Surgical robot surgeon's console field of view adjustment methods, devices, equipment, media and products

Abstract

The embodiment of the application discloses a surgical robot doctor control console field of vision adjusting method, device, equipment and medium, wherein, the method comprises: acquiring horizontal motion trajectory points and vertical motion trajectory points of a main operating hand reference point corresponding to a main operating hand in a field of vision; performing straight line fitting on the horizontal motion trajectory points and the vertical motion trajectory points to obtain a first straight line and a second straight line; distributing projection coordinates of at least two points on the first straight line and the second straight line in a corresponding coordinate plane of a main end base coordinate system corresponding to the main operating hand to determine a third straight line and a fourth straight line; determining a main end base coordinate system space correction plane according to a spatial position relationship of the third straight line and the fourth straight line under the main end base coordinate system, to determine a coordinate correction matrix, to complete field of vision correction in a target surgery based on the coordinate correction matrix. The technical scheme of the embodiment of the application can correct the console field of vision based on the user operation habit.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of artificial intelligence technology, and in particular to a method, device, equipment, medium and product for adjusting the field of view of a surgical robot doctor's console. Background Technology

[0002] When the surgeon operates the open-type doctor's console of the endoscopic surgical robot, the 3D display screen of the doctor's console will provide feedback to the surgeon, and the surgeon's own hand movements on the doctor's console will also provide feedback on hand movements in the surgeon's field of vision.

[0003] When a surgeon performs horizontal, vertical, or depth-of-field movements, factors such as the surgeon's body type, posture, and the position of their elbow on the control armrest can affect the displayed direction of movement, causing it to appear as if the surgical robot is not following the surgeon's movements. Furthermore, different surgeons may perceive the control console view of the same surgical robot differently. If the surgeon's actions are out of sync with the control console view, it can be dangerous, necessitating adjustments to the control console view. Summary of the Invention

[0004] This invention provides a method, device, equipment, medium, and product for adjusting the field of view of a surgical robot surgeon's console. It can adjust the field of view based on the operating habits of the surgical robot operator, so that the movement displayed in the field of view follows the actual operation of the operator.

[0005] In a first aspect, embodiments of the present invention provide a method for adjusting the field of view of a surgical robot surgeon's console, the method comprising:

[0006] Before starting the target surgery, the horizontal and vertical motion trajectory points of the main manipulator reference point corresponding to the main manipulator of the surgical robot are obtained within the field of view. The horizontal and vertical motion trajectory points are the trajectory points generated when the main manipulator, under the control of the target object, makes the surgical instrument reference point associated with the main manipulator reference point move horizontally and vertically within the field of view.

[0007] A first straight line is obtained by fitting the horizontal trajectory points, and a second straight line is obtained by fitting the vertical trajectory points.

[0008] Based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main operator, determine the third straight line in the horizontal plane, and based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system, determine the fourth straight line in the vertical plane.

[0009] Based on the spatial positional relationship between the third and fourth straight lines in the main end base coordinate system, determine the spatial correction plane of the main end base coordinate system;

[0010] The coordinate correction matrix of the coordinate objects in the master base coordinate system is determined based on the spatial correction plane of the master base coordinate system, so as to complete the field of view correction corresponding to the master base coordinate system based on the coordinate correction matrix during the target surgery.

[0011] Secondly, embodiments of the present invention provide a surgical robot surgeon's console field of view adjustment device, the device comprising:

[0012] The master operator motion trajectory point acquisition module is used to acquire the horizontal and vertical motion trajectory points of the master operator reference point corresponding to the master operator of the surgical robot within the field of view before the start of the target surgery. The horizontal and vertical motion trajectory points are the trajectory points generated when the master operator moves the surgical instrument reference point associated with the master operator reference point horizontally and vertically within the field of view under the control of the target object.

[0013] The main operator's motion trajectory point analysis module is used to perform linear fitting on horizontal motion trajectory points to obtain a first straight line, and to perform linear fitting on vertical motion trajectory points to obtain a second straight line;

[0014] The main operator's motion trajectory point mapping module is used to determine the third straight line in the horizontal plane based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main operator, and to determine the fourth straight line in the vertical plane based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system.

[0015] The main operator's motion trajectory point correction analysis module is used to determine the spatial correction plane of the main end base coordinate system based on the spatial positional relationship between the third and fourth straight lines in the main end base coordinate system.

[0016] The coordinate correction matrix determination module is used to determine the coordinate correction matrix of the coordinate objects in the master base coordinate system based on the spatial correction plane of the master base coordinate system, so as to complete the field of view correction corresponding to the master base coordinate system based on the coordinate correction matrix during the target surgery.

[0017] Thirdly, embodiments of the present invention also provide a computer device, the computer device comprising:

[0018] One or more processors;

[0019] Memory, used to store one or more programs;

[0020] When one or more programs are executed by one or more processors, the one or more processors implement the surgical robot surgeon console field of view adjustment method as provided in any embodiment of the present invention.

[0021] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the surgical robot surgeon's console field of view adjustment method as provided in any embodiment of the present invention.

[0022] Fifthly, embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements the surgical robot surgeon's console field of view adjustment method as provided in any embodiment of the present invention.

[0023] The embodiments of the above invention have the following advantages or beneficial effects:

[0024] In this embodiment of the invention, before starting the target surgery, the horizontal and vertical motion trajectory points of the main operator reference point corresponding to the main operator of the surgical robot within the field of view are obtained. These horizontal and vertical motion trajectory points are generated when the main operator, under the control of the target object, causes the surgical instrument reference point associated with the main operator reference point to move horizontally and vertically within the field of view. A first straight line is obtained by linear fitting of the horizontal motion trajectory points, and a second straight line is obtained by linear fitting of the vertical motion trajectory points. Based on at least two points on the first straight line corresponding to the main operator reference point... The projection coordinates in the horizontal coordinate plane of the end-base coordinate system are used to determine the third straight line in the horizontal plane. Based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end-base coordinate system, a fourth straight line in the vertical plane is determined. The spatial correction plane of the main end-base coordinate system is determined based on the spatial correction plane. The coordinate correction matrix of the coordinate objects in the main end-base coordinate system is then determined based on the coordinate correction matrix to complete the visual field correction corresponding to the main end-base coordinate system during the target surgery. This embodiment of the present disclosure solves the problem of the feedback of hand movements and actual operation tracking in the surgical robot's visual field. It enables the adjustment of the visual field based on the user's own operating habits, allowing the displayed movements to follow the user's actual operations, thereby improving the safety of the surgical robot during surgery. Attached Figure Description

[0025] Figure 1 This is a flowchart of a method for adjusting the field of view of a surgical robot doctor's console according to an embodiment of the present invention;

[0026] Figure 2This is a schematic diagram of the spatial positional relationship of a straight line in the coordinate system of the main end base provided by an embodiment of the present invention;

[0027] Figure 3 This is a flowchart of a method for adjusting the field of view of a surgical robot doctor's console according to an embodiment of the present invention;

[0028] Figure 4 This is a flowchart of a method for adjusting the field of view of a surgical robot doctor's console according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of a surgical robot doctor's console field of view adjustment device provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0032] Figure 1 This is a flowchart illustrating a method for adjusting the field of view of a surgical robot's control console, provided as an embodiment of the present invention. This embodiment is applicable to scenarios requiring correction of the field of view of a surgical robot's control console, particularly open-type control consoles. The method can be executed by a surgical robot control console field of view adjustment device, which can be implemented in software and / or hardware and integrated into a computer device with application development capabilities.

[0033] like Figure 1 As shown, the surgical robot surgeon's console field of view adjustment method in this embodiment includes the following steps:

[0034] S110. Before starting the target surgery, obtain the horizontal and vertical motion trajectory points of the main operator reference point corresponding to the main operator of the surgical robot within the field of view.

[0035] The operator of the surgical robot, also known as the target patient, needs to log into the surgical robot system before operating the robot to confirm their identity. In this embodiment, considering that each target patient has different operating habits, such as body shape, sitting posture, and elbow position on the console armrest frame, which can affect the target patient's operational feedback within the surgical field of view, the console field of view will be adjusted before the surgery begins. Here, "target surgery" refers to the surgery to be performed after the target patient logs into the surgical robot system.

[0036] The horizontal and vertical movement trajectory points of the master operator reference point within the field of view are the trajectory points generated when the master operator, under the control of the target object, causes the surgical instrument reference point associated with the master operator reference point to move horizontally and vertically within the field of view.

[0037] The trajectory points generated when the main operator moves the surgical instrument reference point associated with the main operator's reference point horizontally and vertically within the field of view are different for different target objects. This reflects the individual differences in the operating habits of different target objects.

[0038] S120. Perform linear fitting on the horizontal motion trajectory points to obtain the first straight line, and perform linear fitting on the vertical motion trajectory points to obtain the second straight line.

[0039] The number of horizontal and vertical trajectory points can be the same or different. During the line fitting process, any line fitting method can be used, such as the least squares method.

[0040] S130. Based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main operator, determine the third straight line in the horizontal plane, and based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system, determine the fourth straight line in the vertical plane.

[0041] In obtaining the projected coordinates, at least two points can be randomly selected on the first and second straight lines for projection.

[0042] For example, such as Figure 2 As shown, the first straight line is L1, obtained by fitting m horizontal motion trajectory points, and the second straight line is L2, obtained by fitting n vertical motion trajectory points. Two points are randomly selected from L1 and projected onto the yz plane to obtain two projection point coordinates, P1 and P2. Similarly, two points are randomly selected from L2 and projected onto the xz plane to obtain two projection point coordinates, P3 and P4. Furthermore, the third straight line L3 can be determined based on P1 and P2, and the fourth straight line L4 can be determined based on P3 and P4.

[0043] S140. Based on the spatial positional relationship between the third and fourth straight lines in the main end base coordinate system, determine the spatial correction plane of the main end base coordinate system.

[0044] The third and fourth lines are two skew lines. A plane can be constructed by parallel lines that are parallel to the third or fourth line, together with the fourth or third line. This plane serves as the spatial plane corresponding to the horizontal and vertical movement trajectories displayed within the actual field of vision of the target object, i.e., the spatial correction plane of the main base coordinate system.

[0045] S150. Determine the coordinate correction matrix of the coordinate objects in the main base coordinate system based on the spatial correction plane of the main base coordinate system, so as to complete the field correction of the coordinate objects in the main base coordinate system in the field of view based on the coordinate correction matrix during the target surgery.

[0046] Two lines in the spatial correction plane of the master base coordinate system (such as a line parallel to the third or fourth line, or the fourth or third line) and the normal of the spatial correction plane of the master base coordinate system can be used to form a coordinate system. The direction vector of the coordinate axes of this coordinate system is the corresponding coordinate correction matrix. In the target surgery, the coordinate object in the master base coordinate system is corrected in the field of vision based on the coordinate correction matrix.

[0047] After determining the coordinate correction matrix, during the target surgery, the coordinate points of the master hand reference point in the master end base coordinate system can be used as coordinate objects. Based on the coordinate correction matrix, the coordinate objects are transformed to obtain the target coordinate objects, and the pose of the above coordinate points in the master end base coordinate system is corrected to complete the field of view correction corresponding to the master end base coordinate system.

[0048] The technical solution of this embodiment involves acquiring the horizontal and vertical motion trajectory points of the main operator reference point corresponding to the main operator of the surgical robot within the field of view before the start of the target surgery. These horizontal and vertical motion trajectory points are generated when the main operator, under the control of the target object, causes the surgical instrument reference point associated with the main operator reference point to move horizontally and vertically within the field of view. A first straight line is obtained by linear fitting of the horizontal motion trajectory points, and a second straight line is obtained by linear fitting of the vertical motion trajectory points. Based on at least two points on the first straight line corresponding to the main operator reference point... The projection coordinates of the second line on the horizontal plane of the main-end base coordinate system are used to determine the third straight line in the horizontal plane. Based on the projection coordinates of at least two points on the second straight line in the vertical plane of the main-end base coordinate system, a fourth straight line in the vertical plane is determined. The spatial correction plane of the main-end base coordinate system is determined based on the spatial correction plane. The coordinate correction matrix of the coordinate objects in the main-end base coordinate system is then determined based on the coordinate correction matrix to complete the visual field correction corresponding to the main-end base coordinate system during the target surgery. This embodiment of the present disclosure solves the problem of the feedback of hand movements in the surgical robot's visual field not matching the actual operation. It enables the adjustment of the visual field based on the user's own operating habits, allowing the displayed movements to follow the user's actual operations, thereby improving the safety of the surgical robot during surgery.

[0049] Figure 3This is a flowchart illustrating a method for adjusting the field of view of a surgical robot's control console, provided as an embodiment of the present invention. This embodiment belongs to the same inventive concept as the surgical robot control console field of view adjustment methods described in the previous embodiments, and further describes the process of determining the coordinate correction matrix. This method can be executed by a surgical robot control console field of view adjustment device, which can be implemented in software and / or hardware and integrated into a computer device with application development capabilities.

[0050] like Figure 3 As shown, the surgical robot surgeon's console field of view adjustment method in this embodiment includes the following steps:

[0051] S210. Before starting the target surgery, obtain the horizontal and vertical motion trajectory points of the main operator reference point corresponding to the main operator of the surgical robot within the field of view.

[0052] Among them, the horizontal motion trajectory point and the vertical motion trajectory point are the trajectory points generated when the main operator, under the control of the target object, moves the surgical instrument reference point associated with the main operator's reference point horizontally and vertically within the field of vision.

[0053] S220. Perform linear fitting on the horizontal motion trajectory points to obtain the first straight line, and perform linear fitting on the vertical motion trajectory points to obtain the second straight line.

[0054] S230. Based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main operator, determine the third straight line in the horizontal plane, and based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system, determine the fourth straight line in the vertical plane.

[0055] S240. Calculate the coordinates of the midpoint of the common perpendicular of the third and fourth lines, and obtain the coordinates of the midpoint of the target common perpendicular on the extension of the third line.

[0056] A common perpendicular line is a straight line that intersects two skew lines perpendicularly. In the master end base coordinate system of a surgical robot, it can be used as a reference line to describe the relationship between the third and fourth straight lines.

[0057] The common perpendicular can be determined mathematically by setting its position and direction between the two planes of the principal base coordinate system. Specifically, the direction vector of the common perpendicular can be calculated using operations such as the cross product and dot product of vectors. Then, based on the known points of the third and fourth lines, the position of the common perpendicular can be determined, and finally, the coordinates of its midpoint can be obtained.

[0058] The coordinates of the midpoint of the common perpendicular can be as follows: Figure 2 The coordinates of point P5 in the schematic diagram are shown.

[0059] S250. Based on the direction vector of the fourth line and the coordinates of the midpoint of the target common perpendicular, determine a target parallel line that passes through the coordinates of the midpoint of the target common perpendicular and is parallel to the direction vector of the fourth line.

[0060] The target parallel line can be Figure 2 The straight line between points P5 and P6, where P6 can be any coordinate point on the target parallel line other than P5.

[0061] S260. Determine the spatial correction plane of the main end base coordinate system based on the target parallel line and the third straight line.

[0062] The coordinate system correction plane of the main end base is the plane that simultaneously contains the target parallel line and the third straight line.

[0063] S270. Determine the normal vector of the spatial correction plane of the main end base coordinate system based on the cross product of the first direction vector of the target parallel line and the second direction vector of the third line in the spatial correction plane of the main end base coordinate system.

[0064] The first direction vector can correspond to Figure 2 The vector formed by P5 and P6 in the middle, the second direction vector can correspond to Figure 2 The vector formed by P5P2. The cross product of P5P6 and P5P2 yields the normal vector perpendicular to the plane containing P6, P5, and P2, which is the normal vector of the spatial correction plane of the principal base coordinate system.

[0065] S280. Calculate the unit vectors of the first direction vector, the second direction vector, and the normal vector respectively, and form a coordinate correction matrix based on the unit vectors, so as to complete the field of view correction corresponding to the master base coordinate system in the target surgery based on the coordinate correction matrix.

[0066] The unit vectors of the first direction vector, the second direction vector, and the normal vector are calculated separately, i.e., the first direction vector, the second direction vector, and the normal vector are normalized, and a coordinate correction matrix is ​​formed based on the unit vectors. This allows for pose correction of the object's coordinates in the master-end base coordinate system. For example, multiplying the coordinates of the surgical robot's master manipulator reference point in the master-end base coordinate system by the coordinate correction matrix completes pose correction, thus achieving field-of-view correction in the master-end base coordinate system based on the coordinate correction matrix.

[0067] The technical solution of this embodiment involves obtaining the horizontal and vertical motion trajectory points of the main operator reference point of the surgical robot within the field of view before the start of the target surgery; performing linear fitting on the horizontal motion trajectory points to obtain a first straight line, and performing linear fitting on the vertical motion trajectory points to obtain a second straight line; determining a third straight line in the horizontal plane based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main operator, and determining a fourth straight line in the vertical plane based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system; calculating the midpoint coordinates of the common perpendicular of the third and fourth straight lines to obtain the coordinates of the midpoint of the third straight line. The coordinates of the midpoint of the target common perpendicular on the extended line are determined; based on the direction vector of the fourth line and the coordinates of the midpoint of the target common perpendicular, a target parallel line passing through the midpoint of the target common perpendicular and parallel to the direction vector of the fourth line is determined; a spatial correction plane for the main end base coordinate system is determined based on the target parallel line and the third line; the normal vector of the spatial correction plane for the main end base coordinate system is determined based on the cross product of the first direction vector of the target parallel line and the second direction vector of the third line in the spatial correction plane of the main end base coordinate system; the unit vectors of the first direction vector, the second direction vector, and the normal vector are calculated respectively, and a coordinate correction matrix is ​​formed based on the unit vectors to complete the field of view correction corresponding to the main end base coordinate system in the target surgery based on the coordinate correction matrix. This embodiment solves the problem of feedback of hand movement and actual operation tracking in the surgical robot's field of view, realizing the adjustment of the field of view based on the operating habits of the surgical robot operator, so that the movement displayed in the field of view follows the actual operation of the operator, improving the safety of the surgical robot in surgery.

[0068] Figure 4 This is a flowchart illustrating a method for adjusting the field of view of a surgical robot's control console, provided as an embodiment of the present invention. This embodiment belongs to the same inventive concept as the surgical robot control console field of view adjustment method described in the previous embodiments, and further explains the process of saving the target object whitelist. This method can be executed by a surgical robot control console field of view adjustment device, which can be implemented in software and / or hardware and integrated into a computer device with application development capabilities.

[0069] like Figure 4 As shown, the surgical robot surgeon's console field of view adjustment method in this embodiment includes the following steps:

[0070] S310. After the target object is logged into the surgical robot system, query the coordinate correction matrix that has a mapping relationship with the target object based on the object identifier of the target object.

[0071] Different target objects have different operating habits and can correspond to different coordinate correction matrices. After a target object is logged into the surgical robot system, the system can query whether a coordinate correction matrix that matches the target object exists, based on the mapping relationship between the target object and the coordinate correction matrix.

[0072] S320. If a coordinate correction matrix with a mapping relationship to the target object is found, the field of view correction corresponding to the master base coordinate system is completed in the target surgery based on the found coordinate correction matrix.

[0073] S330. If no coordinate correction matrix with a mapping relationship to the target object is found, before starting the target surgery, obtain the horizontal and vertical motion trajectory points of the main operator reference point corresponding to the main operator of the surgical robot within the field of view.

[0074] Among them, the horizontal motion trajectory point and the vertical motion trajectory point are the trajectory points generated when the main operator, under the control of the target object, moves the surgical instrument reference point associated with the main operator's reference point horizontally and vertically within the field of vision.

[0075] If no coordinate correction matrix with a mapping relationship to the target object is found, it is necessary to further determine the coordinate correction matrix corresponding to the target object. This is to achieve trajectory point correction in the field of view to meet the individual operating habits of the target object.

[0076] S340. Perform linear fitting on the horizontal motion trajectory points to obtain the first straight line, and perform linear fitting on the vertical motion trajectory points to obtain the second straight line.

[0077] S350. Based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main operator, determine the third straight line in the horizontal plane, and based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system, determine the fourth straight line in the vertical plane.

[0078] S360. Based on the spatial positional relationship between the third and fourth straight lines in the main end base coordinate system, determine the spatial correction plane of the main end base coordinate system.

[0079] S370. Establish the mapping relationship between the coordinate correction matrix and the target object, and save the mapping relationship.

[0080] After determining the coordinate correction matrix associated with the target object, a mapping relationship between the coordinate correction matrix and the target object can be established and saved to form a list of surgical robot operators. Target objects on this list can then adaptively adjust the console view based on the stored coordinate correction matrix.

[0081] The technical solution of this embodiment involves querying a coordinate correction matrix that maps to the target object after the target object logs into the surgical robot system, based on the target object's object identifier. If a coordinate correction matrix mapping to the target object is found, the field of view correction corresponding to the master-end base coordinate system is performed during the target surgery based on the found coordinate correction matrix. If no coordinate correction matrix mapping to the target object is found, before starting the target surgery, the horizontal and vertical motion trajectory points of the master operator's reference point within the field of view are obtained. The horizontal motion trajectory points... A first straight line is obtained by linear fitting, and a second straight line is obtained by linear fitting of the vertical motion trajectory points. Based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main manipulator, a third straight line in the horizontal plane is determined. Based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system, a fourth straight line in the vertical plane is determined. Based on the spatial positional relationship of the third and fourth straight lines in the main end base coordinate system, a spatial correction plane for the main end base coordinate system is determined. A mapping relationship between the coordinate correction matrix and the target object is established and saved. This embodiment of the present disclosure solves the problem of feedback of hand motion and actual operation tracking in the surgical robot's field of vision. It can save coordinate correction matrices corresponding to different target objects to adapt to different operating habits of different target objects. The field of vision is adjusted according to the operating habits of different surgical robot operators, so that the motion in the field of vision follows the actual operation of the operator, improving the safety of the surgical robot in surgery.

[0082] Figure 5 This is a schematic diagram of a surgical robot surgeon's console field of view adjustment device provided in an embodiment of the present invention. This embodiment is applicable to the application of surgical robots, especially in the case of correcting the field of view of the surgical robot's console. The surgical robot surgeon's console field of view adjustment device can be implemented by software and / or hardware and integrated into a computer terminal device with application development capabilities.

[0083] like Figure 5 As shown, the surgical robot doctor's console field of view adjustment device includes: a main operator's motion trajectory point acquisition module 410, a main operator's motion trajectory point analysis module 420, a main operator's motion trajectory point mapping module 430, a main operator's motion trajectory point correction and analysis module 440, and a coordinate correction matrix determination module 450.

[0084] The main operator's motion trajectory point acquisition module 410 is used to acquire the horizontal and vertical motion trajectory points of the main operator's reference point within the field of view before starting the target surgery. These horizontal and vertical motion trajectory points are generated when the main operator, under the control of the target object, causes the surgical instrument reference point associated with the main operator's reference point to move horizontally and vertically within the field of view. The main operator's motion trajectory point analysis module 420 is used to perform linear fitting on the horizontal motion trajectory points to obtain a first straight line, and linear fitting on the vertical motion trajectory points to obtain a second straight line. The main operator's motion trajectory point mapping module 430 is used to map at least two points on the first straight line... The projection coordinates of a point in the horizontal coordinate plane of the master base coordinate system corresponding to the master operator are used to determine the third straight line in the horizontal plane. Based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the master base coordinate system, the fourth straight line in the vertical plane is determined. The master operator motion trajectory point correction analysis module 440 is used to determine the spatial correction plane of the master base coordinate system based on the spatial positional relationship between the third and fourth straight lines in the master base coordinate system. The coordinate correction matrix determination module 450 is used to determine the coordinate correction matrix of the coordinate objects in the master base coordinate system based on the spatial correction plane of the master base coordinate system, so as to complete the field of view correction corresponding to the master base coordinate system based on the coordinate correction matrix during the target surgery.

[0085] The technical solution of this embodiment involves acquiring the horizontal and vertical motion trajectory points of the main operator reference point corresponding to the main operator of the surgical robot within the field of view before the start of the target surgery. These horizontal and vertical motion trajectory points are generated when the main operator, under the control of the target object, causes the surgical instrument reference point associated with the main operator reference point to move horizontally and vertically within the field of view. A first straight line is obtained by linear fitting of the horizontal motion trajectory points, and a second straight line is obtained by linear fitting of the vertical motion trajectory points. Based on at least two points on the first straight line corresponding to the main operator reference point... The projection coordinates of the second line on the horizontal plane of the main-end base coordinate system are used to determine the third straight line in the horizontal plane. Based on the projection coordinates of at least two points on the second straight line in the vertical plane of the main-end base coordinate system, a fourth straight line in the vertical plane is determined. The spatial correction plane of the main-end base coordinate system is determined based on the spatial correction plane. The coordinate correction matrix of the coordinate objects in the main-end base coordinate system is then determined based on the coordinate correction matrix to complete the visual field correction corresponding to the main-end base coordinate system during the target surgery. This embodiment of the present disclosure solves the problem of the feedback of hand movements in the surgical robot's visual field not matching the actual operation. It enables the adjustment of the visual field based on the user's own operating habits, allowing the displayed movements to follow the user's actual operations, thereby improving the safety of the surgical robot during surgery.

[0086] In one optional implementation, the master operator's motion trajectory point correction and analysis module 440 is specifically used for:

[0087] Calculate the coordinates of the midpoint of the common perpendicular of the third and fourth lines, and obtain the coordinates of the midpoint of the target common perpendicular on the extension of the third line.

[0088] Based on the direction vector of the fourth line and the coordinates of the midpoint of the target common perpendicular, determine a target parallel line that passes through the coordinates of the midpoint of the target common perpendicular and is parallel to the direction vector of the fourth line.

[0089] The spatial correction plane of the main end base coordinate system is determined based on the target parallel line and the third straight line.

[0090] In one alternative implementation, the coordinate correction matrix determination module 450 is specifically used for:

[0091] The normal vector of the spatial correction plane of the main end base coordinate system is determined by the cross product of the first direction vector of the target parallel line and the second direction vector of the third line in the spatial correction plane of the main end base coordinate system.

[0092] Calculate the unit vectors of the first direction vector, the second direction vector, and the normal vector respectively, and form a coordinate correction matrix based on the unit vectors.

[0093] In one alternative implementation, the coordinate correction matrix determination module 450 is specifically used for:

[0094] In the target surgery, the coordinates of the main operating hand reference point in the main end base coordinate system are used as the coordinate object;

[0095] Based on the coordinate correction matrix, the coordinate object is transformed to obtain the target coordinate object, thus completing the field of view correction corresponding to the main end base coordinate system.

[0096] In one alternative implementation, the surgical robot surgeon's console field of view adjustment device further includes an information storage module for:

[0097] Establish a mapping relationship between the coordinate correction matrix and the target object, and save the mapping relationship.

[0098] In an alternative implementation, the coordinate correction matrix determination module 450 can also be used for:

[0099] Before obtaining the horizontal and vertical motion trajectory points of the main operator reference point corresponding to the main operator of the surgical robot within the field of view, after the target object logs into the surgical robot system, the coordinate correction matrix that has a mapping relationship with the target object is queried according to the object identifier of the target object;

[0100] If a coordinate correction matrix with a mapping relationship to the target object is found, the field of view correction corresponding to the master base coordinate system is completed based on the found coordinate correction matrix during the target surgery.

[0101] The surgical robot surgeon's console field of view adjustment device provided in the embodiments of the present invention can execute the surgical robot surgeon's console field of view adjustment method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0102] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 6 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present invention is shown. Figure 6 The computer device 12 shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities, such as intelligent controllers and servers, mobile phones, and other terminal devices.

[0103] like Figure 6As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0104] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0105] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0106] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 6 Not shown; usually referred to as a "hard drive"). Although Figure 6 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0107] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0108] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although... Figure 6 As not shown, it can be used in conjunction with computer device 12 with other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0109] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the surgical robot surgeon's console field of view adjustment method provided in this embodiment, the method including:

[0110] Before starting the target surgery, the horizontal and vertical motion trajectory points of the main manipulator reference point corresponding to the main manipulator of the surgical robot are obtained within the field of view. The horizontal and vertical motion trajectory points are the trajectory points generated when the main manipulator, under the control of the target object, makes the surgical instrument reference point associated with the main manipulator reference point move horizontally and vertically within the field of view.

[0111] A first straight line is obtained by fitting the horizontal trajectory points, and a second straight line is obtained by fitting the vertical trajectory points.

[0112] Based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main operator, determine the third straight line in the horizontal plane, and based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system, determine the fourth straight line in the vertical plane.

[0113] Based on the spatial positional relationship between the third and fourth straight lines in the main end base coordinate system, determine the spatial correction plane of the main end base coordinate system;

[0114] The coordinate correction matrix of the coordinate objects in the master base coordinate system is determined based on the spatial correction plane of the master base coordinate system, so as to complete the field of view correction corresponding to the master base coordinate system based on the coordinate correction matrix during the target surgery.

[0115] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the surgical robot surgeon's console field-of-view adjustment method as provided in any embodiment of this invention. The method includes:

[0116] Before starting the target surgery, the horizontal and vertical motion trajectory points of the main manipulator reference point corresponding to the main manipulator of the surgical robot are obtained within the field of view. The horizontal and vertical motion trajectory points are the trajectory points generated when the main manipulator, under the control of the target object, makes the surgical instrument reference point associated with the main manipulator reference point move horizontally and vertically within the field of view.

[0117] A first straight line is obtained by fitting the horizontal trajectory points, and a second straight line is obtained by fitting the vertical trajectory points.

[0118] Based on the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the main end base coordinate system corresponding to the main operator, determine the third straight line in the horizontal plane, and based on the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the main end base coordinate system, determine the fourth straight line in the vertical plane.

[0119] Based on the spatial positional relationship between the third and fourth straight lines in the main end base coordinate system, determine the spatial correction plane of the main end base coordinate system;

[0120] The coordinate correction matrix of the coordinate objects in the master base coordinate system is determined based on the spatial correction plane of the master base coordinate system, so as to complete the field of view correction corresponding to the master base coordinate system based on the coordinate correction matrix during the target surgery.

[0121] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0122] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0123] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0124] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0125] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0126] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the surgical robot surgeon's console field of view adjustment method as provided in any embodiment of this disclosure.

[0127] In implementing a computer program product, computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0128] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention 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 the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A surgical robot surgeon console field of view adjustment method, characterized by, The method comprises the following steps: Before starting the target surgery, the horizontal motion trajectory points and the vertical motion trajectory points of the master hand reference point corresponding to the master hand of the surgical robot in the field of view are obtained; wherein the horizontal motion trajectory points and the vertical motion trajectory points are the trajectory points generated when the master hand moves horizontally and vertically in the field of view under the control of the target object, and the surgical instrument reference point associated with the master hand reference point moves horizontally and vertically; The horizontal motion trajectory points are subjected to straight line fitting to obtain a first straight line, and the vertical motion trajectory points are subjected to straight line fitting to obtain a second straight line; According to the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the master hand corresponding master end base coordinate system, a third straight line in the horizontal plane is determined, and according to the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the master end base coordinate system, a fourth straight line in the vertical plane is determined; According to the spatial position relationship of the third straight line and the fourth straight line in the master end base coordinate system, a master end base coordinate system spatial correction plane is determined; According to the master end base coordinate system spatial correction plane, a coordinate correction matrix of the coordinate object in the master end base coordinate system is determined, so as to complete the field of view correction corresponding to the master end base coordinate system in the target surgery based on the coordinate correction matrix.

2. The method of claim 1, wherein, According to the spatial position relationship of the third straight line and the fourth straight line in the master end base coordinate system, the master end base coordinate system spatial correction plane is determined, which comprises: The midpoint coordinates of the common perpendicular line of the third straight line and the fourth straight line are calculated to obtain the target common perpendicular midpoint coordinates on the extension line of the third straight line; According to the direction vector of the fourth straight line and the target common perpendicular midpoint coordinates, a target parallel line passing through the target common perpendicular midpoint coordinates and parallel to the direction vector of the fourth straight line is determined; According to the target parallel line and the third straight line, the master end base coordinate system spatial correction plane is determined.

3. The method of claim 2, wherein, According to the master end base coordinate system spatial correction plane, the coordinate correction matrix of the coordinate object in the master end base coordinate system is determined, which comprises: According to the cross product of the first direction vector of the target parallel line in the master end base coordinate system spatial correction plane and the second direction vector of the third straight line, the normal vector of the master end base coordinate system spatial correction plane is determined; The unit vectors of the first direction vector, the second direction vector and the normal vector are calculated respectively, and the coordinate correction matrix is composed based on the unit vectors.

4. The method of claim 1, wherein, In the target surgery, the coordinate of the operation master hand reference point in the master end base coordinate system is taken as a coordinate object; Based on the coordinate correction matrix, the coordinate object is subjected to coordinate transformation to obtain a target coordinate object, and the field of view correction corresponding to the master end base coordinate system is completed. Further comprising:

5. The method according to any one of claims 1 to 4, characterized in that, The mapping relationship between the coordinate correction matrix and the target object is established, and the mapping relationship is saved. ​ 6. The method of claim 5, wherein, Before acquiring the horizontal motion trajectory points and the vertical motion trajectory points of the master operating hand reference point of the master operating hand of the surgical robot in the field of view, the method further comprises: After the target object logs in the surgical robot system, a coordinate correction matrix having a mapping relationship with the target object is queried according to the object identifier of the target object; In the case where the coordinate correction matrix having a mapping relationship with the target object is queried, the field of view corresponding to the master end base coordinate system is corrected based on the queried coordinate correction matrix in the target surgery.

7. A surgical robotic surgeon console field of view adjustment device, characterized by, Comprise: A master operating hand motion trajectory point acquisition module is configured to acquire the horizontal motion trajectory points and the vertical motion trajectory points of the master operating hand reference point of the master operating hand of the surgical robot in the field of view before starting the target surgery; wherein the horizontal motion trajectory points and the vertical motion trajectory points are trajectory points generated when the master operating hand moves horizontally and vertically in the field of view under the control of the target object, the master operating hand reference point being associated with a surgical instrument reference point; A master operating hand motion trajectory point analysis module is configured to perform linear fitting on the horizontal motion trajectory points to obtain a first straight line, and perform linear fitting on the vertical motion trajectory points to obtain a second straight line; A master operating hand motion trajectory point mapping module is configured to determine a third straight line in the horizontal plane according to the projection coordinates of at least two points on the first straight line in the horizontal coordinate plane of the master end base coordinate system corresponding to the master operating hand, and determine a fourth straight line in the vertical plane according to the projection coordinates of at least two points on the second straight line in the vertical coordinate plane of the master end base coordinate system; A master operating hand motion trajectory point correction analysis module is configured to determine a master end base coordinate system space correction plane according to the spatial positional relationship of the third straight line and the fourth straight line in the master end base coordinate system; A coordinate correction matrix determination module is configured to determine a coordinate correction matrix of a coordinate object in the master end base coordinate system according to the master end base coordinate system space correction plane, so as to complete the field of view correction corresponding to the master end base coordinate system in the target surgery based on the coordinate correction matrix.

8. A computer device, comprising: The computer device comprises: One or more processors; Memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot surgeon console field adjustment method of any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the surgical robot surgeon console field adjustment method of any one of claims 1-6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the surgical robot surgeon console field adjustment method of any one of claims 1-6.

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