Navigation methods, devices, actuators, equipment and media for medical devices

Abstract

This invention provides a navigation method, apparatus, actuator, device, and medium for a medical device. The method includes: acquiring a first medical image containing a navigation target; determining the range of the navigation target based on the first medical image, performing a first path planning, and generating a first path based on an image coordinate system; positioning the actuator before surgical operation so that the medical device covers the first path both in its current effective workspace and when rotating within a preset angle range; acquiring a second medical image containing the navigation target and the medical device; performing a second path planning based on the second medical image, and generating a second path based on an image coordinate system; associating a robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; and controlling the movement process of the medical device according to the current coordinates. This method is used to improve navigation accuracy.

Description

Technical Field

[0001] This invention relates to the field of medical device navigation, and more particularly to a navigation method, apparatus, actuator, device, and medium for medical devices. Background Technology

[0002] Currently, in procedures such as thoracic and abdominal biopsies or ablation therapy, the traditional method involves locating lesions using imaging equipment such as computed tomography (CT). Based on the location of the lesion in the images, the surgeon manually adjusts the position and angle before performing the puncture. The puncture process may require multiple CT scans for confirmation and adjustment. Manual adjustments are prone to errors, and correcting these errors necessitates multiple CT scans, resulting in prolonged surgical time and hindering efficiency. Multiple CT scans also increase the patient's X-ray exposure dose, potentially increasing the risk of cancer and harming the patient's health. Therefore, there is an urgent need for a novel medical device navigation method, device, actuator, equipment, and medium to address these issues. Summary of the Invention

[0003] The purpose of this invention is to provide a navigation method, device, actuator, equipment, and medium for medical devices, which improves navigation accuracy.

[0004] In a first aspect, the present invention provides a navigation method for a medical device, comprising: S1, acquiring a first medical image containing a navigation target; S2, determining the range of the navigation target based on the first medical image, performing a first path planning, and generating a first path based on an image coordinate system; S3, positioning the actuator before surgical operation so that the medical device covers the first path both in its current effective workspace and when rotating within a preset angle range; S4, acquiring a second medical image containing the navigation target and the medical device; S5, performing a second path planning based on the second medical image, and generating a second path based on an image coordinate system; S6, associating a robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; and S7, controlling the movement process of the medical device according to the current coordinates.

[0005] The beneficial effects of the method of the present invention are as follows: Based on the first medical image, the scope of the navigation target is determined, and a first path planning is performed to generate a first path based on the image coordinate system, which facilitates the determination of the skin entry point. Based on the second medical image, a second path planning is performed to generate a second path based on the image coordinate system, which facilitates the inclusion of the lesion target point and the actuator registration point in the same image coordinate system, which is beneficial to improving navigation accuracy, eliminating the need for multiple CT confirmations, saving surgical time and benefiting the patient's health.

[0006] Optionally, when acquiring the second medical image in step S4, the method further includes: using a respiratory monitoring strap to restrain the object and perform respiratory gating so that the respiratory phase of the second medical image is synchronized with the respiratory phase when the medical device is in motion.

[0007] Optionally, S2 further includes: determining an entry point on the object's skin through which the first path passes based on the first path; S5 further includes: determining a target point at the end of the second path based on the second path and determining a registration point for the corresponding medical device based on the second medical image.

[0008] Optionally, S3 further includes: confirming that the actuator is installed on the fixture, and adjusting the position of the fixture so that the position of the actuator changes synchronously.

[0009] Optionally, the fixer is configured as a strap, which confirms that the strap has restrained the object, thereby fixing the actuator and the object relatively, so as to reduce the relative movement between the object and the actuator.

[0010] Optionally, the fixation device is configured as a universal arm connected to a bed board for supporting the object; when the actuator moves relative to the object, S4 is re-executed to update the second medical image.

[0011] In a second aspect, the present invention provides a navigation device for a medical device, used in the method described in any one of the first aspects, comprising: an image acquisition unit for acquiring a first medical image containing a navigation target; a processing unit for determining the range of the navigation target based on the first medical image, performing a first path planning, and generating a first path based on an image coordinate system; positioning the actuator before surgical operation such that the medical device covers the first path both in its current effective workspace and when rotating within a preset angle range; the image acquisition unit is further configured to acquire a second medical image containing the navigation target and the medical device; the processing unit is further configured to perform a second path planning based on the second medical image, generating a second path based on an image coordinate system; associating a robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; and controlling the movement process of the medical device according to the current coordinates.

[0012] Thirdly, the present invention provides an actuator for surgical operations, used to perform the method described in the first aspect, comprising: a first translation module, a second translation module, a first rotation module, a second rotation module, and a third translation module connected in sequence; the first translation module is connected to a base; the third translation module is connected to a medical device; the first translation module, the second translation module, and the third translation module are all used to drive the medical device to move linearly in their respective different directions; the first rotation module and the second rotation module are both used to drive the medical device to rotate around their respective axes in different directions.

[0013] Optionally, straps are detachably connected to both sides of the base; an airbag is provided on the end face of the base facing the object; when the airbag is inflated or deflated, it is used to adjust the movable space of the object in the straps.

[0014] Optionally, a Velcro pad is fixed to the side of the strap away from the object, the Velcro pad being used to adhere to the bed board on the back side of the object.

[0015] Fourthly, the present invention provides a surgical operating device, including a memory and a processor, wherein the memory stores a program executable on the processor, and when the program is executed by the processor, the surgical operating device performs the method described in any one of the first aspects.

[0016] Fifthly, the present invention provides a readable storage medium storing a program, which, when executed, implements the method described in any one of the first aspects. Attached Figure Description

[0017] Figure 1 A flowchart illustrating a navigation method for a medical device provided by the present invention;

[0018] Figure 2 A schematic diagram of the structure of a navigation device for a medical device provided by the present invention;

[0019] Figure 3 A schematic diagram of the structure of a navigation device equipped with a respiratory monitoring strap provided by the present invention;

[0020] Figure 4 A view of the structure of an actuator provided by the present invention along the Y direction;

[0021] Figure 5 A three-dimensional structural diagram of an actuator from a first perspective is provided for this invention.

[0022] Figure 6 A three-dimensional structural diagram of an actuator provided by the present invention from a second perspective;

[0023] Figure 7This is a schematic diagram of the structure of a Velcro pad, a base, and a strap connection provided by the present invention;

[0024] Figure 8 This is a schematic diagram of the structure of the base and the strap connection provided by the present invention;

[0025] Figure 9 This invention provides a schematic diagram of the distribution of airbags on a base;

[0026] Figure 10 This is a schematic diagram of the structure of a surgical device provided by the present invention.

[0027] Numbering on the map:

[0028] 1. Actuator; 10. Base; 11. First translation module; 111. First slide rail; 112. First slider; 113. Crossbeam; 114. First linear motor; 115. First lead screw; 116. First linear motion gear;

[0029] 12. Second translation module; 121. Second slide rail; 122. Second slider; 123. Support; 124. Second linear motor; 125. Second lead screw; 126. Second linear motion gear;

[0030] 13. Third translation module; 131. Linear motion arm; 132. Instrument clamp; 133. Third linear motor;

[0031] 21. First rotary module; 211. First rotary motor; 212. First rotary frame; 213. First rotary motion gear set; 214. Incremental encoder; 215. First worm gear structure;

[0032] 22. Second rotating module; 221. Second rotating motor; 222. Second rotating frame; 223. Second rotating motion gear set; 224. Second worm gear structure;

[0033] 30. Respiratory monitoring straps; 31. Velcro straps; 32. Velcro pads; 33. Airbags; 34. Bed boards; 35. Straps; 36. Buckles; 37. Balloons; 38. Airway tubes; 39. Subject;

[0034] 40. Surgical operating equipment; 41. Processor; 42. Memory; 43. Output interface; 44. Communication interface; 45. Antenna;

[0035] 50. Navigation device for medical devices; 51. Image acquisition unit; 52. Processing unit; 521. All-in-one machine; 522. Main control box; 53. Power adapter; 54. Power supply. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but do not exclude other elements or objects.

[0037] In response to the problems existing in the current technology, such as Figure 1 As shown, the first embodiment provides a navigation method for a medical device, including: S1, acquiring a first medical image containing a navigation target; S2, determining the range of the navigation target based on the first medical image, performing a first path planning, and generating a first path based on the image coordinate system; S3, adjusting the pose of an actuator used for surgical operations so that the medical device covers the first path both in its current effective workspace and when rotating within a preset angle range; S4, acquiring a second medical image containing the navigation target and the medical device; S5, performing a second path planning based on the second medical image, and generating a second path based on the image coordinate system; S6, associating a robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; S7, controlling the movement process of the medical device according to the current coordinates.

[0038] It is worth noting that in this embodiment, the scope of the navigation target is determined based on the first medical image, and a first path planning is performed to generate a first path based on the image coordinate system, which facilitates the determination of the skin entry point. A second path planning is performed based on the second medical image to generate a second path based on the image coordinate system, which facilitates the inclusion of the lesion target point and the actuator registration point in the same image coordinate system, which helps to improve navigation accuracy, eliminates the need for multiple CT confirmations, saves surgical time, and is beneficial to the patient's health.

[0039] Specifically, S1 includes acquiring a first CT image containing the lesion. S4 includes acquiring a second CT image containing the lesion and the puncture needle. In some other specific embodiments, S1 includes acquiring a first cone-beam computed tomography (CBCT) image containing the lesion. S4 includes acquiring a second CBCT image containing the lesion and the puncture needle.

[0040] In some embodiments, S2 includes: determining an entry point on the skin of the object through which the first path passes, based on the first path; S5 includes: determining a target point at the end of the second path based on the second path and determining a registration point for the corresponding medical device based on the second medical image.

[0041] Specifically, the medical device is configured as a puncture needle, and the first path is used to determine the entry point of the puncture needle through the skin of the target. The second path is used to determine the endpoint of the second path as the lesion target. Referring to the second medical image, the second image is registered with the actuator based on the image information of a radiopaque registration device located on the actuator. It is worth noting that the registration device is configured as a steel ball or any component radiopaque in the second medical image. In some other specific embodiments, the medical device is configured as a biopsy needle. In still other specific embodiments, the medical device is configured as an ablation needle.

[0042] In some embodiments, S3 further includes: confirming that the actuator is installed on the fixture, and adjusting the position of the fixture to make the position of the actuator change synchronously. Specifically, the actuator is detachably connected to the fixture. When the fixture translates or rotates, the actuator translates or rotates synchronously with the fixture.

[0043] In some embodiments, when acquiring the second medical image in S4, the method further includes: using a respiratory monitoring strap to restrain the object and perform respiratory gating so that the respiratory phase of the second medical image is synchronized with the respiratory phase when the medical device is in motion.

[0044] Specifically, respiratory gating includes selecting an appropriate respiratory phase for puncture. For example, the respiratory cycle of the subject is monitored in real time using a respiratory monitoring strap. A CT scan is performed at the end of expiration, and the respiratory phase and amplitude at that moment are recorded. During puncture, when the subject reaches the end-expiratory phase or amplitude in a subsequent respiratory cycle, the subject is prompted to hold their breath before the puncture. In another example, a CT scan is performed at the end of inspiration, and the respiratory phase and amplitude at that moment are recorded. During puncture, when the subject reaches the end-inspiratory phase or amplitude in a subsequent respiratory cycle, the subject is prompted to hold their breath before the puncture. This embodiment ensures that the image and the subject are as consistent as possible.

[0045] In some embodiments, the restraint is configured as a strap. Once the strap has secured the object, the actuator and the object are relatively fixed, reducing relative movement between them. Specifically, both ends of the strap are connected to the actuator, and the middle section of the strap surrounds the object. In this case, the object's movable space relative to the actuator is restricted between the strap and the actuator. When the strap tightens, it is confirmed that the strap has secured the object, and the actuator and the object are relatively fixed.

[0046] In some embodiments, the fixator is configured as a universal arm connected to a bed board for supporting the object; when the actuator moves relative to the object, S4 is re-executed to update the second medical image. Specifically, the object lies supine on the bed board, the side end of which is connected to the fixed end of the universal arm. The actuator is the movable end of the universal arm. The universal arm is used to follow the movement of the object to drive the actuator to move, so that the relative position of the medical device loaded on the actuator and the object remains unchanged.

[0047] In some specific embodiments, in S6, the robot coordinate system is the position coordinate system of the medical device generated by the actuator for calibration. In S7, the current coordinate controlling the movement process of the medical device can be the process of the medical device continuously moving from the approach point to the target point. The current coordinate controlling the movement process of the medical device can also be the medical device stepping from the approach point to the target point, and the pause points between the stepping movements are used to adjust the direction of the medical device for the next stepping movement.

[0048] like Figure 2 and Figure 3 As shown, the second embodiment provides a navigation device 50 for a medical device, used in the method described in any one of the first embodiments, comprising: an image acquisition unit 51, configured to acquire a first medical image containing a navigation target; a processing unit 52, configured to determine the range of the navigation target based on the first medical image, perform a first path planning, and generate a first path based on an image coordinate system; positioning the actuator 1 before the surgical operation so that the medical device covers the first path both in the current effective workspace and when rotating within a preset angle range; the image acquisition unit 51 is further configured to acquire a second medical image containing the navigation target and the medical device; the processing unit 52 is further configured to perform a second path planning based on the second medical image, and generate a second path based on an image coordinate system; associating the robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; and controlling the movement process of the medical device according to the current coordinates.

[0049] Specifically, the image acquisition unit 51 includes a CT scanning system, a computer system, and an image display and storage system, used to acquire a first CT image and a second CT image. The CT scanning system includes an X-ray generator and a detector. The X-ray generator produces X-rays, and the detector receives the X-rays after they pass through the object 39 and converts them into electrical signals to output as CT images.

[0050] In another specific embodiment, the processing unit 52 includes a main control box 522 and an all-in-one machine 521. The all-in-one machine 521 is connected to the main control box 522, the breathing monitoring strap 30, and the image acquisition unit 51 via a data cable. The main control box 522 is connected to the actuator 1. In yet another specific embodiment, the main control box 522 is connected to a power adapter 53, which is connected to a power supply 54 for power supply. In yet another specific embodiment, the main control box 522 is equipped with a buzzer, and the actuator 1 is equipped with an indicator light. Both the buzzer and the indicator light are used for fault alarms.

[0051] like Figure 2 and Figure 4 As shown, the third embodiment provides an actuator for surgical operations, used to perform the methods described in the above embodiments. The actuator 1 includes: a first translation module 11, a second translation module 12, a first rotation module 21, a second rotation module 22, and a third translation module 13 connected in sequence; the first translation module 11 is connected to a base 10; the third translation module 13 is connected to a medical device; the first translation module 11, the second translation module 12, and the third translation module 13 are all used to drive the medical device to move linearly in their respective directions; the first rotation module 21 and the second rotation module 22 are both used to drive the medical device to rotate around their respective axes in different directions.

[0052] Specifically, the first translation module 11 includes a first slide rail 111, a first slider 112, a crossbeam 113, and a first linear motor 114. The first slide rail 111 is fixed to the base 10. The first slider 112 is slidably connected to the first slide rail 111. The crossbeam 113 is fixedly connected to the first slider 112. One end of the crossbeam 113 is connected to the first linear motor 114. When the first linear motor 114 operates, it pushes the crossbeam 113 and the first slider 112 to move relative to the first slide rail 111 in the X direction or the X-opposite direction.

[0053] For example, the first translation module 11 further includes a first linear motion gear 116, which is fixedly connected to the crossbeam 113. The first linear motion gear 116 meshes with a first helical gear, and the spindle of the first linear motor 114 is connected to the first helical gear. When the first linear motor 114 drives the first helical gear to rotate, the first linear motion gear 116 translates along the spindle direction of the first linear motor 114, that is, along the X direction or the opposite X direction.

[0054] In another example, the first translation module 11 further includes a first lead screw 115 connected to the first linear motor 114. The first lead screw 115 is used to push the crossbeam 113 and the first slider 112 to move relative to the first slide rail 111 in the X direction or the X-opposite direction.

[0055] In other specific embodiments, the second translation module 12 includes a second slide rail 121, a second slider 122, a support 123, and a second linear motor 124. The second slide rail 121 is fixed to the crossbeam 113. The second slider 122 is slidably connected to the second slide rail 121. The support 123 is fixedly connected to the second slider 122. One end of the support 123 is connected to the second linear motor 124. When the second linear motor 124 operates, it pushes the support 123 and the second slider 122 to move relative to the second slide rail 121 in the Y direction or the opposite Y direction.

[0056] For example, the second translation module 12 further includes a second linear motion gear 126, which is fixedly connected to the crossbeam 113. The second linear motion gear 126 meshes with a second helical gear, and the spindle of the second linear motor 124 is connected to the second helical gear. When the second linear motor 124 drives the second helical gear to rotate, the second linear motion gear 126 translates along the spindle direction of the second linear motor 124, that is, along the Y direction or the opposite Y direction.

[0057] In another example, the second translation module 12 further includes a second lead screw 125 connected to the second linear motor 124. The second lead screw 125 is used to push the crossbeam 113 and the second slider 122 to move relative to the second slide rail 121 in the Y direction or the opposite Y direction.

[0058] In some specific embodiments, the first rotating module 21 includes a first rotating motor 211 and a first rotating frame 212. The first rotating motor 211 is fixed on the support 123. When the first rotating motor 211 is running, the first rotating frame 212 rotates about an axis perpendicular to the first rotation plane.

[0059] like Figure 5 As shown, exemplarily, the first rotating module 21 can also be configured as a deflection structure composed of a driving component, a transmission component, and a sensor component. The driving component is a first rotary motor 211 with a large reduction ratio, and the transmission component includes a first rotary motion gear set 213 and a first worm gear structure 215. The first rotary motion gear set 213 includes a driving gear and a driven gear. The driving gear is connected to the output shaft of the first rotary motor 211, the driven gear is connected to the worm shaft, and the worm gear is connected to the first rotating frame 212. The driving torque of the motor is transmitted to the worm shaft through the gears, and then to the first rotating frame 212 through the first worm gear structure 215, thereby driving the first rotating frame 212 to deflect at a preset angle.

[0060] In another example, the deflection structure also includes a dual encoder structure. An incremental encoder 214 is mounted on the motor to monitor the rotation angle of the first rotary motor 211. An angle encoder is also mounted on the deflection motion component, with its code disk mounted on the first rotating frame 212, deflecting along with the frame. The angle encoder's read head detects the actual rotation angle of the main rotating shaft, achieving dual closed-loop control. This dual closed-loop control mode enables more precise angle deflection, thereby achieving accurate positioning of the medical device and improving surgical safety.

[0061] like Figure 6 As shown, in some specific embodiments, the second rotating module 22 includes a second rotating motor 221 and a second rotating frame 222. The second rotating motor 221 is fixed to the periphery of the first rotating frame 212. When the second rotating motor 221 operates, the second rotating frame 222 rotates about an axis perpendicular to the second rotation plane. It is worth noting that the second rotating module 22 can also be configured as a deflection structure corresponding to the first rotating module 21 in the above embodiments, such as a second rotating motion gear set 223 and a second worm gear structure 224, which will not be elaborated here. It is also worth noting that the above worm gear structure can be replaced with a lead screw structure to meet different application scenarios.

[0062] In some specific embodiments, the third translation module 13 includes a linear motion arm 131 and an instrument holder 132; the instrument holder 132 is used to hold a medical device. The linear motion arm 131 is used to drive the instrument holder 132, which is loaded with a medical device, to move closer to or away from the object 39 along the main axis of the medical device.

[0063] More specifically, the linear motion arm 131 is driven by a third linear motor. When the third linear motor rotates in the forward direction, the linear motion arm 131 drives the instrument holder 132, which carries the medical device, to move closer to the object 39 along the main axis of the medical device. When the third linear motor rotates in the reverse direction, the linear motion arm 131 drives the instrument holder 132, which carries the medical device, to move away from the object 39 along the main axis of the medical device.

[0064] A second slider 122 is slidably connected to the second slide rail 121. A support 123 is fixedly connected to the second slider 122. One end of the support 123 is connected to a second linear motor 124. When the second linear motor 124 operates, it pushes the support 123 and the second slider 122 to move relative to the second slide rail 121 in the Y direction or the opposite Y direction.

[0065] It is worth noting that the above embodiments allow for adjustment of the medical device's horizontal movement distance in the X and Y directions, the needle insertion depth, pitch angle, and yaw angle, facilitating flexible operation of the medical device.

[0066] like Figure 7 Figure 8 and Figure 9 As shown, in some embodiments, straps 35 are detachably connected to both sides of the base 10; an airbag 33 is provided on the end face of the base 10 facing the object 39; when the airbag 33 is inflated or deflated, it is used to adjust the movable space of the object 39 in the straps 35.

[0067] In some embodiments, a Velcro pad 32 is fixed to the side of the strap 35 away from the object 39, and the Velcro pad 32 is used to adhere to the bed board 34 on the back side of the object 39.

[0068] Specifically, before use, deflate the airbag 33, attach the airbag 33 to the bottom of the base 10, place the Velcro pad 32 under the supine object 39, fix the strap 35 of the base 10 to the Velcro pad 32, and adjust the volume of the airbag 33 so that the base 10 with the airbag 33 is relatively fixed to the object 39.

[0069] In other specific embodiments, the base 10 has four independently inflatable or deflated airbags 33. By adjusting the volume of the four or some of the airbags 33, the base 10 can better cover the uneven surface of the object 39, making it stably fixed to the surface of the object 39, or stably fixed to the surface of the object 39 in different postures. In this embodiment, the base 10 is stably fixed to the surface of the object 39 through the independent control of the four airbags 33.

[0070] In some specific embodiments, each airbag 33 is connected to a corresponding air guide tube 38, and the other end of the air guide tube 38 is connected to a balloon 37. The balloon 37 is used to inflate the corresponding airbag 33 through the air guide tube 38. The airbag 33 is also provided with an exhaust port, and when the exhaust port is opened, the gas inside the airbag 33 is discharged through the exhaust port.

[0071] For example, if the front airbag 33 is fully inflated and the rear airbag is not fully inflated, the head portion of the base 10 can be raised after it is fixed. The use of the Velcro 31 and the strap 35 of the base 10 in conjunction with the second Velcro 31 allows the device to be moved on the body surface of the object 39 without the object 39 needing to be moved.

[0072] In another example, when the device base 10 is fixed to the chest of the object 39, the position of the device base 10 is slightly biased towards the feet of the object 39. At this time, the Velcro straps 31 and 35 on the base 10 are peeled off from the Velcro pad 32. Without moving the object 39, the base 10 is moved slightly towards the head of the object 39, and then the straps 35 of the base 10 are attached to the Velcro pad 32. The Velcro straps 31 and 35 on the base 10 can be attached anywhere on the Velcro pad 32.

[0073] In another example, the end of the strap 35 is provided with a buckle 36, which is used to tighten the strap 35 when it is engaged with the base 10. In yet another example, the strap 35 is designed as a breathable elastic band, which helps to improve wearing comfort.

[0074] like Figure 10 As shown, the fourth embodiment provides a surgical operating device 40, including a memory 42 and a processor 41. The memory 42 stores a program that can run on the processor 41. When the program is executed by the processor 41, the surgical operating device 40 performs the method described in any of the above embodiments.

[0075] In one possible embodiment, the surgical device 40 further includes: an output interface 43 for outputting results; a communication interface 44 for transmitting communication signals; and an antenna 45 for transmitting or receiving signals.

[0076] It should be noted that the processor 41 in this embodiment can be an image processing chip or an integrated circuit chip, capable of processing image signals. In implementation, each step of the above method embodiment can be completed by the integrated logic circuitry in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices. It can implement or execute the methods, steps, and logic block diagrams disclosed in this embodiment. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this embodiment can be directly implemented by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0077] It is understood that the memory 42 in this embodiment can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0078] The fifth embodiment provides a readable storage medium storing a program, which, when executed, implements the method described in any one of the above embodiments.

[0079] It is worth noting that if the method is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause the surgical device to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0080] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A navigation system for a medical device, characterized in that, It can execute a navigation method, including: S1, acquire the first medical image containing the navigation target; S2, based on the first medical image, determine the range of the navigation target, perform the first path planning, and generate a first path based on the image coordinate system; based on the first path, determine the entry point on the object's skin where the first path passes; S3, Position the actuator before the surgical procedure so that the medical device covers the first path in the current effective workspace and when it rotates within a preset angle range; S4, use a respiratory monitoring strap to restrain the object and perform respiratory gating so that the respiratory phase of the second medical image is synchronized with the respiratory phase when the medical device is moving; acquire a second medical image containing the navigation target and the medical device; S5, perform a second path planning based on the second medical image to generate a second path based on the image coordinate system; based on the second path, determine the target point at the end of the second path and the registration point of the corresponding medical device based on the second medical image; S6, associating the robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; S7, control the movement process of the medical device according to the current coordinates.

2. The system according to claim 1, characterized in that, S3 also includes: Confirm that the actuator is installed on the fixture, and adjust the position of the fixture so that the position of the actuator changes synchronously.

3. The system according to claim 2, characterized in that, The fastener is set as a strap. Once the strap is confirmed to bind the object, the actuator and the object are relatively fixed, thereby reducing the relative movement between the object and the actuator.

4. The system according to claim 2, characterized in that, The fixation device is configured as a universal arm connected to a bed board for supporting the object; when the actuator moves relative to the object, S4 is re-executed to update the second medical image.

5. A navigation device for a medical device, used in a method executable by the system according to any one of claims 1 to 4, characterized in that, include: An image acquisition unit is used to acquire a first medical image containing the navigation target; The processing unit is used to determine the range of the navigation target based on the first medical image, perform the first path planning, and generate a first path based on the image coordinate system; and to position the actuator before the surgical operation so that the medical device covers the first path when it is in the current effective workspace and when it rotates within a preset angle range. The image acquisition unit is also used to acquire a second medical image containing the navigation target and the medical device; The processing unit is further configured to perform a second path planning based on the second medical image, generating a second path based on the image coordinate system; associate the robot coordinate system and the image coordinate system, transforming the second path into a third path based on the robot coordinate system to locate the current coordinates of the medical device in the robot coordinate system; and control the movement process of the medical device according to the current coordinates.

6. An actuator for surgical procedures, used to perform the system-executable method of claim 1, characterized in that, include: The first translation module, the second translation module, the first rotation module, the second rotation module, and the third translation module are connected in sequence. The first translation module is connected to a base; the third translation module is connected to a medical device. The first translation module, the second translation module, and the third translation module are all used to drive the medical device to move linearly in their respective directions; Both the first rotating module and the second rotating module are used to drive the medical device to rotate around their respective axes in different directions.

7. The actuator according to claim 6, characterized in that, The base has straps that can be detachably connected to both sides; The end face of the base facing the object is equipped with an airbag; When the airbag is inflated or deflated, it is used to adjust the movable space of the object in the straps.

8. The actuator according to claim 7, characterized in that, The strap is secured with a Velcro pad on the side facing away from the object, and the Velcro pad is used to adhere to the bed board on the back side of the object.

9. A surgical operating device, characterized in that, The device includes a memory and a processor, wherein the memory stores a program that can run on the processor, and when the program is executed by the processor, causes the surgical device to perform the system-executable method according to any one of claims 1 to 4.

10. A readable storage medium storing a program, characterized in that, When the program is executed, it implements the system executable method according to any one of claims 1 to 4.

Images