Surgical treatment method and device, surgical robot system and related equipment

Abstract

The invention provides an operation treatment method and device, an operation robot system and related equipment, and relates to the field of medical operations. The method comprises the following steps: controlling the surgical robot to perform an operation on a surgical object according to a preset motion instruction, and acquiring actual position information and / or actual structure information of the surgical object in the process, and modifying a motion instruction which is not executed by the surgical robot according to the actual position information and / or the actual structure information, and controlling the surgical robot to execute the modified motion instruction. By means of the mode, the surgical robot can sense and respond to environment changes, the operation strategy is adjusted in real time according to the environment changes, emergency situations such as patient movement or tissue deformation possibly occurring in the surgical process are flexibly coped with, and therefore the success rate and safety of the surgery are improved.

Description

Technical Field

[0001] The present application relates to the field of medical surgery, and in particular to a surgical treatment method, apparatus, surgical robot system and related equipment. Background Art

[0002] Spinal surgery is a surgical treatment for spinal diseases or injuries, covering a variety of surgical types such as spinal fusion, osteotomy and disc removal. This type of surgery requires a high degree of precision and stability, and during the operation, doctors often use precision equipment such as surgical robots to perform complex operations.

[0003] At present, surgical robot systems mainly operate according to pre-programmed instructions. These instructions usually require path planning information such as the operation path and angle to be determined based on the type of surgery and the location and structure of the surgical object, and then convert this information into instructions that the surgical robot can execute. However, once these instructions are generated, they cannot be changed. In the actual operation, some unexpected factors may occur, such as the movement of the patient's body, which may cause deviations in the instructions executed by the surgical robot, affecting the surgical effect or even leading to surgical failure. Summary of the invention

[0004] The present application provides a surgical treatment method, apparatus, surgical robot system and related equipment to solve the technical problem of low surgical success rate of surgical robots.

[0005] In a first aspect, the present application provides a surgical treatment method, which is applied to a surgical robot. The surgical treatment method includes:

[0006] Controlling the surgical robot to perform surgery on a surgical object according to preset motion instructions, wherein the motion instructions are generated based on planned position information and planned structure information of the surgical object;

[0007] During the operation performed by the surgical robot, obtaining actual position information and / or actual structure information of the surgical object;

[0008] The motion instructions that have not yet been executed by the surgical robot are modified according to the actual position information and / or the actual structure information, and the surgical robot is controlled to execute the modified motion instructions.

[0009] In a possible implementation, the surgical robot is equipped with an execution end, and controlling the surgical robot to perform surgery on a surgical object according to a preset motion instruction includes:

[0010] Acquire a target image of a surgical object, wherein the target image includes planned position information and planned structure information of the surgical object;

[0011] Determining path planning information of the surgical robot according to the planned position information, the planned structure information and a preset initial operation position, and generating motion instructions according to the path planning information;

[0012] The execution end of the surgical robot is controlled to move to the initial working position, and the execution end is controlled to execute the motion instruction after the execution end moves to the initial working position.

[0013] In a possible implementation, modifying the motion instruction that has not yet been executed by the surgical robot according to the actual position information and / or the actual structure information includes:

[0014] Determine a position difference between the actual position information and the planned position information, and / or determine a structure difference between the actual structure information and the planned structure information;

[0015] The path planning information is modified according to the position difference and / or the structural difference, and the motion instructions that have not yet been executed by the surgical robot are modified according to the modified path planning information.

[0016] In a possible implementation, the actual position information is collected by an optical positioning device pre-installed around the surgical object, and / or the actual structure information is collected by a force feedback sensor pre-installed on the execution end.

[0017] In a possible implementation, determining the path planning information of the surgical robot according to the planned position information, the planned structure information and a preset initial working position includes:

[0018] The target image and the initial operation position are input into a path planning model, and path planning information output by the path planning model is obtained, wherein the path planning model is trained based on a plurality of surgical data.

[0019] In a possible implementation, the path planning model is obtained by:

[0020] Acquire an expert data set and an initialized Gaussian mixture model, wherein the expert data set includes a plurality of surgical data of the same type as the current surgery;

[0021] The model parameters of the Gaussian mixture model are adjusted according to the surgical data in the expert data set, so as to obtain the path planning model according to the adjusted Gaussian mixture model.

[0022] In a second aspect, the present application provides a surgical treatment device, which is applied to a surgical robot, and the surgical treatment device includes:

[0023] A surgery control module, used to control the surgical robot to perform surgery on the surgical object according to preset motion instructions, wherein the motion instructions are generated based on the planned position information and planned structure information of the surgical object;

[0024] An acquisition module, used for acquiring actual position information and / or actual structure information of the surgical object during the operation performed by the surgical robot;

[0025] The instruction processing module is used to modify the motion instructions that have not been executed by the surgical robot according to the actual position information and / or the actual structure information, and control the surgical robot to execute the modified motion instructions.

[0026] In a third aspect, the present application provides a surgical robot system, including a controller, an optical positioning device, and an execution end with a force feedback device;

[0027] The execution end is used to perform a surgical operation on a surgical object according to a moving path and angle indicated by the controller;

[0028] The force feedback device is used to collect force feedback information of the execution end during the execution of the surgical operation;

[0029] The optical positioning device is used to obtain real-time position information of the surgical object during the surgical operation;

[0030] The controller is used to plan the moving path and angle of the execution end according to the force feedback information collected by the force feedback device and / or the real-time position information collected by the optical positioning device.

[0031] In a fourth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0032] The memory stores computer-executable instructions;

[0033] The processor executes the computer-executable instructions stored in the memory to implement the surgical treatment method as described in any one of the first aspects.

[0034] In a fifth aspect, the present application provides a computer-readable storage medium, comprising: the computer-readable storage medium stores computer execution instructions, and the computer execution instructions, when executed by a processor, are used to implement the surgical processing method as described in any one of the first aspects.

[0035] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the surgical processing method as described in any one of the first aspects.

[0036] The surgical treatment method, device, surgical robot system and related equipment provided by the present application specifically include controlling the surgical robot to perform surgery on the surgical object according to preset motion instructions, in this process, the actual position information and / or actual structure information of the surgical object can be obtained, the motion instructions that have not yet been executed by the surgical robot are modified according to the actual position information and / or the actual structure information, and the surgical robot is controlled to execute the modified motion instructions. In this way, the surgical robot can sense and respond to environmental changes, adjust the operation strategy in real time according to environmental changes, and flexibly respond to emergencies such as patient movement or tissue deformation that may occur during the operation, thereby improving the success rate and safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] Figure 1 It is a schematic diagram of an application scenario of a surgical treatment method provided in an embodiment of the present application;

[0039] Figure 2 It is a flowchart of a surgical treatment method provided in an embodiment of the present application;

[0040] Figure 3 It is a schematic diagram of a process of performing surgery on a surgical object provided by an embodiment of the present application;

[0041] Figure 4 It is a schematic diagram of a flow chart of modifying a motion instruction of a surgical robot provided in an embodiment of the present application;

[0042] Figure 5 is a structural schematic diagram of a surgical robot system provided in an embodiment of the present application;

[0043] Figure 6 is a structural schematic diagram of a surgical treatment device provided in an embodiment of the present application;

[0044] Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0045] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0046] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0047] The terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, product or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, product or device. In the absence of further restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. For example, if the words first, second, etc. are used to indicate names, they do not indicate any particular order.

[0048] The human spine includes dozens of different types of bones, such as the cervical, thoracic, lumbar and sacral vertebrae. Surgeries involving the spine usually have extremely high requirements for surgical accuracy and operational stability. Spinal surgical robots usually have a robotic arm and an execution end connected to the robotic arm. The current spinal surgical robot system mainly operates according to pre-programmed instructions. Compared with traditional manual handheld surgical instruments, the robotic arm has a higher degree of accuracy in manipulating surgical instruments. However, although the surgical robot system can improve the accuracy and consistency of the operation, it has certain limitations in dealing with emergencies during the operation, and the success rate of the operation is not ideal.

[0049] The inventors have found that the reason why surgical robots do not significantly improve surgical results is that they can only execute fixed instructions based on preoperative analysis and lack the ability to respond to changes in the actual surgical environment. For example, when the surgical site environment changes, such as patient movement or vertebral morphology is inconsistent with preoperative images, existing robotic systems are often unable to adjust their operating strategies in real time, which may lead to surgical interruptions or operational errors, causing harm to patients.

[0050] The inventor therefore thought that during the operation, the surgical robot could collect information on changes in the surgical environment in real time, so that the surgical robot could make corresponding adjustments based on the information collected in real time and modify unexecuted instructions to adapt to the actual surgical environment, thereby improving the compatibility of the operations performed by the surgical robot with the actual surgical environment, reducing the interference of environmental changes on the implementation of the operation, and improving the success rate of the operation.

[0051] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0052] Figure 1 A schematic diagram of an application scenario provided by this application. Figure 1 As shown, for surgical scenarios such as spinal surgery, a surgical robot with an execution end can be used to perform surgery on the surgical object in the patient's body. The surgical robot can have a robotic arm, and the execution end can be a surgical instrument such as a bone knife or a grinding drill mounted on the robotic arm. The surgical object can be a bone in the patient's body that needs to be removed or nailed.

[0053] The application scenarios involved above are only some examples. Those skilled in the art may expand the application to specific business scenarios, and the embodiments of the present application do not impose any specific limitations on this.

[0054] Combine the following Figure 1 For application scenarios, refer to Figures 2 to 5 To describe the surgical treatment method according to the exemplary embodiment of the present application. It should be noted that the above application scenarios are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited in this respect. On the contrary, the embodiments of the present application can be applied to any applicable scenario.

[0055] Figure 2 FIG. 1 is a flow chart of a surgical treatment method provided in an embodiment of the present application. Figure 2 As shown, the method includes:

[0056] Step S201, controlling the surgical robot to perform surgery on the surgical object according to preset motion instructions.

[0057] The surgical object may be a bone in a patient's body that requires spinal surgery. The motion instruction is generated based on the planned position information and planned structure information of the surgical object.

[0058] It should be noted that the planned position information of the surgical object may be the position information of the patient's internal bones and other organs determined based on CT images and other data before the operation. The planned structural information of the surgical object may be the structural information of the patient's internal bones and other organs determined based on CT images and other data before the operation.

[0059] Specifically, the position, structure, state and other information of the surgical object can be determined in advance based on the patient's CT images and other data, and motion instructions executable by the surgical robot can be formulated based on this information, so that the surgical robot can control the execution end according to these motion instructions to perform corresponding surgical operations on the surgical object. These surgical operations may include operations in spinal surgery such as osteotomy or nail placement.

[0060] Step S202: Acquire actual position information and / or actual structure information of the surgical object during surgery performed by the surgical robot.

[0061] The actual position information may be collected by an optical positioning device pre-installed around the surgical object. The actual structure information may be collected by a force feedback sensor pre-installed on the execution end. The actual position information represents the actual position of the surgical object during the surgical operation performed by the execution end. The actual structure information represents the actual structure of the surgical object detected by the execution end.

[0062] Exemplarily, the optical positioning device may include a visual sensor and a reference frame, and the process of obtaining actual position information may include: collecting a real-time image containing the reference frame and the surgical object through the visual sensor; and determining the actual position of the surgical object based on the positional relationship between the reference frame and the surgical object in the real-time image.

[0063] Step S203, modifying the motion instructions that have not yet been executed by the surgical robot according to the actual position information and / or the actual structure information, and controlling the surgical robot to execute the modified motion instructions.

[0064] In some possible implementations, the visual sensor can collect video images including the execution terminal and the surgical object in real time while the execution terminal is performing a surgical operation, and compare the positions of various parts such as the execution terminal, the patient, and the bones in the patient's body during the actual operation with the positions of the corresponding parts planned in the path planning information, and calculate the position difference.

[0065] In some possible implementations, the force feedback sensor can sense the resistance encountered by the execution terminal during operation on the surgical object, and determine the actual structural information such as bone density based on the resistance. The actual structure determined by the force feedback sensor is then compared with the planned structure preset in the path planning information. The difference between the actual organ structure encountered by the execution terminal during the operation and the planned structure can be obtained.

[0066] In the above embodiment, the surgical robot is controlled to perform surgery on the surgical object according to the preset motion instructions. In this process, the actual position information and / or actual structure information of the surgical object can be obtained, and the motion instructions that have not been executed by the surgical robot are modified according to the actual position information and / or actual structure information, and the surgical robot is controlled to execute the modified motion instructions. In this way, the surgical robot can sense and respond to environmental changes, adjust the operation strategy in real time according to environmental changes, and flexibly respond to emergencies such as patient movement or tissue deformation that may occur during the operation, thereby improving the success rate and safety of the operation.

[0067] In one embodiment, Figure 3 As shown, controlling the surgical robot to perform surgery on the surgical object according to the preset motion instructions may include:

[0068] Step S301, acquiring a target image of a surgical object.

[0069] The target image may be a CT (Computed Tomography) image of the bone to be operated on, etc. The target image includes the planned position information and planned structure information of the surgical object.

[0070] In some possible implementations, the target image may also be an image that has been preprocessed on a CT image containing the bone to be operated on. The preprocessing may include image segmentation and numbering of each vertebra in the human body, and may also include generating an image segmentation result mask, etc., to clearly display the structure of organs such as bones. For example, different cervical vertebrae may be numbered C1, C2, ..., Cm in sequence, and different thoracic vertebrae may be numbered T1, T2, ..., Tn, etc. in sequence. The planned position information may be the position of one or more vertebrae determined before the operation based on imaging and other data. The planned structure information may be the structure of one or more vertebrae determined before the operation based on imaging and other data.

[0071] Step S302, determining the path planning information of the surgical robot according to the planned position information, the planned structure information and the preset initial working position, and generating motion instructions according to the path planning information.

[0072] The preset initial operation position may be the position where the execution end of the surgical robot starts the operation, for example, the position where the robot enters the spine determined based on information such as CT images.

[0073] Specifically, the surgical approach can be determined based on the patient's CT images and other information, a surgical window can be opened at the site where the patient needs surgery, and the position of the osteotomy tool and other execution end to start the operation can be determined based on information such as the location and structure of the vertebrae to be operated on.

[0074] Step S303, controlling the execution end of the surgical robot to move to an initial working position, and controlling the execution end to execute a motion instruction after the execution end moves to the initial working position.

[0075] In some possible implementations, the position of the part of the patient where surgery is to be performed may be converted into coordinates in the visual system reference system of the surgical robot, and the execution end of the surgical robot may be controlled to move to the coordinates.

[0076] In some possible implementations, data such as the patient's preoperative images can also be downloaded to the control system of the surgical robot. The surgical robot can perform alignment based on the image data and the real-time captured images in the visual system to move the execution end to the position where the operation begins.

[0077] In one embodiment, Figure 4 As shown, modifying the motion instructions that have not yet been executed by the surgical robot according to the actual position information and / or the actual structure information may include:

[0078] Step S401: determining a position difference between actual position information and planned position information, and / or determining a structure difference between actual structure information and planned structure information.

[0079] In some possible implementations, the visual sensor can collect video images including the execution terminal and the surgical object in real time while the execution terminal is performing a surgical operation, and compare the positions of various parts such as the execution terminal, the patient, and the bones in the patient's body during the actual operation with the positions of the corresponding parts planned in the path planning information, and calculate the position difference.

[0080] In some possible implementations, the force feedback sensor can sense the resistance encountered by the execution terminal during operation on the surgical object, and determine the actual structural information such as bone density based on the resistance. The actual structure determined by the force feedback sensor is then compared with the planned structure preset in the path planning information. The difference between the actual organ structure encountered by the execution terminal during the operation and the planned structure can be obtained.

[0081] Step S402: modify the path planning information according to the position difference and / or the structure difference, and modify the motion instructions that have not yet been executed by the surgical robot according to the modified path planning information.

[0082] Specifically, the path planning information output by the model can be modified based on one of the position difference and the structural difference, or the path planning information can be modified by combining the two difference information, namely, the position difference and the structural difference, to update the subsequent operation path and angle of the execution terminal, thereby generating new motion instructions for the surgical robot to execute based on the updated operation path and angle.

[0083] In the above embodiment, the position difference caused by the patient's movement can be sensed during the operation through the optical positioning device, and the structural differences such as tissue deformation in the patient's body can be sensed through the force feedback device. The multimodal information is integrated to optimize the operation path and angle of the execution terminal, so that the surgical robot can adjust the operation strategy in real time according to the changes in the surgical environment, reduce the impact of patient movement and structural changes on the surgical process, and thus improve the success rate and safety of the operation.

[0084] In one embodiment, the path planning information of the surgical robot is determined according to the planned position information, the planned structure information and the preset initial working position, including:

[0085] The target image and the initial operation position are input into the path planning model, and the path planning information output by the path planning model is obtained. The path planning model is trained based on a number of surgical data.

[0086] Specifically, the type of spinal surgery to be performed can be determined first, and then the target image and preset position can be input into the path planning model corresponding to the current surgery type, and the path planning information such as the operation path and angle applicable to the current surgery can be obtained through the model.

[0087] For example, a large amount of surgical data of spinal surgeries performed by medical experts can be collected in advance. These spinal surgeries may include different types such as osteotomy and screw placement. The surgical data may include patient CT images and the operation paths actually used by experts, etc. Based on these surgical data, path planning models corresponding to different types can be trained respectively.

[0088] In some possible implementations, the path planning model is obtained in the following manner.

[0089] S3021, obtain an expert dataset and an initialized Gaussian mixture model.

[0090] The expert data set includes several surgical data of the same type as the current surgery. The Gaussian mixture model is a probability model composed of multiple sub-models, and the sub-models can represent the Gaussian distribution in the data.

[0091] Specifically, a large amount of surgical data of the same type as the current surgery can be used as an expert data set for training the model, and the initial model of the path planning model can be obtained by initializing the Gaussian mixture model.

[0092] S3022, adjusting the model parameters of the Gaussian mixture model according to the surgical data in the expert data set, so as to obtain a path planning model according to the adjusted Gaussian mixture model.

[0093] Specifically, based on the surgical data in the expert dataset, the EM (Expectation-Maximization) algorithm can be used to train the Gaussian mixture model, calculate the probability that each data point belongs to each Gaussian distribution, and continuously update the model parameters in multiple iterations to maximize the log-likelihood function until the model parameters converge or the preset number of iterations is reached.

[0094] In one embodiment, adjusting the model parameters of the Gaussian mixture model according to the surgical data in the expert data set to obtain the path planning model according to the adjusted Gaussian mixture model includes:

[0095] The surgical data in the expert data set is input into the pre-trained neural network model; the Gaussian parameters corresponding to the expert data set output by the neural network model are obtained, and the initialization parameters of the Gaussian mixture model are updated to the obtained Gaussian parameters, and the path planning model is obtained after the update.

[0096] The neural network model is used to determine the Gaussian distribution characteristics of the input data to obtain Gaussian parameters that fit multiple Gaussian distributions.

[0097] Exemplarily, the neural network model can be a multilayer perceptron, including an input layer and an output layer, and there can be multiple hidden layers between the input layer and the output layer. The input of the multilayer perceptron can be surgical data in an expert data set, and the output can be Gaussian parameters of a Gaussian mixture model such as Gaussian distribution weights, mean and covariance matrix.

[0098] In some application scenarios, the implementation of spinal surgery not only requires the use of precision equipment such as spinal surgery robots, but also requires doctors with relevant knowledge and surgical experience to do a lot of preoperative preparation, such as analyzing the bones that need to be operated on the patient, and formulating operation paths and angles suitable for the end of the surgical robot (such as bone knives, etc.). These preparations not only take up the doctor's time, but the doctor's own knowledge reserves and surgical experience also affect the quality of the planned path, and thus affect the success rate of the operation.

[0099] The inventor therefore thought that a model suitable for spinal surgery could be trained by collecting a large amount of relevant imaging data of spinal surgery and surgical data such as operation paths planned by high-level experts such as chief physicians. The model can learn the operation habits of high-level experts during surgery. Through the model, planning information such as operation paths that match the spinal bones to be operated on can be quickly obtained, and then instructions for the surgical robot can be generated to perform the corresponding surgical operations. In this way, the manual planning of surgical strategies can be replaced, the workload of preoperative preparation can be reduced, the overall efficiency of spinal surgery can be improved, and the excellent operation experience of high-level experts can be integrated to improve the success rate of surgery.

[0100] In the above embodiment, a Gaussian mixture model and an expert data set are used to train a path planning model, so that the path planning model can learn the characteristics of the Gaussian distribution in the expert data set and learn the surgical operations of high-level experts, thereby generating a more accurate and effective surgical path and reducing surgical time and risk.

[0101] Figure 5 The structure diagram of a surgical robot system provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the surgical robot system may include a controller, an optical positioning device, and an execution end with a force feedback device. The execution end is used to perform a surgical operation on a surgical object according to the moving path and angle indicated by the controller; the force feedback device is used to collect force feedback information of the execution end during the surgical operation; the optical positioning device is used to obtain real-time position information of the surgical object during the surgical operation; the controller is used to collect force feedback information collected by the force feedback device and / or real-time position information collected by the optical positioning device.

[0102] Exemplarily, the optical positioning device may include a positioning instrument and a reference frame installed around the patient. The positioning instrument may be a visual sensor integrated with a visual processing algorithm, and the reference frame may be installed around the surgical robot and the patient. Optionally, a photosensitive ball may be provided on the reference frame to assist the positioning instrument in capturing information such as the position and movement angle of the execution end.

[0103] Figure 6 The schematic diagram of the structure of a surgical treatment device provided in an embodiment of the present application is shown in FIG. The device can be applied to a surgical robot, such as Figure 6 As shown, the surgical treatment device 600 may include:

[0104] The surgery control module 601 is used to control the surgical robot to perform surgery on the surgical object according to preset motion instructions, where the motion instructions are generated based on the planned position information and planned structure information of the surgical object.

[0105] The acquisition module 602 is used to acquire the actual position information and / or actual structure information of the surgical object during the operation performed by the surgical robot.

[0106] The instruction processing module 603 is used to modify the motion instructions that have not been executed by the surgical robot according to the actual position information and / or the actual structure information, and control the surgical robot to execute the modified motion instructions.

[0107] In one embodiment, the surgical robot is equipped with an execution end, and the surgical control module 601 may include:

[0108] The image acquisition unit can be used to acquire a target image of the surgical object, wherein the target image contains the planned position information and planned structure information of the surgical object.

[0109] The planning unit can be used to determine the path planning information of the surgical robot according to the planned position information, the planned structure information and a preset initial working position, and generate motion instructions according to the path planning information.

[0110] The instruction control unit can be used to control the execution end of the surgical robot to move to the initial working position, and control the execution end to execute the motion instruction after the execution end moves to the initial working position.

[0111] In one embodiment, the instruction processing module 603 may include:

[0112] The difference determination unit may be configured to determine a position difference between the actual position information and the planned position information, and / or determine a structure difference between the actual structure information and the planned structure information.

[0113] The instruction modification unit can be used to modify the path planning information according to the position difference and / or the structural difference, and modify the motion instructions that have not yet been executed by the surgical robot according to the modified path planning information.

[0114] In one embodiment, the actual position information is collected by an optical positioning device pre-installed around the surgical object, and / or the actual structure information is collected by a force feedback sensor pre-installed on the execution end.

[0115] In one embodiment, the planning unit is further used to: input the target image and the initial working position into a path planning model, and obtain path planning information output by the path planning model, wherein the path planning model is trained based on a number of surgical data.

[0116] In one embodiment, the surgical treatment device 600 may further include:

[0117] The model acquisition module can be used to obtain an expert data set and an initialized Gaussian mixture model, wherein the expert data set includes a number of surgical data of the same type as the current surgery; the model parameters of the Gaussian mixture model are adjusted according to the surgical data in the expert data set to obtain the path planning model according to the adjusted Gaussian mixture model.

[0118] The surgical treatment device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be described in detail here.

[0119] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0120] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0121] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 70 may include:

[0122] Processor 71, memory 72, and communication interface 73;

[0123] The memory 72 is used to store executable instructions of the processor 71; the executable instructions may be computer-executable instructions;

[0124] Among them, the processor 71 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0125] Optionally, the memory 72 can be independent or integrated with the processor 71.

[0126] Optionally, when the memory 72 is a device independent of the processor 71, the electronic device 70 may further include:

[0127] The bus 74 , the memory 72 and the communication interface 73 are connected to the processor 71 via the bus 74 and communicate with each other. The communication interface 73 is used to communicate with other devices.

[0128] Optionally, the communication interface 73 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0129] The bus 74 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0130] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0131] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0132] An embodiment of the present application also provides a readable storage medium, which may be a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0133] An embodiment of the present application also provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0134] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0135] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0137] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A surgical treatment method, characterized in that: Applied to a surgical robot, the method comprises: Controlling the surgical robot to perform surgery on a surgical object according to preset motion instructions, wherein the motion instructions are generated based on planned position information and planned structure information of the surgical object; During the operation performed by the surgical robot, obtaining actual position information and / or actual structure information of the surgical object; The motion instructions that have not yet been executed by the surgical robot are modified according to the actual position information and / or the actual structure information, and the surgical robot is controlled to execute the modified motion instructions.

2. The surgical treatment method according to claim 1, characterized in that: The surgical robot is equipped with an execution terminal, and the step of controlling the surgical robot to perform surgery on a surgical object according to a preset motion instruction includes: Acquire a target image of a surgical object, wherein the target image includes planned position information and planned structure information of the surgical object; Determining path planning information of the surgical robot according to the planned position information, the planned structure information and a preset initial operation position, and generating motion instructions according to the path planning information; The execution end of the surgical robot is controlled to move to the initial working position, and the execution end is controlled to execute the motion instruction after the execution end moves to the initial working position.

3. The surgical treatment method according to claim 2, characterized in that: The step of modifying the motion instruction that has not yet been executed by the surgical robot according to the actual position information and / or the actual structure information comprises: Determine a position difference between the actual position information and the planned position information, and / or determine a structure difference between the actual structure information and the planned structure information; The path planning information is modified according to the position difference and / or the structural difference, and the motion instructions that have not yet been executed by the surgical robot are modified according to the modified path planning information.

4. The surgical treatment method according to claim 2 or 3, characterized in that: The actual position information is collected by an optical positioning device pre-installed around the surgical object, and / or the actual structure information is collected by a force feedback sensor pre-installed on the execution end.

5. The surgical treatment method according to claim 2 or 3, characterized in that: Determining the path planning information of the surgical robot according to the planned position information, the planned structure information and the preset initial operation position includes: The target image and the initial operation position are input into a path planning model, and path planning information output by the path planning model is obtained, wherein the path planning model is trained based on a plurality of surgical data.

6. The surgical treatment method according to claim 5, characterized in that: The path planning model is obtained in the following way: Acquire an expert data set and an initialized Gaussian mixture model, wherein the expert data set includes a plurality of surgical data of the same type as the current surgery; The model parameters of the Gaussian mixture model are adjusted according to the surgical data in the expert data set, so as to obtain the path planning model according to the adjusted Gaussian mixture model.

7. A surgical treatment device, characterized in that: Applied to a surgical robot, the surgical treatment device comprises: A surgery control module, used to control the surgical robot to perform surgery on the surgical object according to preset motion instructions, wherein the motion instructions are generated based on the planned position information and planned structure information of the surgical object; An acquisition module, used for acquiring actual position information and / or actual structure information of the surgical object during the operation performed by the surgical robot; The instruction processing module is used to modify the motion instructions that have not been executed by the surgical robot according to the actual position information and / or the actual structure information, and control the surgical robot to execute the modified motion instructions.

8. A surgical robot system, characterized in that: It includes a controller, an optical positioning device and an execution end with a force feedback device; The execution end is used to perform a surgical operation on a surgical object according to a moving path and angle indicated by the controller; The force feedback device is used to collect force feedback information of the execution end during the execution of the surgical operation; The optical positioning device is used to obtain real-time position information of the surgical object during the surgical operation; The controller is used to plan the moving path and angle of the execution end according to the force feedback information collected by the force feedback device and / or the real-time position information collected by the optical positioning device.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

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