose information of the end-effector control points after the navigation and positioning system switches the base coordinate system, and the calculation methods for obtaining the end-effector control points after the navigation and positioning system switches both the target coordinate system and the base coordinate system.

[0095] It should be noted that, in this embodiment of the invention, it is preferable to obtain the coordinate systems of the first target portion 3110a and the second target portion 3110b of the first target 3100 based on the coordinate system of the second target 3200. The reason for this is that the movement of the robotic arm body 2000 during the operation causes changes in the coordinate systems of the first target part 3110a and the second target part 3110b. The tracking device 4000 has accuracy fluctuations. If the coordinate systems of the first target part 3110a and the second target part 3110b are obtained directly from the images of the first target part 3110a and the second target part 3110b collected by the tracking device 4000, the accuracy of the coordinate systems of the first target part 3110a and the second target part 3110b may decrease. However, when the second target 3200 is in a certain preset position, since the second target 3200 remains stationary, the coordinate system of the second target 3200 is more accurate when obtained from the image of the second target 3200 collected by the tracking device 400. Therefore, the accuracy of the calculated coordinate systems of the first target part 3110a and the second target part 3110b is also higher. Based on this, it should be understood that in the embodiments of the present invention, the purpose of determining whether the tracking device 4000 can identify the currently designated target 3110 is not to directly identify the coordinate system of the currently designated target 3110, but to determine which target 3110 coordinate system to use as the tool target coordinate system.

[0096] Furthermore, with the spatial position of the second target 3200 unchanged, the offset Px of the X-axis of the coordinate system of the first target part 3110a and the X-axis of the coordinate system of the second target part 3110b in the coordinate system of the second target 3200, the offset Py of the Y-axis of the coordinate system of the first target part 3110a and the Y-axis of the coordinate system of the second target part 3110b in the coordinate system of the second target 3200, and the offset Pz of the Z-axis of the coordinate system of the first target part 3110a and the Z-axis of the coordinate system of the second target part 3110b in the coordinate system of the second target 3200 remain fixed. Furthermore, when the coordinate system of the first target part 3110a is rotated to coincide with the coordinate system of the second target part 3110b, the Euler angle α of the X-axis of the coordinate system of the first target part 3110a rotating in the coordinate system of the second target 3200, the Euler angle β of the Y-axis rotating in the coordinate system of the second target 3200, and the Euler angle γ of the Z-axis rotating in the coordinate system of the second target 3200 remain fixed. When the position of the second target 3200 changes, the pose of the coordinate system of the second target 3200 changes, and Px, Py, Pz, α, β, and γ all change accordingly. At this time, the coordinate systems of the first target part 3110a and the second target part 3110b can be calculated based on the new coordinate system of the second target 3200, and then Px, Py, Pz, α, β, and γ can be calculated according to conventional methods in the prior art. The values ​​of Px, Py, Pz, α, β, and γ corresponding to the second target 3200 at each preset position can be obtained at the factory and pre-stored in the navigation control unit.

[0097] The method for obtaining the coordinate system of the first target part 3110a through the coordinate system of the second target 3200 is as follows:

[0098] A coordinate system for the first target 3110a is established on the first target 3110a, and a coordinate system for the second target 3200 is established on the second target 3200. A first intermediate coordinate system is defined, the origin of which coincides with the origin of the coordinate system of the first target 3110a, and the orientation of the first intermediate coordinate system is the same as that of the coordinate system of the second target 3200. That is, the first intermediate coordinate system and the coordinate system of the second target 3200 have a pure translational relationship, with their X-axis, Y-axis, and Z-axis parallel; the first intermediate coordinate system and the coordinate system of the first target 3110a have a pure rotational relationship.

[0099] Therefore, the following equation (1) can be established:

[0100]

[0101] In the formula, R represents a 3×3 attitude matrix. The attitude matrix represents the first intermediate coordinate system relative to the coordinate system of the first target part 3110a. The attitude matrix represents the coordinate system of the second target 3200 relative to the coordinate system of the first target part 3110a.

[0102] Therefore, the position of point P in the first intermediate coordinate system satisfies the following equation (2):

[0103]

[0104] In the formula, C P represents the 3×1 position vector of point P in the first intermediate coordinate system. j P represents the 3×1 position vector of point P in the coordinate system of the first target part 3110a.

[0105] The spatial position vector of the origin of the first coordinate system Spatial position vector relative to the origin of the coordinate system of the first target part 3110a The following equation (3) must be satisfied:

[0106]

[0107] The position of point P in the coordinate system of the second target 3200 is equal to the position of point P in the first intermediate coordinate system plus the offset of the origin of the intermediate coordinate system relative to the origin of the coordinate system of the second target 3200, thus we have the following equation (4):

[0108]

[0109] In the formula, i Point P is located in the 3×1 position vector of Fi in the second target coordinate system.

[0110] Combining equations (1) to (4), we obtain equation (5), which in turn gives the transformation relationship between the coordinate system of the second target 3200 and the coordinate system of the first target part 3110a. Equation (5) is as follows:

[0111]

[0112] In this case, when the second target 3200 is located at a certain preset position, the tracking device 4000 identifies the second target 3200 to obtain the coordinate system of the second target 3200, and combines the transformation relationship between the coordinate system of the second target 3200 and the coordinate system of the first target part 3110a to obtain the coordinate system of the first target part 3110a.

[0113] The method for obtaining the coordinate system of the second target part 3110b using the coordinate system of the second target 3200 is similar, the only difference being that the coordinate system of the first target part 3110a is replaced with the coordinate system of the second target part 3110b, and the first intermediate coordinate system is replaced with the second intermediate coordinate system. Please refer to the above for specific steps, which will not be repeated here. Furthermore, the method for obtaining Px, Py, Pz, α, β, and γ is existing technology and will not be described here either.

[0114] When the navigation and positioning system only switches the coordinate system of the tool target, the method for calculating the pose information of the end-effector control points is as follows:

[0115] The tracking device 4000 identifies the second target 3200 located at the first preset position 30a, obtains the coordinate system of the second target 3200 located at the first preset position 30a, and then obtains the homogeneous transformation matrix T0 of the coordinate system of the second target 3200.

[0116] The homogeneous transformation matrix T0 of the coordinate system of the second target 3200 is used to calculate the homogeneous transformation matrix T1 of the coordinate system of the first target part 3110a. The calculation formula is as follows (6):

[0117]

[0118] In this step, Px, Py, and Pz are obtained based on the coordinate system of the second target 3200 located at the first preset position.

[0119] Next, the homogeneous transformation matrix T2 of the coordinate system of the second target part 3110b is calculated according to formula (7):

[0120]

[0121] In the formula, θ represents the angle formed by the central axis of the first target section 3110a and the central axis of the second target section 3110b, for example, 120°. x1 P represents the offset of the X-axis of the coordinate system of the end-effector from the X-axis of the coordinate system of the first target part 3110b. y1 P represents the offset of the Y-axis of the end-effector's coordinate system from the Y-axis of the first target part 3110b's coordinate system. z1 P represents the offset of the Z-axis of the end-effector's coordinate system from the Z-axis of the first target part 3110b's coordinate system. x1 P y1 and P z1 The method of obtaining this information is content that is known to those skilled in the art. Furthermore, P x1 P y1 and P z1 It can be pre-stored in the navigation control unit.

[0122] Then, the spatial pose of the end-effector control point is calculated based on the homogeneous transformation matrix T2 of the coordinate system Fk of the second target part 3110b, as shown in the following formula (8):

[0123]

[0124] In the formula, T3 represents the spatial pose matrix of the end-effector point. The transformation matrix representing the coordinate system from the end-effector control point to the first target part 3110b is a pre-obtained fixed matrix, and the method of obtaining it is known to those skilled in the art, so it will not be described in detail here. The inverse matrix represents the transformation matrix from the end-effector control point to the first target section 3110b in the coordinate system. and All of these are pre-stored in the navigation control unit.

[0125] When the navigation and positioning system only switches between the base coordinate system, the method for calculating the pose information of the end-effector control points is as follows:

[0126] When the second target 3200 moves from the first preset position 30a to the fourth preset position 30d, it only undergoes translational motion. Therefore, the coordinate system ' of the second target 3200 at the fourth preset position 30d is in a pure translational relationship with the coordinate system of the second target 3200 at the first preset position 30a. Thus, the homogeneous matrix T0' of the coordinate system ' of the second target 3200 at the fourth preset position 30d can be calculated based on the homogeneous matrix T0 of the coordinate system of the second target 3200 at the first preset position 30a. The formula is as follows (9):

[0127]

[0128] The distance the second target 3200 moves from the first preset position 30a to the fourth preset position 30d is related to the diameter of the first guide portion 1200. Therefore, P1, P2, and P3 are all constants related to the diameter of the first guide portion 1200 and are pre-stored in the navigation control unit. Furthermore, the method of obtaining P1, P2, and P3 based on the diameter of the first guide portion 1200 is well-known to those skilled in the art and will not be elaborated here. It should be understood that when the first guide portion 1200 is not an arc structure, the diameter of the first guide portion 1200 refers to the diameter of the circumcircle of the first guide portion 1200.

[0129] Next, the homogeneous transformation matrix T1 of the coordinate system of the first target part is calculated based on the homogeneous transformation matrix T0' of the coordinate system of the second target 3200 located at the fourth preset position 30d. The formula is as follows (10):

[0130]

[0131] It should be noted that after the second target 3200 moves, the values ​​of Px, Py, Pz, α, β, and γ are calculated using the coordinate system of the second target 3200 located at the fourth preset position 30d.

[0132] Finally, the pose information of the end-effector control points is calculated based on equation (8).

[0133] When the navigation and positioning system switches between the target coordinate system and the base coordinate system simultaneously, the method for calculating the pose information of the end-effector control points is as follows:

[0134] First, based on equation (9), the homogeneous matrix T0' of the coordinate system ' of the second target 3200 located at the fourth preset position 30d is obtained.

[0135] Next, based on equation (10), the homogeneous transformation matrix T1 of the coordinate system of the first target part 3110a is obtained.

[0136] Next, based on the following equation (11), the homogeneous transformation matrix T2 of the coordinate system of the first target part 3110b is obtained, and equation (11) is:

[0137]

[0138] Finally, the pose information of the end-effector control point is obtained based on equation (8).

[0139] Further, please refer to Figure 15Step S60 of the control method for the navigation control system may include steps S61 to S66. Step S61 includes the navigation control unit generating a movement control command and sending the movement control command to the drive control unit 8000. Step S62 includes the drive control command controlling the power unit 5000 to work, so that the drive mechanism drives the second target 3200 to move. Step S63 includes the stroke monitoring unit monitoring the rotation angle of the output shaft 5100. Step S64 includes the drive control unit 8000 receiving the rotation angle of the shaft 5100. Step S65 includes determining whether the rotation angle of the output shaft 5100 is equal to a preset rotation angle. If not, return to step S62 to control the power unit 5000 to continue working. If yes, determine that the second target 3200 has reached the expected position (if the second target 3200 is initially located at the first preset position 30a, then the expected position is the fourth preset position 30d), and execute step S66. Step S66 includes the drive control unit 8000 controlling the power unit 5000 to stop working.

[0140] Optionally, when the navigation and positioning system includes a collision detection unit, please refer to... Figure 16 The control method for a navigation and positioning system may also include the following steps:

[0141] Step S81: The collision monitoring unit monitors the drive mechanism and / or the torque on the second target 3200 during the movement of the second target 3200.

[0142] Step S82: The drive control unit 8000 receives the torque value obtained by the collision monitoring unit.

[0143] Step S83: The drive control unit 8000 determines whether the torque value obtained by the collision monitoring unit is greater than the preset torque value. If not, it determines that the drive mechanism and the second target 3200 have not collided, and controls the power unit 5000 to continue working. If not, the drive unit 5000 continues to work. If yes, it determines that the drive mechanism and / or the second target 3200 have collided, and executes step S84 or step S85. The preset torque value is, for example, 50 Nm.

[0144] Step S84: Control the power unit 5000 to stop working.

[0145] Step S85: Generate intervention prompt information to prompt the doctor to perform interventional procedures, such as manually stopping the power unit 5000.

[0146] Optionally, the navigation and positioning system has two control modes: automatic control mode and manual control mode. Before the procedure, the doctor needs to select the control mode; during the procedure, the doctor can switch between control modes by inputting commands.

[0147] Therefore, for reference Figure 17The control method for a navigation and positioning system may also include the following steps:

[0148] Step S01: Generate the first preoperative prompt message, prompting the doctor to select manual control mode or automatic control mode.

[0149] Step S02: Generate a second preoperative prompt message to guide the doctor in selecting the surgical procedure.

[0150] If the doctor selects automatic control mode in step S01, the surgery can begin after step S02, and the navigation and positioning system will execute steps S10 to S70 based on the recommended optimal target settings, and preferably also execute step S80. If the doctor selects manual control mode in step S01, the navigation and positioning system will execute step S03 after step S02.

[0151] Step S03: Generate a third preoperative prompt message, prompting the doctor whether to select the recommended optimal target setting. If yes, the navigation and positioning system will use the recommended optimal target setting for surgical navigation at the start of the surgery. If no, proceed to step S04.

[0152] Step S04: Generate the fourth preoperative prompt message, prompting the doctor to select the currently designated target 3110, and prompting the doctor to select a preset position as the initial position of the second target 3200.

[0153] It should be noted that for each surgical procedure, the various equipment used and the patient's positioning are fixed. Furthermore, for a specific procedure, target settings can be pre-set and evaluated to determine the optimal target configuration, which is then stored in the navigation control unit. Therefore, during the surgery, the corresponding optimal target settings can be directly invoked for that specific procedure.

[0154] It is understandable that if a doctor selects automatic control mode before surgery, they can switch to manual control mode during surgery. Alternatively, if a doctor selects manual control mode before surgery, they can switch to automatic control mode during surgery. That is, the control method of the surgical navigation control system also includes step S05: generating a switching prompt message to indicate whether the doctor needs to switch control modes. Specifically, if the doctor selects automatic control mode in step S01, then the prompt message generated in step S05 indicates whether the doctor needs to switch from automatic control mode to manual control mode. If the doctor selects manual control mode in step S01, then the prompt message generated in step S05 indicates whether the doctor needs to switch from manual control mode to automatic control mode.

[0155] If the surgeon switches the control mode from automatic to manual during the procedure, the navigation and positioning system stops executing steps S10 to S70. Afterward, the surgeon can freely choose whether to switch the designated target 3110 and adjust the position of the second target 3200, depending on whether the tracking device 4000 can identify the currently designated target and the second target 3200 at its current position. If the surgeon switches the control mode back to automatic during the procedure, the navigation and positioning system will automatically execute steps S10 to S70 based on the currently recommended optimal target settings.

[0156] Compared to existing manual control modes, the manual control mode offered by this navigation and positioning system has limited target setting options. This limits the range of target settings available to surgeons, preventing excessive adjustments that could prolong surgery and reduce surgical risks. The automatic control mode, however, allows for automatic target setting switching during surgery, eliminating the need for surgeons to familiarize themselves with the switching process. This further avoids repeated adjustments and ensures a smooth surgical procedure.

[0157] It is important to understand that before the surgery begins, after the preoperative positioning, the first target 3100 and the second target 3200 need to be calibrated according to standard procedures. Only after this can the surgical procedure be performed.

[0158] Furthermore, embodiments of the present invention also provide a computer-readable storage medium storing a program that, when executed, performs at least steps S10 to S70 of the aforementioned control method for a navigation and positioning system.

[0159] 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 navigation and positioning system, characterized in that, The system includes a robotic device and a navigation device with communication connectivity; the robotic device includes a robotic arm trolley and a robotic arm body mounted on the robotic arm trolley, the robotic arm trolley including a mounting surface; the navigation device includes a target assembly and a tracking device for identifying the target assembly; the target assembly includes a first target and a second target; the first target is disposed at the end of the robotic arm body, the second target has multiple preset positions, all the preset positions are arranged at intervals around a central axis and symmetrically distributed on opposite sides of a reference plane, the central axis is perpendicular to the mounting surface and passes through the mounting surface, the reference plane is perpendicular to the mounting surface and passes through the central axis, and the second target is disposed on the mounting surface and located at one of the preset positions; The second target is configured to move on the robotic arm trolley; The navigation and positioning system is configured to, when the tracking device is able to identify the second target at the current preset position, use the coordinate system of the second target at the current preset position as the base coordinate system. The navigation and positioning system is further configured to, when the tracking device cannot identify the second target at the current preset position, control the second target to move from the current preset position to another preset position symmetrical about the reference plane to the current preset position, so that the tracking device can identify the second target, and use the coordinate system of the second target at the other preset position as the base coordinate system.

2. The navigation and positioning system according to claim 1, characterized in that, The first target includes two target parts, at least one of which can be identified by the tracking device; the navigation and positioning system is configured to use the coordinate system of the currently specified target part as the tool target coordinate system when the tracking device can identify the currently specified target part, and the navigation and positioning system is further configured to use the coordinate system of the other target part as the tool target coordinate system when the tracking device cannot identify the currently specified target part.

3. The navigation and positioning system according to claim 2, characterized in that, The planes containing the two target portions intersect, and the included angle formed by the two target portions is greater than or equal to 180°.

4. The navigation and positioning system according to claim 3, characterized in that, The two target sections are arranged symmetrically.

5. The navigation and positioning system according to claim 3, characterized in that, When the tracking device cannot identify the currently designated target, another target faces the tracking device so that the tracking device can identify the other target.

6. The navigation and positioning system according to claim 1, characterized in that, The reference plane is a vertical plane.

7. The navigation and positioning system according to claim 6, characterized in that, The angle of the circumference corresponding to the two farthest preset positions is greater than or equal to 270°.

8. The navigation and positioning system according to any one of claims 1 to 7, characterized in that, The navigation and positioning system further includes a drive mechanism, which includes a power unit and a transmission link. The power unit is mounted on the robotic arm trolley and has an output shaft. One end of the transmission link is connected to the output shaft, and the other end is connected to the second target.

9. The navigation and positioning system according to claim 8, characterized in that, The robotic arm trolley includes a trolley body and a first guide portion disposed on the trolley body, the first guide portion passing through all the preset positions; At least some of the preset positions are located on different circumferences; the transmission link is provided with a second guide portion extending along its length direction; The second target includes a target body and a slider connected to the target body. The slider is movably disposed on the first guide portion and also movably disposed on the second guide portion.

10. The navigation and positioning system according to claim 9, characterized in that, The navigation and positioning system further includes a collision monitoring unit, which is mounted on the drive mechanism. The navigation and positioning system is configured to monitor, through the collision monitoring unit, whether the driving mechanism and / or the second target collides with an external mechanism during the movement of the second target, and to stop driving the second target to move or generate an intervention prompt when the driving mechanism and / or the second target collides with an external mechanism.

11. The navigation and positioning system according to claim 2, characterized in that, It also includes a navigation control unit, which is configured to: The system determines whether the tracking device can identify the currently designated target portion of the first target installed at the end of the robotic arm body. If yes, the coordinate system of the currently designated target portion is used as the working target coordinate system; otherwise, the coordinate system of the currently reserved target portion is used as the tool target coordinate system. The tracking device can identify at least one of the currently designated target portion and the currently reserved target portion. And / or, Determine whether the tracking device can identify the second target installed on the robotic arm trolley and located at the current preset position. If yes, use the coordinate system of the second target at the current preset position as the base coordinate system. If no, control the second target to move from the current preset position to another preset position so that the tracking device can identify the second target and use the coordinate system of the second target at the other preset position as the base coordinate system. The current preset position and the other preset position are symmetrical about the reference plane.

Images