Method and system for preventing laser shielding during positioning of patient trolley

Abstract

The present invention relates to the field of surgical robot technology, and provides a method for preventing laser obstruction when positioning a patient trolley, comprising the following steps: S1: establishing a plurality of joint coordinate systems based on a plurality of joints of a surgical operating arm of the patient trolley, and determining a coordinate conversion matrix between the plurality of joint coordinate systems; S2: calculating the position of a key point in a connecting rod of the surgical operating arm in the hanging plate coordinate system based on the joint coordinate system and the coordinate conversion matrix; S3: judging whether the connecting rod obstructs a cross laser emitted vertically downward from the hanging plate based on the key point of the connecting rod. A robot kinematic algorithm is used to determine the relative position of the laser and each connecting rod in the surgical operating arm to perform laser obstruction detection, which is efficient, accurate, and highly stable, and provides two obstruction detection algorithms that can accurately detect in real time whether the laser is blocked.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a method and system for preventing laser shielding when positioning a patient trolley. Background Art

[0002] Laparoscopic robotic surgery systems are advanced medical devices that combine laparoscopic and robotic technologies. These systems typically include a robot-assisted surgical system that allows surgeons to remotely operate the robot through a console, allowing for precise and flexible surgery within the abdominal cavity. Laparoscopic robotic surgery systems offer significant advantages over traditional open or laparoscopic surgery, including:

[0003] (1) Precision: Robotic surgical systems provide a high degree of precision, allowing surgeons to perform small and complex surgical operations. The stability of the robotic arm and precise kinematic control help reduce surgical errors.

[0004] (2) 3D Vision: The robotic surgery system is equipped with an advanced 3D vision system, which enables surgeons to obtain clearer visual information of the surgical area. This helps to identify anatomical structures more accurately and improves surgical safety.

[0005] (3) Minimally invasive surgery: Laparoscopic robotic surgery usually uses small-hole surgery to reduce surgical trauma. This helps reduce pain, shortens postoperative recovery time, and reduces the risk of postoperative complications.

[0006] (4) Expansion of surgical field of view: The flexible arms and three-dimensional vision system of the robotic surgical system enable surgeons to enter hard-to-reach areas and obtain a wider surgical field of view.

[0007] (5) Remote operation: Surgeons can perform surgery remotely through a console, which means that surgery is not restricted by geographical location. This remote operation capability allows professional medical teams to provide services even if the patient and surgeon are not in the same location.

[0008] (6) Reduce patient hospitalization time: Less invasive surgery and faster postoperative recovery can usually reduce patient hospitalization time and improve surgical efficiency.

[0009] (7) Better ergonomics: The robotic surgical system is designed with the surgeon’s ergonomics in mind, providing a more comfortable working environment and reducing the doctor’s hand fatigue.

[0010] These advantages have made laparoscopic robotic surgery systems increasingly popular in many surgical fields, providing patients with safer and more precise surgical treatments.

[0011] likeFigure 1 As shown, the patient cart of the laparoscopic surgical robot system consists of a large column, a boom, a hanging plate, and four surgical operating arms. The large column is one of the main supporting structures of the patient cart and is usually connected to the floor or ceiling of the operating room, providing stability and support for the entire system. The boom can be adjusted in height by adjusting the large column to adapt to the height and surgical needs of different patients. The hanging plate is suspended from the boom and is used to carry and support surgical instruments or cameras. The position of the hanging plate can be changed by adjusting the boom to meet the needs of a specific surgical area. The four surgical operating arms are suspended by the hanging plate and connected to the patient cart. The surgical operating arms have joints and motion systems that allow surgeons to remotely operate these arms through a console to perform precise and flexible surgical operations.

[0012] There is a cross laser on the hanging tray that emits vertically downwards to guide the surgical positioning. After the laparoscopic surgical robot system patient trolley is covered with a sterile cover, the patient trolley needs to be pushed to the side of the operating table. The center of the cross laser on the patient trolley hanging tray needs to be aligned with the incision where the laparoscope is placed on the patient. When the cover is sterile, such as Figure 2 As shown, the connecting rod of any of the four surgical operating arms may block the cross of the laser, affecting the positioning of the subsequent trolley. Summary of the Invention

[0013] In response to the above problems, the purpose of the present invention is to provide a method and system for preventing laser obstruction when positioning a patient trolley. The method uses a robot kinematic algorithm to determine the relative position of the laser and each connecting rod in the surgical operating arm to perform laser obstruction detection. The method is efficient, accurate, and highly stable, and provides two obstruction detection algorithms that can accurately detect in real time whether the laser is blocked.

[0014] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0015] A method for preventing laser shielding when positioning a patient trolley comprises the following steps:

[0016] S1: establishing a plurality of joint coordinate systems based on a plurality of joints of a surgical operating arm of a patient trolley, and determining a coordinate transformation matrix between the plurality of joint coordinate systems;

[0017] S2: Calculating the positions of key points in the connecting rod of the surgical operating arm in the hanging plate coordinate system based on the joint coordinate system and the coordinate transformation matrix;

[0018] S3: Based on the key point of the connecting rod, determine whether the connecting rod blocks the cross laser emitted vertically downward from the hanging plate.

[0019] Furthermore, in step S1, a plurality of joint coordinate systems are established based on the joints of the surgical operating arm of the patient trolley, specifically:

[0020] From the base to the end of the surgical operating arm, it includes a small crossbeam rotation joint, a small crossbeam translation joint, a small vertical arm translation joint, a small vertical arm rotation joint, a redundant joint, a yaw joint, a pitch joint, a first link, and a parallelogram transmission mechanism including a second link, a third link and a fourth link. At the same time, the surgical operating arm is connected to the hanging plate of the patient trolley through the small crossbeam rotation joint;

[0021] Establishing a joint coordinate system T0 as the hanging plate coordinate system, wherein the joint coordinate system T0 is fixed to the hanging plate, and the direction of the laser emission line is the positive direction of the Z axis of the joint coordinate system T0;

[0022] Establishing a joint coordinate system T1, wherein the joint coordinate system T1 is fixed to the small beam rotation joint;

[0023] Establishing a joint coordinate system T2, wherein the joint coordinate system T2 is fixed to the small beam translation joint;

[0024] Establishing a joint coordinate system T3, wherein the joint coordinate system T3 is fixed to the small vertical arm translation joint;

[0025] Establishing a joint coordinate system T4, wherein the joint coordinate system T4 is fixed to the small vertical arm rotation joint;

[0026] Establishing a joint coordinate system T5, wherein the joint coordinate system T5 is fixed to the redundant joint;

[0027] Establishing a joint coordinate system T6, wherein the joint coordinate system T6 is fixed to the yaw joint;

[0028] A joint coordinate system T7 is established, wherein the joint coordinate system T7 is fixed to the fourth link.

[0029] Furthermore, in step S1, the coordinate transformation matrix between the joint coordinate systems is determined, specifically:

[0030] Using the MDH method to determine the homogeneous transformation matrix between adjacent joint coordinate systems as the coordinate transformation matrix;

[0031] For each joint of each manipulator, define MDH parameters, including:

[0032] a i : Along Z i-1 The displacement of the axis represents the length of the connecting rod corresponding to the joint of the surgical operating arm;

[0033] α i :Around X i-1 The rotation angle of the axis represents the rotation of the corresponding connecting rod of the surgical operating arm joint;

[0034] d i : Along X i The displacement of the axis represents the displacement between adjacent coordinate systems;

[0035] θ i : Along Z i The rotation angle of the axis represents the rotation between adjacent coordinate systems;

[0036] For each joint coordinate system, the homogeneous transformation matrix between adjacent joint coordinate systems is constructed using the MDH parameters. The homogeneous transformation matrix of the matrix of the joint coordinate system from i-1 to i is Expressed as:

[0037]

[0038] Among them, a i , α i d i ,θ i is the MDH parameter of the i-th joint coordinate system;

[0039] The total transformation matrix from the i-th joint coordinate system to the joint coordinate system T0 is:

[0040]

[0041] in is the total transformation matrix from the i-th joint coordinate system to the joint coordinate system T0.

[0042] Furthermore, in step S2, based on the joint coordinate system and the coordinate transformation matrix, the position of the key point in the connecting rod of the surgical operating arm in the hanging plate coordinate system is calculated, specifically:

[0043] Define the starting point of the first link as key point A, the connection point between the first link and the second link as key point B, the connection point between the second link and the third link as key point C, the end point of the third link as key point D, and the two endpoints of the fourth link as key points E and F respectively;

[0044] The coordinates of the key point A in the hanging plate coordinate system are transformed from the joint coordinate system T0 to the joint coordinate system T6 get;

[0045] The transmission of the second link, the third link and the fourth link follows a parallelogram transmission mode, and the coordinates of the key points B, C, D, E and F in the hanging plate coordinate system are transformed from the joint coordinate system T0 to the joint coordinate system T7. get.

[0046] Furthermore, in step S3, based on the key point of the connecting rod, it is determined whether the connecting rod blocks the cross laser emitted vertically downward from the hanging plate, specifically:

[0047] The first link, the second link, the third link and the fourth link are determined as the links that may block the cross laser, and whether the links block the cross laser emitted vertically downward from the hanging plate is determined according to an occlusion determination algorithm.

[0048] Furthermore, the occlusion determination algorithm is specifically as follows:

[0049] Project the key point in the connecting rod onto the XOY plane of the hanging plate coordinate system, and determine the straight-line distance from the point O where the cross laser is emitted to the projection of the connecting rod. When the straight-line distance is less than the envelope radius R of the connecting rod, it is determined that the connecting rod blocks the cross laser.

[0050] Furthermore, the occlusion determination algorithm is specifically as follows:

[0051] The straight line segments emitted by the cross laser and each of the connecting rods are abstracted as capsules. If the capsules of the straight line segments emitted by the cross laser collide with the capsules of each of the connecting rods, it is determined that the connecting rod blocks the cross laser.

[0052] A system for preventing laser shielding during positioning of a patient trolley for executing the above-mentioned method for preventing laser shielding during positioning of a patient trolley comprises:

[0053] A coordinate system establishment module, configured to establish a plurality of joint coordinate systems based on a plurality of joints of the surgical operating arm of the patient trolley, and to determine a coordinate transformation matrix between the plurality of joint coordinate systems;

[0054] A key point determination module, configured to calculate the position of the key point in the connecting rod of the surgical operating arm in the hanging plate coordinate system based on the joint coordinate system and the coordinate transformation matrix;

[0055] The occlusion judgment module is used to judge whether the connecting rod blocks the cross laser emitted vertically downward from the hanging plate based on the key point of the connecting rod.

[0056] A computer device includes a memory and one or more processors, wherein the memory stores computer code, and when the computer code is executed by the one or more processors, the one or more processors execute the above method.

[0057] A computer-readable storage medium stores computer code. When the computer code is executed, the above method is performed.

[0058] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0059] (1) A method for preventing laser obstruction when positioning a patient trolley is provided, comprising: S1: establishing a plurality of joint coordinate systems based on a plurality of joints of the surgical operating arm of the patient trolley, and determining a coordinate conversion matrix between the plurality of joint coordinate systems; S2: calculating the position of a key point in the connecting rod of the surgical operating arm in the hanging plate coordinate system based on the joint coordinate system and the coordinate conversion matrix; S3: judging whether the connecting rod obstructs the cross laser emitted vertically downward from the hanging plate based on the key point of the connecting rod. The above technical solution can detect whether the connecting rod of the surgical operating arm obstructs the cross laser, thereby avoiding the problem that the connecting rod of the surgical operating arm obstructs the cross laser and affects the positioning of the patient trolley.

[0060] (2) Laser occlusion detection is performed by using a robot kinematic algorithm to determine the relative position of the laser and each link of the surgical operating arm. This method is efficient, accurate, and highly stable.

[0061] (3) Two occlusion detection algorithms are proposed, which can accurately detect whether the laser is blocked in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is a schematic diagram of the basic structure of the patient trolley of the present invention;

[0063] Figure 2 This is a schematic diagram of the patient trolley shielding of the present invention;

[0064] Figure 3 This is an overall flow chart of the method for preventing laser shielding when positioning the patient trolley of the present invention;

[0065] Figure 4 Schematic diagram of the configuration of the operating arm of the present invention;

[0066] Figure 5 A schematic diagram of setting the coordinate system of the present invention;

[0067] Figure 6 This is the overall structural diagram of the laser shielding prevention system when positioning the patient trolley of the present invention;

[0068] Reference numerals

[0069] 110: Large column; 120: Lifting rod; 130: Lifting plate; 140: Surgical operating arm; 150: Joint of the surgical operating arm;

[0070] 131: Cross laser emits straight line;

[0071] 141: first connecting rod; 142: second connecting rod; 143: third connecting rod; 144: fourth connecting rod;

[0072] 151: Small crossbeam rotation joint; 152: Small crossbeam translation joint; 153: Small vertical arm translation joint; 154: Small vertical arm rotation joint; 155: Redundant joint; 156: Yaw joint; 157: Pitch joint; 158: Parallelogram transmission mechanism. DETAILED DESCRIPTION

[0073] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0074] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0075] First embodiment

[0076] like Figure 3 As shown, this embodiment provides a method for preventing laser shielding when positioning a patient trolley, comprising the following steps:

[0077] S1: Establishing a plurality of joint coordinate systems based on the joints of the surgical operating arm of the patient trolley, and determining a coordinate transformation matrix between the plurality of joint coordinate systems.

[0078] In this embodiment, several joint coordinate systems are established based on several joints of the surgical operating arm of the patient trolley, specifically:

[0079] like Figure 4As shown, from the base to the end of the surgical operating arm, it includes a small crossbeam rotation joint 151, a small crossbeam translation joint 152, a small vertical arm translation joint 153, a small vertical arm rotation joint 154, a redundant joint 155, a yaw joint 156, a pitch joint 157, a first link 141, and a parallelogram transmission mechanism 158 including a second link 142, a third link 143 and a fourth link 144. At the same time, the surgical operating arm is connected to the hanging plate 130 of the patient trolley through the small crossbeam rotation joint 151;

[0080] like Figure 4 As shown, a joint coordinate system T0 is established as the hanging plate coordinate system, the joint coordinate system T0 is fixed to the hanging plate 130, and the direction of the laser emission line 131 is the positive direction of the Z axis of the joint coordinate system T0;

[0081] Establishing a joint coordinate system T1, wherein the joint coordinate system T1 is fixed to the small beam rotation joint 131;

[0082] Establishing a joint coordinate system T2, wherein the joint coordinate system T2 is fixed to the small beam translation joint 152;

[0083] Establishing a joint coordinate system T3, wherein the joint coordinate system T3 is fixed to the small vertical arm translation joint 153;

[0084] Establishing a joint coordinate system T4, wherein the joint coordinate system T4 is fixed to the small vertical arm rotation joint 154;

[0085] Establishing a joint coordinate system T5, wherein the joint coordinate system T5 is fixed to the redundant joint 155;

[0086] Establishing a joint coordinate system T6, wherein the joint coordinate system T6 is fixed to the yaw joint 156;

[0087] A joint coordinate system T7 is established, and the joint coordinate system T7 is fixed to the fourth link 144 .

[0088] In this embodiment, the coordinate transformation matrix between the joint coordinate systems is determined as follows:

[0089] Using the MDH method to determine the homogeneous transformation matrix between adjacent joint coordinate systems as the coordinate transformation matrix;

[0090] For each joint of each manipulator, define MDH parameters, including:

[0091] a i : Along Z i-1 The displacement of the axis represents the length of the connecting rod corresponding to the joint of the surgical operating arm;

[0092] αi :Around X i-1 The rotation angle of the axis represents the rotation of the corresponding connecting rod of the surgical operating arm joint;

[0093] d i : Along X i The displacement of the axis represents the displacement between adjacent coordinate systems;

[0094] θ i : Along Z i The rotation angle of the axis represents the rotation between adjacent coordinate systems;

[0095] For each joint coordinate system, the homogeneous transformation matrix between adjacent joint coordinate systems is constructed using the MDH parameters. The homogeneous transformation matrix of the matrix of the joint coordinate system from i-1 to i is Expressed as:

[0096]

[0097] Among them, a i , α i d i ,θ i is the MDH parameter of the i-th joint coordinate system;

[0098] The total transformation matrix from the i-th joint coordinate system to the joint coordinate system T0 is:

[0099]

[0100] in is the total transformation matrix from the i-th joint coordinate system to the joint coordinate system T0.

[0101] S2: Based on the joint coordinate system and the coordinate transformation matrix, calculate the position of the key point in the connecting rod of the surgical operating arm in the hanging plate coordinate system.

[0102] In this embodiment, based on the joint coordinate system and the coordinate transformation matrix, the position of the key point in the connecting rod of the surgical operating arm in the hanging plate coordinate system is calculated as follows:

[0103] Define the starting point of the first link as key point A, the connection point between the first link and the second link as key point B, the connection point between the second link and the third link as key point C, the end point of the third link as key point D, and the two endpoints of the fourth link as key points E and F respectively;

[0104] The coordinates of the key point A in the hanging plate coordinate system are transformed from the joint coordinate system T0 to the joint coordinate system T6 get;

[0105] The transmission of the second link, the third link and the fourth link follows a parallelogram transmission mode, and the coordinates of the key points B, C, D, E and F in the hanging plate coordinate system are transformed from the joint coordinate system T0 to the joint coordinate system T7. get.

[0106] Among them, the parallelogram transmission mechanism is a mechanical transmission system whose structure is in the shape of a parallelogram. This mechanism is usually composed of two parallel connecting rods and a crossbeam, and these connecting rods and the crossbeam form a parallelogram structure. In this embodiment, the second connecting rod and an invisible line parallel to the second connecting rod passing through the key point D are used as two parallel connecting rods, and the third connecting rod is used as a crossbeam. Although the fourth connecting rod is not completely parallel to the second connecting rod, the structural relationship between the fourth connecting rod and the invisible line parallel to the second connecting rod passing through the key point D is fixed. Therefore, the second connecting rod, the third connecting rod and the fourth connecting rod can apply the transmission principle of the parallelogram transmission structure to perform various calculations. When the transmission principle of the parallelogram transmission structure is applied, the positions of the key points B, C, D, E and F inside the parallelogram transmission structure are easy to deduce. Therefore, the key points B, C, D, E and F only need to apply the transformation from the joint coordinate system T0 to the joint coordinate system T7. You can get the coordinates in the hanging plate coordinate system.

[0107] S3: Based on the key point of the connecting rod, determine whether the connecting rod blocks the cross laser emitted vertically downward from the hanging plate.

[0108] In this embodiment, based on the key point of the connecting rod, it is determined whether the connecting rod blocks the cross laser emitted vertically downward from the hanging plate, specifically:

[0109] The first link, the second link, the third link and the fourth link are determined as the links that may block the cross laser, and whether the links block the cross laser emitted vertically downward from the hanging plate is determined according to an occlusion determination algorithm.

[0110] In this embodiment, the occlusion determination algorithm adopts any one of the following two algorithms:

[0111] (1) Key point projection

[0112] Project the key point in the connecting rod onto the XOY plane of the hanging plate coordinate system, and determine the straight-line distance from the point O where the cross laser is emitted to the projection of the connecting rod. When the straight-line distance is less than the envelope radius R of the connecting rod, it is determined that the connecting rod blocks the cross laser.

[0113] That is, calculate the perpendicular distances from point O to the line connecting key points A and B, key points B and key C, key points C and key D, and key points E and key F on the XOY plane projection. If any of these perpendicular distances is less than the connecting rod's envelope radius R, the connecting rod is considered to be blocking the cross laser.

[0114] (2) Capsule collision

[0115] The straight line segments emitted by the cross laser and each of the connecting rods are abstracted as capsules. If the capsules of the straight line segments emitted by the cross laser collide with the capsules of each of the connecting rods, it is determined that the connecting rod blocks the cross laser.

[0116] Here are the basic steps for detecting capsule collisions:

[0117] Select separating axes: For capsules A and B with misaligned axes, select a set of potential separating axes that are perpendicular to the capsule surface, including the capsule axis, the line between the endpoints, and other possible axes.

[0118] Project and check overlap: For each selected separating axis, project the two capsules onto that axis and check if their projections overlap. If separation is found on any axis, the capsules do not intersect.

[0119] Overlap detection: If no separation is found on any axis, a more detailed check is performed. This typically involves checking the distance between the endpoints and checking for contact on the capsule surfaces. If the distance between the endpoints is less than the sum of the two capsule radii, or if they touch on an axis, they are considered to intersect.

[0120] This process can be performed by iterating over multiple potential separating axes, ensuring that all possible directions have been tested. The Separating Axis Theorem is a powerful and flexible method that works for colliders of various shapes.

[0121] Second embodiment

[0122] like Figure 6 As shown, this embodiment provides a system for preventing laser shielding during positioning of a patient trolley for executing the method for preventing laser shielding during positioning of a patient trolley as in the first embodiment, characterized by comprising:

[0123] A coordinate system establishing module 210 is configured to establish a plurality of joint coordinate systems based on a plurality of joints of the surgical operating arm of the patient trolley, and determine a coordinate transformation matrix between the plurality of joint coordinate systems;

[0124] A key point determination module 220 is configured to calculate the position of the key point in the connecting rod of the surgical operating arm in the hanging plate coordinate system based on the joint coordinate system and the coordinate transformation matrix;

[0125] The occlusion judgment module 230 is used to judge whether the connecting rod blocks the cross laser emitted vertically downward from the hanging plate based on the key point of the connecting rod.

[0126] A computer-readable storage medium stores computer code. When the computer code is executed, the above-described method is performed. A person skilled in the art will appreciate that all or part of the steps in the various methods of the above-described embodiments can be performed by a program instructing related hardware. The program can be stored in a computer-readable storage medium. The storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0127] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0128] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for preventing laser obstruction when positioning a patient trolley, characterized in that: The following steps are involved: S1: establishing a plurality of joint coordinate systems based on a plurality of joints of a surgical operating arm of a patient trolley, and determining a coordinate transformation matrix between the plurality of joint coordinate systems; S2: Calculating the positions of key points in the connecting rod of the surgical operating arm in the hanging plate coordinate system based on the joint coordinate system and the coordinate transformation matrix; S3: Based on the key point of the connecting rod, determining whether the connecting rod blocks a cross laser emitted vertically downward from the hanging plate; In step S3, based on the key point of the connecting rod, it is determined whether the connecting rod blocks the cross laser emitted vertically downward from the hanging plate, specifically: Determining a first link, a second link, a third link, and a fourth link as the links that may block the cross laser, and determining whether the links block the cross laser emitted vertically downward from the hanging plate according to an occlusion determination algorithm; The occlusion determination algorithm is specifically as follows: Project the key point in the connecting rod onto the XOY plane of the hanging plate coordinate system, and determine the straight-line distance from the point O where the cross laser is emitted to the projection of the connecting rod. When the straight-line distance is less than the envelope radius R of the connecting rod, it is determined that the connecting rod blocks the cross laser.

2. The method for preventing laser obstruction during positioning of a patient trolley according to claim 1, characterized in that: In step S1, a plurality of joint coordinate systems are established based on the joints of the surgical operating arm of the patient trolley, specifically: From the base to the end of the surgical operating arm, it includes a small crossbeam rotation joint, a small crossbeam translation joint, a small vertical arm translation joint, a small vertical arm rotation joint, a redundant joint, a yaw joint, a pitch joint, a first link, and a parallelogram transmission mechanism including a second link, a third link and a fourth link. At the same time, the surgical operating arm is connected to the hanging plate of the patient trolley through the small crossbeam rotation joint; Establishing a joint coordinate system T0 as the hanging plate coordinate system, wherein the joint coordinate system T0 is fixed to the hanging plate, and the direction of the laser emission line is the positive direction of the Z axis of the joint coordinate system T0; Establishing a joint coordinate system T1, wherein the joint coordinate system T1 is fixed to the small beam rotation joint; Establishing a joint coordinate system T2, wherein the joint coordinate system T2 is fixed to the small beam translation joint; Establishing a joint coordinate system T3, wherein the joint coordinate system T3 is fixed to the small vertical arm translation joint; Establishing a joint coordinate system T4, wherein the joint coordinate system T4 is fixed to the small vertical arm rotation joint; Establishing a joint coordinate system T5, wherein the joint coordinate system T5 is fixed to the redundant joint; Establishing a joint coordinate system T6, wherein the joint coordinate system T6 is fixed to the yaw joint; A joint coordinate system T7 is established, wherein the joint coordinate system T7 is fixed to the fourth link.

3. The method for preventing laser obstruction during positioning of a patient trolley according to claim 2, characterized in that: In step S1, the coordinate transformation matrix between the joint coordinate systems is determined, specifically: Using the MDH method to determine the homogeneous transformation matrix between adjacent joint coordinate systems as the coordinate transformation matrix; For each joint of each manipulator, define MDH parameters, including: a i : Along Z i-1 The displacement of the axis represents the length of the connecting rod corresponding to the joint of the surgical operating arm; α i :Around X i-1 The rotation angle of the axis represents the rotation of the corresponding connecting rod of the surgical operating arm joint; d i : Along X i The displacement of the axis represents the displacement between adjacent coordinate systems; θ i : Along Z i The rotation angle of the axis represents the rotation between adjacent coordinate systems; For each joint coordinate system, the homogeneous transformation matrix between adjacent joint coordinate systems is constructed using the MDH parameters. The homogeneous transformation matrix of the matrix of the joint coordinate system from i-1 to i is Expressed as: Among them, a i , α i d i ,θ i is the MDH parameter of the i-th joint coordinate system; The total transformation matrix from the i-th joint coordinate system to the joint coordinate system T0 is: in is the total transformation matrix from the i-th joint coordinate system to the joint coordinate system T0.

4. The method for preventing laser obstruction during positioning of a patient trolley according to claim 3, characterized in that: In step S2, based on the joint coordinate system and the coordinate transformation matrix, the position of the key point in the connecting rod of the surgical operating arm in the hanging plate coordinate system is calculated, specifically: Define the starting point of the first link as key point A, the connection point between the first link and the second link as key point B, the connection point between the second link and the third link as key point C, the end point of the third link as key point D, and the two endpoints of the fourth link as key points E and F respectively; The coordinates of the key point A in the hanging plate coordinate system are transformed from the joint coordinate system T0 to the joint coordinate system T6 get; The transmission of the second link, the third link and the fourth link follows a parallelogram transmission mode, and the coordinates of the key points B, C, D, E and F in the hanging plate coordinate system are transformed from the joint coordinate system T0 to the joint coordinate system T7. get.

5. The method for preventing laser obstruction during positioning of a patient trolley according to claim 1, characterized in that: The occlusion determination algorithm is specifically as follows: The straight line segments emitted by the cross laser and each of the connecting rods are abstracted as capsules. If the capsules of the straight line segments emitted by the cross laser collide with the capsules of each of the connecting rods, it is determined that the connecting rod blocks the cross laser.

6. A system for preventing laser blocking during positioning of a patient trolley for executing the method for preventing laser blocking during positioning of a patient trolley according to any one of claims 1 to 5, characterized in that: include: A coordinate system establishment module, configured to establish a plurality of joint coordinate systems based on a plurality of joints of the surgical operating arm of the patient trolley, and to determine a coordinate transformation matrix between the plurality of joint coordinate systems; A key point determination module, configured to calculate the position of the key point in the connecting rod of the surgical operating arm in the hanging plate coordinate system based on the joint coordinate system and the coordinate transformation matrix; The occlusion judgment module is used to judge whether the connecting rod blocks the cross laser emitted vertically downward from the hanging plate based on the key point of the connecting rod.

7. A computer device comprising a memory and one or more processors, wherein the memory stores computer code, and when the computer code is executed by the one or more processors, the one or more processors are caused to perform the method according to any one of claims 1 to 5. 8 . A computer-readable storage medium storing computer code, wherein when the computer code is executed, the method according to claim 1 is performed.

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