Positioning method, device and system of surgical cart and storage medium

Abstract

The invention discloses a positioning method, device and system for a surgical cart and a storage medium. The method comprises the following steps: acquiring a first view image, corresponding to a registration device, of a first surgical cart acquired by an image acquisition device, and determining a first relative pose of the first surgical cart relative to the registration device based on the first view image; acquiring a second visual field image, corresponding to the registration device, of a second surgical cart acquired by an image acquisition device, and determining a second relative pose of the registration device relative to the second surgical cart based on the second visual field image; and determining a relative positioning pose of the first surgical trolley relative to the second surgical trolley based on the first relative pose and the second relative pose. According to the embodiment of the invention, the problem of data interference of a plurality of sensor devices in a traditional positioning method is solved, and the positioning accuracy of the surgical trolley is improved while the positioning complexity is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a positioning method, device, system and storage medium for an operating table vehicle. Background Art

[0002] With the improvement of medical technology, minimally invasive surgery has been widely used. In order to ensure the feasibility and safety of minimally invasive surgery, surgical robot systems are increasingly used in minimally invasive surgery. Among them, the split multi-column surgical robot system requires multiple operating tables to be set up around the operating table in the minimally invasive surgery scene, so the relative position of the two operating tables needs to be accurately located.

[0003] In the process of implementing the present invention, it is found that there are at least the following technical problems in the prior art:

[0004] The traditional positioning method usually sets a signal transmitter and a signal receiver separately on the operating table, but multiple sensor devices are prone to interference information, resulting in inaccurate positioning of the operating table. Summary of the invention

[0005] The embodiments of the present invention provide a positioning method, device, system and storage medium for an operating table trolley to solve the problem of data interference among multiple sensor devices in the traditional positioning method and improve the positioning accuracy of the operating table trolley.

[0006] According to one embodiment of the present invention, a method for positioning an operating table vehicle is provided, the method comprising:

[0007] Acquire a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device, and determine a first relative position of the first operating trolley with respect to the registration device based on the first field of view image;

[0008] Acquire a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative position of the registration device relative to the second operating trolley based on the second field of view image;

[0009] Based on the first relative position and the second relative position, a relative positioning position of the first operating trolley relative to the second operating trolley is determined.

[0010] According to another embodiment of the present invention, a positioning device for an operating table vehicle is provided, the device comprising:

[0011] A first relative posture determination module is used to obtain a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determine a first relative posture of the first operating trolley relative to the registration device based on the first field of view image;

[0012] A second relative posture determination module is used to obtain a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative posture of the registration device relative to the second operating trolley based on the second field of view image;

[0013] A relative positioning posture determination module is used to determine the relative positioning posture of the first operating trolley relative to the second operating trolley based on the first relative posture and the second relative posture.

[0014] According to another embodiment of the present invention, there is provided a positioning system for an operating trolley, the positioning system for the operating trolley comprising: a first operating trolley, a second operating trolley, an image acquisition device, a registration device, and a control device;

[0015] Wherein, the image acquisition device is used to acquire a first field of view image corresponding to the first operating trolley and the registration device, and to acquire a second field of view image corresponding to the second operating trolley and the registration device;

[0016] The control device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning method of the operating table vehicle described in any embodiment of the present invention.

[0017] According to another embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the positioning method of a surgical trolley according to any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention obtains a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device, and determines a first relative posture of the first operating trolley with respect to the registration device based on the first field of view image, obtains a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determines a second relative posture of the registration device with respect to the second operating trolley based on the second field of view image, and determines the relative positioning posture of the first operating trolley with respect to the second operating trolley based on the first relative posture and the second relative posture, thereby solving the problem of data interference among multiple sensor devices in traditional positioning methods, and improving the positioning accuracy of the operating trolley while reducing the positioning complexity.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic structural diagram of a positioning system for an operating table trolley provided by one embodiment of the present invention;

[0022] Figure 2 A schematic structural diagram of another positioning system for an operating table vehicle provided by an embodiment of the present invention;

[0023] Figure 3 A schematic structural diagram of another positioning system for an operating table vehicle provided by an embodiment of the present invention;

[0024] Figure 4 A schematic structural diagram of another positioning system for an operating table vehicle provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the structure of a control device provided by an embodiment of the present invention;

[0026] Figure 6 A flowchart of a positioning method for an operating table vehicle provided by one embodiment of the present invention;

[0027] Figure 7 A flowchart of another method for positioning a surgical trolley provided by an embodiment of the present invention;

[0028] Figure 8 A flowchart of another method for positioning a surgical trolley provided by an embodiment of the present invention;

[0029] Fig. 9 A schematic structural diagram of a positioning device for an operating table trolley provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Figure 1 A schematic diagram of a positioning system for an operating table provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the positioning system 100 of the operating table includes: a first operating table 11, a second operating table 12, an image acquisition device 13, a registration device 14 and a control device 15 ( Figure 1 not shown).

[0033] Specifically, the image acquisition device 13 is communicatively connected with the control device 15, and the control device 15 can be configured with a positioning device for an operating table trolley provided in the following embodiments of the present invention, and provide services for a positioning method for an operating table trolley provided in the following embodiments of the present invention.

[0034] exist Figure 1 In the illustrated embodiment, the registration device 14 includes a registration apparatus, and the image acquisition device 13 includes an image acquisition device 131 and an image acquisition device 132. The image acquisition device 131 is installed on the first operating table 11, and the image acquisition device 132 is installed on the second operating table 12. In this embodiment, the registration device 14 is used to refer to the registration device.

[0035] In an optional embodiment, the first field of view image acquired by the image acquisition device 131 and the second field of view image acquired by the image acquisition device 132 respectively include the registration device 14 .

[0036] exist Figure 1On the basis of the illustrated embodiment, optionally, at least one identification picture is provided in the registration device 14, or the registration device 14 has a display function of at least one identification picture.

[0037] Exemplarily, the image content of the identification image may be a grid, a checkerboard, a barcode or a QR code, etc. When the image content is a barcode or a QR code, the control device 15 may also be used to perform a decoding operation on the identification image in the field of view image to obtain attribute data of the registration device 14, such as the real-time registration posture of the registration device 14.

[0038] The advantage of setting the identification picture is that, compared with the registration based on the registration device 14 in the field of view image, the registration method based on the identification picture in the field of view image can improve the accuracy of the subsequent relative positioning posture between the first operating trolley 11 and the second operating trolley 12.

[0039] Exemplarily, when the registration device 14 has a display function of at least one identification image, the registration device 14 may be a mobile smart phone or a display screen.

[0040] In one embodiment, when the number of the identification picture is one, the first field of view image acquired by the image acquisition device 131 and the second field of view image acquired by the image acquisition device 132 respectively include the identification picture.

[0041] In another embodiment, when the number of identification pictures is at least two, the setting directions (or display directions) of the identification pictures on the registration device 14 are different. The identification pictures respectively included in the first field of view image acquired by the image acquisition device 131 and the second field of view image acquired by the image acquisition device 132 may be the same or different.

[0042] When the identification pictures respectively included in the first field of view image and the second field of view image are different, illustratively, identification picture A is set (or displayed) on the left side of the registration device 14, and identification picture B is set (or displayed) on the right side of the registration device 14, or, identification picture A is set (or displayed) on the front side of the registration device 14, and identification picture B is set (or displayed) on the right side of the registration device 14. The specific setting direction (or display direction) of each identification picture can be adjusted according to the direction range of the first operating table 11 and the second operating table 12 relative to the registration device 14.

[0043] The advantage of setting (or displaying) multiple identification pictures is that when the first operating trolley 11 and the second operating trolley 12 are located in different directions of the alignment device 14, it is ensured that the image acquisition device 131 and the image acquisition device 132 can both capture the field of view image containing the identification picture, thereby broadening the applicable scenarios of the embodiments of the present invention.

[0044] Figure 2 A schematic structural diagram of another positioning system for an operating table vehicle provided by an embodiment of the present invention. Figure 2 Take the registration device 14 as a display screen as an example.

[0045] On the basis of the above embodiment, optionally, when the number of the identification pictures is one, a posture acquisition module 16 is installed in the registration device 14, and the posture acquisition module 16 is used to acquire the real-time registration posture of the registration device 14. Exemplarily, the posture acquisition module 16 can be an inertial measurement unit (Inertial Measurement Unit, IMU).

[0046] The advantage of such a configuration is that when the first operating trolley 11 and the second operating trolley 12 are located in different directions of the alignment device 14, by changing the alignment device 14's posture, it is possible to ensure that both the image acquisition device 131 and the image acquisition device 132 can capture the field of view image containing the identification image, thereby broadening the applicable scenarios of the embodiments of the present invention. At the same time, it is possible to achieve the purpose of determining the relative positioning posture of the first operating trolley relative to the second operating trolley based on the real-time alignment posture, the first field of view image, and the second field of view image captured by the posture acquisition module 142.

[0047] Figure 3 A schematic diagram of the structure of another positioning system for an operating table vehicle provided by an embodiment of the present invention. Figure 3 In the illustrated embodiment, the registration device 14 includes a registration device, the number of image acquisition devices in the image acquisition device 13 is one, the image acquisition device 13 is installed on the registration device 14, and an identification picture 17 is respectively provided on the first operating trolley 11 and the second operating trolley 12. The first field of view image is a field of view image including the identification picture 17 on the first operating trolley 11, and the second field of view image is a field of view image including the identification picture 17 on the second operating trolley 13.

[0048] Figure 4 A schematic diagram of the structure of another positioning system for an operating table vehicle provided by an embodiment of the present invention. Figure 4 In the illustrated embodiment, the registration device 14 includes a registration device 141 and a registration device 142 with different registration postures, the image acquisition device 13 includes an image acquisition device 131 and an image acquisition device 132, the registration device 141 is equipped with the image acquisition device 131, the registration device 142 is equipped with the image acquisition device 132, and an identification picture 17 is respectively provided on the first operating trolley 11 and the second operating trolley 12.

[0049] In another optional embodiment, the registration device 14 includes a registration device 141 and a registration device 142 with different registration postures, the image acquisition device 13 includes an image acquisition device 131 and an image acquisition device 132, and an identification picture 17 can be set (or displayed) on the registration device 141 and the registration device 142 respectively, the image acquisition device 131 is installed on the first operating trolley 11, and the image acquisition device 132 is installed on the second operating trolley 12.

[0050] It should be noted that the above embodiment is only exemplified by two operating trolleys. When the number of operating trolleys is more than two, the number of image acquisition devices in the image acquisition device 13 is set corresponding to the number of operating trolleys, and / or the number of identification images is set corresponding to the number of operating trolleys, and / or the number of registration devices in the registration device 14 is set corresponding to the number of operating trolleys.

[0051] Figure 5 A schematic diagram of the structure of a control device provided for one embodiment of the present invention. The control device 15 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0052] like Figure 5 As shown, the control device 15 includes at least one processor 151, and a memory connected to the at least one processor 151 in communication, such as a read-only memory (ROM) 152, a random access memory (RAM) 153, etc., wherein the memory stores a computer program that can be executed by the at least one processor 151, and the processor 151 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 152 or the computer program loaded from the storage unit 158 ​​to the random access memory (RAM) 153. In the RAM 153, various programs and data required for the operation of the control device 15 can also be stored. The processor 151, the ROM 152, and the RAM 153 are connected to each other through a bus 154. The input / output (I / O) interface 15 is also connected to the bus 154.

[0053] A number of components in the control device 15 are connected to the I / O interface 155, including: an input unit 156, such as a keyboard, a mouse, etc.; an output unit 157, such as various types of displays, speakers, etc.; a storage unit 158, such as a disk, an optical disk, etc.; and a communication unit 159, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 159 allows the control device 15 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0054] The processor 151 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 151 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 151 executes the various methods and processes described above, such as the positioning method of the surgical trolley provided in the above embodiments.

[0055] In some embodiments, the positioning method of the surgical trolley provided in the above embodiments may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 158. In some embodiments, part or all of the computer program may be loaded and / or installed on the control device 15 via the ROM 152 and / or the communication unit 159. When the computer program is loaded into the RAM 153 and executed by the processor 151, one or more steps in the positioning method of the surgical trolley described above may be performed. Alternatively, in other embodiments, the processor 151 may be configured to execute the positioning method of the surgical trolley in any other appropriate manner (e.g., by means of firmware).

[0056] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0057] The computer program for implementing the positioning method of the surgical trolley of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0058] Figure 6 This is a flowchart of a method for positioning an operating table provided by an embodiment of the present invention. This embodiment is applicable to the situation of positioning the relative posture relationship between multiple operating tables. The method can be executed by a positioning device of the operating table. The positioning device of the operating table can be implemented in the form of hardware and / or software. The positioning device of the operating table can be configured in a control device. Figure 6 As shown, the method includes:

[0059] S210, acquiring a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determining a first relative position of the first operating trolley with respect to the registration device based on the first field of view image.

[0060] In this embodiment, the registration apparatus includes a registration device.

[0061] In an optional embodiment, obtaining a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device includes: obtaining a first field of view image including the registration device acquired by an image acquisition device installed on the first operating trolley.

[0062] In another optional embodiment, obtaining a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device includes: acquiring a first field of view image containing an identification picture acquired by an image acquisition device installed on the first operating trolley; wherein the identification picture is set on the registration device.

[0063] In another optional embodiment, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by the image acquisition device includes: obtaining a first field of view image containing an identification picture captured by an image acquisition device installed on the registration device; wherein the identification picture is set on the first operating trolley.

[0064] In an optional embodiment, based on the first field of view image, determining a first relative posture of the first operating trolley relative to the registration device includes: acquiring object pixel data of the target object in the first field of view image; using an Efficient Perspective-n-Point Camera Pose Estimation (EPnP) algorithm to determine the first relative posture of the first operating trolley relative to the registration device based on the object pixel data, a camera intrinsic parameter matrix and a distortion matrix of the image acquisition device; wherein the target object is the registration device or an identification image set on the registration device.

[0065] Specifically, the camera intrinsic parameter matrix and the distortion matrix are the camera intrinsic parameter matrix and the distortion matrix of an image acquisition device that acquires the first field of view image in the image acquisition apparatus.

[0066] In another optional embodiment, based on the first field of view image, determining a first relative position of the first operating trolley relative to the registration device includes: acquiring object pixel data of the target object in the first field of view image; determining a homography transformation matrix based on the calibration pixel data and the object pixel data, and determining the first relative position of the first operating trolley relative to the registration device based on the homography transformation matrix.

[0067] Specifically, the calibrated pixel data is used to represent the camera calibration data corresponding to the image acquisition device that acquires the first field of view image in the image acquisition apparatus.

[0068] S220, acquiring a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determining a second relative position of the registration device relative to the second operating trolley based on the second field of view image.

[0069] In an optional embodiment, obtaining a second field of view image corresponding to the second operating trolley and the registration device acquired by an image acquisition device includes: obtaining a second field of view image including the registration device acquired by an image acquisition device installed on the second operating trolley.

[0070] In another optional embodiment, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image containing an identification picture captured by an image acquisition device installed on the second operating trolley; wherein the identification picture is set on the registration device.

[0071] In another optional embodiment, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image containing an identification picture captured by an image acquisition device installed on the registration device; wherein the identification picture is set on the second operating trolley.

[0072] In an optional embodiment, based on the second field of view image, determining a second relative position and posture of the registration device relative to the second operating trolley includes: acquiring object pixel data of the target object in the second field of view image; using an Efficient Perspective-n-Point Camera Pose Estimation (EPnP) algorithm to determine the second relative position and posture of the registration device relative to the second operating trolley based on the object pixel data, a camera intrinsic parameter matrix and a distortion matrix of the image acquisition device; wherein the target object is the registration device or an identification image set on the registration device.

[0073] Specifically, the camera intrinsic parameter matrix and the distortion matrix are the camera intrinsic parameter matrix and the distortion matrix of an image acquisition device that acquires the second field of view image in the image acquisition apparatus.

[0074] In another optional embodiment, based on the second field of view image, the second relative position of the registration device relative to the second operating trolley is determined, including: acquiring object pixel data of the target object in the second field of view image; determining the homography transformation matrix based on the calibration pixel data and the object pixel data, and determining the second relative position of the registration device relative to the second operating trolley based on the homography transformation matrix.

[0075] Specifically, the calibration pixel data is used to represent the camera calibration data corresponding to the image acquisition device that acquires the second field of view image in the image acquisition apparatus.

[0076] S230: Determine the relative positioning posture of the first operating table trolley relative to the second operating table trolley based on the first relative posture and the second relative posture.

[0077] In this embodiment, specifically, the first relative posture and the second relative posture are added to obtain the relative positioning posture of the first operating trolley relative to the second operating trolley.

[0078] The technical solution of this embodiment obtains a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device, and determines a first relative posture of the first operating trolley with respect to the registration device based on the first field of view image, obtains a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determines a second relative posture of the registration device with respect to the second operating trolley based on the second field of view image, and determines the relative positioning posture of the first operating trolley with respect to the second operating trolley based on the first relative posture and the second relative posture, thereby solving the problem of data interference among multiple sensor devices in traditional positioning methods, and improving the positioning accuracy of the operating trolley while reducing the positioning complexity.

[0079] Figure 7This is a flow chart of another method for positioning a surgical trolley provided by an embodiment of the present invention. This embodiment further refines S230 in the above embodiment. Figure 7 As shown, the method includes:

[0080] S310, acquiring a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determining a first relative position of the first operating trolley with respect to the registration device based on the first field of view image.

[0081] S320, acquiring a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determining a second relative position of the registration device relative to the second operating trolley based on the second field of view image.

[0082] S310-S320 in this embodiment are similar to those in the above embodiment. Figure 6 The steps S210 - S220 shown are identical or similar to each other, and are not described in detail in this embodiment.

[0083] S330, acquiring a first registration posture corresponding to the first field of view image and a second registration posture corresponding to the second field of view image acquired by the posture acquisition module.

[0084] In this embodiment, the real-time registration posture of a registration device in the registration apparatus may change.

[0085] Specifically, the posture acquisition module is used to acquire the real-time registration posture of the registration device, the first registration posture represents the real-time registration posture of the registration device corresponding to the acquisition moment of the first field of view image, and the second registration posture represents the real-time registration posture of the registration device corresponding to the acquisition moment of the second field of view image.

[0086] S340: Determine a registration relative posture based on the first registration posture and the second registration posture.

[0087] In an optional embodiment, based on the first registration posture and the second registration posture, the registration relative posture is determined, including: obtaining the change time interval, movement angular velocity and movement acceleration corresponding to the first registration posture and the second registration posture; performing integration processing on the movement angular velocity based on the change time interval to obtain the angle change in the registration relative posture; performing double integration processing on the movement acceleration based on the change time interval to obtain the displacement change in the registration relative posture.

[0088] Specifically, the changing time interval is used to represent the time interval between the acquisition moment of the first field of view image and the acquisition moment of the second field of view image.

[0089] On the basis of the above embodiment, optionally, it is determined whether the first registration posture and the second registration posture are the same. If they are the same, the registration relative posture is set to empty. If they are different, the step of determining the registration relative posture based on the first registration posture and the second registration posture is executed.

[0090] S350: Determine the relative positioning posture between the first operating table trolley and the second operating table trolley based on the first relative posture, the second relative posture and the registered relative posture.

[0091] In this embodiment, specifically, the first relative posture, the second relative posture and the registered relative posture are added together to obtain the relative positioning posture of the first operating trolley relative to the second operating trolley.

[0092] The technical solution of this embodiment, by installing a posture acquisition module in the registration device, determines the registration relative posture based on the first registration posture corresponding to the first field of view image and the second registration posture corresponding to the second field of view image acquired by the posture acquisition module, and determines the relative positioning posture between the first operating trolley and the second operating trolley based on the first relative posture, the second relative posture and the registration relative posture, thereby solving the problem that some image acquisition devices cannot obtain the field of view image containing the target object due to the limitation of the acquisition field of view of the image acquisition device, improves the flexibility of the positioning method of the operating trolley, and thus broadens the applicable scenarios of the embodiments of the present invention.

[0093] Figure 8 A flowchart of another method for positioning a surgical trolley provided by an embodiment of the present invention is shown in FIG. Figure 8 As shown, the method includes:

[0094] S410, acquiring a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determining a first relative position of the first operating trolley with respect to the registration device based on the first field of view image.

[0095] In this embodiment, the registration apparatus includes two registration devices with different registration postures.

[0096] In an optional embodiment, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by an image acquisition device includes: obtaining a first field of view image of the registration device including a first registration posture captured by an image acquisition device installed on the first operating trolley.

[0097] In another optional embodiment, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by the image acquisition device includes: obtaining a first field of view image containing an identification picture captured by an image acquisition device installed on the first operating trolley; wherein the identification picture is set on the registration device in the first registration posture.

[0098] In another optional embodiment, obtaining a first field of view image corresponding to the first operating trolley and the registration device captured by an image acquisition device includes: obtaining a first field of view image containing an identification picture captured by an image acquisition device installed on a registration device in a first registration position; wherein the identification picture is set on the first operating trolley.

[0099] The execution logic of "determining the first relative position of the first operating trolley with respect to the alignment device based on the first field of view image" in this embodiment is the same as or similar to the execution logic of "determining the first relative position of the first operating trolley with respect to the alignment device based on the first field of view image" in the above-mentioned embodiment, and will not be repeated in this embodiment.

[0100] S420, acquiring a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determining a second relative position of the registration device relative to the second operating trolley based on the second field of view image.

[0101] In an optional embodiment, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image of the registration device including a second registration posture captured by the image acquisition device installed on the second operating trolley.

[0102] In another optional embodiment, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image containing an identification picture captured by an image acquisition device installed on the second operating trolley; wherein the identification picture is set on the registration device in the second registration posture.

[0103] In another optional embodiment, obtaining a second field of view image corresponding to the second operating trolley and the registration device captured by the image acquisition device includes: obtaining a second field of view image containing an identification picture captured by an image acquisition device installed on a registration device in a second registration position; wherein the identification picture is set on the second operating trolley.

[0104] The execution logic of "determining the second relative position of the second operating trolley with respect to the registration device based on the second field of view image" in this embodiment is the same as or similar to the execution logic of "determining the second relative position of the second operating trolley with respect to the registration device based on the second field of view image" in the above-mentioned embodiment, and will not be repeated in this embodiment.

[0105] S430: Obtain the registration relative postures of the registration postures respectively corresponding to the two registration devices in the registration apparatus.

[0106] In this embodiment, the registration postures respectively corresponding to the two registration devices remain fixed during the positioning process of the operating table trolley, and the registration relative postures may be preset before the positioning method of the operating table trolley is executed.

[0107] S440: Determine the relative positioning posture of the first operating table trolley relative to the second operating table trolley based on the first relative posture, the second relative posture and the registration relative posture.

[0108] In this embodiment, specifically, the first relative posture, the second relative posture and the registered relative posture are added together to obtain the relative positioning posture of the first operating trolley relative to the second operating trolley.

[0109] The technical solution of the present embodiment, by setting up two registration devices with different registration postures, obtains the registration relative posture of the registration postures corresponding to the two registration devices in the registration device, and determines the relative positioning posture between the first operating trolley and the second operating trolley based on the first relative posture, the second relative posture and the registration relative posture, thereby solving the problem that some image acquisition devices cannot acquire the field of view image containing the target object due to the limitation of the acquisition field of view of the image acquisition device, thereby broadening the applicable scenarios of the embodiments of the present invention.

[0110] The following is an embodiment of a positioning device for a surgical trolley provided in an embodiment of the present invention. The device and the positioning method for a surgical trolley in the above-mentioned embodiment belong to the same inventive concept. For details not fully described in the embodiment of the positioning device for a surgical trolley, reference may be made to the contents of the positioning method for a surgical trolley in the above-mentioned embodiment.

[0111] Fig. 9 The following is a schematic diagram of the structure of a positioning device for an operating table provided by an embodiment of the present invention. Fig. 9 As shown, the device includes: a first relative posture determination module 510, a second relative posture determination module 520 and a relative positioning posture determination module 530.

[0112] The first relative position determination module 510 is used to obtain a first field of view image corresponding to the first operating table vehicle and the registration device acquired by the image acquisition device, and determine a first relative position of the first operating table vehicle relative to the registration device based on the first field of view image;

[0113] A second relative posture determination module 520 is used to obtain a second field of view image corresponding to the second operating table vehicle and the registration device acquired by the image acquisition device, and determine a second relative posture of the registration device relative to the second operating table vehicle based on the second field of view image;

[0114] The relative positioning posture determination module 530 is used to determine the relative positioning posture of the first operating table vehicle relative to the second operating table vehicle based on the first relative posture and the second relative posture.

[0115] The technical solution of this embodiment obtains a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device, and determines a first relative posture of the first operating trolley with respect to the registration device based on the first field of view image, obtains a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determines a second relative posture of the registration device with respect to the second operating trolley based on the second field of view image, and determines the relative positioning posture of the first operating trolley with respect to the second operating trolley based on the first relative posture and the second relative posture, thereby solving the problem of data interference among multiple sensor devices in traditional positioning methods, and improving the positioning accuracy of the operating trolley while reducing the positioning complexity.

[0116] In an optional embodiment, the first relative posture determination module 510 is specifically configured to:

[0117] Acquire object pixel data of a target object in the first field of view image;

[0118] A perspective n-point camera posture estimation algorithm is adopted to determine a first relative posture of a first operating table relative to a registration device based on object pixel data, a camera intrinsic parameter matrix and a distortion matrix of an image acquisition device; wherein the target object is the registration device or an identification picture set on the registration device.

[0119] In an optional embodiment, a posture acquisition module is installed in the registration device, and accordingly, the relative positioning posture determination module 530 includes:

[0120] A first registration posture determination unit, used to obtain a first registration posture corresponding to the first field of view image and a second registration posture corresponding to the second field of view image acquired by the posture acquisition module;

[0121] A registration relative posture determination unit, used to determine the registration relative posture based on the first registration posture and the second registration posture;

[0122] The first relative positioning posture determining unit is used to determine the relative positioning posture between the first operating table trolley and the second operating table trolley based on the first relative posture, the second relative posture and the registration relative posture.

[0123] In an optional embodiment, the first relative positioning posture determination unit is specifically used to:

[0124] Acquire the change time interval, motion angular velocity and motion acceleration corresponding to the first registration posture and the second registration posture;

[0125] The angular velocity of the movement is integrated based on the changing time interval to obtain the angle change in the relative position of the registration;

[0126] The motion acceleration is double-integrated based on the changing time interval to obtain the displacement change in the relative position.

[0127] In an optional embodiment, the registration apparatus includes two registration devices with different registration postures, and the relative positioning posture determination module 530 includes:

[0128] A second relative posture determination unit is used to obtain the registration relative postures of the registration postures respectively corresponding to the two registration devices in the registration apparatus;

[0129] Based on the first relative posture, the second relative posture and the registered relative posture, a positioning relative posture of the first operating trolley relative to the second operating trolley is determined.

[0130] The positioning device for an operating table trolley provided in an embodiment of the present invention can execute the positioning method for an operating table trolley provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0131] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0132] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0133] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0134] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0135] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0136] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for positioning an operating table trolley, characterized in that: include: Acquire a first field of view image corresponding to the first operating trolley and the registration device acquired by an image acquisition device, and determine a first relative position of the first operating trolley with respect to the registration device based on the first field of view image; Acquire a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative position of the registration device relative to the second operating trolley based on the second field of view image; Based on the first relative position and the second relative position, a relative positioning position of the first operating trolley relative to the second operating trolley is determined.

2. The method according to claim 1, characterized in that The determining, based on the first field of view image, a first relative position of the first operating table vehicle relative to the registration device comprises: Acquire object pixel data of a target object in the first field of view image; A perspective n-point camera posture estimation algorithm is adopted to determine a first relative posture of the first operating table relative to the registration device based on the object pixel data, the camera intrinsic parameter matrix and the distortion matrix of the image acquisition device; wherein the target object is the registration device or an identification picture set on the registration device.

3. The method according to claim 1, characterized in that: The registration device is provided with a posture acquisition module. Accordingly, the relative positioning posture of the first operating trolley relative to the second operating trolley is determined based on the first relative posture and the second relative posture, including: Acquire a first registration posture corresponding to the first field of view image and a second registration posture corresponding to the second field of view image acquired by the posture acquisition module; Determining a registration relative pose based on the first registration pose and the second registration pose; Based on the first relative posture, the second relative posture and the registered relative posture, a relative positioning posture between the first operating trolley and the second operating trolley is determined.

4. The method according to claim 3, characterized in that: The determining of the registration relative posture based on the first registration posture and the second registration posture comprises: Acquire the change time interval, motion angular velocity and motion acceleration corresponding to the first registration posture and the second registration posture; Performing an integration process on the motion angular velocity based on the change time interval to obtain an angle change in the registration relative posture; The motion acceleration is subjected to double integration processing based on the change time interval to obtain the displacement change in the registration relative posture.

5. The method according to claim 1, characterized in that The registration device includes two registration devices with different registration postures, and the relative positioning posture of the first operating trolley relative to the second operating trolley is determined based on the first relative posture and the second relative posture, including: Acquire the registration relative postures of the registration postures respectively corresponding to the two registration devices in the registration device; Based on the first relative posture, the second relative posture and the registered relative posture, a positioning relative posture of the first operating trolley relative to the second operating trolley is determined.

6. A positioning device for an operating table, characterized in that: include: A first relative posture determination module is used to obtain a first field of view image corresponding to the first operating trolley and the registration device acquired by the image acquisition device, and determine a first relative posture of the first operating trolley relative to the registration device based on the first field of view image; A second relative posture determination module is used to obtain a second field of view image corresponding to the second operating trolley and the registration device acquired by the image acquisition device, and determine a second relative posture of the registration device relative to the second operating trolley based on the second field of view image; A relative positioning posture determination module is used to determine the relative positioning posture of the first operating trolley relative to the second operating trolley based on the first relative posture and the second relative posture.

7. A positioning system for an operating table, characterized in that: The positioning system of the operating trolley comprises: a first operating trolley, a second operating trolley, an image acquisition device, a registration device and a control device; Wherein, the image acquisition device is used to acquire a first field of view image corresponding to the first operating trolley and the registration device, and to acquire a second field of view image corresponding to the second operating trolley and the registration device; The control device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning method of the operating table vehicle described in any one of claims 1-5.

8. The positioning system of the operating table according to claim 7, characterized in that: The registration device includes a registration device, and at least one identification picture is arranged in the registration device, or the registration device has the function of displaying at least one identification picture. The image acquisition device includes two image acquisition devices, and the two image acquisition devices are respectively installed on the first operating trolley and the second operating trolley. The first field of view image and the second field of view image respectively include the identification picture.

9. The positioning system of the operating table trolley according to claim 7, characterized in that: The registration device includes a registration device, the number of image acquisition devices in the image acquisition device is one, the image acquisition device is installed in the registration device, an identification picture is respectively provided on the first operating trolley and the second operating trolley, the first field of view image is a field of view image including the identification picture on the first operating trolley, and the second field of view image is a field of view image including the identification picture on the second operating trolley.

10. The positioning system of the operating table according to claim 7, characterized in that: The registration device includes two registration devices with different registration postures, and the number of image acquisition devices in the image acquisition device is two; accordingly, an image acquisition device or an identification picture is respectively provided on the first operating trolley and the second operating trolley.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the positioning method of the operating table vehicle according to any one of claims 1 to 5 when executed.

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