Position recognition method for surgical robot positioning device, electronic device and storage medium

Abstract

The present application relates to a method for identifying the position of a surgical robot positioning device, an electronic device and a storage medium. The identification method includes: obtaining a first posture of the end tool relative to the end of the robot arm according to the size of the end tool. Obtaining a second posture of the end of the robot arm relative to the base through a computing unit. Obtaining a third posture of the end tool relative to the base according to the first posture and the second posture. Identifying the positioning device and obtaining the posture information of the positioning device. Obtaining a fourth posture according to the posture information of the positioning device. According to the third posture, obtaining a first direction along the extension direction of the end tool. According to the fourth posture, obtaining a second direction in which the end tool extends toward the positioning device. Obtaining the angle between the projection of the first direction and the second direction as the judgment angle, and determining the position of the positioning device relative to the end tool according to the size of the judgment angle. According to the embodiment of the present application, operational errors can be avoided and surgical efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a position recognition method for a surgical robot positioning device, an electronic device, and a storage medium. Background Art

[0002] In related technologies, as the population ages, degenerative osteoarthritis, rheumatoid arthritis and other diseases may lead to knee cartilage destruction or abnormal knee wear, resulting in ligament imbalance and limited flexion and extension of the lower limbs. In order to restore the function of the lower limbs, joint surgery is required. Therefore, more and more joint surgeries are performed in hospitals every year.

[0003] In joint surgery performed by a surgical robot, or in joint surgery assisted by a surgical robot, in order to avoid not being able to identify the position of the end tool of the surgical robot, the positioning device used for identification needs to be moved to different positions of the end tool during the operation. However, after the position of the positioning device on the end tool is moved, the user needs to modify the position selection of the positioning device in the computer system software at the same time, which makes it easy to make mistakes during the modification process. At the same time, the user's frequent interaction with the software also reduces the efficiency of the operation. Summary of the invention

[0004] To solve the above-mentioned problems, according to a first aspect of an embodiment of the present application, a method for identifying the position of a surgical robot positioning device is provided, wherein the surgical robot comprises an end tool, a mechanical arm, a base and a computing unit; one end of the mechanical arm is movably mounted on the base, and the other end of the mechanical arm comprises a mechanical arm end, and the mechanical arm end is used to mount the end tool; the end tool is used to assist or perform surgery; at least two locations on the end tool are used to mount the positioning device;

[0005] The position recognition method of the surgical robot positioning device includes: obtaining a first posture of the end tool relative to the end of the robot arm according to the size of the end tool; obtaining a second posture of the end of the robot arm relative to the base through the calculation unit; obtaining a third posture of the end tool relative to the base according to the first posture and the second posture;

[0006] Identify the positioning device and obtain the position and posture information of the positioning device; obtain a fourth position and posture according to the position and posture information of the positioning device;

[0007] According to the third posture, a first direction along the extension direction of the end tool is obtained; according to the fourth posture, a second direction in which the end tool extends toward the positioning device is obtained; the angle between the projections of the first direction and the second direction is obtained as a judgment angle, and the position of the positioning device relative to the end tool is determined according to the size of the judgment angle.

[0008] According to the above embodiments, the surgical robot can directly identify the position of the positioning device relative to the end tool through the above method for identifying the position of the positioning device of the surgical robot. After the user changes the installation position of the positioning device on the end tool, the surgical robot can automatically identify the change in the position of the positioning device relative to the end tool, and automatically select the corresponding program in the program based on the different relative positions of the positioning device, thereby avoiding the need to simultaneously modify the position selection of the positioning device in the computer system software after the user changes the relative position of the positioning device, and further avoiding the user from making mistakes in the process of modifying the program selection after changing the relative position of the positioning device. At the same time, since the frequency of user interaction with the software can be reduced, the user can be more focused on the surgical situation, thereby improving the speed and accuracy of the user's surgery, and further effectively improving the user's surgical efficiency during surgery.

[0009] According to a second aspect of an embodiment of the present application, there is provided an electronic device, comprising a memory and a processor; the memory non-transiently stores computer executable instructions; the processor is configured to run the computer executable instructions; and when the computer executable instructions are run by the processor, any of the aforementioned methods for identifying a position of a surgical robot positioning device is implemented.

[0010] According to a third aspect of an embodiment of the present application, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, any of the aforementioned methods for identifying the position of a surgical robot positioning device is implemented.

[0011] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0013] Figure 1 It is a flow chart of a method for position recognition of a surgical robot positioning device according to an embodiment of the present application.

[0014] Figure 2 It is a structural schematic diagram of the surgical robot according to an embodiment of the present application.

[0015] Figure 3 According to the embodiment of the present application Figure 2 A local enlarged view of the middle area Q1.

[0016] Figure 4 This is another structural schematic diagram of the surgical robot according to an embodiment of the present application.

[0017] Figure 5 According to the embodiment of the present application Figure 4 A local enlarged view of the middle area Q2. DETAILED DESCRIPTION

[0018] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0019] In joint surgeries performed by surgical robots, or in joint surgeries assisted by surgical robots, if only a positioning device for identifying and determining the position and posture of the end tool is provided on the end tool of the surgical robot, it is easy for the positioning device to fail to be identified when the robotic arm of the surgical robot is at certain angles. In order to avoid the failure to identify the position of the end tool of the surgical robot, in the prior art, multiple positioning devices for identification can be installed on the end tool of the surgical robot, so that at least one positioning device of the surgical robot can be identified in any posture. Alternatively, multiple bases for installing positioning devices can be provided on the end tool, and during surgery, the user can install a positioning device on different bases, so that the surgical robot can identify the positioning device in any posture.

[0020] However, if multiple positioning devices are provided on the end tool, the positioning devices will easily occupy more space, thereby easily affecting the position to which the end tool can be moved and the range within which the robotic arm of the surgical robot can move. In addition, when the end tool is mounted on the robotic arm of the surgical robot, the installation of multiple positioning devices will also increase the complexity of the installation. If multiple bases for mounting positioning devices are provided on the end tool, and a positioning device that can be mounted to each base is provided, then after the position of the positioning device on the end tool moves, the user needs to simultaneously modify the position selection of the positioning device in the computer system software, so as to make corresponding changes in the program to adapt to the change in the position of the positioning device, which also makes it easy to make mistakes during the modification process. At the same time, the user's frequent interaction with the software also reduces the efficiency of the operation.

[0021] The present application provides a position recognition method for a surgical robot positioning device. Figure 1 The flowchart of the method for identifying the position of the surgical robot positioning device is shown. Figure 2 FIG. 1 is a schematic diagram of the structure of the surgical robot 10. Figure 2 As shown, the surgical robot 10 includes: an end tool 11, a robotic arm 12, a base 13 and a computing unit (not shown in the figure). One end of the robotic arm 12 is movably mounted on the base 13, and the other end of the robotic arm 12 includes a robotic arm end 121. The robotic arm end 121 is used to mount the end tool 11.

[0022] Specifically, Figure 1 As shown, the robot 12 includes a robot end 121 and a robot mounting end 122, and the robot end 121 and the robot mounting end 122 are located at both ends of the robot 12. Among them, the robot mounting end 122 is used to be installed on the base 13, and after being installed on the base 13, the robot mounting end 122 can be rotated relative to the base 13 to achieve a movable connection between the robot 12 and the base 13. The base 13 can be fixed or mobile. Among them, the position of the fixed base 13 remains fixed, and the mobile base 13 can be provided by setting a pulley on the base 13, or it can also be provided with a slide that can cooperate with the base 13 to achieve the movement of the base 13 in the slide. It should be noted that the specific fixed or mobile type of the base 13 can be flexibly set according to actual needs, and is not limited here.

[0023] The computing unit of the surgical robot 10 can be arranged in the base 13, or in the mechanical arm 12, or the computing unit can be arranged separately without any mechanical connection with the mechanical arm 12 and the base 13, and an independent module connected only by electronic circuits is used to set the computing unit. Similarly, the setting of the computing unit can also be flexibly set according to actual needs, and is not limited here.

[0024] The end tool 11 is used to assist or perform surgery. At least two locations on the end tool 11 are used to install the positioning device 14. Among them, at least two locations on the end tool 11 are used to install the positioning device 14, which may be two locations on the end tool 11 for installing the positioning device 14, or three locations on the end tool 11 for installing the positioning device 14, or four locations on the end tool 11 for installing the positioning device 14, or five locations on the end tool 11 for installing the positioning device 14, but not limited thereto. In other embodiments, the number of locations on the end tool 11 for installing the positioning device 14 can be flexibly set on the basis of meeting the aforementioned conditions. Specifically, such as Figure 2 As shown, the end tool 11 is provided with two positioning device mounting seats 111 for mounting the positioning device 14 , but in other embodiments it is not limited thereto.

[0025] like Figure 1 As shown, the relative position recognition method of the positioning device 14 of the surgical robot 10 includes: steps S110 to S130.

[0026] In step S110, a first posture of the end tool 11 relative to the robot end 121 is obtained according to the size of the end tool 11. A second posture of the robot end 121 relative to the base 13 is obtained by a computing unit. A third posture of the end tool 11 relative to the base 13 is obtained according to the first posture and the second posture.

[0027] Specifically, the end tool 11 is detachably mounted on the robot arm end 121, and after the installation is completed, the end tool 11 is fixed to the robot arm end 121. Therefore, due to the fixed connection relationship between the end tool 11 and the robot arm end 121, the position and posture of the end tool 11 relative to the robot arm end 121 can be directly obtained through the size parameters of the end tool 11 itself and the size parameters of the robot arm end 121.

[0028] Furthermore, the posture of the aforementioned end tool 11 relative to the robot arm end 121 can be obtained by taking the robot arm end 121 as a reference coordinate system and obtaining the distribution of multiple positioning points of the end tool 11 in the reference coordinate system, but is not limited to this. Other feasible methods for obtaining the posture can also be used to obtain the posture of the end tool 11 relative to the robot arm end 121.

[0029] The second posture of the robot end 121 relative to the base 13 is obtained by the calculation unit. The calculation unit may directly obtain the posture of the robot end 121 relative to the base 13 based on the size of the robot 12 and the base 13 through the obtained motion state of the robot 12 relative to the base 13. The calculation unit obtains the motion state of the robot 12 relative to the base 13, which may be that the robot 12 directly sends its motion state to the calculation unit synchronously when it is running, or that the robot 12 sends its motion state to the calculation unit at intervals when it is running, or that the robot 12 sends its motion state to the calculation unit after the operation ends. The calculation unit can directly obtain the posture of the robot end 121 relative to the base 13 through the obtained motion state.

[0030] Similarly, the position and posture of the aforementioned robot arm end 121 relative to the base 13 can also be based on the base 13 as a reference coordinate system to obtain the distribution of multiple positioning points of the robot arm end 121 in the reference coordinate system, but it is not limited to this. Other feasible methods for obtaining the position and posture can also be used to obtain the robot arm end 121 relative to the base 13.

[0031] In step S120, the positioning device 14 is identified and the position and posture information of the positioning device 14 is obtained. According to the position and posture information of the positioning device 14, a fourth position and posture is obtained.

[0032] The positioning device 14 is identified and the position and posture information of the positioning device 14 is obtained by identifying the positioning device 14 through an identification unit independent of the robot arm 12 and the base 13 to obtain the position and posture information of the positioning device 14 .

[0033] In step S130, according to the third posture, a first direction X along the extension direction of the end tool 11 is obtained. According to the fourth posture, a second direction Y extending from the end tool 11 toward the positioning device 14 is obtained. The angle between the first direction X and the second direction Y is obtained as the judgment angle A, and the position of the positioning device 14 relative to the end tool 11 is determined according to the size of the judgment angle A.

[0034] Specifically, Figure 3 It is shown that Figure 2 A local enlarged view of the middle area Q1. Figure 3 The first direction X and the second direction Y are shown in FIG. Figure 2 and Figure 3 The extension direction of the end tool 11 shown in FIG. Figure 3 The first direction X is shown. Figure 2 and Figure 3 The direction in which the end tool 11 extends toward the positioning device 14 is Figure 3The second direction Y shown. It should be noted that the extension direction of the end tool 11 does not require the end tool 11 to extend in the same direction strictly. It only requires that the extension length of the end tool 11 in this direction is greater than the extension length of the end tool 11 in other directions, and the end tool 11 has a tendency to extend in this direction as a whole. The direction of the end tool 11 toward the positioning device 14 is the direction from the connection between the end tool 11 and the positioning device 14 to the positioning device 14. And, Figure 2 and Figure 3 The first direction X and the second direction Y shown in FIG. 1 are merely exemplary, but are not limited thereto in other embodiments.

[0035] After the end tool 11 is installed on the end of the robot arm 121, it and the end of the robot arm 121 are in a relatively fixed state as a whole when the surgical robot 10 is in operation. Therefore, by directly obtaining the posture of the end of the robot arm 121 relative to the base 13 through the calculation unit, the posture of the end tool 11 relative to the base 13 from the perspective of the entire system of the robot arm 12 and the base 13 can be obtained. And by identifying the posture of the positioning device 14 installed on the end tool 11, the posture of the end tool 11 obtained by identifying and observing the positioning device 14 from a perspective other than the entire system of the robot arm 12 and the base 13 can be obtained. By comparing the posture differences under different perspectives, the position of the positioning device 14 relative to the end tool 11 can be determined. Specifically, by analyzing the size of the judgment angle A formed by the first direction X and the second direction Y, the position of the positioning device 14 relative to the end tool 11 can be determined.

[0036] Since the surgical robot positioning device position recognition method can directly allow the surgical robot to recognize the position of the positioning device 14 relative to the end tool 11. After the user changes the installation position of the positioning device 14 on the end tool 11, the surgical robot can automatically recognize the change in the position of the positioning device 14 relative to the end tool 11, and automatically select the corresponding program in the program based on the different relative positions of the positioning device 14, thereby avoiding the need to simultaneously modify the position selection of the positioning device 14 in the computer system software after the user changes the relative position of the positioning device 14, and further, avoiding the user from making mistakes in the process of modifying the program selection after changing the relative position of the positioning device 14. At the same time, since the frequency of user interaction with the software can be reduced, the user can be more focused on the surgical situation, thereby improving the speed and accuracy of the user's surgery, and further, effectively improving the surgical efficiency of the user during surgery.

[0037] Based on the aforementioned relative position recognition method of the positioning device 14 of the surgical robot 10, in some embodiments, the aforementioned obtaining and judging the angle A further includes:

[0038] The end tool 11 includes a first side and a second side opposite to each other. Obtain a reference plane perpendicular to the interface between the first side and the second side and passing through the first direction X. The reference plane is perpendicular to the interface between the first side and the second side, that is, there is an interface between the two opposite sides of the end tool 11, and the reference plane is perpendicular to the interface. The reference plane passes through the first direction X, that is, the first direction X is located in the reference plane. Obtain the second direction projection Y' of the second direction Y on the directrix plane. Obtain the angle between the first direction X and the second direction projection Y' as the judgment angle A.

[0039] Specifically, Figure 2 and Figure 3 The figure shows the case where the end tool 11 is an osteotomy tool 15. Figure 2 and Figure 3 The osteotomy tool 15 shown includes an osteotomy groove 151, and the plane where the osteotomy groove 151 is located can be the interface between the first side and the second side of the osteotomy guide plate 15. The plane where the osteotomy groove 151 is located is also the plane where the surface of the osteotomy groove 151 with the largest area is located. In other embodiments, Figure 4 The example shown is a case where the end tool 11 is a bone grinding tool 16. Figure 4 As shown, the plane passing through the direction of the end tool 11 pointed by the robot end 121 and the first direction X of the extension of the end tool 11 can be the interface between the first side and the second side of the bone segmentation grinding tool 16.

[0040] In order to reduce the frequency of program selection, the end tool is generally divided into two opposite sides to reduce the frequency of switching the operation program selection. By projecting the second direction Y onto the reference plane, when there is an angle between the positioning device 14 and the reference plane, the judgment angle can be obtained by obtaining the second direction projection Y', so that it is easier for the program to accurately determine the relative position of the positioning device 14, and further improve the surgical efficiency of the user during surgery.

[0041] Based on the aforementioned method of obtaining the judgment angle A through the angle between the first direction X and the second direction projection Y', in some embodiments, as Figure 2 and Figure 3 As shown, the end tool 11 includes an osteotomy tool 15. The osteotomy tool 15 includes a mounting portion 152, an osteotomy functional portion 153 and a connecting portion 154. The mounting portion 152 and the osteotomy functional portion 153 are respectively located at two ends of the connecting portion 154, and the positioning device 14 is installed on the connecting portion 154. The mounting portion 152 is used to be installed on the end of the robot arm 121, and the osteotomy functional portion 153 is used to assist or perform surgery. The connecting portion 154 extends from the end of the robot arm 121 toward the mounting portion 152.

[0042] The osteotomy function part 153 of the osteotomy tool 15 can be used to assist in the operation. Figure 2 and Figure 3 The osteotomy groove 151 is shown to assist the osteotomy operation. When the osteotomy functional part 153 is used to perform the operation, it may include a medical knife required for osteotomy to implement the osteotomy operation.

[0043] The position of the positioning device 14 relative to the end tool 11 is determined according to the angle between the first direction X and the projection Y' of the second direction, including: the osteotomy tool 15 includes a first side and a second side located on the left and right sides thereof. When the angle A is greater than 0 degrees and less than 90 degrees, the positioning device 14 is located on the first side of the osteotomy tool 15. When the angle A is greater than 90 degrees and less than 180 degrees, the positioning device 14 is located on the second side of the osteotomy tool 15.

[0044] Among them, the left and right sides of the osteotomy tool 15 are as follows Figure 3 When the osteotomy tool 15 is used to assist in osteotomy surgery, the osteotomy functional portion 153 is provided with an osteotomy groove 151 , and the left and right sides of the osteotomy tool 15 are the two sides of the plane where the osteotomy groove 151 is located.

[0045] This arrangement can specifically realize that the corresponding program is automatically selected in the program based on the different relative positions of the positioning device 14, and the corresponding program is selected at a lower frequency, so that it can be avoided that after the user changes the relative position of the positioning device 14, the position selection of the positioning device in the computer system software must be modified at the same time, and further, it can be avoided that the user makes mistakes in the process of modifying the program selection after changing the relative position of the positioning device 14. At the same time, since it can specifically realize the reduction of the frequency of user interaction with the software, the user can be more focused on the surgical situation, so as to improve the speed and accuracy of the user's surgery at the same time, and further, it can effectively improve the surgical efficiency of the user during the surgery.

[0046] On the basis that the aforementioned end tool 11 includes an osteotomy tool 15, in some embodiments, the osteotomy tool 15 includes a knee joint osteotomy tool. The knee joint osteotomy tool is used to perform an osteotomy operation on the knee joint, or to guide the osteotomy position of the knee joint.

[0047] Among them, as mentioned above, when the knee osteotomy tool assists in the osteotomy surgery for the knee joint, the knee osteotomy tool may include an osteotomy groove 151, and the medical tool clip used by the user passes through the osteotomy groove 151 and performs osteotomy on the knee joint, so as to limit the range of motion of the moving tool through the osteotomy groove 151, thereby achieving auxiliary guidance of the osteotomy surgery. When the knee osteotomy tool performs the osteotomy surgery for the knee joint, the knee osteotomy tool may include a medical tool, and under the movement of the robot arm 12, the knee joint is directly osteotomized by the medical tool.

[0048] In general knee joint surgery, osteotomy is often used. Therefore, the osteotomy tool 15 including the knee joint osteotomy tool can more specifically prevent the user from making mistakes in the process of modifying the program selection after changing the relative position of the positioning device 14, while effectively improving the surgical efficiency of the user during the operation.

[0049] Based on the aforementioned method of obtaining the judgment angle A through the angle between the first direction X and the second direction projection Y', in some embodiments, Figure 4 FIG. 1 shows another structural schematic diagram of the surgical robot 10. Figure 5 It shows Figure 4 A local enlarged view of the middle area Q2. Figure 4 and Figure 5 As shown, the end tool 11 includes a bone grinding tool 16. The bone grinding tool 16 includes a mounting portion 161 and a grinding function portion 162. The mounting portion 161 is mounted on the end of the robot arm 121, and the grinding function portion 162 is connected to the mounting portion 161. The extension direction of the grinding function portion 162 intersects with the direction of the mounting portion 161 toward the grinding function portion 162. The grinding function portion 162 is used to assist or perform surgery. The positioning device 14 is mounted on the grinding function portion 162.

[0050] Among them, when the grinding function part 162 is used to assist in performing surgery, it can be as follows Figure 4 As shown, the grinding function part 162 can be a sleeve 163. The grinding rod of the grinding instrument can pass through the sleeve 163 to achieve the effect of the grinding function part 162 assisting in the operation. When the grinding function part 162 is used to perform the operation, it can include a medical grinding instrument to perform the grinding operation on the bone.

[0051] and, Figure 4 and Figure 5 The figure also shows the direction W of the mounting portion 161 toward the polishing functional portion 162. The extending direction of the polishing functional portion 162 intersects with the direction of the mounting portion 161 toward the polishing functional portion 162, that is, the first direction X intersects with the direction W, that is, the first direction X and the direction W are not located on the same straight line.

[0052] The position of the positioning device 14 relative to the end tool 11 is determined according to the angle between the first direction X and the projection Y' of the second direction, including: the grinding function part 162 includes a first side and a second side located on the left and right sides thereof. When the angle A is greater than 0 degrees and less than 90 degrees, the positioning device 14 is located on the first side of the bone grinding tool 16. When the angle A is greater than 90 degrees and less than 180 degrees, the positioning device 14 is located on the second side of the bone grinding tool 16.

[0053] The left and right sides of the bone grinding tool 16 may be two sides of a plane passing through the first direction X and the direction W.

[0054] This arrangement can specifically realize that the corresponding program is automatically selected in the program based on the different relative positions of the positioning device 14, and the corresponding program is selected at a lower frequency, so that it can be avoided that after the user changes the relative position of the positioning device 14, the position selection of the positioning device in the computer system software must be modified at the same time, and further, it can be avoided that the user makes mistakes in the process of modifying the program selection after changing the relative position of the positioning device 14. At the same time, since it can specifically realize the reduction of the frequency of user interaction with the software, the user can be more focused on the surgical situation, so as to improve the speed and accuracy of the user's surgery at the same time, and further, it can effectively improve the surgical efficiency of the user during the surgery.

[0055] On the basis that the aforementioned end tool 11 includes the bone grinding tool 16, in some embodiments, the bone grinding tool 16 includes a hip joint bone grinding tool. The hip joint bone grinding tool is used to perform surgery on the hip joint, or to guide the grinding position of the hip joint.

[0056] Among them, as mentioned above, when the hip joint bone grinding tool is used to assist in the operation, it can be used as follows: Figure 4 and Figure 5 As shown, the grinding function part 162 can be a sleeve 163. A grinder mounting seat 164 for mounting the grinding instrument body is provided at one end of the sleeve 163. The grinding instrument can be manually switched on and off by the user. The grinding rod connected to the grinder body can pass through the sleeve 163, and the bone can be grinded by the grinding head on the end of the grinding rod away from the grinder body. The movement of the grinding instrument is limited by the sleeve 163 to achieve an auxiliary guiding effect for the operation. When the grinding function part 162 is used to perform the operation, it can include a medical grinding instrument, and the bone can be directly grinded after the robot arm 12 moves to the preset position.

[0057] In general hip joint surgery, bone grinding is often used. Therefore, the bone grinding tool 16 including the hip joint bone grinding tool can more specifically prevent the user from making mistakes in the process of modifying the program selection after changing the relative position of the positioning device 14, while effectively improving the surgical efficiency of the user during the operation.

[0058] In some embodiments, Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the positioning device 14 includes an optical positioning array 141. Identifying the positioning device 14 and acquiring the position and posture of the positioning device 14 includes: identifying the light actively or passively emitted by the optical positioning array 141 through an optical recognition structure to achieve recognition of the position and posture of the optical positioning array 141.

[0059] Specifically, the optical recognition structure may be an independent binocular camera structure. The light actively emitted by the optical positioning array 141 may include multiple light-emitting units, and the binocular camera recognizes the light emitted by the light-emitting units to achieve posture recognition. The light passively emitted by the optical positioning array 141 may include multiple reflective units, and the reflective units reflect specific light emitted by the binocular camera, so that the binocular camera recognizes and obtains the posture of the optical positioning array 141.

[0060] With this arrangement, the optical recognition structure can identify the position of the optical positioning array 141 through optical principles. Since the recognition relationship is directly established between the optical recognition structure and the optical positioning array 141 through light, its recognition accuracy is higher than that of radio recognition and other methods, and the information is updated more timely, thereby further improving the user's surgical efficiency during surgery.

[0061] Based on the aforementioned positioning device 14 including the optical positioning array 141, in some embodiments, as Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the optical positioning array 141 includes at least three optical units 1411 and an array bracket 1412. At least three optical units 1411 are located on different straight lines. Among them, the optical positioning array 141 includes at least three optical units 1411, and the optical positioning array 141 may include three optical units 1411, or the optical positioning array 141 may include four optical units 1411, or the optical positioning array 141 may include five optical units 1411, but is not limited thereto. The optical positioning array 141 may also include a larger number of optical units 1411. Moreover, it is preferred that the optical positioning array 141 includes three optical units 1411, so that an effective positioning effect can be achieved at a lower cost.

[0062] Furthermore, at least three optical units 1411 are located on different straight lines, that is, the straight line where any two optical units 1411 of the at least three optical units 1411 are combined intersects with the straight line where any other two optical units 1411 are combined. The combination of different optical units 1411 may have one identical optical unit 1411.

[0063] At the same time, as mentioned above, the optical recognition structure recognizes the light actively or passively emitted by the optical positioning array 141. When the optical positioning array 141 actively emits light, the optical unit 1411 can actively emit light, and when the optical positioning array 141 passively reflects light, the optical unit 1411 can passively reflect light.

[0064] The array support 1412 is detachably connected to the end tool 11, and the array support 1412 can be installed at least two different positions on the end tool 11. The optical unit 1411 is detachably installed on the array support 1412.

[0065] The array bracket 1412 can be installed at least two different positions on the end tool 11, for example, Figure 2 In the illustrated solution, two mounting seats 111 are provided on the end tool 11, and both mounting seats 111 are used to mount the array bracket 1412. However, in other embodiments, it is not limited thereto. In other embodiments, a greater number of mounting seats 111 may be provided on the end tool 11, so that the array bracket 1412 can select the mounting seats 111 for mounting.

[0066] The optical unit 1411 is mounted on the array bracket 1412 in a detachable manner. The optical unit 1411 can be mounted on the array bracket 1412 in a magnetic manner, or the optical unit 1411 can be mounted on the array bracket 1412 in a tenon manner, or the optical unit 1411 can be mounted on the array bracket 1412 using a combination of the above two solutions, but is not limited to this. The optical unit 1411 can also use other more feasible solutions, or use several more feasible solutions in combination to be mounted on the array bracket 1412.

[0067] In this way, the installation position of the array bracket 1412 on the end tool 11 can be changed to change the installation position of the positioning device 14 on the end tool 11, so that the optical positioning array 141 can be disassembled and assembled at different positions. In addition, the optical unit 1411 is detachably mounted on the array bracket 1412, which can facilitate the replacement of the optical unit 1411 when the optical unit 1411 is damaged, thereby reducing the use cost of the optical positioning array 141 and effectively improving the working stability of the optical positioning array 141.

[0068] The present application also provides an electronic device, including a memory and a processor. The memory stores computer executable instructions non-transiently. The processor is configured to run the computer executable instructions. When the computer executable instructions are run by the processor, any of the aforementioned relative position recognition methods of the positioning device 14 of the surgical robot 10 is implemented. By implementing the aforementioned relative position recognition method of the positioning device 14 of the surgical robot 10, the effect that can be achieved by the aforementioned recognition method is achieved.

[0069] The present application also provides a non-transitory computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, any of the aforementioned relative position recognition methods of the positioning device 14 of the surgical robot 10 is implemented. By implementing the aforementioned relative position recognition method of the positioning device 14 of the surgical robot 10, the effect that can be achieved by the aforementioned recognition method is achieved.

[0070] The above embodiments of the present application may complement each other if no conflict occurs.

[0071] It should be noted that in the accompanying drawings, the sizes of layers and regions may be exaggerated for clarity of illustration. It is also understood that when an element or layer is referred to as being "on" another element or layer, it may be directly on the other element, or there may be an intermediate layer. In addition, it is understood that when an element or layer is referred to as being "under" another element or layer, it may be directly under the other element, or there may be more than one intermediate layer or element. In addition, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it may be the only layer between the two layers or two elements, or there may also be more than one intermediate layer or element. Similar reference numerals throughout the text indicate similar elements.

[0072] The term "plurality" means two or more than two, unless expressly limited otherwise.

[0073] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the disclosure disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0074] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by the processor, a method for identifying the position of a surgical robot positioning device is implemented; The surgical robot comprises an end tool, a mechanical arm, a base and a computing unit; one end of the mechanical arm is movably mounted on the base, and the other end of the mechanical arm comprises a mechanical arm end, and the mechanical arm end is used to mount the end tool; the end tool is used to assist or perform surgery; at least two locations on the end tool are used to mount a positioning device; The position recognition method of the surgical robot positioning device includes: obtaining a first posture of the end tool relative to the end of the robot arm according to the size of the end tool; obtaining a second posture of the end of the robot arm relative to the base through the calculation unit; obtaining a third posture of the end tool relative to the base according to the first posture and the second posture; Identify the positioning device and obtain the position and posture information of the positioning device; obtain a fourth position and posture according to the position and posture information of the positioning device; According to the third posture, a first direction along the extension direction of the end tool is obtained; according to the fourth posture, a second direction in which the end tool extends toward the positioning device is obtained; the angle between the projections of the first direction and the second direction is obtained as a judgment angle, and the position of the positioning device relative to the end tool is determined according to the size of the judgment angle.

2. The non-transitory computer-readable storage medium according to claim 1, wherein: Obtaining the judgment angle also includes: The end tool includes a first side and a second side opposite to each other; a reference plane is obtained which is perpendicular to the interface between the first side and the second side and passes through the first direction; a projection of the second direction on the reference plane is obtained; and an angle between the projections of the first direction and the second direction is obtained as a judgment angle.

3. The non-transitory computer-readable storage medium according to claim 2, wherein: The end tool comprises an osteotomy tool; the osteotomy tool comprises a mounting portion, an osteotomy functional portion and a connecting portion; the mounting portion and the osteotomy functional portion are respectively located at two ends of the connecting portion, and the positioning device is installed on the connecting portion; the mounting portion is used to be installed on the end of the robotic arm, and the osteotomy functional portion is used to assist or perform surgery; the connecting portion extends along the end of the robotic arm toward the mounting portion; Determining the position of the positioning device relative to the end tool according to the angle between the projections of the first direction and the second direction includes: the osteotomy tool includes a first side and a second side located on the left and right sides thereof opposite to each other; When the judging angle is greater than 0 degrees and less than 90 degrees, the positioning device is located on the first side of the osteotomy tool; when the judging angle is greater than 90 degrees and less than 180 degrees, the positioning device is located on the second side of the osteotomy tool.

4. The non-transitory computer-readable storage medium according to claim 3, wherein: The osteotomy tool comprises a knee joint osteotomy tool; the knee joint osteotomy tool is used to perform an osteotomy operation on the knee joint, or to guide the osteotomy position of the knee joint.

5. The non-transitory computer-readable storage medium according to claim 2, wherein: The end tool comprises a bone grinding tool; the bone grinding tool comprises a mounting portion and a grinding functional portion; the mounting portion is mounted on the end of the robotic arm, the grinding functional portion is connected to the mounting portion, and the extending direction of the grinding functional portion intersects with the direction of the mounting portion toward the grinding functional portion; the grinding functional portion is used to assist or implement surgery; the positioning device is mounted on the grinding functional portion; Determining the position of the positioning device relative to the end tool according to the angle between the projections of the first direction and the second direction includes: the grinding function portion includes a first side and a second side located on the left and right sides thereof opposite to each other; When the judgment angle is greater than 0 degrees and less than 90 degrees, the positioning device is located on the first side of the bone grinding tool; when the judgment angle is greater than 90 degrees and less than 180 degrees, the positioning device is located on the second side of the bone grinding tool.

6. The non-transitory computer-readable storage medium according to claim 5, wherein: The bone grinding tool comprises a hip joint bone grinding tool; the hip joint bone grinding tool is used to perform surgery on the hip joint, or to guide the grinding position of the hip joint.

7. The non-transitory computer-readable storage medium according to claim 1, wherein: The positioning device includes an optical positioning array; identifying the positioning device and obtaining the position and posture of the positioning device includes: identifying the light actively or passively emitted by the optical positioning array through an optical recognition structure to achieve recognition of the position and posture of the optical positioning array.

8. The non-transitory computer-readable storage medium according to claim 7, wherein: The optical positioning array comprises at least three optical units and an array bracket; the at least three optical units are located on different straight lines; the array bracket is connected to the end tool in a detachable manner, and the array bracket can be installed at at least two different positions on the end tool; The optical unit is detachably mounted on the array bracket.

9. An electronic device, characterized in that: It comprises a memory and a processor; the memory non-transitorily stores computer executable instructions; the memory comprises the non-transitory computer readable storage medium as described in any one of claims 1 to 8; the processor is configured to run the computer executable instructions; the computer executable instructions, when run by the processor, implement the position recognition method of the surgical robot positioning device.

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