Method, apparatus, surgical device and electronic device for determining a target pose

Abstract

The present disclosure provides a method, device, surgical equipment and electronic equipment for determining a target pose. The method comprises: determining position information of an osteotomy plane; obtaining evaluation parameters of a surgical robot, wherein the evaluation parameters comprise a set of mobility information m of the surgical robot in a current pose, a mechanical arm singularity value a, dexterity space information β, and NDI field of view angle information γ; determining an initial pose of the surgical robot based on the evaluation parameters using an evaluation strategy; and in the case where the initial pose meets an evaluation standard, determining the initial pose as a target pose of the surgical robot.

Description

Technical Field

[0001] This disclosure relates to the field of surgical robots, and more specifically, to a method, apparatus, surgical equipment, and electronic equipment for determining a target posture. Background Technology

[0002] With the rapid development and advancement of modern robotics and medical technology, surgical robots are increasingly being applied in the field of minimally invasive orthopedics. Before a surgical robot can assist in minimally invasive orthopedic surgery, its posture needs to be adjusted so that the workspace of the osteotomy guide plate connected to the distal joint of the surgical robot can cover the osteotomy plane where the patient needs to be operated on. The posture of the surgical robot affects the accuracy and safety of the robot during the operation.

[0003] Current methods for preoperative posture adjustment have drawbacks such as being time-consuming, risking surgical infection, having poor results, and being highly dependent on the doctor's clinical experience. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a method, apparatus, surgical equipment, and electronic equipment for determining the target posture of a surgical robot.

[0005] One aspect of this disclosure provides a method for determining a target pose of a surgical robot, comprising:

[0006] Determine the location information of the osteotomy plane;

[0007] The evaluation parameters of the surgical robot are obtained, wherein the evaluation parameters include the dynamic information set m of the surgical robot in the current posture, the singular value α of the robotic arm, the dexterity space information β, and the NDI field of view angle information γ.

[0008] The initial posture of the surgical robot is determined based on the evaluation parameters using an evaluation strategy; and

[0009] If the initial posture meets the evaluation criteria, the initial posture is determined to be the target posture of the surgical robot.

[0010] In some embodiments, the evaluation criterion is expressed as follows: in the initial posture of the surgical robot, the difference between the position information of the osteotomy guide plate and the position information of the osteotomy plane is within a preset range, wherein the osteotomy guide plate is installed at the end of the surgical robot.

[0011] In some embodiments, the evaluation strategy is to determine the highest evaluation value, which is represented by the following formula:

[0012]

[0013] Where x represents the x-coordinate of the end effector joint in the current posture of the surgical robot, y represents the y-coordinate of the end effector joint in the current posture of the surgical robot, and m i This represents the i-th dynamic information in the dynamic information set m of the surgical robot in its current posture.

[0014] In some embodiments, under aseptic conditions, the motion information set m is determined by the target angle value set of each joint in the surgical robot and the current angle value set of each joint in the surgical robot.

[0015] In some embodiments, the target angle value set of each joint in the surgical robot is determined by using inverse kinematics based on the position information of the osteotomy plane.

[0016] In some embodiments, determining the location information of the osteotomy plane includes:

[0017] The tracer tracking device is fixed to the osteotomy plane;

[0018] Emitting a beam of light using an NDI optical navigation device; and

[0019] The position information of the osteotomy plane is determined based on the light beam reflected by the reflector ball of the tracer tracking device.

[0020] In some embodiments, the NDI field of view angle information is the angle between the normal direction of the robotic arm tracer on the end joint of the surgical robot and the normal direction of the NDI optical navigation device.

[0021] Another aspect of this disclosure provides a surgical device comprising:

[0022] The NDI optical navigation device is configured to emit a light beam toward the tracker tracking device;

[0023] A tracer tracking device is configured to be fixed on the osteotomy plane, and the tracer tracking device transmits the position information of the osteotomy plane by reflecting a light beam to the NDI optical navigation device;

[0024] A surgical robot includes multiple joints that are rotatably connected in sequence. The end joint of the surgical robot is connected to a robotic arm tracer, and the end of the end joint is connected to an osteotomy guide plate.

[0025] The processor is configured to connect to the NDI optical navigation device, the tracer tracking device, and the surgical robot, respectively, and to determine the target pose of the surgical robot using the method described above.

[0026] Another aspect of this disclosure provides an apparatus for determining a target pose of a surgical robot, comprising:

[0027] The first determining module is used to determine the position information of the osteotomy plane;

[0028] The acquisition module is used to acquire the evaluation parameters of the surgical robot, wherein the evaluation parameters include the dynamic information set m of the surgical robot in the current posture, the singular value α of the robotic arm, the dexterity space information β, and the NDI field of view angle information γ.

[0029] The second determining module is used to determine the initial posture of the surgical robot based on the evaluation parameters using an evaluation strategy; and

[0030] The third determining module is used to determine the initial posture as the target posture of the surgical robot if the initial posture meets the evaluation criteria.

[0031] Another aspect of this disclosure provides an electronic device comprising:

[0032] One or more processors; and

[0033] The memory is configured to store one or more programs.

[0034] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-described method.

[0035] According to the embodiments of this disclosure, the initial posture of the surgical robot can be determined by the motion information of the surgical robot under its current posture, the singular value of the robotic arm, the dexterity space information, and the NDI field of view angle information. The initial posture is compared with the target posture of the surgical robot. If the initial posture meets the evaluation criteria, a target posture suitable for surgical operation can be obtained, thereby achieving the purpose of convenient, accurate, and safe preoperative posture adjustment. Attached Figure Description

[0036] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0037] Figure 1 This illustration schematically shows an exemplary system architecture of a method and apparatus for determining a target posture of a surgical robot according to embodiments of the present disclosure;

[0038] Figure 2 A flowchart illustrating a method for determining a target pose of a surgical robot according to an embodiment of the present disclosure is shown schematically.

[0039] Figure 3 A perspective view of a surgical robot according to an embodiment of the present disclosure is shown schematically;

[0040] Figure 4 A flowchart illustrating the determination of position information of the osteotomy plane according to an embodiment of the present disclosure is shown schematically.

[0041] Figure 5 A perspective view of an NDI optical navigation device according to an embodiment of the present disclosure is shown schematically;

[0042] Figure 6 A perspective view of a tracer tracking device according to an embodiment of the present disclosure is shown schematically;

[0043] Figure 7 A perspective view of a tracer tracking device according to an embodiment of the present disclosure is shown schematically from another angle.

[0044] Figure 8 A schematic diagram illustrating the positional relationship between an NDI optical navigation device and a surgical robot according to an embodiment of the present disclosure is shown.

[0045] Figure 9 A block diagram schematically illustrates an apparatus for determining the target pose of a surgical robot according to the present disclosure; and

[0046] Figure 10 A block diagram of an electronic device for a method of determining a target pose of a surgical robot according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0047] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0048] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0049] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0050] When using expressions such as "at least one of A, B, and C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). Similarly, when using expressions such as "at least one of A, B, or C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0051] Figure 1 An exemplary system architecture of a method and apparatus according to embodiments of the present disclosure that can be applied to determine the target posture of a surgical robot is illustrated.

[0052] It is important to note that Figure 1 The examples shown are merely examples of system architectures applicable to embodiments of this disclosure, intended to help those skilled in the art understand the technical content of this disclosure. However, they do not imply that embodiments of this disclosure cannot be used in other devices, systems, environments, or scenarios. For instance, in another embodiment, an exemplary system architecture applicable to the method and apparatus for determining the target posture of a surgical robot may include a terminal device. However, the terminal device can implement the method and apparatus for determining the target posture of a surgical robot provided by embodiments of this disclosure without interacting with a server.

[0053] like Figure 1 As shown, the system architecture 100 according to this embodiment may include an NDI optical navigation device 101, a tracker tracking device 102, a surgical robot 103, a terminal device 104, and a network 105. The network 105 serves as a medium for providing a communication link between the NDI optical navigation device 101, the tracker tracking device 102, the surgical robot 103, and the terminal device 104. The network 105 may include various connection types, such as wired and / or wireless communication links, etc.

[0054] Users can use terminal device 104 to interact with NDI optical navigation device 101, tracker tracking device 102, and surgical robot 103 via network 105 to receive or send messages, etc. Terminal device 104 can be installed with various communication client applications. Terminal device 104 can be various electronic devices with a display screen and support web browsing, including but not limited to smartphones, tablets, laptops, and desktop computers, etc.

[0055] Terminal device 104 can be used with terminal devices of various types of servers. For example, the server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability. The server can also be a server for a distributed system or a server combined with blockchain.

[0056] It should be noted that the method for determining the target pose of a surgical robot provided in this embodiment can generally be executed by the terminal device 104. Alternatively, the method for determining the target pose of a surgical robot provided in this embodiment can also be executed by a server or server cluster capable of communicating with the terminal device 104. Or, the method for determining the target pose of a surgical robot provided in this embodiment can also be executed by a terminal device other than the terminal device 104.

[0057] For example, the data to be processed may originally be stored in any one of the NDI optical navigation device 101, the tracker 102, the surgical robot 103, and the terminal device 104 (e.g., terminal device 104, but not limited thereto), or it may be stored on an external storage device and imported into the terminal device 104. Then, the terminal device 104 may locally execute the method for determining the target posture of the surgical robot provided in the embodiments of this disclosure, or send the data to be processed to other terminal devices, servers, or server clusters, and have the other terminal devices, servers, or server clusters that receive the data to be processed execute the method for determining the target posture of the surgical robot provided in the embodiments of this disclosure.

[0058] It should be understood that Figure 1 The number of terminal devices and networks shown is merely illustrative. Depending on implementation needs, any number of terminal devices and networks can be included.

[0059] It should be noted that the sequence numbers of the operations in the following methods are for descriptive purposes only and should not be considered as indicating the execution order of the operations. Unless explicitly stated otherwise, the method does not need to be executed in the exact order shown.

[0060] Before performing robot-assisted minimally invasive surgery, the robot's posture needs to be adjusted so that the workspace of the osteotomy guide plate connected to the robot's end joint covers the osteotomy plane where the patient needs to be operated on. The robot's posture affects the accuracy of the robot during the operation. Current preoperative posture adjustment methods have shortcomings such as being time-consuming, causing surgical infections, having unsatisfactory results, and being highly dependent on the surgeon's clinical experience.

[0061] To at least partially address the technical problems existing in related technologies, this disclosure provides a method for determining the target posture of a surgical robot, a device for determining the target posture of a surgical robot, surgical equipment, and electronic equipment. It can be applied to the field of surgical robots.

[0062] Figure 2 A flowchart illustrating a method for determining a target pose of a surgical robot according to an embodiment of the present disclosure is shown schematically.

[0063] like Figure 2 As shown, the method 200 may include performing the following operations: S210 to S240.

[0064] In operation S210, the position information of the osteotomy plane is determined.

[0065] During operation S220, evaluation parameters of the surgical robot are acquired. These parameters include the robot's dynamics information set m in its current posture, the robotic arm singularity α, the dexterity space information β, and the NDI field of view angle information γ.

[0066] During operation of S230, the initial posture of the surgical robot is determined based on the evaluation parameters using an evaluation strategy.

[0067] When operating S240, if the initial posture meets the evaluation criteria, the initial posture is determined as the target posture of the surgical robot.

[0068] Figure 3 A perspective view of a surgical robot according to an embodiment of the present disclosure is shown schematically.

[0069] like Figure 3 As shown, the surgical robot 300 includes a base 310 and six joints, which can be designated as a first joint 320, a second joint 330, a third joint 340, a fourth joint 350, a fifth joint 360, and a sixth joint 370. A robotic arm tracer 380 and an osteotomy guide plate 390 can be connected to the end joint of the surgical robot 300, namely the sixth joint 370. The osteotomy guide plate 390 can be installed at the end of the surgical robot, i.e., at the end of the sixth joint 370.

[0070] According to embodiments of this disclosure, the target posture may include the angle and position information of each joint in the surgical robot 300 when the osteotomy guide plate 390 at the end of the surgical robot 300 reaches the osteotomy plane.

[0071] According to embodiments of this disclosure, the motion information of a surgical robot refers to the flexibility and dexterity exhibited by the surgical robot when performing various tasks. The motion information of a surgical robot includes its movement capabilities, coordination, and precision, as well as the skills and abilities required for the surgical robot to handle objects, manipulate tools, or perform delicate operations.

[0072] According to embodiments of this disclosure, the singular value α of the robotic arm is the sum of the number of singular shapes and positions of each joint in the surgical robot, which can be read by a robot teach pendant. The robot teach pendant can be a terminal device used to control the movement of the surgical robot, and it can record parameter information of each joint of the surgical robot.

[0073] According to embodiments of this disclosure, a singular position of each joint refers to a state in which each joint, under a specific combination of angles, cannot complete the expected task or movement. In a singular position, each joint may fail to position correctly or lose control. During joint movement, when the link composed of the above six joints is arranged in a straight line or when joint redundancy occurs, the joint may be unable to complete the required movement or may exceed its range of motion, resulting in the joint failing to move correctly or colliding, which is recorded as a singular position.

[0074] According to an embodiment of this disclosure, the dexterity space information β is the sum of the movement angles of the three joints at the end of the surgical robot.

[0075] According to embodiments of this disclosure, the dexterity space information β is determined by the dexterity of the surgical robot in the current posture. The dexterity of the surgical robot in the current posture can be determined by the movement angles of the three joints at the robot's end effector. These movement angles can be read by the robot teach pendant. The dexterity space information β can be expressed as:

[0076] β=β1+β2+β3

[0077] In this context, β1, β2, and β3 are in radians. The larger the values ​​of β1, β2, and β3, the more flexible the surgical robot is.

[0078] According to the embodiments of this disclosure, the initial posture of the surgical robot can be determined by the motion information of the surgical robot under its current posture, the singular value of the robotic arm, the dexterity space information, and the NDI field of view angle information. The initial posture is compared with the target posture of the surgical robot. If the initial posture meets the evaluation criteria, a target posture suitable for surgical operation can be obtained, thereby achieving the purpose of convenient, accurate, and safe preoperative posture adjustment.

[0079] According to embodiments of this disclosure, the evaluation criterion can be expressed as follows: In the initial posture of the surgical robot, the difference between the position information of the osteotomy guide plate and the position information of the osteotomy plane is within a preset range. For example, the distance between the center point of the osteotomy plane and the center point of the end of the osteotomy guide plate is within 50 mm.

[0080] According to embodiments of this disclosure, the evaluation strategy is to determine the strategy with the highest evaluation value, which is represented by the following formula:

[0081]

[0082] Where x can be represented as the x-coordinate of the end effector joint in the current posture of the surgical robot, y can be represented as the y-coordinate of the end effector joint in the current posture of the surgical robot, and m i Let i represent the i-th dynamic information in the dynamic information set m of the surgical robot in its current posture.

[0083] According to embodiments of this disclosure, by using an evaluation strategy to determine the initial posture of the surgical robot, the target angle information of each joint under the condition of the highest evaluation value can be obtained, and then the position of the end of the osteotomy guide plate that is most conducive to surgical operation can be obtained.

[0084] According to embodiments of this disclosure, under aseptic conditions, a set of motion information is determined by the target angle value set of each joint in the surgical robot and the current angle value set of each joint in the surgical robot.

[0085] According to embodiments of this disclosure, the target angle value set of each joint in the surgical robot can be determined using inverse kinematics based on the position information of the osteotomy plane. The target angle value set can include a set of different angle combinations for each joint, provided that the osteotomy guide connected to the end joint of the surgical robot meets the osteotomy plane requirements. That is, the angular relationship between each joint is not unique, and each joint may have multiple different angles. Furthermore, since the target angle value set contains a set of multiple joint angle combinations, a set of multiple joint position combinations can be obtained, resulting in multiple degrees of motion information. Inputting different degrees of motion information into the evaluation value formula yields different evaluation values. Through multiple iterations, the degree of motion information with the highest evaluation value can be determined, thereby determining the optimal angle and position information for each joint, and ultimately obtaining the optimal angle and position information for the osteotomy guide.

[0086] According to embodiments of this disclosure, aseptic condition constraints may involve defining a fixed interval as an aseptic interval and removing target angle values ​​that exceed the aseptic interval from the target angle value set, thereby ensuring that each joint of the machine is within the aseptic interval.

[0087] According to embodiments of this disclosure, the current angle value set of each joint in the surgical robot can be read by a robot teach pendant. The current angle value set of each joint in the surgical robot may include the set of current angles of each joint in the surgical robot.

[0088] According to embodiments of this disclosure, the robot teach pendant can control the position and posture of each joint in real time through the teaching mode, thereby enabling preoperative posture optimization based on aseptic constraints.

[0089] According to embodiments of this disclosure, the dynamic information set m can be represented as:

[0090]

[0091] Where θi is the target angle of the i-th joint, and μi is the current angle of the i-th joint, in radians.

[0092] Figure 4 A flowchart illustrating the determination of the position information of the osteotomy plane according to an embodiment of the present disclosure is shown schematically.

[0093] like Figure 4 As shown, operation S210 may include performing the following operations S410 to S430.

[0094] When operating S410, fix the tracer tracking device to the osteotomy plane.

[0095] When operating the S420, a beam of light is emitted to the tracer tracking device using the NDI optical navigation device.

[0096] In operation S430, the position information of the osteotomy plane is determined based on the beam of light reflected by the reflector ball of the tracer tracking device.

[0097] Figure 5 A perspective view of an NDI optical navigation device according to an embodiment of the present disclosure is shown schematically.

[0098] like Figure 5 As shown, the NDI optical navigation device 500 includes a navigation base 510, a navigation bracket 520, and an NDI optical navigator 530. The navigation bracket 520 can be connected to the navigation base 510 via an interference fit, thereby improving the reliability and stability of the connection. The NDI optical navigator 530 can be connected to the navigation bracket 520 via a thread, thereby improving the adjustability and stability of the connection.

[0099] Figure 6 A perspective view of a tracer tracking device according to an embodiment of the present disclosure is shown schematically. Figure 7 A perspective view of a tracer tracking device according to an embodiment of the present disclosure is shown schematically from another angle.

[0100] Figure 6 and Figure 7 As shown, the tracer tracking device 600 may include a first bone needle 610, a slide 620, an adjusting screw 630, a first fixing knob 640, a tracer 650, a second bone needle 660, a second fixing knob 670, a locking nut 680, a bracket connector 690, and a tracer bracket 6100 that is matched with the tracer 650.

[0101] The first bone needle 610 and the second bone needle 660 can be connected to the slide 620 via the first fixing knob 640 and the second fixing knob 670, respectively. The adjusting screw 630 can be fixed to the slide 620 via the locking nut 680. The bracket connector 690 can be connected to the slide 620 via screws. The tracer bracket 6100 can be threaded to the bracket connector 690. The tracer 650 is connected to the tracer bracket 6100 via an interference fit. The relative position of the first bone needle 610 and the second bone needle 660 can be adjusted by the adjusting screw 630, and the relative position of the first bone needle 610 and the second bone needle 660 can be fixed by the slide 620, the first fixing knob 640, the second fixing knob 670, and the locking nut 680. The second bone needle 660 can be fixed on the osteotomy plane. After the NDI optical navigation device 500 emits a beam to the tracer tracking device, the reflective ball of the tracer 650 transmits the position information of the osteotomy plane to the NDI optical navigation device in real time through the reflected beam, thereby determining the position information of the osteotomy plane.

[0102] Figure 8 A schematic diagram illustrating the positional relationship between an NDI optical navigation device and a surgical robot according to an embodiment of the present disclosure is provided.

[0103] like Figure 8 As shown, according to an embodiment of this disclosure, the NDI field of view angle information γ can be the angle ε between the normal direction of the tracer on the end joint of the surgical robot and the normal direction of the NDI optical navigation device, and the angle ε can be read from the quaternion of the NDI optical navigation device.

[0104] According to an embodiment of this disclosure, another aspect provides a surgical device. This surgical device includes an NDI optical navigation device, a tracer tracking device, a surgical robot, and a processor.

[0105] The NDI optical navigation device can be configured to emit a light beam towards the tracker. The tracker can be configured to be fixed to the osteotomy plane. After the NDI optical navigation device emits a light beam towards the tracker, the tracker can transmit the position information of the osteotomy plane by reflecting the light beam back to the NDI optical navigation device. The surgical robot can include multiple joints that are rotatably connected in sequence. The end joints of the surgical robot can be connected to the tracker, and the ends of the end joints can be connected to osteotomy guides. The processor can be configured to connect to the NDI optical navigation device, the tracker, and the surgical robot, respectively, and use the above method to determine the target posture of the surgical robot.

[0106] Figure 9 A block diagram of an apparatus for determining the target posture of a surgical robot according to the present disclosure is shown schematically.

[0107] like Figure 9As shown, the device 900 for determining the target posture of the surgical robot may include a first determining module 910, an acquisition module 920, a second determining module 930, and a third determining module 940.

[0108] The first determining module 910 is used to determine the position information of the osteotomy plane.

[0109] The acquisition module 920 is used to acquire the evaluation parameters of the surgical robot. The evaluation parameters include the dynamic information set m of the surgical robot in the current posture, the singular value α of the robotic arm, the dexterity space information β, and the NDI field of view angle information γ.

[0110] The second determining module 930 is used to determine the initial posture of the surgical robot based on the evaluation parameters using an evaluation strategy.

[0111] The third determining module 940 is used to determine the initial posture as the target posture of the surgical robot if the initial posture meets the evaluation criteria.

[0112] According to embodiments of this disclosure, an electronic device is also provided, including: one or more processors and a memory configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method described above.

[0113] Figure 10 A block diagram of an electronic device for a method of determining a target pose of a surgical robot according to an embodiment of the present disclosure is shown schematically. Figure 10 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0114] like Figure 10 As shown, an electronic device 1000 according to an embodiment of the present disclosure includes a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage portion 1008 into a random access memory (RAM) 1003. The processor 1001 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 1001 may also include onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0115] RAM 1003 stores various programs and data required for the operation of electronic device 1000. Processor 1001, ROM 1002, and RAM 1003 are interconnected via bus 1004. Processor 1001 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 1002 and / or RAM 1003. It should be noted that programs may also be stored in one or more memories other than ROM 1002 and RAM 1003. Processor 1001 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in one or more memories.

[0116] According to embodiments of this disclosure, the electronic device 1000 may further include an input / output (I / O) interface 1005, which is also connected to a bus 1004. The system 1000 may also include one or more of the following components connected to the I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 1010 as needed so that computer programs read from it can be installed into the storage section 1008 as needed.

[0117] According to embodiments of this disclosure, the method flow according to embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1009, and / or installed from removable medium 1011. When the computer program is executed by processor 1001, it performs the functions defined in the system of embodiments of this disclosure. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0118] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0119] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0120] For example, according to embodiments of this disclosure, a computer-readable storage medium may include the ROM 1002 and / or RAM 1003 described above and / or one or more memories other than ROM 1002 and RAM 1003.

[0121] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of this disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the methods provided in the embodiments of this disclosure.

[0122] When the computer program is executed by the processor 1001, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0123] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 1009, and / or installed from a removable medium 1011. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0124] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0125] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features recited in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not expressly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure may be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0126] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A method for determining the target pose of a surgical robot, characterized in that, include: Determine the location information of the osteotomy plane; The evaluation parameters of the surgical robot are obtained, wherein the evaluation parameters include the dynamic information set m of the surgical robot in the current posture, the singular value α of the robotic arm, the dexterity space information β, and the NDI field of view angle information γ. The initial posture of the surgical robot is determined based on the evaluation parameters using an evaluation strategy. The evaluation strategy is the one that maximizes the evaluation value, which is expressed by the following formula: f(x,y)=f(m,a,b,c)= = ; Where x represents the x-coordinate of the end effector joint in the current posture of the surgical robot, and y represents the y-coordinate of the end effector joint in the current posture of the surgical robot. This represents the set of dynamic information of the surgical robot in its current posture. The i-th degree of motion information in; and If the initial posture meets the evaluation criteria, the initial posture is determined as the target posture of the surgical robot. The evaluation criteria are expressed as follows: in the initial posture, the difference between the position information of the osteotomy guide plate and the position information of the osteotomy plane of the surgical robot is within a preset range, wherein the osteotomy guide plate is installed at the end of the surgical robot.

2. The method according to claim 1, characterized in that, Under aseptic conditions, the motion information set m is determined by the target angle value set of each joint in the surgical robot and the current angle value set of each joint in the surgical robot.

3. The method according to claim 2, characterized in that, Based on the positional information of the osteotomy plane, the inverse kinematics solution is used to determine the target angle value set of each joint in the surgical robot.

4. The method according to claim 2, characterized in that, The location information for determining the osteotomy plane includes: The tracer tracking device is fixed to the osteotomy plane; The NDI optical navigation device emits a beam of light towards the tracker tracking device; and The position information of the osteotomy plane is determined based on the light beam reflected by the reflector ball of the tracer tracking device.

5. The method according to any one of claims 1 to 4, characterized in that, The NDI field of view angle information is the angle between the normal direction of the robotic arm tracer on the end joint of the surgical robot and the normal direction of the NDI optical navigation device.

6. A surgical device, characterized in that, include: The NDI optical navigation device is configured to emit a beam; A tracer tracking device is configured to be fixed on the osteotomy plane, and the tracer tracking device transmits the position information of the osteotomy plane by reflecting a light beam to the NDI optical navigation device; The surgical robot includes multiple joints that are rotatably connected in sequence. The end joint of the surgical robot is connected to a robotic arm tracer, and the end of the end joint is connected to an osteotomy guide plate. The processor is configured to connect to the NDI optical navigation device, the tracer tracking device, and the surgical robot, respectively, and to determine the target posture of the surgical robot using the method as described in any one of claims 1 to 5.

7. A device for determining the target posture of a surgical robot, characterized in that, include: The first determining module is used to determine the position information of the osteotomy plane; The acquisition module is used to acquire the evaluation parameters of the surgical robot, wherein the evaluation parameters include the dynamic information set m of the surgical robot in the current posture, the singular value α of the robotic arm, the dexterity space information β, and the NDI field of view angle information γ. The second determining module is used to determine the initial posture of the surgical robot based on the evaluation parameters using an evaluation strategy. The evaluation strategy is to determine the strategy with the highest evaluation value, and the evaluation value is expressed by the following formula: f(x,y)=f(m,a,b,c)= = ; Where x represents the x-coordinate of the end effector joint in the current posture of the surgical robot, and y represents the y-coordinate of the end effector joint in the current posture of the surgical robot. This represents the set of dynamic information of the surgical robot in its current posture. The i-th degree of motion information in; and The third determining module is used to determine the initial posture as the target posture of the surgical robot when the initial posture meets the evaluation criteria. The evaluation criteria are expressed as follows: in the initial posture, the difference between the position information of the osteotomy guide plate and the position information of the osteotomy plane of the surgical robot is within a preset range, wherein the osteotomy guide plate is installed at the end of the surgical robot.

8. An electronic device, characterized in that, include: One or more processors; as well as The memory is configured to store one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1 to 5.

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