Passive interaction method, device and equipment, storage medium, passive interaction terminal and passive interaction system

Abstract

The invention relates to a passive interaction method, device and equipment, a storage medium, a passive interaction terminal and a passive interaction system, and belongs to the field of medical instruments. The method comprises the following steps: acquiring first reflected light greater than or equal to first preset intensity, and determining the number and spatial positions of preset reflective elements according to the first reflected light; the preset light reflecting elements are a plurality of elements which are arranged on the interactive terminal and used for reflecting light, and can reflect first reflected light under the irradiation of a preset light source; triggering an interaction process between the interaction terminal and the interaction server according to the change of the preset characteristics of the perceptible reflective element; and matching the perceptible change of the preset characteristics of the reflective element with a preset interaction rule to obtain interaction information and complete an interaction process. According to the technical scheme, misoperation in the operation is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a passive interaction method, device, equipment, storage medium, passive interaction terminal and passive interaction system. Background Art

[0002] With the frequent occurrence of traffic accidents and the increase in sports injuries, trauma has become one of the serious threats to human health. Therefore, the development of orthopedic surgery technology has become even more important. Surgical robots are a new application field that has developed rapidly in the past decade. Most of them use computers to overlay and analyze the patient's imaging data such as X-rays, CT, and MRI images, and then control the robot arm to complete some actions and steps that doctors cannot complete or complete as well as machines based on the analysis results. In addition, surgical robots can also shorten the operation time, etc. In short, compared with human doctors, there are many advantages, which will not be elaborated.

[0003] In the prior art, when using a surgical robot, a dedicated person is required to cooperate with the surgeon. For example, in a non-sterile area far away from the sterile area, at least one operator is equipped to operate a navigation trolley (or a host computer, which is the control host of the surgical robot and has a navigation system installed with a navigation function) to cooperate with the surgeon in the sterile area to complete the entire surgical process. Taking knee surgery as an example, the operator and the surgeon need to work closely together to complete surgical procedures including probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, and intraoperative adjustment of surgical planning. In the above-mentioned surgical procedures, the operation of the navigation trolley is operated by the operator, and the operating instructions mainly come from the surgeon. Therefore, the cooperation between the two parties is required to be high. In some complex steps, it is easy for the operator to make mistakes due to misunderstandings. Summary of the invention

[0004] In view of this, the present application provides a passive interaction method, device, equipment, storage medium, passive interaction terminal and passive interaction system to solve at least one problem existing in the background technology.

[0005] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a passive interaction method, which is applied to a passive interaction system, wherein the passive interaction system includes an interaction server and a passive interaction terminal, wherein the passive interaction terminal is located in a sterile area of ​​an operating room, and the interaction server can control a surgical robot according to interaction information, wherein the method includes:

[0007] Acquire a first reflected light having an intensity greater than or equal to a first preset intensity, and determine the number and spatial position of preset reflective elements according to the first reflected light; the preset reflective elements are a plurality of elements for reflecting light provided on the interactive terminal, and can reflect the first reflected light under the illumination of a preset light source;

[0008] triggering an interaction process between the interaction terminal and the interaction server according to a change in a preset feature of a perceptible reflective element;

[0009] The change of the preset feature of the perceptible reflective element is matched with the preset interaction rule to obtain the interaction information and complete the interaction process; the preset interaction rule includes the change of the preset feature and the corresponding interaction information.

[0010] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, obtaining a first reflected light having a first preset intensity greater than or equal to a first preset intensity, and determining the number and spatial position of a preset reflective element according to the first reflected light, includes:

[0011] acquiring, according to the incident parameters of the first reflected light, a distribution of reflection points of the first reflected light;

[0012] The number of preset reflective elements is determined according to the distribution of the reflection points.

[0013] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, obtaining a first reflected light having a first preset intensity greater than or equal to a first preset intensity, and determining the number and spatial position of a preset reflective element according to the first reflected light, includes:

[0014] Acquire three-dimensional information of a reflection point of the first reflected light according to incident parameters of the first reflected light acquired by at least two photosensitive elements; the photosensitive elements are elements provided by the interactive server for receiving emitted light;

[0015] The spatial position of the preset reflective element is determined according to the three-dimensional information of the reflection point.

[0016] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, triggering the interaction process between the interactive terminal and the interactive server according to the change of the preset feature of the perceptible reflective element includes:

[0017] Based on the change in the number of perceptible reflective elements, the change in spatial position, and / or the change in reflection area, the interaction process between the interactive terminal and the interactive server is triggered, and first interaction information is obtained to perform confirmation operations in the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, or intraoperative adjustment of surgical planning.

[0018] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, triggering the interaction process between the interactive terminal and the interactive server according to the change of the preset feature of the perceptible reflective element includes:

[0019] Based on the information of synchronous changes in the spatial positions of multiple reflective elements, the interaction process between the interactive terminal and the interactive server is triggered, and second interaction information is obtained to perform movement operations in the operation interface of the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification or intraoperative adjustment of surgical planning.

[0020] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, triggering the interaction process between the interactive terminal and the interactive server according to the change of the preset feature of the perceptible reflective element further includes:

[0021] When the number of perceptible reflective elements changes, the spatial position changes, and / or the reflective area changes, information on the synchronous change of the spatial positions of multiple reflective elements is received, and third interactive information is obtained to perform the operation of dragging the operation object on the operation interface of the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, or intraoperative adjustment of the surgical plan.

[0022] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, the interactive terminal includes at least one light shield, and the triggering of the interaction process between the interactive terminal and the interactive server according to the change of the preset characteristics of the perceptible reflective element includes:

[0023] In the case where the shading cover shields at least one reflective element, an interaction process between the interaction terminal and the interaction server is triggered.

[0024] In a second aspect, an embodiment of the present application provides a passive interaction device, which is applied to a passive interaction system. The passive interaction system includes an interaction server and a passive interaction terminal. The passive interaction terminal is located in a sterile area of ​​an operating room. The interaction server can control a surgical robot according to interaction information. The device includes:

[0025] a determination module, configured to obtain a first reflected light having an intensity greater than or equal to a first preset intensity, and determine the number and spatial positions of preset reflective elements according to the first reflected light;

[0026] A trigger module, used to trigger the interaction process between the interactive terminal and the interactive server according to the change of the preset characteristics of the perceptible reflective element;

[0027] An acquisition module is used to match the change of the preset characteristics of the perceptible reflective element with the preset interaction rules, obtain interaction information, and complete the interaction process; the preset interaction rules include the change of the preset characteristics and the corresponding interaction information.

[0028] In a third aspect, an embodiment of the present application provides a computing device, which is applied to a passive interactive system, wherein the passive interactive system includes an interactive server and a passive interactive terminal, wherein the passive interactive terminal is located in a sterile area of ​​an operating room, and wherein the interactive server can control a surgical robot according to interactive information, and wherein the computing device includes: a storage component, a communication bus, and a processing component, wherein:

[0029] The storage component is used to store the passive interaction method program;

[0030] The communication bus is used to realize the connection and communication between the storage component and the processing component;

[0031] The processing component is used to execute the passive interaction method program to implement the steps of any one of the methods described above.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which is applied to a passive interactive system, wherein the passive interactive system includes an interactive server and a passive interactive terminal, wherein the passive interactive terminal is located in a sterile area of ​​an operating room, and wherein the interactive server can control a surgical robot based on interactive information. An executable program is stored on the computer-readable storage medium, and when the executable program is executed by a processor, the steps of any one of the methods described above are implemented.

[0033] In a fifth aspect, an embodiment of the present application provides a passive interactive terminal, including:

[0034] An operating assembly comprises a body and a plurality of reflective elements; the plurality of reflective elements are respectively arranged at a plurality of different positions of the body, and the reflective elements each comprise a reflective surface for reflecting light; the plurality is at least three;

[0035] The interactive component includes a button and a shading cover connected to the button, wherein the button can move relative to the body; when the button is operated and moves, the shading cover can move relative to the body and cover the reflective surface of at least one reflective element.

[0036] In conjunction with the fifth aspect of the embodiment of the present application, in an optional implementation manner, the interaction component further includes:

[0037] A connecting rod assembly has one end connected to the button and the other end connected to the light shield; when the button is operated, the connecting rod assembly moves and drives the light shield to move.

[0038] In conjunction with the fifth aspect of the embodiment of the present application, in an optional implementation, the operating component is a probe attached to the surgical robot, and the pressing direction of the button is the same as the direction of the needle tip of the probe.

[0039] In a sixth aspect, an embodiment of the present application provides a passive interaction system, including:

[0040] The interactive terminal is the passive interactive terminal described above;

[0041] The interactive server is provided with a light source for emitting a preset type of light to the interactive terminal; the interactive server is also provided with a photosensitive element for receiving the light reflected by the interactive terminal, and obtaining the change of the interactive terminal according to the change of the reflected light, so as to complete the interaction process with the interactive terminal.

[0042] The passive interaction method, device, equipment, storage medium, passive interaction terminal and passive interaction system provided by the embodiments of the present application include: obtaining a first reflected light greater than or equal to a first preset intensity, and determining the number and spatial position of preset reflective elements according to the first reflected light; the preset reflective elements are multiple elements for reflecting light set by the interactive terminal, and can reflect the first reflected light under the illumination of a preset light source; triggering the interaction process between the interactive terminal and the interactive server according to the change of the preset characteristics of the perceptible reflective elements; matching the change of the preset characteristics of the perceptible reflective elements with the preset interaction rules, obtaining interaction information, and completing the interaction process; the preset interaction rules include the change of the preset characteristics and the corresponding interaction information. It can be seen that the passive interaction method, device, equipment, storage medium, passive interaction terminal and passive interaction system of the embodiments of the present application are provided with an interaction system including an interaction server and a passive interaction terminal, wherein the passive interaction terminal can generate a change in the preset characteristics of the perceptible reflective element through manual operation, thereby realizing the interaction between the interaction server and the interaction terminal, and then realizing the operation instructions of the surgeon without the need for the operator, thereby reducing the erroneous operation during the operation. Therefore, the passive interaction method, device, equipment, storage medium, passive interaction terminal and passive interaction system of the embodiments of the present application reduce the erroneous operation during the operation.

[0043] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0045] Figure 1 A schematic diagram of a usage scenario of the passive interaction method provided in Embodiment 1 of the present application;

[0046] Figure 2 A schematic diagram of the process of the passive interaction method provided in the first embodiment of the present application;

[0047] Figure 3 A schematic diagram of the structure of a passive interaction device provided in Embodiment 2 of the present application;

[0048] Figure 4 A schematic diagram of the structure of a computing device provided in Embodiment 3 of the present application;

[0049] Figure 5 A schematic diagram of the structure of the passive interactive terminal provided in the fifth embodiment of the present application Figure 1 (The hood does not cover the reflective element);

[0050] Figure 6 A schematic diagram of the structure of the passive interactive terminal provided in the fifth embodiment of the present application Figure 2 (The hood has covered the reflective elements);

[0051] Figure 7 A schematic diagram of the structure of an interactive component in a passive interactive terminal provided in Embodiment 5 of the present application;

[0052] Figure 8 A schematic diagram of a passive interactive system provided in Example 6 of the present application.

[0053] Description of reference numerals:

[0054] 200, passive interactive device; 201, determination module; 202, trigger module; 203, acquisition module; 300, computing device; 301, storage component; 302, communication bus; 303, processing component; 304, input device; 305, output device; 306, external communication interface; 40, passive interactive terminal; 41, main body; 411, guide rod; 42, reflective element; 43, button; 431, reset elastic member; 44, sunshade; 441, connecting arm; 442, sunshade sheet; 45, connecting rod assembly; 451, moving rod; 452, first rotating rod; 453, second rotating rod; 50, interactive server; 51, light source; 52, photosensitive element. DETAILED DESCRIPTION

[0055] The exemplary embodiments disclosed in the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the specific embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope disclosed in the present application to those skilled in the art.

[0056] In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described; that is, all features of the actual embodiments are not described here, and well-known functions and structures are not described in detail.

[0057] In order to thoroughly understand the present application, detailed steps and detailed structures will be presented in the following description to illustrate the technical solution of the present application. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other implementation methods.

[0058] The inventors of this application discovered during research and development that, considering the sterility requirements of the surgical area and the possible interference with the internal communication of the surgical robot, the accessories of the existing surgical robots that collect external information, such as probes and tracers, all use passive interaction to communicate with the surgical robot. For example, a light source is set up on the surgical robot to emit light, and the accessories feedback information through reflected light. However, the feedback information is only single information such as spatial position, and it is impossible to achieve the interaction required by the operator, such as the surgeon, and the surgical robot. Figure 1 .

[0059] Therefore, after further research and development, the inventor proposed the following technical solution.

[0060] Embodiment 1

[0061] The embodiment of the present application provides a passive interaction method. The method can be implemented by a computer, which can be a computing device configured with a processor, which can be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0062] The method is applied to a passive interactive system, which includes an interactive server and a passive interactive terminal, wherein the passive interactive terminal is located in a sterile area of ​​an operating room, and the interactive server can control a surgical robot according to interactive information.

[0063] In this embodiment, the method can be implemented by an interactive server. Passive here means that the interactive terminal may not use energy, such as electricity, and also means that it does not actively send signals and cannot process signals. In this way, the structure of the interactive terminal is a purely mechanical structure, which is easy to disinfect and does not generate interference signals. As for the other party of the interaction: the interactive server can be active, so that the information can be processed to achieve the purpose of interaction. The interactive server can be a part of the surgical robot, which is used to receive the collected external information and the interactive information of the surgeon, and send it to the navigation trolley.

[0064] refer to Figure 2 , the method comprising:

[0065] Step 101: obtaining a first reflected light having a first preset intensity greater than or equal to a first preset intensity, and determining the number and spatial position of preset reflective elements according to the first reflected light; the preset reflective elements are a plurality of elements for reflecting light provided on the interactive terminal, and can reflect the first reflected light under the illumination of a preset light source;

[0066] Step 102: triggering an interaction process between the interaction terminal and the interaction server according to a change in a preset feature of a perceptible reflective element;

[0067] Step 103: Match the change of the preset feature of the perceptible reflective element with the preset interaction rule, obtain interaction information, and complete the interaction process; the preset interaction rule includes the change of the preset feature and the corresponding interaction information.

[0068] In step 101, the preset light source can be an infrared transmitter, which can be set on the interactive server. The light emitted by the preset light source is a dispersed emission, which is available around the preset light source. The reflective surface of the reflective element adopts a preset reflective setting and has a strong reflective ability. The reflective setting can be a surface treatment to reduce the surface roughness of the reflective surface to make it smoother, or it can be to add an optical coating to the reflective surface, such as a metal coating, a dielectric reflective film, etc. Since the reflective element has a strong reflective ability, the intensity of the reflected light is high. The first preset intensity is the critical intensity of the reflective element and the non-reflective element. Therefore, the first reflected light obtained is all from the reflective element. According to the first reflected light, the number and spatial position of the preset reflective element can be determined.

[0069] It is understandable that step 101 may occur just after the preset light source is turned on, and after the number and spatial positions of the preset reflective elements are determined, only steps 102 and 103 may be performed.

[0070] In step 102, the perceptible change refers to a change that can be identified by the change of the first reflected light. For example, if the reflective element is shielded, it can be identified as a decrease in the number of reflective elements, but the number of reflective elements has not decreased, only the perceptible number has decreased. The perceptible change of the reflective element is obtained, which triggers the interaction process. In addition, the perceptible change of the reflective element can be obtained to only trigger the interaction process, or it can also be an interactive information of the interaction process.

[0071] In step 103, the preset interaction rule can be set according to the change of the preset characteristics of the reflective element. For example, shielding a reflective element can be a kind of interaction information in the interaction rule. The interaction process can include one piece of interaction information or multiple pieces of interaction information.

[0072] It is understandable that step 102 and step 103 may be performed continuously, or may be performed regularly or irregularly. Each time the steps are performed, a single change of the reflective element that can be perceived may be obtained by comparing the steps with the last time the steps are performed, or a total change of the reflective element that can be perceived may be obtained by comparing the steps with the first time the steps are performed.

[0073] The passive interaction method of the embodiment of the present application sets up an interactive system including an interactive server and a passive interactive terminal, wherein the passive interactive terminal can produce changes in preset characteristics of a perceptible reflective element through manual operation, thereby realizing interaction between the interactive server and the interactive terminal, and then implementing the operating instructions of the surgeon without the need for a follow-up operator, thereby reducing erroneous operations during surgery.

[0074] In some other embodiments of the present application, before obtaining the first reflected light having a first preset intensity or greater than or equal to the first preset intensity and determining the number and spatial positions of the preset reflective elements according to the first reflected light, the method further includes:

[0075] The preset light source is turned on to emit light of a second preset intensity.

[0076] It can be understood that the value of the second preset intensity determines the value of the first preset intensity, and the two have a certain proportional relationship, and the second preset intensity is greater than the first preset intensity.

[0077] In some other embodiments of the present application, after turning on the preset light source to emit light of the second preset intensity, the method further includes:

[0078] The light is received by the photosensitive element, and the light reflected after being emitted by the preset light source is determined according to the characteristics of the light. It can be understood that in addition to the light emitted by the preset light source, there are other lights, such as lamplight, sunlight, etc. Therefore, the light reflected after being emitted by the preset light source is screened according to the characteristics of the light, such as wavelength, etc. This provides a basis for obtaining the first reflected light according to the intensity of the light.

[0079] In some other embodiments of the present application, the step of obtaining a first reflected light having a first preset intensity or greater than or equal to a first preset intensity, and determining the number and spatial positions of preset reflective elements according to the first reflected light, includes:

[0080] acquiring, according to the incident parameters of the first reflected light, a distribution of reflection points of the first reflected light;

[0081] The number of preset reflective elements is determined according to the distribution of the reflection points.

[0082] The incident parameters may be the parameters of the reflected light entering the photosensitive element, such as the incident angle, incident intensity, etc. From these incident parameters, the distribution of the reflection points can be inferred. For example, when the height remains unchanged, the farther the reflection point is, the smaller the incident angle may be. When the distance remains unchanged, the incident angle will be different at different heights. It can be understood that in addition to the incident angle, there are other parameters that can also be used to infer the distribution of the reflection points.

[0083] In some other embodiments of the present application, the step of obtaining a first reflected light having a first preset intensity or greater than or equal to a first preset intensity, and determining the number and spatial positions of preset reflective elements according to the first reflected light, includes:

[0084] Acquire three-dimensional information of a reflection point of the first reflected light according to incident parameters of the first reflected light acquired by at least two photosensitive elements; the photosensitive elements are elements provided by the interactive server for receiving emitted light;

[0085] The spatial position of the preset reflective element is determined according to the three-dimensional information of the reflection point.

[0086] It can be understood that the principle of at least two photosensitive elements is binocular vision (Stereo Vision). In addition to obtaining the length and width of the reflection point, the depth information of the reflection point from the photosensitive element can also be obtained. In this way, the three-dimensional information of the reflection point can be obtained, that is, stereoscopic information can be constructed to obtain the spatial position of the reflective element.

[0087] In some other embodiments of the present application, triggering the interaction process between the interactive terminal and the interactive server according to the change of the preset characteristics of the perceptible reflective element includes:

[0088] Based on the change in the number of perceptible reflective elements, the change in spatial position, and / or the change in reflection area, the interaction process between the interactive terminal and the interactive server is triggered, and first interaction information is obtained to perform confirmation operations in the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, or intraoperative adjustment of surgical planning.

[0089] The above three changes can be in an OR relationship or an AND relationship, as shown below:

[0090] 1) Changes in quantity; 2) Changes in spatial position; 3) Changes in reflection area; 4) Changes in quantity and changes in spatial position; 5) Changes in quantity and changes in reflection area; 6) Changes in spatial position and changes in reflection area; 7) Changes in quantity, changes in spatial position and changes in reflection area.

[0091] The above may be examples. In the following statements, if there are similar statements, no specific examples will be given.

[0092] The change in quantity may be that at least one reflective element is shielded, and the change in reflection area may be that part of the reflective element is shielded.

[0093] The first interaction information may be a confirmation message. For ease of understanding, it may be compared with a mouse, which is a commonly used interaction tool in electronic devices. The first interaction information may be similar to a single click of a mouse.

[0094] In some other embodiments of the present application, triggering the interaction process between the interactive terminal and the interactive server according to the change of the preset characteristics of the perceptible reflective element includes:

[0095] Based on the information of synchronous changes in the spatial positions of multiple reflective elements, the interaction process between the interactive terminal and the interactive server is triggered, and second interaction information is obtained to perform movement operations in the operation interface of the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification or intraoperative adjustment of surgical planning.

[0096] It can be understood that, since the spatial positions of the multiple reflective elements change synchronously, it can be determined that the entire interactive terminal is changing position, that is, the entire interactive terminal is moving. The second interactive information can be similar to the free movement of a mouse.

[0097] In some other embodiments of the present application, triggering the interaction process between the interaction terminal and the interaction server according to the change of the preset characteristics of the perceptible reflective element further includes:

[0098] When the number of perceptible reflective elements changes, the spatial position changes, and / or the reflective area changes, information on the synchronous change of the spatial positions of multiple reflective elements is received, and third interactive information is obtained to perform the operation of dragging the operation object on the operation interface of the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, or intraoperative adjustment of the surgical plan.

[0099] According to the above description, it can be known that the third interactive information can be similar to the dragging operation after pressing an icon with a mouse.

[0100] In some other embodiments of the present application, the interactive terminal includes at least one light shield, and triggering the interactive process between the interactive terminal and the interactive server according to the change of the preset characteristics of the perceptible reflective element includes:

[0101] In the case where the shading cover shields at least one reflective element, an interaction process between the interaction terminal and the interaction server is triggered.

[0102] That is, in this embodiment, the first change situation listed above, that is, the change in quantity, is selected, so that the structure of the interactive terminal is simpler and the operation is more efficient.

[0103] Embodiment 2

[0104] The present application embodiment provides a passive interaction device 200, which is applied to a passive interaction system. The passive interaction system includes an interaction server and a passive interaction terminal. The passive interaction terminal is located in the sterile area of ​​the operating room. The interaction server can control a surgical robot according to interaction information. Figure 3 , the device comprises:

[0105] A determination module 201, configured to obtain a first reflected light having a first preset intensity or greater than or equal to a first preset intensity, and determine the number and spatial position of preset reflective elements according to the first reflected light;

[0106] A trigger module 202, configured to trigger an interaction process between the interaction terminal and the interaction server according to a change in a preset feature of a perceptible reflective element;

[0107] The acquisition module 203 is used to match the change of the preset feature of the perceptible reflective element with the preset interaction rule, obtain the interaction information, and complete the interaction process; the preset interaction rule includes the change of the preset feature and the corresponding interaction information.

[0108] In some other embodiments of the present application, the device further includes:

[0109] The starting module is used to turn on the preset light source to emit light of a second preset intensity.

[0110] It can be understood that the value of the second preset intensity determines the value of the first preset intensity, and the two have a certain proportional relationship, and the second preset intensity is greater than the first preset intensity.

[0111] In some other embodiments of the present application, the determining module 201 is further used to:

[0112] The light is received by the photosensitive element, and the light reflected from the preset light source is determined based on the characteristics of the light.

[0113] It is understandable that in addition to the light emitted by the preset light source, there are other lights, such as lamplight, sunlight, etc. Therefore, the light reflected after being emitted by the preset light source is screened out according to the characteristics of the light, such as wavelength, etc., to provide a basis for obtaining the first reflected light according to the intensity of the light.

[0114] In some other embodiments of the present application, the determining module 201 is further used to:

[0115] acquiring, according to the incident parameters of the first reflected light, a distribution of reflection points of the first reflected light;

[0116] The number of preset reflective elements is determined according to the distribution of the reflection points.

[0117] The incident parameters may be the parameters of the reflected light entering the photosensitive element, such as the incident angle, incident intensity, etc. From these incident parameters, the distribution of the reflection points can be inferred. For example, when the height remains unchanged, the farther the reflection point is, the smaller the incident angle may be. When the distance remains unchanged, the incident angle will be different at different heights. It can be understood that in addition to the incident angle, there are other parameters that can also be used to infer the distribution of the reflection points.

[0118] In some other embodiments of the present application, the determining module 201 is further used to:

[0119] Acquire three-dimensional information of a reflection point of the first reflected light according to incident parameters of the first reflected light acquired by at least two photosensitive elements; the photosensitive elements are elements provided by the interactive server for receiving emitted light;

[0120] The spatial position of the preset reflective element is determined according to the three-dimensional information of the reflection point.

[0121] It can be understood that the principle of at least two photosensitive elements is binocular vision (Stereo Vision). In addition to obtaining the length and width of the reflection point, the depth information of the reflection point from the photosensitive element can also be obtained. In this way, the three-dimensional information of the reflection point can be obtained, that is, stereoscopic information can be constructed to obtain the spatial position of the reflective element.

[0122] In some other embodiments of the present application, the trigger module 202 is further used to:

[0123] Based on the change in the number of perceptible reflective elements, the change in spatial position, and / or the change in reflection area, the interaction process between the interactive terminal and the interactive server is triggered, and first interaction information is obtained to perform confirmation operations in the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, or intraoperative adjustment of surgical planning.

[0124] The above three changes can be in an or relationship or an and relationship, as shown above for specific examples.

[0125] The change in quantity may be that at least one reflective element is shielded, and the change in reflection area may be that part of the reflective element is shielded.

[0126] The first interaction information may be a confirmation message. For ease of understanding, it may be compared with a mouse, which is a commonly used interaction tool in electronic devices. The first interaction information may be similar to a single click of a mouse.

[0127] In some other embodiments of the present application, the trigger module 202 is further used to:

[0128] Based on the information of synchronous changes in the spatial positions of multiple reflective elements, the interaction process between the interactive terminal and the interactive server is triggered, and second interaction information is obtained to perform movement operations in the operation interface of the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification or intraoperative adjustment of surgical planning.

[0129] It can be understood that, since the spatial positions of the multiple reflective elements change synchronously, it can be determined that the entire interactive terminal is changing position, that is, the entire interactive terminal is moving. The second interactive information can be similar to the free movement of a mouse.

[0130] In some other embodiments of the present application, the trigger module 202 is further used to:

[0131] When the number of perceptible reflective elements changes, the spatial position changes, and / or the reflective area changes, information on the synchronous change of the spatial positions of multiple reflective elements is received, and third interactive information is obtained to perform the operation of dragging the operation object on the operation interface of the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, or intraoperative adjustment of the surgical plan.

[0132] According to the above description, it can be known that the third interactive information can be similar to the dragging operation after pressing an icon with a mouse.

[0133] In some other embodiments of the present application, the interactive terminal includes at least one light shield, and the trigger module 202 is further used to:

[0134] In the case where the shading cover shields at least one reflective element, an interaction process between the interaction terminal and the interaction server is triggered.

[0135] That is, in this embodiment, the first change situation listed above, that is, the change in quantity, is selected, so that the structure of the interactive terminal is simpler and the operation is more efficient.

[0136] Each module included in this embodiment can be implemented by a processor in a computer; of course, it can also be implemented by a logic circuit in a computer. The processor can be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a central processing unit (CPU), a microprocessor (MPU) or any other conventional processor.

[0137] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment in this application for understanding.

[0138] Embodiment 3

[0139] The present application embodiment provides a computing device 300, which is applied to a passive interactive system. The passive interactive system includes an interactive server and a passive interactive terminal. The passive interactive terminal is located in the sterile area of ​​the operating room. The interactive server can control a surgical robot according to interactive information. Figure 4 , the computing device 300 comprises: a storage component 301, a communication bus 302 and a processing component 303, wherein:

[0140] The storage component 301 is used to store the passive interaction method program;

[0141] The communication bus 302 is used to realize the connection and communication between the storage component 301 and the processing component 303;

[0142] The processing component 303 is used to execute the passive interaction method program to implement the steps of the method described in the first embodiment.

[0143] The type or structure of the storage component 301 can be found in the storage medium below, and will not be described in detail here.

[0144] The processing unit 303 may be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a central processing unit (CPU), a microprocessor (MPU), or any other conventional processor.

[0145] In other embodiments of the present application, the computing device 300 may further include: an input device 304, an output device 305, and an external communication interface 306, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown in the figure). In this embodiment, the input device may be a network connector, an analog-to-digital converter, etc., and the output device may be a display, a speaker, etc.

[0146] In other embodiments of the present application, the input device 304 may also include, for example, a keyboard, a mouse, a microphone, etc. The output device 305 may output various information to the outside, for example, in addition to the above-mentioned display and speaker, it may also be a printer, a projector, and a communication network and its connected remote output device, etc. The external communication interface 306 may be wired, such as a standard serial port (RS232), a general-purpose interface bus (GPIB) interface, an Ethernet interface, a universal serial bus (USB) interface, or may be wireless, such as wireless network communication technology (WiFi), Bluetooth, etc.

[0147] The description of the computing device 300 embodiment above is similar to the description of the method embodiment above, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computing device 300 embodiment of the present application, please refer to the description of the method embodiment in the present application for understanding.

[0148] Embodiment 4

[0149] An embodiment of the present application provides a computer-readable storage medium, on which an executable program is stored. When the executable program is executed by a processor, the steps of the method described in the first embodiment are implemented.

[0150] Exemplarily, the computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The computer-readable storage medium is a tangible device that can hold and store instructions used by the instruction execution device. The readable storage medium can include, for example, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: portable computer disks, hard disks, random access memory (RAM, Random Access Memory), read-only memory (ROM, Read Only Memory), flash memory (Flash Memory), portable compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory), digital versatile disk (DVD, Digital Versatile Disc), memory stick, floppy disk, mechanical encoding device, such as a punch card or a protruding structure in a groove on which instructions are stored, and any suitable combination of the above. Wherein:

[0151] The RAM includes: static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).

[0152] The ROM includes: a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), and an electrically erasable programmable read-only memory (EEPROM).

[0153] The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (for example, light pulses through a fiber optic cable), or an electrical signal transmitted through wires.

[0154] The description of the above computer-readable storage medium embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computer-readable storage medium of this embodiment, please refer to the description of the method embodiment in this application for understanding.

[0155] Embodiment 5

[0156] This embodiment provides a passive interactive terminal 40, referring to Figure 5 and Figure 6 , the passive interactive terminal 40 comprises:

[0157] An operating assembly includes a body 41 and a plurality of reflective elements 42; the plurality of reflective elements 42 are respectively arranged at a plurality of different positions of the body 41, and the reflective elements 42 each include a reflective surface for reflecting light; the plurality is at least three;

[0158] The interactive component includes a button 43 and a shading cover 44 connected to the button 43, wherein the button 43 can move relative to the body 41; when the button 43 is operated and moved, the shading cover 44 can move relative to the body 41 and cover the reflective surface of at least one reflective element 42.

[0159] According to the principle that three points form a plane, the reflected light from the three reflectors can accurately define the spatial shape of the operating component.

[0160] The number of the covered reflective element 42 may be one or more. In this embodiment, the number may be one.

[0161] The movement of the button 43 may be moving, rotating or swinging.

[0162] In other embodiments of the present application, reference Figure 7 , the interaction component further includes:

[0163] The connecting rod assembly 45 has one end connected to the button 43 and the other end connected to the light shield 44 . When the button 43 is operated, the connecting rod assembly 45 moves and drives the light shield 44 to move.

[0164] Through the connecting rod assembly 45, distance-saving operation can be achieved, that is, the operation amplitude of the button 43 can be relatively small, and a large range of movement of the sunshade 44 can be achieved to better shield the reflective element 42, but it will not affect the reflection of the reflective element 42 when no shielding is required.

[0165] In other embodiments of the present application, continue to refer to Figure 7 , the button 43 can move relative to the body 41, and the connecting rod assembly 45 includes:

[0166] A moving rod 451, one end of which is connected to the button 43, and the other end of which extends along the moving direction of the button 43; the moving rod 451 can move along with the movement of the button 43;

[0167] The first rotating rod 452 has one end hinged on the main body 41 and the other end connected to the light shield 44; the first rotating rod 452 is also connected to the other end of the moving rod 451 away from the button 43, and when the moving rod 451 moves, the first rotating rod 452 is pushed to rotate based on the hinge with the main body 41, and drives the light shield 44 to move; the distance between the part of the moving rod 451 connected to the first rotating rod 452 and the hinge is smaller than the distance between the part of the first rotating rod 452 connected to the light shield 44 and the hinge.

[0168] The key 43 is set to move, and the structure is simpler. And through the combination of the moving rod 451 and the first rotating rod 452, the effect of a "distance-saving" lever can be achieved.

[0169] Specifically, the first rotating rod 452 is hingedly connected to the moving rod 451 . When the first rotating rod 452 rotates based on the body 41 , the first rotating rod 452 also rotates relative to the moving rod 451 .

[0170] Specifically, the distance between the portion of the moving rod 451 connected to the first rotating rod 452 and the hinge is the power arm, and the distance between the portion of the first rotating rod 452 connected to the light shield 44 and the hinge is the resistance arm. The power arm is smaller than the resistance arm, so it can be a "distance-saving" lever. In addition, since the light shield 44 is moved to the optical element for shielding, there is no other external force except the friction resistance at the hinge, so even if it is a "distance-saving" lever, it will not be too laborious.

[0171] In other embodiments of the present application, continue to refer to Figure 7 The light shield 44 includes a connecting arm 441 and a light shielding sheet 442, wherein a first end of the connecting arm 441 is connected to the first rotating rod 452, and a second end is connected to the light shielding sheet 442;

[0172] The connecting rod assembly 45 also includes a second rotating rod 453, the first rotating rod 452 is hinged to the first end of the connecting arm 441, and the second rotating rod 453 is hinged to the second end of the connecting arm 441; the second rotating rod 453 and the first rotating rod remain parallel during the rotation process to keep the orientation of the light shield 44 unchanged.

[0173] According to the principle that two points form a straight line, both the first rotating rod 452 and the second rotating rod 453 are connected to the connecting arm 441, and the second rotating rod 453 and the first rotating rod remain parallel during the rotation process. Therefore, the connecting arm 441 can only move along the axial direction and cannot rotate. Therefore, the orientation of the sunshade 44 can be kept unchanged to shield the reflective element 42.

[0174] In this embodiment, since the shape of the connecting arm 441 is straight, that is, the extension line is a straight line, the first rotating rod 452 and the second rotating rod 453 can be of the same length, and the hinge points at both ends are aligned to keep the direction of the light shield 44 unchanged.

[0175] In other embodiments of the present application, continue to refer to Figure 7 , the interaction component further includes:

[0176] The reset elastic member 431 has one end abutting against the button 43 and the other end mounted on the body 41; when the button 43 is pressed, the reset elastic member 431 is compressed to store energy; when the pressing of the button 43 is cancelled, the reset elastic member 431 rebounds to reset the button 43.

[0177] In this way, it can be easily reset after operation, which is conducive to multiple operations.

[0178] Specifically, the reset elastic member 431 may be a compression spring.

[0179] In other embodiments of the present application, the main body 41 is provided with a guide rod 411, the button 43 is sleeved on the guide rod 411, and can move axially along the guide rod 411; the reset elastic member 431 is at least partially sleeved on the guide rod 411, and can be compressed or rebounded along the axial direction of the guide rod 411.

[0180] In this way, the button 43 moves more smoothly, which is also conducive to the stability of the axial compression or rebound direction of the resetting elastic member 431.

[0181] In other embodiments of the present application, the operating component is a probe attached to the surgical robot, and the pressing direction of the button 43 is the same as the direction of the needle tip of the probe.

[0182] In this way, there is no need to add other carriers or tools. And when operating the probe, the operator does not need to switch between surgical procedures that interact with the navigation cart and are not related to the probe. For example, in some surgical procedures, there is a first procedure that originally requires the use of a probe and a second procedure that originally does not require the use of a probe. When switching from the first procedure to the second procedure, there is no need to replace the probe with other tools.

[0183] During the whole process of surgery, the probe is a tool that needs to be operated frequently. Therefore, it is helpful to reduce the time for changing tools.

[0184] The pressing direction of the button 43 is the same as the direction of the needle tip of the probe, considering that the direction of the needle tip is generally the force application direction of the probe, which is conducive to pressing.

[0185] The description of the above passive interactive terminal embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the passive interactive terminal embodiment of this application, please refer to the description of the method embodiment in this application for understanding.

[0186] Embodiment 6

[0187] This embodiment provides a passive interactive system. Figure 8 , the passive interactive system includes:

[0188] The interactive terminal is the passive interactive terminal 40 described in the fifth embodiment;

[0189] The interactive server 50 is provided with a light source 51 for emitting a preset type of light to the interactive terminal; the interactive server is also provided with a photosensitive element 52 for receiving the light reflected by the interactive terminal, and obtaining changes in the interactive terminal according to changes in the reflected light, thereby completing the interaction process with the interactive terminal.

[0190] Specifically, the light source 51 may be an infrared emitter, and the photosensitive element 52 may be a charge coupled device (CCD).

[0191] More specifically, the light source 51 and the photosensitive element 52 may be integrated into one device, such as an infrared camera, which can emit infrared light and receive reflected infrared light.

[0192] More specifically, the infrared camera can be a dual-camera, so that three-dimensional information of the interactive terminal can be obtained.

[0193] The description of the above passive interactive system embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the passive interactive system embodiment of this application, please refer to the description of the method embodiment in this application for understanding.

[0194] It should be noted that the methods, devices, equipment, storage media, passive interactive terminals and passive interactive system embodiments provided in the embodiments of the present application belong to the same concept; the technical features in the technical solutions recorded in each embodiment can be combined arbitrarily without conflict.

[0195] In the above description, the terms "first\second\..." are only used to distinguish similar objects and do not represent a specific order of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence if permitted.

[0196] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0197] In the embodiments of the present application, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection or internal connectivity between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0198] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0199] It should be understood that "one embodiment" or "some embodiments" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in some embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned sequence numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0200] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or modules can be electrical, mechanical or other forms.

[0201] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed on multiple network modules; some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0202] In addition, all functional modules in the embodiments of the present application may be integrated into one processing module, or each functional module may be a separate module, or two or more functional modules may be integrated into one module; the above-mentioned integrated modules may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0203] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiment.

[0204] Alternatively, if the above-mentioned integrated module of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0205] The methods disclosed in several method embodiments provided in this application can be combined arbitrarily without conflict to obtain new method embodiments. The features disclosed in several product embodiments provided in this application can be combined arbitrarily without conflict to obtain new product embodiments.

[0206] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope disclosed in the present application. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present application that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present application and do not limit the scope of protection of the patent of this application.

Claims

1. A passive interaction method, characterized in that: Applied to a passive interactive system, the passive interactive system includes an interactive server and a passive interactive terminal, the passive interactive terminal is located in a sterile area of ​​an operating room, the interactive server can control a surgical robot according to interactive information, and the method includes: Acquire a first reflected light having an intensity greater than or equal to a first preset intensity, and determine the number and spatial position of preset reflective elements according to the first reflected light; the preset reflective elements are a plurality of elements for reflecting light provided on the interactive terminal, and can reflect the first reflected light under the illumination of a preset light source; triggering an interaction process between the interaction terminal and the interaction server according to a change in a preset feature of a perceptible reflective element; The change of the preset feature of the perceptible reflective element is matched with the preset interaction rule to obtain the interaction information and complete the interaction process; the preset interaction rule includes the change of the preset feature and the corresponding interaction information.

2. The passive interaction method according to claim 1, characterized in that: The step of obtaining first reflected light having a first preset intensity or greater than or equal to the first preset intensity, and determining the number and spatial positions of preset reflective elements according to the first reflected light, comprises: acquiring, according to the incident parameters of the first reflected light, a distribution of reflection points of the first reflected light; The number of preset reflective elements is determined according to the distribution of the reflection points.

3. The passive interaction method according to claim 1, characterized in that: The step of obtaining first reflected light having a first preset intensity or greater than or equal to the first preset intensity, and determining the number and spatial positions of preset reflective elements according to the first reflected light, comprises: Acquire three-dimensional information of a reflection point of the first reflected light according to incident parameters of the first reflected light acquired by at least two photosensitive elements; the photosensitive elements are elements provided by the interactive server for receiving emitted light; The spatial position of the preset reflective element is determined according to the three-dimensional information of the reflection point.

4. The passive interaction method according to claim 1, characterized in that: The triggering of the interaction process between the interaction terminal and the interaction server according to the change of the preset characteristics of the perceptible reflective element includes: Based on the change in the number of perceptible reflective elements, the change in spatial position, and / or the change in reflection area, the interaction process between the interactive terminal and the interactive server is triggered, and first interaction information is obtained to perform confirmation operations in the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, or intraoperative adjustment of surgical planning.

5. The passive interaction method according to claim 1, characterized in that: The triggering of the interaction process between the interaction terminal and the interaction server according to the change of the preset characteristics of the perceptible reflective element includes: Based on the information of synchronous changes in the spatial positions of multiple reflective elements, the interaction process between the interactive terminal and the interactive server is triggered, and second interaction information is obtained to perform movement operations in the operation interface of the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification or intraoperative adjustment of surgical planning.

6. The passive interaction method according to claim 1, characterized in that: The step of triggering the interaction process between the interaction terminal and the interaction server according to the change of the preset characteristic of the perceptible reflective element further includes: When the number of perceptible reflective elements changes, the spatial position changes, and / or the reflective area changes, information on the synchronous change of the spatial positions of multiple reflective elements is received, and third interactive information is obtained to perform the operation of dragging the operation object on the operation interface of the surgical process of probe calibration, bone registration, marker pin collection, marker pin verification, osteotomy saw blade verification, or intraoperative adjustment of the surgical plan.

7. The passive interaction method according to any one of claims 1 to 6, characterized in that: The interactive terminal includes at least one light shield, and the triggering of the interactive process between the interactive terminal and the interactive server according to the change of the preset characteristics of the perceptible reflective element includes: In the case where the shading cover shields at least one reflective element, an interaction process between the interaction terminal and the interaction server is triggered.

8. A passive interactive device, applied to a passive interactive system, the passive interactive system comprising an interactive server and a passive interactive terminal, the passive interactive terminal being located in a sterile area of ​​an operating room, the interactive server being able to control a surgical robot according to interactive information, characterized in that: The device comprises: a determination module, configured to obtain a first reflected light having an intensity greater than or equal to a first preset intensity, and determine the number and spatial positions of preset reflective elements according to the first reflected light; A trigger module, used to trigger the interaction process between the interactive terminal and the interactive server according to the change of the preset characteristics of the perceptible reflective element; An acquisition module is used to match the change of the preset characteristics of the perceptible reflective element with the preset interaction rules, obtain interaction information, and complete the interaction process; the preset interaction rules include the change of the preset characteristics and the corresponding interaction information.

9. A computing device, applied to a passive interactive system, the passive interactive system comprising an interactive server and a passive interactive terminal, the passive interactive terminal being located in a sterile area of ​​an operating room, the interactive server being able to control a surgical robot according to interactive information, characterized in that: The computing device comprises: a storage component, a communication bus and a processing component, wherein: The storage component is used to store the passive interaction method program; The communication bus is used to realize the connection and communication between the storage component and the processing component; The processing component is used to execute the passive interaction method program to implement the steps of the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, applied to a passive interactive system, the passive interactive system comprising an interactive server and a passive interactive terminal, the passive interactive terminal being located in a sterile area of ​​an operating room, the interactive server being able to control a surgical robot according to interactive information, characterized in that: The computer-readable storage medium stores an executable program, and when the executable program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A passive interactive terminal, characterized in that: include: An operating assembly comprises a body and a plurality of reflective elements; the plurality of reflective elements are respectively arranged at a plurality of different positions of the body, and the reflective elements each comprise a reflective surface for reflecting light; the plurality is at least three; The interactive component includes a button and a shading cover connected to the button, wherein the button can move relative to the body; when the button is operated and moves, the shading cover can move relative to the body and cover the reflective surface of at least one reflective element.

12. The passive interactive terminal according to claim 11, characterized in that: The interactive component also includes: A connecting rod assembly has one end connected to the button and the other end connected to the light shield; when the button is operated, the connecting rod assembly moves and drives the light shield to move.

13. The passive interactive terminal according to claim 11 or 12, characterized in that: The operating component is a probe attached to the surgical robot, and the pressing direction of the button is the same as the direction of the needle tip of the probe.

14. A passive interactive system, characterized in that: include: The interactive terminal is the passive interactive terminal according to any one of claims 11 to 13; The interactive server is provided with a light source for emitting a preset type of light to the interactive terminal; the interactive server is also provided with a photosensitive element for receiving the light reflected by the interactive terminal, and obtaining changes in the interactive terminal according to changes in the reflected light, thereby completing the interactive process with the interactive terminal.

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