Space navigation method, device and system based on point cloud technology, and storage medium

Abstract

The application provides a space navigation method, device and system based on point cloud technology and a storage medium, the method comprising the following steps: controlling a mechanical arm to move to a first reference position, and identifying the mechanical arm by a point cloud navigation device to obtain a second reference position; determining a first conversion matrix based on the first reference position and the second reference position; after starting an operation, pasting a marker on a patient's body surface, and determining a marker coordinate of the marker by the point cloud navigation device based on point cloud identification; determining a space navigation path of the mechanical arm for performing a puncture operation by the point cloud navigation device based on the marker coordinate and the first conversion matrix, and controlling the mechanical arm to perform the puncture operation according to the space navigation path. According to the technical scheme of the embodiment of the application, the positional relationship between the mechanical arm and the point cloud navigation device can be calibrated before an operation, the marker is pasted on the patient's body surface during the operation, the point cloud navigation device takes the marker as a position reference to realize navigation of the mechanical arm, and the navigation accuracy of the point cloud navigation device is improved.

Description

Technical Field

[0001] This invention relates to the field of surgical navigation technology, and in particular to a spatial navigation method, device, system, and storage medium based on point cloud technology. Background Technology

[0002] Traditional interventional radiotherapy requires surgeons to manually insert a guide needle into the lesion within the liver, aided by CT imaging and ultrasound, and then implant radioactive particles into the tumor using a needle. This process necessitates the surgeon visually interpreting the images, combining experience and hand resistance with mental visualization and decision-making regarding the spatial location. A major challenge for surgeons is the difficulty in precisely locating the lesion during the procedure. The advent of interventional radiotherapy robots has significantly solved this problem. The robot's standardized execution of surgical movements overcomes the uncertainty of manual implantation and allows for precise targeting of the designated digital tumor location. Radioactive particle implantation is then performed with the assistance of a robot-assisted system.

[0003] To enable path navigation for interventional radiotherapy robots, a camera is typically used as a path planning device. However, each patient has a different body shape, and it is difficult to ensure the accuracy of the path by relying solely on image recognition of the patient. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a spatial navigation method, device, system, and storage medium based on point cloud technology, which can achieve assisted positioning of navigation devices through markers and improve the accuracy of navigation paths.

[0005] In a first aspect, embodiments of the present invention provide a spatial navigation method based on point cloud technology, applied to an intelligent surgical system, the intelligent surgical system including a point cloud navigation device and a robotic arm, the spatial navigation method based on point cloud technology including:

[0006] The robotic arm is controlled to move to a first reference position, and the point cloud navigation device identifies the robotic arm to obtain a second reference position.

[0007] A first transformation matrix is ​​determined based on the first reference position and the second reference position. The first transformation matrix is ​​used to indicate the spatial transformation relationship between the actual position of the robotic arm and the shooting position of the point cloud navigation device.

[0008] After the surgery is initiated, the marker is affixed to the patient's body surface, and the point cloud navigation device determines the marker's coordinates based on point cloud recognition.

[0009] Based on the coordinates of the marker and the first transformation matrix, the point cloud navigation device determines the spatial navigation path for the robotic arm to perform the puncture surgery, and controls the robotic arm to perform the puncture surgery according to the spatial navigation path.

[0010] According to some embodiments of the present invention, the marker includes a molded object, a support, and double-sided adhesive. The molded object is mounted on the upper side of the support, and the double-sided adhesive is fixedly connected to the support. The molded object has an asymmetrical shape, is made of nylon, is purple, and has a frosted upper surface. The support is made of medical PC.

[0011] According to some embodiments of the present invention, the marker file is an STL file, and the step of importing the marker file into the point cloud navigation device and determining the marker coordinates of the marker based on point cloud recognition by the point cloud navigation device includes:

[0012] The STL file of the marker is imported into the point cloud navigation device, and the point cloud navigation device obtains the three-dimensional model of the marker by parsing the STL file.

[0013] The shape of the marker is determined based on the three-dimensional model;

[0014] The patient's image is captured, and the landmark is located from the patient's image based on the shape of the landmark and point cloud recognition, and the coordinates of the landmark are determined.

[0015] According to some embodiments of the present invention, the point cloud navigation device identifies the robotic arm to obtain a second reference position, including:

[0016] Obtain multiple preset shooting location sets, wherein the shooting location sets include multiple available shooting locations;

[0017] Select one of the available shooting locations from the set of shooting locations as the reference shooting location;

[0018] After the point cloud navigation device takes a calibration image of the calibration board at the reference shooting position, it records the candidate reference position and selects another available shooting position as a new reference shooting position for shooting, until the set of shooting positions has been traversed.

[0019] The second reference position is determined based on all of the candidate reference positions.

[0020] According to some embodiments of the present invention, determining the spatial navigation path for the robotic arm to perform puncture surgery based on the marker coordinates and the first transformation matrix using the point cloud navigation device includes:

[0021] A digital human body of the patient is obtained, and a second transformation matrix is ​​determined based on the digital human body, the coordinates of the marker, and the first transformation matrix. The second transformation matrix is ​​used to indicate the spatial transformation relationship between the digital human body and the actual human body.

[0022] A surgical planning path based on digital human body planning is obtained, and the spatial navigation path is determined by the point cloud navigation device based on the second transformation matrix and the surgical planning path.

[0023] According to some embodiments of the present invention, controlling the robotic arm to perform a puncture surgery according to the spatial navigation path includes:

[0024] The robotic arm is controlled to move to the target puncture position according to the spatial navigation path;

[0025] The point cloud navigation device determines the actual tumor location based on the digital tumor location recorded in the digital human body, the target puncture location, and the second transformation matrix.

[0026] The robotic arm is controlled to move downwards and puncture the actual tumor location based on the height difference between the target puncture location and the actual tumor location.

[0027] According to some embodiments of the present invention, the robotic arm is further provided with multi-line radar, and controlling the robotic arm to move to the target puncture position according to the spatial navigation path includes:

[0028] During the movement of the robotic arm, collision detection is performed using the multi-line radar;

[0029] When the collision detection result indicates a collision risk, the point cloud navigation device replans the spatial navigation path based on the current position of the robotic arm.

[0030] In a second aspect, embodiments of the present invention provide a spatial navigation device based on point cloud technology, including at least one control processor and a memory for communicatively connecting with the at least one control processor; the memory stores instructions executable by the at least one control processor, the instructions being executed by the at least one control processor to enable the at least one control processor to perform the spatial navigation method based on point cloud technology as described in the first aspect above.

[0031] Thirdly, embodiments of the present invention provide an intelligent surgical system, including a spatial navigation device based on point cloud technology as described in the second aspect above.

[0032] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions for executing the spatial navigation method based on point cloud technology as described in the first aspect above.

[0033] The spatial navigation method based on point cloud technology according to embodiments of the present invention has at least the following beneficial effects: controlling the robotic arm to move to a first reference position, and the point cloud navigation device identifying the robotic arm to obtain a second reference position; determining a first transformation matrix based on the first reference position and the second reference position, the first transformation matrix being used to indicate the spatial transformation relationship between the actual position of the robotic arm and the shooting position of the point cloud navigation device; after initiating surgery, attaching a marker to the patient's body surface, and the point cloud navigation device determining the marker coordinates based on point cloud recognition; based on the marker coordinates and the first transformation matrix, determining the spatial navigation path for the robotic arm to perform puncture surgery through the point cloud navigation device, and controlling the robotic arm to perform puncture surgery according to the spatial navigation path. According to the technical solution of the embodiments of the present invention, the positional relationship between the robotic arm and the point cloud navigation device can be calibrated before surgery, and the marker can be attached to the patient's body surface during surgery, enabling the point cloud navigation device to use the marker as a position reference to achieve navigation of the robotic arm, thereby improving the navigation accuracy of the point cloud navigation device. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of an implementation environment provided in one embodiment of the present invention;

[0035] Figure 2 This is a flowchart of a spatial navigation method based on point cloud technology provided in one embodiment of the present invention;

[0036] Figure 3 This is a flowchart of importing marker files provided in another embodiment of the present invention;

[0037] Figure 4 This is a flowchart of determining a second reference position through multiple shots provided in another embodiment of the present invention;

[0038] Figure 5 This is a flowchart of determining a spatial navigation path provided in another embodiment of the present invention;

[0039] Figure 6 This is a flowchart of the puncture procedure provided in another embodiment of the present invention;

[0040] Figure 7 This is a flowchart of obstacle detection provided in another embodiment of the present invention;

[0041] Figure 8 This is a structural diagram of a space navigation device based on point cloud technology provided in another embodiment of the present invention. Detailed Implementation

[0042] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0043] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0044] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0045] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0046] This invention provides a spatial navigation method, apparatus, system, and storage medium based on point cloud technology. The spatial navigation method includes: controlling a robotic arm to move to a first reference position, and the point cloud navigation device identifying the robotic arm to obtain a second reference position; determining a first transformation matrix based on the first and second reference positions, the first transformation matrix indicating the spatial transformation relationship between the actual position of the robotic arm and the position captured by the point cloud navigation device; after initiating surgery, attaching a marker to the patient's body surface, and the point cloud navigation device determining the marker coordinates based on point cloud recognition; determining a spatial navigation path for the robotic arm to perform a puncture surgery based on the marker coordinates and the first transformation matrix, and controlling the robotic arm to perform the puncture surgery according to the spatial navigation path. According to the technical solution of this invention, the positional relationship between the robotic arm and the point cloud navigation device can be calibrated before surgery, and the marker can be attached to the patient's body surface during surgery, enabling the point cloud navigation device to use the marker as a position reference to navigate the robotic arm, thus improving the navigation accuracy of the point cloud navigation device.

[0047] First, an exemplary description of the implementation environment of the present invention will be provided. This example is not intended to limit the specific device structure, but rather to illustrate a specific implementation environment in which the technical solution of the present invention can be executed. (Refer to...) Figure 1 , Figure 1 This is a schematic diagram illustrating the implementation environment of an embodiment of the present invention, applied to an intelligent surgical system. The intelligent surgical system includes a point cloud navigation device 10 and a robotic arm 20. The point cloud navigation device 10 is equipped with a camera for image capture and a control chip for point cloud recognition and path planning. This embodiment also includes a marker 30, which may be irregularly shaped to facilitate image recognition. The marker is affixed to the patient's body surface 40 before the surgery begins, and is offset from the puncture site to avoid interfering with the puncture.

[0048] It should be noted that the intelligent surgical system can also be equipped with a central control unit, which is used to send control commands to the robot and point cloud navigation equipment, as well as to calculate the first transformation matrix and the second transformation matrix.

[0049] The following is based on the appendix Figure 1 The implementation environment shown will be used to further illustrate the control method of this embodiment of the invention.

[0050] Reference Figure 2 , Figure 2 A flowchart of a spatial navigation method based on point cloud technology provided in this embodiment of the invention. This spatial navigation method based on point cloud technology includes, but is not limited to, the following steps:

[0051] S21, control the robotic arm to move to the first reference position, and the point cloud navigation device identifies the robotic arm to obtain the second reference position;

[0052] S22, a first transformation matrix is ​​determined based on the first reference position and the second reference position. The first transformation matrix is ​​used to indicate the spatial transformation relationship between the actual position of the robotic arm and the shooting position of the point cloud navigation device.

[0053] S23, after the surgery is started, the marker is attached to the patient's body surface, and the point cloud navigation device determines the marker's coordinates based on point cloud recognition;

[0054] S24, based on the coordinates of the markers and the first transformation matrix, the spatial navigation path for the robotic arm to perform the puncture surgery is determined by the point cloud navigation device, and the robotic arm is controlled to perform the puncture surgery according to the spatial navigation path.

[0055] It should be noted that after setting up the robotic arm and point cloud navigation device, the intelligent surgical central control unit can send movement control commands to the robotic arm to move the calibration plate to a designated position and transmit the position information back as the first reference position. Simultaneously, the point cloud navigation device is controlled to capture the corresponding spatial position of the robotic arm. The spatial position information corresponding to the robot and the point cloud navigation device is obtained as the second reference position, a calibration file is generated, and the first transformation matrix between the two is calculated.

[0056] It should be noted that the point cloud navigation device and the robotic arm are in different positions. Therefore, the path planned by the point cloud navigation device for the robotic arm is generated in the point cloud navigation device's view coordinate system. In order to convert it into the path corresponding to the robotic arm's coordinate system, this embodiment establishes a first transformation matrix based on the second reference position of the robotic arm identified by the point cloud navigation device and the first reference position transmitted back by the robotic arm itself. This realizes the position conversion between the two. After multiplying the position determined by the point cloud navigation device with the first transformation matrix, the position in the robotic arm's coordinate system can be obtained, ensuring the accuracy of navigation.

[0057] It is worth noting that the first reference position can be the spatial coordinates of the robotic arm coordinate system, and the second reference position can be the spatial coordinates of the point cloud navigation device coordinate system. Based on the spatial coordinates of the two coordinate systems, those skilled in the art are familiar with how to construct the transformation matrix, so it will not be repeated here.

[0058] It should be noted that, based on the first transformation matrix, in this embodiment, after the surgery begins, markers are affixed to the patient's body surface. Using the markers as position references, the point cloud navigation device can determine the patient's body surface position based on the recognition of the markers, thereby planning an accurate spatial navigation path.

[0059] It is worth noting that the marker in this embodiment can be an irregularly shaped object. As is well known to those skilled in the art, point cloud recognition technology can identify the shape of objects in space. By setting the shape of the marker, point cloud recognition technology can be used to quickly locate the marker, improving positioning efficiency. This embodiment does not improve point cloud recognition technology, and the specific principles will not be elaborated here.

[0060] In another embodiment, the marker includes a shape, a support, and double-sided tape. The shape is mounted on the upper side of the support, and the double-sided tape is fixedly connected to the support. The shape is asymmetrical, made of nylon, and purple in color. The upper surface of the shape is frosted. The support is made of medical PC.

[0061] It should be noted that specific markers are used to determine the spatial positional relationship between the robotic arm, the patient, and the point cloud navigation device in a high-precision point cloud spatial vision navigation system. The markers act as reference points in the process of spatial coordinate transformation.

[0062] It should be noted that, in order to achieve the adhesion of the marker, the marker in this embodiment includes a shape, a support, and double-sided tape. The support is installed on the upper side of the double-sided tape, and the shape is installed in the support. When in use, it can be directly adhered to the patient's body surface using the double-sided tape.

[0063] It should be noted that CT images are typically taken before surgery to determine the location of lesions. Therefore, markers can be attached to the patient's skin during CT imaging, so that the CT images also contain images of the markers. This allows the digital human body constructed from the CT images to also carry images of the markers, thus enabling the actual location of the lesions. Based on this, the model in this embodiment uses nylon material. Compared to bakelite, silicone, PP, ABS, POM, transparent PC, and resin, nylon material provides better imaging results under CT scans. Furthermore, medical-grade nylon can be selected. Medical-grade nylon is wear-resistant, non-toxic, high-strength, has good water absorption, and is highly biocompatible, making it widely applicable in the medical field.

[0064] It should be noted that, in order to ensure clear CT imaging, the object can be integrally molded using medical-grade nylon and features a purple color and a frosted surface to improve the system imaging effect of the high-precision point cloud navigation equipment.

[0065] It should be noted that the support can be made of medical PC injection molding with poor CT imaging effect to avoid interfering with the recognition of the object.

[0066] In another embodiment, the marker file is an STL file, see reference. Figure 3 , Figure 2 Step S25 shown also includes, but is not limited to, the following steps:

[0067] S31, import the STL file of the marker into the point cloud navigation device, and the point cloud navigation device obtains the three-dimensional model of the marker by parsing the STL file;

[0068] S32, Determine the shape of the marker based on the three-dimensional model;

[0069] S33 captures images of patients, locates landmarks from the patient images based on landmark shape and point cloud recognition, and determines the coordinates of the landmarks.

[0070] It should be noted that since the markers are pre-set and their shapes are known, the STL file of the markers can be pre-configured. After the STL file is imported into the point cloud navigation device, a 3D model of the marker is generated. The shape of the marker is determined based on the 3D model, so that the marker can be located in point cloud recognition.

[0071] In another embodiment, Figure 2 Step S22 shown also includes, but is not limited to, the following steps:

[0072] S41, acquire multiple preset shooting location sets, wherein the shooting location sets include multiple available shooting locations;

[0073] S42, Select an available shooting location from the shooting location set as a reference shooting location;

[0074] S43, after the control point cloud navigation device takes a calibration image of the calibration board at the reference shooting position, it records the candidate reference position, selects another available shooting position as the new reference shooting position for shooting, until the shooting position set is traversed;

[0075] S44, determine the second reference position based on all candidate reference positions.

[0076] It should be noted that in this embodiment, multiple available shooting positions can be determined by 8 to 15 different points and tilt angles. Each available shooting position is used in turn as a reference shooting position to shoot the robotic arm, thereby obtaining candidate reference positions of the robotic arm at different angles. By combining multiple candidate reference positions, a second reference position can be determined, which can effectively improve the accuracy of the second reference position.

[0077] In another embodiment, Figure 2 Step S26 shown also includes, but is not limited to, the following steps:

[0078] S51, acquire the patient's digital human body, and determine the second transformation matrix based on the digital human body, the coordinates of the markers and the first transformation matrix. The second transformation matrix is ​​used to indicate the spatial transformation relationship between the digital human body and the actual human body.

[0079] S52, obtain the surgical planning path based on digital human body planning, and determine the spatial navigation path based on the second transformation matrix and the surgical planning path through the point cloud navigation device.

[0080] It is worth noting that in this embodiment, the point cloud navigation device is used to capture real-time images of landmarks within the field of view and obtain their spatial pose information. At the same time, combined with the STL file of the landmarks and the point set data information of specific landmarks in the digital human body segmented from the preoperative CT images, the spatial transformation relationship between the actual human body and the virtual digital human body is calculated in real time.

[0081] It should be noted that, based on the description of the above embodiments, CT images are taken before surgery, and these images also contain the positions of landmarks. Therefore, after constructing the digital human body, the coordinates of the landmarks are the positions captured by the point cloud navigation device. Combining this with the first transformation matrix, the relative position of the robotic arm can be obtained. Furthermore, combining this with the digital human body, a second transformation matrix can be determined, thus obtaining the spatial positional transformation relationship between the digital human body and the actual human body. This allows the lesion positions in the CT images to be converted into their positions within the actual human body using the second transformation matrix. Based on this, the surgical planning path planned by the point cloud navigation device based on the digital human body can be converted into the actual movement path of the robotic arm, i.e., the spatial navigation path, through the second transformation matrix, thereby achieving accurate spatial navigation of the robotic arm.

[0082] In another embodiment, Figure 2 Step S26 shown also includes, but is not limited to, the following steps:

[0083] S61, control the robotic arm to move to the target puncture position according to the spatial navigation path;

[0084] S62, the actual tumor location is determined by the point cloud navigation device based on the digital tumor location, target puncture location and second transformation matrix recorded by the digital human body;

[0085] S63 controls the robotic arm to move downwards and puncture to the actual tumor location based on the height difference between the target puncture position and the actual tumor location.

[0086] It should be noted that, based on the description of the above embodiments, with the assistance of markers, the point cloud navigation device can obtain the actual spatial navigation path of the robotic arm based on the path planned by the digital human body and the second transformation matrix. Since the robotic arm will hold the puncture needle, and the actual tumor position is determined according to the digital tumor position in the digital human body, the robotic arm will move along the spatial navigation path to directly above the actual tumor position as the target puncture position. On this basis, the robotic arm is controlled to perform puncture based on the height difference between the target puncture position and the actual tumor position, thus achieving precise puncture after spatial navigation.

[0087] In another embodiment, the robotic arm is also equipped with multi-line radar, and step S61 further includes, but is not limited to, the following steps:

[0088] The S71 uses multi-line radar for collision detection during the movement of the robotic arm.

[0089] S72, when the collision detection result indicates a collision risk, the spatial navigation path is replanned based on the current position of the robotic arm using the point cloud navigation device.

[0090] It should be noted that during the intraoperative movement phase of the robotic arm, a multi-line radar will be installed at the front end of the robotic arm to achieve safe collision detection during movement and adjust the movement path to achieve a safe movement mechanism.

[0091] like Figure 8 As shown, Figure 8 This is a structural diagram of a point cloud-based spatial navigation device according to an embodiment of the present invention. The present invention also provides a point cloud-based spatial navigation device, comprising:

[0092] The processor 801 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0093] The memory 802 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 802 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 802 and is called and executed by the processor 801 using the spatial navigation method based on point cloud technology according to the embodiments of this application.

[0094] The 803 input / output interface is used to implement information input and output.

[0095] The communication interface 804 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0096] Bus 805 transmits information between various components of the device (e.g., processor 801, memory 802, input / output interface 803, and communication interface 804);

[0097] The processor 801, memory 802, input / output interface 803, and communication interface 804 are connected to each other within the device via bus 805.

[0098] This application also provides an intelligent surgical system, including a spatial navigation device based on point cloud technology as described above.

[0099] This application embodiment also provides a storage medium, which is a computer-readable storage medium, storing a computer program that, when executed by a processor, implements the above-described spatial navigation method based on point cloud technology.

[0100] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate, and may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0101] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0102] The above provides a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A space navigation device based on point cloud technology, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; The memory stores instructions executable by the at least one control processor. These instructions, when executed by the at least one control processor, enable the at least one control processor to perform a point cloud-based spatial navigation method. This method is applied to an intelligent surgical system, which includes a point cloud navigation device and a robotic arm. The point cloud-based spatial navigation method includes: The robotic arm is controlled to move to a first reference position, and the point cloud navigation device identifies the robotic arm to obtain a second reference position. A first transformation matrix is ​​determined based on the first reference position and the second reference position. The first transformation matrix is ​​used to indicate the spatial transformation relationship between the actual position of the robotic arm and the shooting position of the point cloud navigation device. After the surgery is initiated, the marker is affixed to the patient's body surface, and the point cloud navigation device determines the marker's coordinates based on point cloud recognition; Based on the coordinates of the marker and the first transformation matrix, the point cloud navigation device determines the spatial navigation path for the robotic arm to perform the puncture surgery, and controls the robotic arm to perform the puncture surgery according to the spatial navigation path. The step of determining the spatial navigation path for the robotic arm to perform puncture surgery based on the coordinates of the markers and the first transformation matrix using the point cloud navigation device includes: A digital human body of the patient is obtained, and a second transformation matrix is ​​determined based on the digital human body, the coordinates of the marker, and the first transformation matrix. The second transformation matrix is ​​used to indicate the spatial transformation relationship between the digital human body and the actual human body. A surgical planning path based on digital human body planning is obtained, and the spatial navigation path is determined by the point cloud navigation device based on the second transformation matrix and the surgical planning path.

2. The spatial navigation device based on point cloud technology according to claim 1, characterized in that, The marker includes a shape, a support, and double-sided adhesive. The shape is mounted on the upper side of the support, and the double-sided adhesive is fixedly connected to the support. The shape is asymmetrical, made of nylon, and purple in color. The upper surface of the shape is frosted. The support is made of medical PC.

3. The spatial navigation device based on point cloud technology according to claim 1, characterized in that, The point cloud navigation device determines the coordinates of the landmark based on point cloud recognition, including: The STL file of the marker is imported into the point cloud navigation device, and the point cloud navigation device obtains the three-dimensional model of the marker by parsing the STL file. The shape of the marker is determined based on the three-dimensional model; The patient's image is captured, and the landmark is located from the patient's image based on the shape of the landmark and point cloud recognition, and the coordinates of the landmark are determined.

4. The spatial navigation device based on point cloud technology according to claim 1, characterized in that, The point cloud navigation device identifies the robotic arm to obtain a second reference position, including: Obtain multiple preset shooting location sets, wherein the shooting location sets include multiple available shooting locations; Select one of the available shooting locations from the set of shooting locations as a reference shooting location; After the point cloud navigation device captures the calibration image of the marker at the reference shooting position, it records the candidate reference position and selects another available shooting position as the new reference shooting position for shooting, until the set of shooting positions has been traversed. The second reference position is determined based on all of the candidate reference positions.

5. The spatial navigation device based on point cloud technology according to claim 1, characterized in that, Controlling the robotic arm to perform a puncture surgery according to the spatial navigation path includes: The robotic arm is controlled to move to the target puncture position according to the spatial navigation path; The point cloud navigation device determines the actual tumor location based on the digital tumor location recorded in the digital human body, the target puncture location, and the second transformation matrix. The robotic arm is controlled to move downwards and puncture the actual tumor location based on the height difference between the target puncture location and the actual tumor location.

6. The spatial navigation device based on point cloud technology according to claim 1, characterized in that, The robotic arm is also equipped with multi-line radar. Controlling the robotic arm to perform puncture surgery according to the spatial navigation path includes: During the movement of the robotic arm, collision detection is performed using the multi-line radar; When the collision detection result indicates a collision risk, the point cloud navigation device replans the spatial navigation path based on the current position of the robotic arm.

7. An intelligent surgical system, characterized in that, Including the space navigation device based on point cloud technology as described in claim 1.

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