Bone tunnel positioning method, device, apparatus and storage medium

Abstract

The present disclosure relates to a bone tunnel positioning method, device, equipment and storage medium. When it is detected that a mechanical arm stops, target calibration data of an end tool of the mechanical arm in a flange coordinate system of the mechanical arm is acquired, wherein the target calibration data is determined based on original calibration data of a rotatable calibration reference frame of an end point of the end tool by an infrared optical navigator; target positioning data of the end tool in a base coordinate system of the mechanical arm for a target bone tunnel is determined based on the target calibration data, entry point data and exit point data of the target bone tunnel; and if it is detected that a positioning error of the current position of the end tool is less than or equal to a preset error threshold, the target positioning data is taken as an actual positioning result of the target bone tunnel. In this way, the target calibration data determined based on the original calibration data of the rotatable calibration reference frame of the end point of the end tool by the infrared optical navigator is used to improve the positioning accuracy of the bone tunnel and improve the accuracy and safety of the operation of the bone tunnel by the mechanical arm.

Description

Technical Field

[0001] This disclosure relates to the field of positioning, and more particularly to a bone duct positioning method, device, equipment, and storage medium. Background Technology

[0002] To improve the accuracy and safety of the operation when using a robotic arm to work on bone channels, real-time positioning of the bone channel is necessary. For example, when using a robotic arm to drill holes in a bone channel, the position needs to be located in real time as the robotic arm moves to each drilling location to improve drilling accuracy and safety.

[0003] Therefore, there is an urgent need to provide a precise bone path positioning method to improve the accuracy and safety of robotic arms performing bone path operations. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a method, apparatus, device, and storage medium for locating bone passages.

[0005] In a first aspect, this disclosure provides a method for locating a bone tunnel, the method comprising:

[0006] When the robot arm stops, the target calibration data of the end tool of the robot arm in the flange coordinate system of the robot arm is acquired, wherein the target calibration data is determined based on the original calibration data of the rotatable calibration reference frame of the end tool endpoint by the infrared optical navigator.

[0007] Based on the target calibration data, the entry point data and exit point data of the target bone channel, the current position of the end effector is determined relative to the target positioning data of the target bone channel in the base coordinate system of the robotic arm.

[0008] If the positioning error of the current position of the end effector is less than or equal to a preset error threshold, the target positioning data is taken as the actual positioning result of the target bone passage.

[0009] Secondly, this disclosure provides a bone tunnel positioning device, the device comprising:

[0010] The first acquisition module is used to acquire target calibration data of the end tool of the robot arm in the flange coordinate system of the robot arm when the robot arm is detected to have stopped. The target calibration data is determined based on the original calibration data of the rotatable calibration reference frame of the end tool endpoint by the infrared optical navigator.

[0011] The first determining module is used to determine the current position of the end effector relative to the target positioning data of the target bone channel in the base coordinate system of the robotic arm, based on the target calibration data, the entry point data and the exit point data of the target bone channel.

[0012] The positioning module is used to take the target positioning data as the actual positioning result of the target bone passage if the positioning error of the current position of the end tool is less than or equal to a preset error threshold.

[0013] Thirdly, embodiments of this disclosure also provide an electronic device, the device comprising:

[0014] One or more processors;

[0015] Storage device for storing one or more programs.

[0016] When one or more programs are executed by one or more processors, the one or more processors implement the methods provided in the first aspect.

[0017] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method provided in the first aspect.

[0018] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0019] This disclosure discloses a bone channel positioning method, apparatus, device, and storage medium. When a robotic arm stops, it acquires target calibration data of the robotic arm's end effector in the robotic arm's flange coordinate system. The target calibration data is determined based on the original calibration data of a rotatable calibration reference frame for the end effector's endpoint using an infrared optical navigator. Based on the target calibration data, the entry point data and exit point data of the target bone channel, it determines the target positioning data of the end effector relative to the target bone channel in the robotic arm's base coordinate system. If the positioning error of the end effector's current position is less than or equal to a preset error threshold, the target positioning data is used as the actual positioning result of the target bone channel. Since the target calibration data is determined based on the original calibration data of the rotatable calibration reference frame for the end effector's endpoint using an infrared optical navigator, the end effector's endpoint is directly connected to the rotatable calibration reference frame, eliminating the need for a connector to fix the connection and preventing the impact of connectors on the accuracy of the target calibration data. Clearly, using highly accurate target calibration data improves the positioning accuracy of the bone channel, ultimately enhancing the accuracy and safety of the robotic arm's bone channel operations. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0021] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic flowchart illustrating a bone tunnel localization method provided in an embodiment of this disclosure;

[0023] Figure 2 A schematic diagram of the process of "obtaining target calibration data of the end effector of the robotic arm in the flange coordinate system of the robotic arm" in S110 provided in the embodiments of this disclosure;

[0024] Figure 3 A schematic flowchart of S120 provided in an embodiment of this disclosure;

[0025] Figure 4 This is a schematic diagram of the structure of a bone tunnel positioning device provided in an embodiment of the present disclosure;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0027] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0028] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0029] During bone passage localization, the robot (i.e., the robotic arm control system) receives the in-point and out-point data of the bone passage planned by the host computer to perform bone passage localization. Since the bone passage is a one-dimensional vector, it is necessary to refer to an external coordinate system for precise bone passage localization.

[0030] In related technologies, the reference external coordinate system is usually chosen to correspond to the bony landmarks. However, changes in the bony landmarks cause changes in the reference external coordinate system (e.g., the positioning posture of the robotic arm changes with the rotation of the bone tunnel), and these frequent changes affect the positioning accuracy of the bone tunnel. Furthermore, the connection structure of the robotic arm is often such that the robotic arm is connected to the power source via a connector, the power source is connected to the end effector, and the calibration reference frame is fixed to the power source. Clearly, this power-based connection method introduces installation errors in the end effector, which further affect the calibration error of the end effector. Specifically, the end effector can include axial tools such as drills and probes.

[0031] It is evident that existing bone channel positioning methods produce certain positioning errors, failing to meet the accuracy requirements of bone channel positioning. Furthermore, they pose safety hazards during the robotic arm's operation on the bone channel.

[0032] To improve the accuracy of bone tunnel localization, the following will be combined with... Figures 1 to 3 The bone passage localization method provided in this disclosure is described below. In this disclosure, the bone passage localization method can be executed by a robot and an electronic device or server that controls the robotic arm. The electronic device can include devices with communication functions such as tablets, desktop computers, and laptops, or devices simulated by virtual machines or simulators. The server can be a cloud server or server cluster, or a device with storage and computing functions. Specifically, the electronic device or server can be the controller of the robot containing the end effector. This embodiment uses an electronic device as the executing entity to explain the bone passage localization process in detail.

[0033] Figure 1 A schematic flowchart of a bone tunnel localization method provided in an embodiment of this disclosure is shown.

[0034] like Figure 1 As shown, the bone tunnel localization method may include the following steps.

[0035] S110. When the robot arm stops, acquire the target calibration data of the end tool of the robot arm in the flange coordinate system of the robot arm.

[0036] In this embodiment, during the bone channel positioning process, the robotic arm stops at any position, and the electronic device controls the end tool to move to the axial extension line of the target bone channel at that position, so that the axis of the end tool (such as a bone drill) coincides with the axis of the target bone channel, and in this state, the arbitrary position is positioned.

[0037] The target bone path refers to any bone path that needs to be located, such as the femur or tibia bone path where a hole needs to be drilled. The current position is the working position of the robotic arm, such as the drilling position of the robotic arm.

[0038] The target calibration data is determined based on the original calibration data of the rotatable calibration reference frame at the end of the end tool by the infrared optical navigator.

[0039] Before performing bone path localization, the pose states of the robotic arm, the target bone path, and the infrared optical navigator are set. Specifically, the target bone path and the robotic arm are within the field of view of the infrared optical navigator, and the normal vector of the infrared optical coordinate system corresponding to the infrared optical navigator is parallel to the normal vector of the reference frame coordinate system of the robotic arm.

[0040] Specifically, before using the robotic arm for bone tunnel localization, a rotatable calibration reference frame is directly installed at the end of the end effector. This installation method eliminates the need for connectors, and the rotatable calibration reference frame and the end effector are connected in a rotatable, non-fixed manner, eliminating the impact of connectors on the accuracy of the target calibration data. Furthermore, since the target bone tunnel and the robotic arm are within the field of view of the infrared optical navigator (which can be understood as the patient reference frame and the robotic arm reference frame being within the field of view of the infrared optical navigator), and the normal vector of the infrared optical coordinate system corresponding to the infrared optical navigator is parallel to the normal vector of the robotic arm's reference frame coordinate system, the robotic arm is within a better field of view of the infrared optical navigator (NDI), improving the data acquisition accuracy of the NDI for the robotic arm's reference frame coordinate system.

[0041] It should be noted that when setting the pose of the robotic arm, the tool coordinate system of the end effector, the reference frame coordinate system of the robotic arm, and the infrared optical coordinate system corresponding to the NDI are continuously adjusted to make the tool coordinate system parallel to the bone path coordinate system of the target bone path, the tool coordinate system parallel to the reference frame coordinate system, and the normal vector (i.e., the direction of the z-axis) of the infrared optical coordinate system parallel to the normal vector (i.e., the direction of the z-axis) of the bone path coordinate system. In this way, the normal vector of the reference frame coordinate system can be made parallel to the normal vector of the infrared optical coordinate system.

[0042] Here, the original calibration data refers to the initial calibration results sent by the host computer (e.g., a computer device). Optionally, the original calibration data can be determined by the host computer based on the robotic arm reference frame data obtained by the infrared optical navigator and the rotatable calibration reference frame data at the end tool tip.

[0043] S120. Based on the target calibration data, the entry point data and exit point data of the target bone path, determine the current position of the end effector based on the target positioning data of the target bone path in the base coordinate system of the robotic arm.

[0044] In this embodiment, after determining the target calibration data of the end-effector in the flange coordinate system, the electronic device acquires the inlet and outlet point data of the target bone channel, and combines the target calibration data to locate the current position of the target bone channel. Specifically, it determines the coordinates of the current position of the end-effector relative to the target bone channel in the base coordinate system of the robotic arm as the target positioning data.

[0045] S130. If the positioning error of the current position of the end effector is less than or equal to the preset error threshold, the target positioning data shall be used as the actual positioning result of the target bone passage.

[0046] To further improve the accuracy of bone channel positioning, after locating the current position, it is necessary to determine the positioning error in the patient coordinate system corresponding to the target bone channel. Only when the positioning error of the current position of the end effector is less than or equal to a preset error threshold can the target positioning data be used as the actual positioning result of the target bone channel. This allows the electronic device to further send the target positioning result to the robotic arm to control the robotic arm to perform operations at the current position based on the target positioning data.

[0047] In this embodiment, the method for determining whether the positioning error of the current location is less than or equal to a preset error threshold includes, but is not limited to, the following methods:

[0048] Determine the second direction data of the target bone path in the coordinate system of the patient reference frame; determine the third direction data of the end effector in the coordinate system of the patient reference frame; obtain the second vector representation of the line connecting the end effector and the coordinate system of the patient reference frame; based on the second direction data and the third direction data, determine the directional error of the current position of the end effector relative to the target bone path in the coordinate system of the patient reference frame; based on the second vector representation and the entry point data, determine the position error of the current position of the end effector relative to the target bone path in the coordinate system of the patient reference frame, and obtain the positioning error; if the directional error is less than or equal to the preset directional error threshold in the preset error threshold, and the positioning error is less than or equal to the preset position error threshold in the preset error threshold, then determine that the positioning error of the current position of the end effector is less than or equal to the preset error threshold.

[0049] The second vector can specifically represent the line connecting the origin of the end effector and the origin of the coordinate system of the patient reference frame.

[0050] The positioning error includes orientation error and position error. Specifically, the orientation error of the end effector relative to the target bone tunnel in the patient reference frame coordinate system is calculated using, but not limited to, quaternion-based methods. Simultaneously, the position error of the target bone tunnel is determined by subtracting the second vector representation of the line connecting the end effector and the patient reference frame coordinate system from the entry point data.

[0051] Among them, the direction error refers to the difference between the current direction of the end tool and the direction of the target bone channel, and the position error refers to the difference between the current position of the end tool endpoint and the entry point of the target bone channel. The end tool is an axial operation tool such as a drill or probe.

[0052] Optionally, the second direction data of the target bone tunnel in the coordinate system of the patient reference frame can be denoted as: The third-axis data of the end effector in the coordinate system of the patient reference frame can be denoted as: The orientation error of the current position of the end effector relative to the target bone tunnel in the coordinate system of the patient reference frame can be achieved in the following way:

[0053] Optionally, the second vector representation of the line connecting the end effector and the patient reference frame's coordinate system can be denoted as: The entry point data can be denoted as P. in The positioning error of the end effector relative to the target bone tunnel in the coordinate system of the patient reference frame can be achieved in the following way:

[0054] The preset direction error threshold and preset position error threshold can be determined based on parameters such as the morphological structure of the target bone passage.

[0055] Therefore, by determining the positioning error in the patient coordinate system corresponding to the target bone path, the positioning error can be determined in the patient coordinate system. When the positioning error of the current position of the end tool is less than or equal to the preset error threshold, the target positioning data is used as the actual positioning result of the target bone path, which further improves the positioning accuracy of the bone path.

[0056] Understandably, since the target bone passage and the robotic arm are within the field of view of the infrared optical navigator, and the normal vector of the infrared optical coordinate system corresponding to the infrared optical navigator is parallel to the normal vector of the reference frame coordinate system of the robotic arm, the robotic arm is within a good field of view of the infrared optical navigator. This improves the data acquisition accuracy of the infrared optical navigator for the reference frame coordinate system of the robotic arm, which is beneficial to improving the positioning accuracy of the end effector on the robotic arm.

[0057] This disclosure discloses a bone channel positioning method. When the robotic arm stops, it acquires target calibration data of the end effector tool in the flange coordinate system of the robotic arm. The target calibration data is determined based on the original calibration data of the rotatable calibration reference frame at the end effector tool endpoint using an infrared optical navigator. Based on the target calibration data, the entry point data and exit point data of the target bone channel, it determines the target positioning data of the end effector tool relative to the target bone channel in the base coordinate system of the robotic arm. If the positioning error of the current position of the end effector tool is less than or equal to a preset error threshold, the target positioning data is used as the actual positioning result of the target bone channel. Since the target calibration data is determined based on the original calibration data of the rotatable calibration reference frame at the end effector tool endpoint using an infrared optical navigator, the end effector tool endpoint is directly connected to the rotatable calibration reference frame, eliminating the need for a connector to fix the connection and removing the impact of connectors on the accuracy of the target calibration data. Clearly, based on highly accurate target calibration data, the positioning accuracy of the bone channel can be improved, ultimately enhancing the accuracy and safety of the robotic arm's bone channel operations.

[0058] In another embodiment of this disclosure, the calibration process of the end effector is explained in detail.

[0059] Figure 2 The diagram illustrates the process of "obtaining target calibration data of the end effector of the robotic arm in the flange coordinate system of the robotic arm" in S110 provided in the embodiment of this disclosure.

[0060] like Figure 2 As shown, "acquiring the target calibration data of the end effector of the robotic arm in the flange coordinate system of the robotic arm" in S110 may include the following steps.

[0061] S210. When the end-effector of the robotic arm is changed, calibrate the end-effector in the flange coordinate system to obtain the original calibration data of each position on the target bone channel.

[0062] In this embodiment, if the end-effector of the robotic arm is changed midway during the calibration of one or more positions of the target bone channel, in order to avoid the change of the end-effector affecting the positioning accuracy of the bone channel, the original calibration data corresponding to each position that needs to be located is obtained, and then the end-effector is calibrated in the flange coordinate system based on the original calibration data corresponding to each position that needs to be located.

[0063] S220. Based on the original calibration data, determine the target calibration data.

[0064] It is understandable that the original calibration data is determined by the host computer when the rotatable calibration reference frame at the end of the end tool is in its current position. Data processing can include image analysis and other methods. However, the image analysis method does not match the actual state and the image analysis results themselves have errors. Therefore, it is necessary to recalibrate the end tool in the flange coordinate system based on the original calibration data to obtain target calibration data that matches the actual state.

[0065] In this embodiment, the specific implementation method of S220 includes, but is not limited to, the following:

[0066] S2201. Obtain the first position data of the robotic arm reference frame in the flange coordinate system;

[0067] S2202. Based on the original calibration data and the position observation data of the robotic arm reference frame in the infrared optical coordinate system, determine the second position data of the end tool endpoint in the reference frame coordinate system of the robotic arm.

[0068] S2203. Multiply the first position data and the second position data to determine the third position data of the end tool endpoint in the flange coordinate system;

[0069] S2204. Based on the direction vector of the first coordinate axis of the flange coordinate system and the first direction data of the second coordinate axis of the end tool in the flange coordinate system, determine the second direction data of the end tool in the flange coordinate system;

[0070] S2205. Determine the target calibration data based on the first vector representation and the second direction data of the line connecting the rotatable calibration reference frame and the flange coordinate system.

[0071] In S2201, the coordinates of the robotic arm reference frame corresponding to the robotic arm in the flange coordinate system are obtained as the first position data.

[0072] In S2202, firstly, the transpose of the position observation data of the robotic arm reference frame in the infrared optical coordinate system is determined. Then, the transpose of the position observation data of the robotic arm reference frame in the infrared optical coordinate system is multiplied by the original calibration data to obtain the second position data of the end effector tip in the reference frame coordinate system of the robotic arm. The position observation data of the robotic arm reference frame in the infrared optical coordinate system is a theoretical value and can be directly obtained.

[0073] It should be noted that before locating the bone tunnel, the rotatable calibration reference frame is installed on the end of the end tool for calibration. After calibration, the rotatable calibration reference frame installed on the end tool is removed before locating the bone tunnel.

[0074] Optionally, the position observation data of the robotic arm reference frame in the infrared optical coordinate system is denoted as... The original calibration data is denoted as The second position data of the end effector tip in the reference frame coordinate system of the robotic arm is denoted as... The second position data of the end effector endpoint in the reference frame coordinate system of the robotic arm can be achieved in the following way:

[0075]

[0076] In S2203, the first position data of the robotic arm reference frame in the flange coordinate system is denoted as... The second position data of the end effector tip in the reference frame coordinate system of the robotic arm is denoted as... The third position data of the end tool endpoint in the flange coordinate system is denoted as The third position data of the end effector endpoint in the flange coordinate system can be achieved in the following way:

[0077]

[0078] In S2204, since the end-effector rotates along its axis, only the direction of the second coordinate axis (i.e., the direction of the end-effector's axis) and its position are used to determine the calibration result. Specifically, firstly, the first direction data of the end-effector's second coordinate axis in the flange coordinate system is used as the direction vector of the second coordinate axis in the flange coordinate system. Then, the direction vector of the first coordinate axis in the flange coordinate system is multiplied by the direction vector of the second coordinate axis in the flange coordinate system to obtain the direction vector of the third coordinate axis in the flange coordinate system. The direction vector of the second coordinate axis in the flange coordinate system is then multiplied by the direction vector of the third coordinate axis in the flange coordinate system to obtain the update vector of the first coordinate axis in the flange coordinate system. Next, based on the update vector of the first coordinate axis in the flange coordinate system, the direction vector of the second coordinate axis in the flange coordinate system, and the direction vector of the third coordinate axis in the flange coordinate system, the second direction data of the end-effector in the flange coordinate system is determined.

[0079] Optionally, the direction vector of the first coordinate axis of the flange coordinate system is denoted as... The first direction data of the end tool in the second coordinate axis direction in the flange coordinate system is denoted as: The direction vector of the second coordinate axis of the flange coordinate system The direction vector of the third coordinate axis of the flange coordinate system is denoted as... The update vector of the first coordinate axis of the flange coordinate system is denoted as... The second direction data of the end effector in the flange coordinate system is denoted as: The second direction data of the end effector in the flange coordinate system can be obtained in the following way:

[0080]

[0081] In S2205, firstly, the first vector of the line connecting the rotatable calibration reference frame and the flange coordinate system is equal to the vector of the line connecting the origin of the end tool and the origin of the flange coordinate system. Next, a matrix is ​​formed based on the first vector representation of the line connecting the rotatable calibration reference frame and the flange coordinate system, the second direction data, and preset fixed values ​​to obtain the target calibration data.

[0082] Optionally, the first vector representation of the line connecting the rotatable calibration reference frame and the flange coordinate system is denoted as... The vector connecting the end-effector and the flange coordinate system is denoted as . The relationship between the first vector of the line connecting the rotatable calibration reference frame and the flange coordinate system, and the vector of the line connecting the end tool and the flange coordinate system, can be expressed as follows:

[0083]

[0084] Optionally, the second direction data of the end effector in the flange coordinate system is denoted as... The vector connecting the end-effector and the flange coordinate system is denoted as . Target calibration data is denoted as The target calibration data can be represented as follows:

[0085]

[0086] A bone tunnel positioning method according to an embodiment of this disclosure transforms the original calibration data to the robotic arm flange coordinate system; the x1 axis of the robotic arm flange coordinate system is selected as the reference coordinate axis, the x1 axis is cross-multiplied by the y1 axis to obtain the z1 axis, and the y1 axis is cross-multiplied by the z1 axis to obtain a new x1 axis, denoted as xnew1; The orientation of the tool's end effector is defined by this coordinate system. Therefore, through multiple coordinate system transformations, the end effector is calibrated in the flange coordinate system, enabling precise determination of the target calibration data of the end effector within the robotic arm's flange coordinate system. Furthermore, because the rotatable calibration reference frame can rotate around the axis of the end effector, the calibration process determines the orientation data of the other two coordinate axes based solely on the axis orientation of the end effector, improving the calibration efficiency of the end effector.

[0087] In other cases, unlike S210 to S220 above, if the end effector of the robotic arm is not replaced, the target calibration data determined at the first positioning position is directly obtained, and the target calibration data is directly used to locate the current position of the target bone channel in the machine coordinate system to determine the target positioning data.

[0088] In yet another embodiment of this disclosure, the process of locating the target bone passage is explained in detail.

[0089] Figure 3 A flowchart of S120 provided in an embodiment of this disclosure is shown.

[0090] like Figure 3 As shown, S120 may include the following steps.

[0091] S310. Obtain the direction vector of the z-axis of the infrared optical coordinate system.

[0092] In this embodiment, the infrared optical coordinate system (NDI coordinate system for short) is used as the reference coordinate system, and a vector is determined in this coordinate system as the direction vector (i.e., the normal vector) of the z-coordinate axis. Optionally, the normal vector of the infrared optical coordinate system is denoted as...

[0093] S320. Transform the direction vector of the z-axis of the infrared optical coordinate system to the coordinate system of the patient reference frame where the target bone tunnel is located, and obtain the first direction vector of the bone tunnel in the coordinate system of the patient reference frame.

[0094] In this embodiment, firstly, the directional transformation relationship between the coordinate system of the patient reference frame and the infrared optical coordinate system is obtained. Then, the direction vector of the z-axis of the infrared optical coordinate system is multiplied by the transpose of the transformation relationship to obtain the first direction vector of the bone passage in the coordinate system of the patient reference frame.

[0095] Optionally, the orientation transformation relationship between the patient reference frame's coordinate system and the infrared optical coordinate system is denoted as... The first direction vector of the bone tunnel in the coordinate system of the patient reference frame is denoted as... The first direction vector of the bone tunnel in the coordinate system of the patient reference frame can be realized in the following way:

[0096]

[0097] S330. Based on the first direction vector of the bone channel, the entry point data, and the exit point data in the coordinate system of the patient reference frame, determine the third position data of the target bone channel in the coordinate system of the patient reference frame.

[0098] In this embodiment, the specific implementation method of S330 includes, but is not limited to, the following: based on the first direction vector of the bone channel, the entry point data, and the exit point data in the coordinate system of the patient reference frame, determine the second direction data of the target bone channel in the coordinate system of the patient reference frame; and determine the third position data based on the second direction data and the entry point data.

[0099] Specifically, firstly, the first direction vector of the bone passage in the coordinate system of the patient reference frame is used as the direction data of the first coordinate axis of the patient reference frame. Simultaneously, the exit point data is subtracted from the entry point data to obtain the direction data of the second coordinate axis of the patient reference frame. Then, the direction data of the first coordinate axis of the patient reference frame is multiplied by the direction data of the second coordinate axis to obtain the direction data of the third coordinate axis. The direction data of the second coordinate axis is then multiplied by the direction data of the third coordinate axis to obtain the update vector of the first coordinate axis of the patient reference frame. Next, based on the update vector of the first coordinate axis, the direction data of the second coordinate axis, and the direction data of the third coordinate axis, the second direction data of the target bone passage in the coordinate system of the patient reference frame is determined. Finally, based on the second direction data of the target bone passage in the coordinate system of the patient reference frame, the entry point data, and a preset fixed value, the third position data is determined.

[0100] Optionally, the exit point data is denoted as p. out The entry point data is denoted as p. in The orientation data of the first coordinate axis of the patient reference frame is denoted as The orientation data of the second coordinate axis of the patient reference frame is denoted as The orientation data of the third coordinate axis of the patient reference frame is denoted as The update vector of the first coordinate axis of the patient reference frame is denoted as The second direction data of the target bone tunnel in the coordinate system of the patient reference frame is denoted as... The second direction data of the target bone tunnel in the coordinate system of the patient reference frame can be obtained in the following way:

[0101]

[0102] Optionally, the third position data of the target bone tunnel in the coordinate system of the patient reference frame is denoted as... The third position data of the target bone tunnel in the coordinate system of the patient reference frame can be determined in the following way:

[0103]

[0104] One embodiment of the bone tunnel localization method disclosed herein uses the NDI normal as the reference coordinate system and transforms it to the patient coordinate system, denoted as the x-axis; the bone tunnel direction is used as the y-axis, the x-axis is cross-multiplied by the y-axis to obtain the z-axis, and the y-axis is cross-multiplied by the z-axis to obtain a new x-axis, denoted as xnew; Let the direction of the bone passage be denoted by pin, and the offset be 'pin', thus establishing the bone passage coordinate system. Since the normal vector of the infrared optical coordinate system corresponding to the infrared optical navigator is parallel to the normal vector of the robotic arm's reference frame coordinate system, the infrared optical coordinate system is used as the reference coordinate system for bone passage positioning. The normal vector of the infrared optical coordinate system is selected to determine the third position data of the target bone passage in the patient's reference frame coordinate system, so as to further utilize the third position data of the target bone passage in the patient's reference frame coordinate system for precise positioning of the target bone passage.

[0105] S340. Determine the target positioning data based on the third position data and the target calibration data.

[0106] In this embodiment, the specific implementation of S340 includes, but is not limited to, the following: obtaining the fourth position data of the flange coordinate system in the base coordinate system of the robotic arm, the fifth position data of the robotic arm in the tool coordinate system of the end tool, and the sixth position data of the patient reference frame in the reference frame coordinate system; multiplying the fourth position data, target calibration data, fifth position data, sixth position data, and third position data together to obtain target positioning data.

[0107] The sixth position data of the patient reference frame in the reference frame coordinate system can be determined based on the position data of the robotic arm in the infrared optical coordinate system and the position data of the patient reference frame in the infrared optical coordinate system. Specifically, the transpose of the position data of the robotic arm in the infrared optical coordinate system is determined, and then multiplied by the transpose of the position data of the robotic arm in the infrared optical coordinate system and the position data of the patient reference frame in the infrared optical coordinate system to obtain the sixth position data of the patient reference frame in the reference frame coordinate system.

[0108] Among them, the fourth position data of the flange coordinate system under the base coordinate system of the robot arm can be understood as the pose of the robot arm.

[0109] Optionally, the fourth position data of the flange coordinate system in the base coordinate system of the robotic arm is denoted as... Target calibration data is denoted as The fifth position data of the robotic arm in the tool coordinate system of the end effector is denoted as: The patient reference frame's sixth position data in the reference frame coordinate system is denoted as... The third position data of the target bone tunnel in the coordinate system of the patient reference frame is denoted as... The target positioning data in the base coordinate system of the robotic arm can be determined in the following way:

[0110]

[0111] Therefore, by combining the target calibration data determined by the infrared optical navigator and the rotatable calibration reference frame, as well as the third position data of the target bone tunnel in the coordinate system of the patient reference frame, the current position of the target bone tunnel can be accurately located, thus improving the positioning accuracy of the bone tunnel.

[0112] This disclosure discloses a bone tunnel positioning method. First, the direction of the bone tunnel in the surgical area is defined by referring to the normal direction of the NDI (Neural Design Index), thus determining the direction and position of the bone tunnel. A relationship between the patient reference frame and the surgical area bone tunnel is established by fixing the patient reference frame to the surgical area. A relationship is then established between the patient reference frame and the robotic arm reference frame via the NDI. The robotic arm reference frame is fixedly connected to the robotic arm, thereby converting the position and direction of the bone tunnel to the robotic arm base coordinate system. The position and direction of the drill tip are obtained using a rotatable calibration reference frame. Since the rotatable calibration reference frame is not fixedly connected to the robotic arm reference frame, the direction and offset of the drill axis are valid values. Two other directions are defined to determine the actual position and direction of the drill tip in the robotic arm flange coordinate system. Using this method, the robotic arm tool end is controlled to reach the bone tunnel entry point, and the drill axis direction coincides with the bone tunnel direction. Through this method, the normal direction of the robotic arm reference frame is parallel to the NDI normal direction, providing a better NDI viewpoint. Furthermore, the positioning posture of the robotic arm does not change due to in-situ rotation of the bone tunnel, improving the positioning accuracy of the bone tunnel.

[0113] This disclosure also provides a bone tunnel positioning device for implementing the above-described bone tunnel positioning method, which is described below in conjunction with... Figure 4 The following description is provided. In this embodiment, the bone channel positioning device can be a robot, an electronic device that controls the robotic arm, or a server. The electronic device can include devices with communication functions such as tablets, desktop computers, and laptops, or devices simulated by virtual machines or simulators. The server can be a cloud server or server cluster, or a device with storage and computing functions. Specifically, the electronic device or server can be the controller of the robot containing the end effector.

[0114] Figure 4 A schematic diagram of a bone tunnel positioning device provided in an embodiment of this disclosure is shown.

[0115] like Figure 4 As shown, the bone tunnel positioning device 400 may include:

[0116] The first acquisition module 410 is used to acquire target calibration data of the end tool of the robot arm in the flange coordinate system of the robot arm when the robot arm is detected to have stopped. The target calibration data is determined based on the original calibration data of the rotatable calibration reference frame of the end tool endpoint by the infrared optical navigator.

[0117] The first determining module 420 is used to determine the current position of the end effector relative to the target positioning data of the target bone channel in the base coordinate system of the robotic arm based on the target calibration data, the entry point data and the exit point data of the target bone channel.

[0118] The positioning module 430 is used to take the target positioning data as the actual positioning result of the target bone passage if the positioning error of the current position of the end tool is less than or equal to a preset error threshold.

[0119] An embodiment of this disclosure discloses a bone channel positioning device. When the robot arm stops, it acquires target calibration data of the robot arm's end-effector in the robot arm's flange coordinate system. The target calibration data is determined based on the original calibration data of a rotatable calibration reference frame for the end-effector's endpoint using an infrared optical navigator. Based on the target calibration data, the entry point data and exit point data of the target bone channel, the device determines the target positioning data of the end-effector relative to the target bone channel in the robot arm's base coordinate system. If the positioning error of the current position of the end-effector is less than or equal to a preset error threshold, the target positioning data is used as the actual positioning result of the target bone channel. Because the target calibration data is determined based on the original calibration data of the rotatable calibration reference frame for the end-effector's endpoint using an infrared optical navigator, the end-effector's endpoint is directly connected to the rotatable calibration reference frame, eliminating the need for a connector to fix the connection and preventing the impact of connectors on the accuracy of the target calibration data. Clearly, based on highly accurate target calibration data, the positioning accuracy of the bone channel can be improved, ultimately enhancing the accuracy and safety of the robot arm's bone channel operations.

[0120] In some embodiments of this disclosure, the first acquisition module 410 includes:

[0121] The first acquisition unit is used to calibrate the end tool in the flange coordinate system when the end tool of the robotic arm is replaced, and to acquire the original calibration data of the rotatable calibration reference frame of the end tool endpoint by the infrared optical navigator.

[0122] The first determining unit is used to determine the target calibration data based on the original calibration data.

[0123] In some embodiments of this disclosure, the first determining unit is specifically used for:

[0124] Obtain the first position data of the robotic arm reference frame corresponding to the robotic arm in the flange coordinate system;

[0125] Based on the original calibration data and the position observation data of the robotic arm reference frame in the infrared optical coordinate system, the second position data of the end effector endpoint in the reference frame coordinate system of the robotic arm is determined;

[0126] Multiply the first position data and the second position data to determine the third position data of the end tool endpoint in the flange coordinate system;

[0127] Based on the direction vector of the first coordinate axis of the flange coordinate system and the first direction data of the second coordinate axis of the end tool in the flange coordinate system, the second direction data of the end tool in the flange coordinate system are determined.

[0128] The target calibration data is determined based on the first vector representation of the line connecting the rotatable calibration reference frame and the flange coordinate system, and the second direction data.

[0129] In some embodiments of this disclosure, the first determining module 420 includes:

[0130] The second acquisition unit is used to acquire the direction vector of the z-axis of the infrared optical coordinate system;

[0131] The second determining unit is used to transform the direction vector of the z-axis of the infrared optical coordinate system from the infrared optical coordinate system to the coordinate system of the patient reference frame where the target bone tunnel is located, so as to obtain the first direction vector of the bone tunnel in the coordinate system of the patient reference frame.

[0132] The third determining unit is used to determine the third position data of the target bone tunnel in the coordinate system of the patient reference frame based on the first direction vector of the bone tunnel in the coordinate system of the patient reference frame, the entry point data, and the exit point data.

[0133] The fourth determining unit is used to determine the target positioning data based on the third location data and the target calibration data.

[0134] In some embodiments of this disclosure, the third determining unit is specifically used for:

[0135] Based on the first direction vector of the bone passage in the coordinate system of the patient reference frame, the entry point data, and the exit point data, the second direction data of the target bone passage in the coordinate system of the patient reference frame are determined.

[0136] The third position data is determined based on the second direction data and the entry point data.

[0137] In some embodiments of this disclosure, the fourth determining unit is specifically used for:

[0138] Acquire the fourth position data of the flange coordinate system in the base coordinate system of the robotic arm, the fifth position data of the robotic arm in the tool coordinate system of the end tool, and the sixth position data of the patient reference frame in the reference frame coordinate system;

[0139] The target positioning data is obtained by multiplying the fourth position data, the target calibration data, the fifth position data, the sixth position data, and the third position data.

[0140] In some embodiments of this disclosure, the device further includes:

[0141] The second determining module is used to determine the second direction data of the target bone tunnel in the coordinate system of the patient reference frame;

[0142] The third determining module is used to determine the third-direction data of the end effector in the coordinate system of the patient reference frame;

[0143] The second acquisition module is used to acquire a second vector representation of the line connecting the origin of the end effector and the origin of the coordinate system of the patient reference frame;

[0144] The fourth determining module is used to determine the directional error of the current position of the end effector relative to the target bone tunnel in the coordinate system of the patient reference frame, based on the second directional data and the third directional data.

[0145] The fifth determining module is used to determine the position error of the current position of the end tool relative to the target bone tunnel in the coordinate system of the patient reference frame based on the second vector representation and the entry point data, and to obtain the positioning error;

[0146] The sixth determining module is used to determine that the positioning error of the current position of the end effector is less than or equal to the preset error threshold if the direction error is less than or equal to the preset direction error threshold in the preset error threshold, and the positioning error is less than or equal to the preset position error threshold in the preset error threshold.

[0147] It should be noted that, Figure 4 The bone tunnel positioning device 400 shown can perform Figures 1 to 3 The various steps in the method embodiment shown are implemented. Figures 1 to 3 The processes and effects in the method embodiments shown are not described in detail here.

[0148] Figure 5 A schematic diagram of an electronic device provided in an embodiment of this disclosure is shown. This electronic device can be a controller for the target robot mentioned in the above embodiments.

[0149] like Figure 5 As shown, the electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0150] Specifically, the processor 501 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0151] Memory 502 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway device. In a particular embodiment, memory 502 is a non-volatile solid-state memory. In a particular embodiment, memory 502 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0152] The processor 501 reads and executes computer program instructions stored in the memory 502 to perform the steps of the bone tunnel localization method provided in this embodiment of the present disclosure.

[0153] In one example, the electronic device may also include a transceiver 503 and a bus 504. Wherein, as... Figure 5 As shown, the processor 501, memory 502 and transceiver 503 are connected via bus 504 and communicate with each other.

[0154] Bus 504 may include hardware, software, or both. For example, and not limitingly, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 504 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0155] The following are embodiments of a computer-readable storage medium provided in this disclosure. This computer-readable storage medium belongs to the same inventive concept as the bone tunnel localization method in the above embodiments. For details not described in detail in the embodiments of the computer-readable storage medium, please refer to the embodiments of the bone tunnel localization method described above.

[0156] This embodiment provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a bone tunnel localization method, the method comprising:

[0157] When the robot arm stops, the target calibration data of the end tool of the robot arm in the flange coordinate system of the robot arm is acquired, wherein the target calibration data is determined based on the original calibration data of the rotatable calibration reference frame of the end tool endpoint by the infrared optical navigator.

[0158] Based on the target calibration data, the entry point data and exit point data of the target bone channel, the current position of the end effector is determined relative to the target positioning data of the target bone channel in the base coordinate system of the robotic arm.

[0159] If the positioning error of the current position of the end effector is less than or equal to a preset error threshold, the target positioning data is taken as the actual positioning result of the target bone passage.

[0160] Of course, the computer-executable instructions provided in the embodiments of this disclosure are not limited to the above-described method operations, but can also perform related operations in the bone tunnel positioning method provided in any embodiment of this disclosure.

[0161] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer cloud platform (which may be a personal computer, server, or network cloud platform, etc.) to execute the bone channel positioning method provided in the various embodiments of this disclosure.

[0162] Note that the above description is merely a preferred embodiment and the technical principles employed in this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, it is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this disclosure, and the scope of this disclosure is determined by the scope of the appended claims.

Claims

1. A method for locating bone passages, characterized in that, include: When the robot arm stops, the target calibration data of the end tool of the robot arm in the flange coordinate system of the robot arm is acquired, wherein the target calibration data is determined based on the original calibration data of the rotatable calibration reference frame of the end tool endpoint by the infrared optical navigator. Based on the target calibration data, the entry point data and exit point data of the target bone channel, the current position of the end effector is determined relative to the target positioning data of the target bone channel in the base coordinate system of the robotic arm. If the positioning error of the current position of the end effector is less than or equal to a preset error threshold, the target positioning data is taken as the actual positioning result of the target bone passage. The acquisition of target calibration data of the end effector of the robotic arm in the flange coordinate system includes: When the end-effector of the robotic arm is replaced, the end-effector is calibrated in the flange coordinate system to obtain the original calibration data of the rotatable calibration reference frame of the end-effector endpoint by the infrared optical navigator. Obtain the first position data of the robotic arm reference frame corresponding to the robotic arm in the flange coordinate system; Based on the original calibration data and the position observation data of the robotic arm reference frame in the infrared optical coordinate system, the second position data of the end effector endpoint in the reference frame coordinate system of the robotic arm is determined; Multiply the first position data and the second position data to determine the third position data of the end tool endpoint in the flange coordinate system; Based on the direction vector of the first coordinate axis of the flange coordinate system and the first direction data of the second coordinate axis of the end tool in the flange coordinate system, the second direction data of the end tool in the flange coordinate system are determined. The target calibration data is determined based on the first vector representation of the line connecting the rotatable calibration reference frame and the flange coordinate system, and the second direction data.

2. The method according to claim 1, characterized in that, The determination of the current position of the end effector based on the target calibration data, the entry point data and exit point data of the target bone channel, and the target positioning data of the target bone channel in the base coordinate system of the robotic arm includes: Obtain the direction vector of the z-axis of the infrared optical coordinate system; The direction vector of the z-axis of the infrared optical coordinate system is transformed from the infrared optical coordinate system to the coordinate system of the patient reference frame where the target bone tunnel is located, to obtain the first direction vector of the bone tunnel in the coordinate system of the patient reference frame. Based on the first direction vector of the bone passage in the coordinate system of the patient reference frame, the entry point data, and the exit point data, the third position data of the target bone passage in the coordinate system of the patient reference frame are determined. The target positioning data is determined based on the third location data and the target calibration data.

3. The method according to claim 2, characterized in that, The determination of the third position data of the target bone tunnel in the coordinate system of the patient reference frame, based on the first direction vector of the bone tunnel in the coordinate system of the patient reference frame, the entry point data, and the exit point data, includes: Based on the first direction vector of the bone passage in the coordinate system of the patient reference frame, the entry point data, and the exit point data, the second direction data of the target bone passage in the coordinate system of the patient reference frame are determined. The third position data is determined based on the second direction data and the entry point data.

4. The method according to claim 2, characterized in that, The step of determining the target positioning data based on the third location data and the target calibration data includes: Acquire the fourth position data of the flange coordinate system in the base coordinate system of the robotic arm, the fifth position data of the robotic arm in the tool coordinate system of the end tool, and the sixth position data of the patient reference frame in the reference frame coordinate system; The target positioning data is obtained by multiplying the fourth position data, the target calibration data, the fifth position data, the sixth position data, and the third position data.

5. The method according to claim 1, characterized in that, Before using the target location data as the actual location result of the target bone tunnel, the method further includes: Determine the second direction data of the target bone tunnel in the coordinate system of the patient reference frame; Determine the third-dimensional data of the end effector in the coordinate system of the patient reference frame; Obtain a second vector representation of the line connecting the end effector and the patient reference frame in their coordinate systems; Based on the second direction data and the third direction data, determine the directional error of the current position of the end effector relative to the target bone tunnel in the coordinate system of the patient reference frame; Based on the second vector representation and the entry point data, the positional error of the current position of the end effector relative to the target bone tunnel in the coordinate system of the patient reference frame is determined, and the positioning error is obtained. If the direction error is less than or equal to the preset direction error threshold in the preset error threshold, and the positioning error is less than or equal to the preset position error threshold in the preset error threshold, then the positioning error of the current position of the end effector is determined to be less than or equal to the preset error threshold.

6. A bone tunnel positioning device, characterized in that, include: The first acquisition module is used to acquire target calibration data of the end tool of the robot arm in the flange coordinate system of the robot arm when the robot arm is detected to have stopped. The target calibration data is determined based on the original calibration data of the rotatable calibration reference frame of the end tool endpoint by the infrared optical navigator. The first determining module is used to determine the current position of the end effector relative to the target positioning data of the target bone channel in the base coordinate system of the robotic arm, based on the target calibration data, the entry point data and the exit point data of the target bone channel. The positioning module is used to take the target positioning data as the actual positioning result of the target bone passage if the positioning error of the current position of the end tool is less than or equal to a preset error threshold. The first acquisition module includes: The first acquisition unit is used to calibrate the end tool in the flange coordinate system when the end tool of the robotic arm is replaced, and to acquire the original calibration data of the rotatable calibration reference frame of the end tool endpoint by the infrared optical navigator. The first determining unit is used to determine the target calibration data based on the original calibration data; The first determining unit is specifically used for: Obtain the first position data of the robotic arm reference frame corresponding to the robotic arm in the flange coordinate system; Based on the original calibration data and the position observation data of the robotic arm reference frame in the infrared optical coordinate system, the second position data of the end effector endpoint in the reference frame coordinate system of the robotic arm is determined; Multiply the first position data and the second position data to determine the third position data of the end tool endpoint in the flange coordinate system; Based on the direction vector of the first coordinate axis of the flange coordinate system and the first direction data of the second coordinate axis of the end tool in the flange coordinate system, the second direction data of the end tool in the flange coordinate system are determined. The target calibration data is determined based on the first vector representation of the line connecting the rotatable calibration reference frame and the flange coordinate system, and the second direction data.

7. An electronic device, characterized in that, include: processor; Memory, used to store executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method of any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method described in any one of claims 1-5.

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