Tracking system and method, apparatus and storage medium based on tracking system

Abstract

The application relates to the technical field of tracking processing of medical robot systems, and provides a tracking system, a method and device based on the tracking system and a storage medium, which are positioned and tracked by means of a magnetic field, and the requirement for a placement position is reduced. The tracking system comprises a tracking device and multiple types of electromagnetic markers; the tracking device comprises a magnetic field generator for generating a magnetic field; the multiple types of electromagnetic markers at least comprise a first type of electromagnetic marker arranged on a fixed component and a second type of electromagnetic marker arranged on a target part, and can comprise at least one of a third type of electromagnetic marker arranged on a medical instrument and a fourth type of electromagnetic marker arranged on the end of a mechanical arm; the fixed component is used for fixing the target part; the end of the mechanical arm is used for clamping the medical instrument; the electromagnetic marker is used for generating an electric signal under the action of the magnetic field; and the electric signal is used for determining the coordinates of the electromagnetic marker in the coordinate system of the tracking device.

Description

Technical Field

[0001] This application relates to the field of tracking and processing technology for medical robot systems, and in particular to a tracking system and a method, apparatus, storage medium and computer program product based on the tracking system. Background Technology

[0002] Tracking technology can be used in medical robot systems. Tracking devices can track the location of a specific target, and based on the tracked location, control the movement of the robotic arm to transport medical devices to a designated location.

[0003] Existing tracking devices are generally based on optical methods. If the optical path used for tracking is blocked, it is difficult to locate the target. Such tracking devices have high requirements for placement. Summary of the Invention

[0004] Therefore, it is necessary to provide a tracking system and a method, apparatus, storage medium and computer program product based on the tracking system to address the above-mentioned technical problems.

[0005] This application provides a tracking system, the tracking system comprising:

[0006] The tracking device includes a magnetic field generator for generating a magnetic field;

[0007] The system includes multiple types of electromagnetic markers, at least a first type and a second type, and further includes at least one of a third type and a fourth type; wherein the first type of electromagnetic marker is used to be applied to a fixed component, the second type of electromagnetic marker is used to be applied to a target area, the third type of electromagnetic marker is used to be applied to a medical device, and the fourth type of electromagnetic marker is used to be applied to the end of a robotic arm; the fixed component is used to fix the target area; and the end of the robotic arm is used to grip the medical device.

[0008] The electromagnetic marker is used to generate an electrical signal under the action of the magnetic field; the electrical signal is used to determine the coordinates of the electromagnetic marker in the coordinate system of the tracking device.

[0009] In one embodiment, the tracking device further includes a light emitting component and a light receiving component;

[0010] The light emitting component is used to emit structured light to the fixed component;

[0011] The light receiving component is used to receive reflected light from the fixed component based on the structured light; the reflected light is used to form a point cloud of the fixed component.

[0012] This application provides a medical device navigation method, applied to the tracking system described in the above embodiments, the method comprising:

[0013] Obtain a first coordinate set; the first coordinate set includes the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the third type of electromagnetic marker in the tracking device coordinate system and the medical device coordinate system; the image coordinate system is a coordinate system describing the image of the target part;

[0014] Based on the first coordinate set, the transformation relationship between the image coordinate system and the medical device coordinate system is obtained;

[0015] The medical device is navigated based on the transformation relationship between the image coordinate system and the medical device coordinate system.

[0016] In one embodiment, obtaining the transformation relationship between the image coordinate system and the medical device coordinate system based on the first coordinate set includes:

[0017] Based on the coordinates of the first type of electromagnetic markers in the coordinate system of the tracking device and the coordinate system of the fixed component, the coordinates of the second type of electromagnetic markers and the third type of electromagnetic markers in the coordinate system of the tracking device are transformed to the coordinate system of the fixed component.

[0018] Based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system, and the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system, the transformation relationship between the image coordinate system and the medical device coordinate system is obtained.

[0019] In one embodiment, obtaining the transformation relationship between the image coordinate system and the medical device coordinate system based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system, and the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system, includes:

[0020] Based on the coordinates of the second type of electromagnetic markers in the image coordinate system and the fixed component coordinate system, the transformation relationship between the fixed component coordinate system and the image coordinate system is obtained;

[0021] Based on the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system, the transformation relationship between the fixed component coordinate system and the medical device coordinate system is obtained;

[0022] Based on the transformation relationship between the fixed component coordinate system and the image coordinate system, and the transformation relationship between the fixed component coordinate system and the medical device coordinate system, the transformation relationship between the image coordinate system and the medical device coordinate system is obtained.

[0023] This application provides a medical device navigation device for use in the tracking system described in the above embodiments, the device comprising:

[0024] The coordinate acquisition module is used to acquire a first coordinate set; the first coordinate set includes the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the third type of electromagnetic marker in the tracking device coordinate system and the medical device coordinate system; the image coordinate system is a coordinate system describing the image of the target part;

[0025] The transformation relationship acquisition module is used to obtain the transformation relationship between the image coordinate system and the medical device coordinate system based on the first coordinate set;

[0026] The navigation module is used to navigate the medical device based on the transformation relationship between the image coordinate system and the medical device coordinate system.

[0027] This application provides a method for controlling the movement of the end effector of a robotic arm, applied to the tracking system described in the above embodiments, the method comprising:

[0028] Obtain a second set of coordinates; the second set of coordinates includes the coordinates of the first type of electromagnetic markers in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic markers in the tracking device coordinate system and the image coordinate system, and the coordinates of the fourth type of electromagnetic markers in the tracking device coordinate system and the robotic arm end effector coordinate system;

[0029] Based on the second coordinate set and the transformation relationship between the robotic arm end coordinate system and the robotic arm base coordinate system, the transformation relationship between the robotic arm base coordinate system and the image coordinate system is obtained.

[0030] The selected point on the image of the target area is obtained, and the end effector of the robotic arm is controlled to move according to the transformation relationship between the coordinate system of the robotic arm base and the image coordinate system.

[0031] In one embodiment, obtaining the transformation relationship between the robot arm base coordinate system and the image coordinate system based on the second coordinate set and the transformation relationship between the robot arm end effector coordinate system and the robot arm base coordinate system includes:

[0032] Based on the coordinates of the fourth type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the robotic arm end effector, the coordinates of the first type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the fixed component, and the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the robotic arm base, the transformation relationship between the coordinate system of the fixed component and the coordinate system of the robotic arm base is obtained.

[0033] Based on the coordinates of the second type of electromagnetic markers in the tracking device coordinate system and the image coordinate system, and the coordinates of the first type of electromagnetic markers in the tracking device coordinate system and the fixed component coordinate system, the transformation relationship between the fixed component coordinate system and the image coordinate system is obtained;

[0034] Based on the transformation relationship between the fixed component coordinate system and the robot arm base coordinate system, and the transformation relationship between the fixed component coordinate system and the image coordinate system, the transformation relationship between the robot arm base coordinate system and the image coordinate system is obtained.

[0035] In one embodiment, obtaining the transformation relationship between the fixed component coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, includes:

[0036] Based on the coordinates of the first type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the fixed component, the transformation relationship between the coordinate system of the tracking device and the coordinate system of the fixed component is obtained;

[0037] Based on the transformation relationship between the tracking device coordinate system and the fixed component coordinate system, and the coordinates of the second type of electromagnetic marker in the tracking device coordinate system, the coordinates of the second type of electromagnetic marker in the fixed component coordinate system are obtained;

[0038] Based on the coordinates of the second type of electromagnetic marker in the fixed component coordinate system and the image coordinate system, the transformation relationship between the fixed component coordinate system and the image coordinate system is obtained.

[0039] In one embodiment, obtaining the transformation relationship between the fixed component coordinate system and the robotic arm base coordinate system based on the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robotic arm end effector coordinate system, the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, and the transformation relationship between the robotic arm end effector coordinate system and the robotic arm base coordinate system includes:

[0040] Based on the coordinates of the first type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the fixed component, the transformation relationship between the coordinate system of the tracking device and the coordinate system of the fixed component is obtained;

[0041] Based on the transformation relationship between the tracking device coordinate system and the fixed component coordinate system, and the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system, the coordinates of the fourth type of electromagnetic marker in the fixed component coordinate system are obtained;

[0042] Based on the coordinates of the fourth type of electromagnetic marker in the coordinate system of the fixed component and the coordinate system of the robotic arm end effector, the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the fixed component is obtained.

[0043] Based on the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the fixed component, and the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the robotic arm base, the transformation relationship between the coordinate system of the fixed component and the coordinate system of the robotic arm base is obtained.

[0044] This application provides a device for controlling the movement of the end effector of a robotic arm, applied to the tracking system described in the above embodiments, the device comprising:

[0045] The coordinate acquisition module is used to acquire a second coordinate set; the second coordinate set includes the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robotic arm end effector coordinate system;

[0046] The transformation relationship acquisition module is used to obtain the transformation relationship between the robot arm base coordinate system and the image coordinate system based on the second coordinate set and the transformation relationship between the robot arm end coordinate system and the robot arm base coordinate system;

[0047] The motion control module is used to acquire the selected point on the image of the target part and control the movement of the end effector of the robotic arm according to the transformation relationship between the coordinate system of the robotic arm base and the image coordinate system.

[0048] This application provides a path planning method applied to the tracking system described in the above embodiments, the method comprising:

[0049] The point cloud of the fixed component is obtained using the tracking device.

[0050] Based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, the transformation relationship between the tracking device coordinate system and the image coordinate system is obtained;

[0051] Based on the transformation relationship between the tracking device coordinate system and the image coordinate system, the point cloud is transformed from the tracking device coordinate system to the image coordinate system in order to perform path planning on the image of the target part.

[0052] In one embodiment, the method further includes:

[0053] Based on the coordinates of the fourth type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the robotic arm end effector, and the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the robotic arm base, the transformation relationship between the coordinate system of the tracking device and the coordinate system of the robotic arm base is obtained;

[0054] Based on the transformation relationship between the tracking device coordinate system and the robotic arm base coordinate system, the point cloud is transformed from the tracking device coordinate system to the robotic arm base coordinate system in order to perform path planning for the robotic arm.

[0055] This application provides a path planning device for use in the tracking system described in the above embodiments, the device comprising:

[0056] A point cloud acquisition module is used to acquire the point cloud of the fixed component through the tracking device;

[0057] The transformation relationship acquisition module is used to obtain the transformation relationship between the tracking device coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system;

[0058] The obstacle avoidance module is used to transform the point cloud from the tracking device coordinate system to the image coordinate system based on the transformation relationship between the tracking device coordinate system and the image coordinate system, so as to perform path planning on the image of the target part.

[0059] This application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor using the methods described above.

[0060] This application provides a computer program product having a computer program stored thereon, the computer program being executed by a processor using the above-described method.

[0061] The tracking system provided in this application utilizes a magnetic field for positioning and tracking, reducing the requirements for placement. The tracking system includes a magnetic field generator and various types of electromagnetic markers. The magnetic field generator generates a magnetic field; the electromagnetic markers generate electrical signals under the influence of the magnetic field to determine their coordinates in the tracking device's coordinate system. The tracking system can also have multiple functions such as navigation, positioning, and obstacle avoidance. When the tracking system has obstacle avoidance and navigation functions, the various types of electromagnetic markers include a first type for placement on fixed components, a second type for placement on target locations, and a third type for placement on medical devices. When the tracking system has obstacle avoidance and positioning functions, the various types of electromagnetic markers include a first type, a second type, and a fourth type for placement at the end of a robotic arm. Therefore, the various types of electromagnetic markers include at least the first and second types, and may include at least one of the third and fourth types. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of a surgical robot system in one embodiment;

[0063] Figure 2 This is a schematic diagram of a first-type electromagnetic marker mounted on a head in one embodiment;

[0064] Figure 3 This is a schematic diagram of a Class III electromagnetic marker being provided in a medical device in one embodiment;

[0065] Figure 4 This is a schematic diagram of a fourth type of electromagnetic marker being provided in a robotic arm module in one embodiment;

[0066] Figure 5 This is a front view of the tracking device in one embodiment;

[0067] Figure 6 This is a schematic diagram of the back of the tracking device in one embodiment;

[0068] Figure 7 This is a schematic diagram of the internal structure of the tracking device in one embodiment;

[0069] Figure 8 This is a schematic diagram of the internal structure of an electromagnetic marker in one embodiment;

[0070] Figure 9 This is a flowchart illustrating a medical device navigation method in one embodiment;

[0071] Figure 10 This is a flowchart illustrating a method for controlling the movement of the end effector of a robotic arm in one embodiment;

[0072] Figure 11 This is a flowchart illustrating a path planning method in one embodiment;

[0073] Figure 12 This is a schematic diagram of point clouds from multiple angles in one embodiment;

[0074] Figure 13 This is a schematic diagram of multi-angle point cloud fusion in one embodiment;

[0075] Figure 14 This is a structural block diagram of a medical device navigation device in one embodiment;

[0076] Figure 15 This is a structural block diagram of a device for controlling the movement of the end effector of a robotic arm in one embodiment.

[0077] Figure 16 This is a structural block diagram of a path planning device in one embodiment;

[0078] Figure 17 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0080] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0081] The tracking system provided in this application includes a tracking device and an electromagnetic marker. The tracking device includes a magnetic field generator that can generate a magnetic field. Under the influence of the magnetic field generated by the magnetic field generator, the electromagnetic marker can generate an electrical signal, which can be used to determine the coordinates of the electromagnetic marker in the coordinate system of the tracking device.

[0082] Depending on where the electromagnetic markers are placed, electromagnetic markers in a tracking system can be divided into several categories. For example, electromagnetic markers placed on fixed components are called Class I electromagnetic markers, electromagnetic markers placed on target parts are called Class II electromagnetic markers, electromagnetic markers placed on medical devices are called Class III electromagnetic markers, and electromagnetic markers placed at the end of a robotic arm are called Class IV electromagnetic markers.

[0083] The target site can be the area where the medical device operates. In stereotactic surgical robot systems for neurosurgery, the head can be used as the target site. The fixing component is used to fix the target site; when the target site is the head, the fixing component can be called a head frame. The end effector of the robotic arm is used to grip the medical device.

[0084] Taking stereotactic surgical robot systems in neurosurgery as an example, this section will be introduced with reference to... Figure 1 In this surgical robot system, the surgical trolley 110 can be used to place the robotic arm 120. The end effector of the robotic arm 120 (hereinafter referred to as the robotic arm end effector) can hold medical instruments. The patient's head can be fixed by a head frame 130, which can be supported by the support arm 1101 of the surgical trolley 110. The display 140 can display images. Applying the tracking system provided in this application to this surgical robot system, electromagnetic markers can be placed on the head frame 130, the head, the medical instruments, and the robotic arm end effector. The number of electromagnetic markers placed in the same location can be no less than three. Figure 2 The first type of electromagnetic marker 1601 is shown installed on the head frame 130. Figure 3 This shows a Class III electromagnetic marker 1603 set in medical device 170. Figure 4 The fourth type of electromagnetic marker 1604 is shown at the end of the robotic arm 1201.

[0085] Under the influence of the magnetic field generated by the magnetic field generator of the tracking device 150, the electromagnetic marker can generate an electrical signal, and the coordinates of the corresponding electromagnetic marker in the coordinate system of the tracking device can be determined based on the electrical signal.

[0086] When the tracking system provided in this application has navigation and obstacle avoidance functions, the electromagnetic markers are placed on fixed components, target parts, and medical devices. That is, at this time, the various types of electromagnetic markers include Class I electromagnetic markers, Class II electromagnetic markers, and Class III electromagnetic markers.

[0087] When the tracking system provided in this application has positioning and obstacle avoidance functions, electromagnetic markers are placed on fixed parts, target parts and the end of the robotic arm. That is, at this time, multiple types of electromagnetic markers include first type electromagnetic markers, second type electromagnetic markers and fourth type electromagnetic markers.

[0088] Therefore, depending on the different combinations of functions of the tracking system, the categories of electromagnetic markers can be combined in different ways. The combination of electromagnetic marker categories can be as follows: multiple electromagnetic markers include at least the first type of electromagnetic marker and the second type of electromagnetic marker, and may include at least one of the third type of electromagnetic marker and the fourth type of electromagnetic marker.

[0089] The tracking system provided in this application utilizes a magnetic field for positioning and tracking, reducing the requirements for placement. The tracking system includes a magnetic field generator and various types of electromagnetic markers. The magnetic field generator generates a magnetic field; the electromagnetic markers generate electrical signals under the influence of the magnetic field to determine their coordinates in the tracking device's coordinate system. The tracking system can also have multiple functions such as navigation, positioning, and obstacle avoidance. When the tracking system has obstacle avoidance and navigation functions, the various types of electromagnetic markers include a first type for placement on fixed components, a second type for placement on target locations, and a third type for placement on medical devices. When the tracking system has obstacle avoidance and positioning functions, the various types of electromagnetic markers include a first type, a second type, and a fourth type for placement at the end of a robotic arm. Therefore, the various types of electromagnetic markers include at least the first and second types, and may include at least one of the third and fourth types.

[0090] In one embodiment, the tracking device 150 further includes Figure 5 The light emitting component 1501 and the light receiving component 1502 are shown. The light emitting component is used to emit structured light to the fixed component. The light receiving component is used to receive reflected light from the fixed component based on the structured light; the reflected light is used to form a point cloud of the fixed component, and when the fixed component is a headframe, the formed point cloud is the point cloud of the headframe.

[0091] Furthermore, the front structure of the tracking device can be as follows: Figure 5 As shown. A laser indicator light 1503 can be set in the center of the front of the tracking device, which can be turned on or off by the user to indicate the field of view of the tracking device. The front of the tracking device can be equipped with a light emitting component 1501 and a light receiving component 1502. The number of light emitting components 1501 can be one, and the number of light receiving components 1502 can be two. The light emitting component 1501 can emit structured light to fixed components such as the head frame, and the light receiving component 1502 is used to receive the reflected light reflected from the fixed components such as the head frame; according to the principle of structured light imaging, a point cloud of the fixed components such as the head frame can be formed based on the reflection points. In addition, the front of the tracking device can also be equipped with an RGB camera 1504 to acquire the color information of objects in the captured image. Based on the color information, the fixed components such as the head frame can be distinguished from other objects such as patients. Combined with the light emitting component and the light receiving component, the point cloud of the fixed components such as the head frame can be acquired. In addition, there can be handrails 1505 on both the left and right sides of the tracking device for easy access by the user.

[0092] Furthermore, the rear structure of the tracking device 150 can be as follows: Figure 6As shown, a power button 1506 can be located at the bottom of the back of the tracking device for turning the device on or off. The tracking device can also be equipped with a power status indicator 1507 to display the power status. The tracking device can also be equipped with a power interface 1508 for connecting to a power source to supply power. The tracking device can also be equipped with a battery slot 1509 for installing a battery for power supply. The tracking device can also be equipped with a communication interface 1510 (e.g., Ethernet, USB) for communicating with a workstation host.

[0093] The tracking device can be equipped with a wireless communication module, supporting wireless communication methods such as Bluetooth and WiFi. It can also feature a communication status indicator light 1511 to display the current communication status. A laser light button 1512 can be located on the top of the back of the tracking device to control the laser indicator light's on / off state.

[0094] When the tracking device uses both battery power and wireless communication, no external cables are required, making it convenient for users to handle and use. In operating room environments, high aseptic protection requirements are often necessary. In such cases, the tracking device can be placed inside a sterile enclosure (usually a sterile, transparent plastic film from the factory), completely sealing it to meet aseptic requirements without affecting its usability.

[0095] Furthermore, the internal schematic diagram of the tracking device is as follows: Figure 7 As shown, the tracking device may include a control module and a camera module. The control module can connect to the following modules: a magnetic field generator, a wireless communication module, an external communication interface, a power button, an external power input module, a battery power input module, a laser light button, a laser indicator light, a power-on status indicator light, and a communication indicator light. The camera module mainly includes: a light emitting component, a light receiving component, and an RGB camera.

[0096] The tracking device generates a magnetic field through a magnetic field generator. Under the influence of this magnetic field, the electromagnetic marker generates an electrical signal, which can be received by the tracking device. Thus, the tracking device can obtain the coordinates of the electromagnetic marker in the tracking device's coordinate system.

[0097] Electromagnetic markers can be installed in designated locations via adhesive or mechanical connection. The internal structure of electromagnetic markers is as follows: Figure 8 As shown, it may include an electromagnetic sensor, a battery, and a control board. The electromagnetic sensor can generate a corresponding electrical signal under the influence of a magnetic field. The electromagnetic marker has low power, typically in the milliwatt range, and its size requirement is also small; therefore, a button cell battery can be used for power supply. The control board has a wireless communication module for transmitting electrical signals.

[0098] Based on the tracking system described above, this application provides a medical device navigation method. In this method, electromagnetic markers of the tracking system are disposed on a fixed component, a target location, and the medical device. Specifically, the tracking system includes multiple types of electromagnetic markers, including first-class, second-class, and third-class electromagnetic markers. This medical device navigation method may include... Figure 9 The steps shown are as follows:

[0099] Step S901: Obtain the first set of coordinates.

[0100] The first coordinate set includes the coordinates of the first type of electromagnetic markers in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic markers in the tracking device coordinate system and the image coordinate system, and the coordinates of the third type of electromagnetic markers in the tracking device coordinate system and the medical device coordinate system; wherein, the image coordinate system is a coordinate system that describes the image of the target part, such as the CT image coordinate system.

[0101] Step S902: Based on the first coordinate set, obtain the transformation relationship between the image coordinate system and the medical device coordinate system.

[0102] Step S903: Navigate the medical device based on the transformation relationship between the image coordinate system and the medical device coordinate system.

[0103] Specifically, based on the transformation relationship between the image coordinate system and the medical device coordinate system, the position of the medical device can be displayed in CT images, enabling the navigation of the medical device.

[0104] This embodiment uses the tracking system described above for navigation, reducing the requirements for the placement of components within the tracking system and improving navigation efficiency.

[0105] Furthermore, based on the first coordinate set, the transformation relationship between the image coordinate system and the medical device coordinate system is obtained. Specifically, this may include: transforming the coordinates of the second and third electromagnetic markers in the tracking device coordinate system to the fixed component coordinate system based on the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system; and obtaining the transformation relationship between the image coordinate system and the medical device coordinate system based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system, and the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system.

[0106] Furthermore, based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system, and the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system, the transformation relationship between the image coordinate system and the medical device coordinate system is obtained. Specifically, this may include: obtaining the transformation relationship between the fixed component coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system; obtaining the transformation relationship between the fixed component coordinate system and the medical device coordinate system based on the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system; and obtaining the transformation relationship between the image coordinate system and the medical device coordinate system based on the transformation relationship between the fixed component coordinate system and the image coordinate system, and the transformation relationship between the fixed component coordinate system and the medical device coordinate system.

[0107] Taking the target part as the head and the fixed component as the head frame as an example, the tracking device in this case can be called an electromagnetic optical positioning and tracking device (EOPT).

[0108] Let the coordinates of the second type of electromagnetic marker on the head in the EOPT coordinate system be... Let the coordinates of the first type of electromagnetic marker on the headframe in the EOPT coordinate system be: (hf stands for head frame), let the coordinates of the Class III electromagnetic marker of the medical device in the EOPT coordinate system be... Coordinates in the EOPT coordinate system are known quantities. In this application, uppercase bold letters (such as T) represent matrices, and lowercase bold letters (such as p and q) represent vectors.

[0109] Let the homogeneous transformation matrix of the EOPT coordinate system relative to the headframe coordinate system be . have:

[0110]

[0111] (remember Let represent the homogeneous transformation matrix of coordinate system B relative to coordinate system A, where )

[0112] This represents the coordinates of the first type of electromagnetic marker in the headframe coordinate system. These coordinates are related to the mechanical dimensions of the first type of electromagnetic marker and are known quantities. Because... It is also a known quantity, so we combine it with... It can be calculated

[0113] Since the doctor may move the EOPT position during navigation, the coordinates in the EOPT coordinate system can be transferred via... Transform to the headframe coordinate system:

[0114]

[0115]

[0116] Similarly:

[0117]

[0118]

[0119] Then it can be calculated and have:

[0120]

[0121] Calculate Afterwards, the medical device can be placed at any point. Transform to the corresponding points in the CT image coordinate system

[0122]

[0123] In this way, the position of medical devices can be displayed in real time in CT images, realizing the navigation function of medical devices.

[0124] Additionally, in the navigation function, The position of the medical device changes with its movement, so EOPT can be continuously used in the calculation. During navigation, the position of the medical device may change; if it does, the calculation can be recalculated.

[0125] If the position of the medical device remains unchanged, but the position of the EOPT changes. The settings will remain unchanged and do not require recalculation. However, during navigation, the system may lose its connection due to magnetic field interference from the EOPT. At this point, it may be necessary to move EOPT and recalculate. For example, if there is a CT scanner at the surgical site, the EOPT may be affected if it is too close to the CT scanner. In this case, the position of the EOPT can be moved.

[0126] Based on the tracking system described above, this application provides a method for controlling the movement of a robotic arm's end effector. This method is a positioning function. In this method, electromagnetic markers of the tracking system are set at a fixed component, a target location, and the end effector of the robotic arm. Specifically, the tracking system uses multiple types of electromagnetic markers, including first-type, second-type, and fourth-type electromagnetic markers. The method for controlling the movement of the robotic arm's end effector may include... Figure 10 The steps shown are as follows:

[0127] Step S1001: Obtain the second set of coordinates.

[0128] The second coordinate set includes the coordinates of the first type of electromagnetic markers in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic markers in the tracking device coordinate system and the image coordinate system, and the coordinates of the fourth type of electromagnetic markers in the tracking device coordinate system and the robotic arm end effector coordinate system.

[0129] Step S1002: Based on the second coordinate set and the transformation relationship between the robot arm end coordinate system and the robot arm base coordinate system, the transformation relationship between the robot arm base coordinate system and the image coordinate system is obtained;

[0130] Step S1003: Obtain the selected points on the image of the target area, and control the movement of the end effector of the robotic arm according to the transformation relationship between the base coordinate system and the image coordinate system.

[0131] Specifically, after obtaining the transformation relationship between the robot arm base coordinate system and the image coordinate system, a point can be selected on the CT image, and the robot arm end effector can be controlled to move to that point to achieve the positioning function.

[0132] This embodiment uses the tracking system described above for navigation, reducing the requirements for the placement of components within the tracking system and improving positioning efficiency.

[0133] In one embodiment, based on the second coordinate set and the transformation relationship between the robot arm end effector coordinate system and the robot arm base coordinate system, the transformation relationship between the robot arm base coordinate system and the image coordinate system is obtained. Specifically, this may include: obtaining the transformation relationship between the fixed component coordinate system and the robot arm base coordinate system based on the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robot arm end effector coordinate system, the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, and the transformation relationship between the robot arm end effector coordinate system and the robot arm base coordinate system; obtaining the transformation relationship between the fixed component coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system; and obtaining the transformation relationship between the robot arm base coordinate system and the image coordinate system based on the transformation relationship between the fixed component coordinate system and the robot arm base coordinate system, and the transformation relationship between the fixed component coordinate system and the image coordinate system.

[0134] Furthermore, based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the transformation relationship between the fixed component coordinate system and the image coordinate system is obtained, including: based on the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the transformation relationship between the tracking device coordinate system and the fixed component coordinate system is obtained; based on the transformation relationship between the tracking device coordinate system and the fixed component coordinate system, and the coordinates of the second type of electromagnetic marker in the tracking device coordinate system, the coordinates of the second type of electromagnetic marker in the fixed component coordinate system are obtained; based on the coordinates of the second type of electromagnetic marker in the fixed component coordinate system and the image coordinate system, the transformation relationship between the fixed component coordinate system and the image coordinate system is obtained.

[0135] Furthermore, based on the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robotic arm end effector coordinate system, the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, and the transformation relationship between the robotic arm end effector coordinate system and the robotic arm base coordinate system, the transformation relationship between the fixed component coordinate system and the robotic arm base coordinate system is obtained. This includes: obtaining the transformation relationship between the tracking device coordinate system and the fixed component coordinate system based on the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system; obtaining the coordinates of the fourth type of electromagnetic marker in the fixed component coordinate system based on the transformation relationship between the tracking device coordinate system and the fixed component coordinate system, and the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system; obtaining the transformation relationship between the robotic arm end effector coordinate system and the fixed component coordinate system based on the coordinates of the fourth type of electromagnetic marker in the fixed component coordinate system and the robotic arm end effector coordinate system; and obtaining the transformation relationship between the fixed component coordinate system and the robotic arm base coordinate system based on the transformation relationship between the robotic arm end effector coordinate system and the fixed component coordinate system, and the transformation relationship between the robotic arm end effector coordinate system and the robotic arm base coordinate system.

[0136] Taking the target part as the head and the fixed component as the head frame as an example, in this case, the tracking device can be an EOPT.

[0137] Let the coordinates of the fourth type of electromagnetic marker at the end of the robotic arm be in the end-effector coordinate system. (TCP is an abbreviation for tool centerpoint, which means end-effector center point). The coordinates of the fourth type of electromagnetic marker in the robot arm base coordinate system are as follows: The coordinates of the fourth type of electromagnetic marker in the EOPT coordinate system are as follows:

[0138] We can obtain the following formula:

[0139]

[0140]

[0141] Substituting the coordinates of the point, we can calculate...

[0142]

[0143] This is the secondary transformation matrix between the robot arm's end-effector coordinate system and its base coordinate system. It represents the transformation relationship between these two coordinate systems, which is related to the robot arm's mechanical dimensions and the shutdown angle of each axis. When the robot arm's posture is determined... It is a known quantity.

[0144] This is the secondary transformation matrix from the headframe coordinate system to the robot arm base coordinate system, representing the transformation relationship between the headframe and robot arm base coordinate systems. Since the headframe and robot arm base are fixed, therefore... It is also fixed and unrelated to the EOPT position.

[0145] Depend on It can be calculated Since the robotic arm base and head are fixed in place, It is fixed and unaffected by the robotic arm's posture or the position of the EOPT.

[0146] Calculate Then, with the help of You can put any point on the CT image Transform to the robot arm base coordinate system Therefore, the posture of the robotic arm can be controlled to bring its end effector to this point. Thus, by selecting a point in a CT image, the robotic arm's end effector can be guided to that point, achieving a positioning function.

[0147] because It is fixed and cannot be moved, so the calculation is... After that, there's no need to calculate it again.

[0148] In addition, if the surgery requires high positioning accuracy, the position of the EOPT can be moved repeatedly, and a calculation can be performed after each movement. and In theory, and It should remain unchanged; however, EOPT itself has a point-sampling error. and There will be slight differences. These can be calculated using some algorithm, such as averaging. and based on and calculate and improve The accuracy.

[0149] This application, based on the aforementioned tracking system, provides a path planning method belonging to the obstacle avoidance function. In this method, electromagnetic markers of the tracking system are set at the target location; that is, the tracking system uses multiple types of electromagnetic markers, including a second type of electromagnetic marker. The path planning method may include... Figure 11 The steps shown are as follows:

[0150] Step S1101: Obtain the point cloud of the fixed component using a tracking device;

[0151] Step S1102: Based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, obtain the conversion relationship between the tracking device coordinate system and the image coordinate system;

[0152] Step S1103: Based on the conversion relationship between the tracking device coordinate system and the image coordinate system, convert the point cloud from the tracking device coordinate system to the image coordinate system to perform path planning for the image of the target part.

[0153] Taking the fixed part as the head frame and the tracking device as the EPOT as an example for introduction: Using the light emission component and the light reception component of the tracking device, obtain the point cloud of the captured image, and distinguish the head frame from the background through the RGB camera, then the point cloud of the head frame can be extracted from the point cloud of the captured image.

[0154] Denote the point cloud of the head frame as in the EOPT coordinate system as Denote it as in the CT image coordinate system as (PC is the abbreviation of point cloud, and the Chinese of point cloud is point cloud).

[0155]

[0156] According to the above formula, the point cloud of the head frame can be converted from the EOPT coordinate system to the CT image coordinate system. Thus, when planning the surgical path, the head frame model can be visually seen, so that the planned surgical path can avoid the head frame. <0​​​​​​​​​​​​​​​In one embodiment, the path planning method further includes: obtaining the transformation relationship between the tracking device coordinate system and the robot arm base coordinate system based on the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robot arm end effector coordinate system, and the transformation relationship between the robot arm end effector coordinate system and the robot arm base coordinate system; and transforming the point cloud from the tracking device coordinate system to the robot arm base coordinate system based on the transformation relationship between the tracking device coordinate system and the robot arm base coordinate system to perform path planning for the robot arm.

[0161] pass The headframe point cloud can be transformed from the EOPT coordinate system to the robotic arm coordinate system. This allows for the planning of joint paths for the robotic arm joints, ensuring that the joints do not collide with the headframe during the transformation process.

[0162] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0163] This application provides a medical device navigation device based on the tracking system described above. The device includes... Figure 14 The module shown:

[0164] The coordinate acquisition module 1401 is used to acquire a first coordinate set; the first coordinate set includes the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the third type of electromagnetic marker in the tracking device coordinate system and the medical device coordinate system; the image coordinate system is a coordinate system describing the image of the target part;

[0165] The transformation relationship acquisition module 1402 is used to obtain the transformation relationship between the image coordinate system and the medical device coordinate system based on the first coordinate set;

[0166] The navigation module 1403 is used to navigate the medical device based on the transformation relationship between the image coordinate system and the medical device coordinate system.

[0167] In one embodiment, the transformation relationship acquisition module 1402 is further configured to transform the coordinates of the second type of electromagnetic marker and the third type of electromagnetic marker in the tracking device coordinate system to the fixed component coordinate system based on the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system; and to obtain the transformation relationship between the image coordinate system and the medical device coordinate system based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system, and the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system.

[0168] In one embodiment, the transformation relationship acquisition module 1402 is further configured to obtain the transformation relationship between the fixed component coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system; obtain the transformation relationship between the fixed component coordinate system and the medical device coordinate system based on the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system; and obtain the transformation relationship between the image coordinate system and the medical device coordinate system based on the transformation relationship between the fixed component coordinate system and the image coordinate system, and the transformation relationship between the fixed component coordinate system and the medical device coordinate system.

[0169] This application provides a device for controlling the movement of the end effector of a robotic arm. This device is based on the tracking system described above and includes... Figure 15 The module shown:

[0170] The coordinate acquisition module 1501 is used to acquire a second coordinate set; the second coordinate set includes the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robotic arm end coordinate system;

[0171] The transformation relationship acquisition module 1502 is used to obtain the transformation relationship between the robot arm base coordinate system and the image coordinate system based on the second coordinate set and the transformation relationship between the robot arm end coordinate system and the robot arm base coordinate system;

[0172] The motion control module 1503 is used to acquire the selected point on the image of the target part and control the movement of the end effector of the robotic arm according to the transformation relationship between the coordinate system of the robotic arm base and the image coordinate system.

[0173] In one embodiment, the transformation relationship acquisition module 1502 is further configured to: obtain the transformation relationship between the fixed component coordinate system and the robotic arm base coordinate system based on the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robotic arm end effector coordinate system, the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, and the transformation relationship between the robotic arm end effector coordinate system and the robotic arm base coordinate system; obtain the transformation relationship between the fixed component coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system; and obtain the transformation relationship between the robotic arm base coordinate system and the image coordinate system based on the transformation relationship between the fixed component coordinate system and the robotic arm base coordinate system, and the transformation relationship between the fixed component coordinate system and the image coordinate system.

[0174] In one embodiment, the transformation relationship acquisition module 1502 is further configured to: obtain the transformation relationship between the tracking device coordinate system and the fixed component coordinate system based on the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system; obtain the coordinates of the second type of electromagnetic marker in the fixed component coordinate system based on the transformation relationship between the tracking device coordinate system and the fixed component coordinate system and the coordinates of the second type of electromagnetic marker in the tracking device coordinate system; and obtain the transformation relationship between the fixed component coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the fixed component coordinate system and the image coordinate system.

[0175] In one embodiment, the transformation relationship acquisition module 1502 is further configured to: obtain the transformation relationship between the tracking device coordinate system and the fixed component coordinate system based on the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system; obtain the coordinates of the fourth type of electromagnetic marker in the fixed component coordinate system based on the transformation relationship between the tracking device coordinate system and the fixed component coordinate system, and the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system; obtain the transformation relationship between the robotic arm end-effector coordinate system and the fixed component coordinate system based on the coordinates of the fourth type of electromagnetic marker in the fixed component coordinate system and the robotic arm end-effector coordinate system; and obtain the transformation relationship between the fixed component coordinate system and the robotic arm base coordinate system based on the transformation relationship between the robotic arm end-effector coordinate system and the fixed component coordinate system, and the transformation relationship between the robotic arm end-effector coordinate system and the robotic arm base coordinate system.

[0176] This application provides a path planning device based on the tracking system described above. The device includes... Figure 16 The module shown:

[0177] The point cloud acquisition module 1601 is used to acquire the point cloud of the fixed component through the tracking device;

[0178] The transformation relationship acquisition module 1602 is used to obtain the transformation relationship between the tracking device coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system;

[0179] The path planning processing module 1603 is used to transform the point cloud from the tracking device coordinate system to the image coordinate system based on the transformation relationship between the tracking device coordinate system and the image coordinate system, so as to perform path planning on the image of the target part.

[0180] In one embodiment, the transformation relationship acquisition module 1602 is further configured to obtain the transformation relationship between the tracking device coordinate system and the robotic arm base coordinate system based on the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robotic arm end-effector coordinate system, and the transformation relationship between the robotic arm end-effector coordinate system and the robotic arm base coordinate system; the path planning processing module 1603 is further configured to transform the point cloud from the tracking device coordinate system to the robotic arm base coordinate system based on the transformation relationship between the tracking device coordinate system and the robotic arm base coordinate system, so as to perform path planning for the robotic arm.

[0181] For specific limitations on each device, please refer to the limitations on the corresponding methods above, which will not be repeated here. Each module in the above-mentioned devices can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in the processor of the computer device in hardware form or independent of it, or it can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0182] In one embodiment, a computer device is provided, the internal structure of which can be shown as follows: Figure 17As shown. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data related to the methods described above. The network interface communicates with external terminals via a network connection. The computer device also includes input / output interfaces, which are connection circuits between the processor and external devices for exchanging information; they are connected to the processor via a bus and are referred to as I / O interfaces. When the computer program is executed by the processor, it implements one of the methods described above.

[0183] Those skilled in the art will understand that Figure 17 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0184] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the various method embodiments described above.

[0185] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the various method embodiments described above.

[0186] In one embodiment, a computer program product is provided having a computer program stored thereon, the computer program being executed by a processor of the steps described in the various method embodiments above.

[0187] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0188] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0189] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A tracking system, characterized in that, The tracking system includes: The tracking device includes a magnetic field generator for generating a magnetic field; The system includes multiple types of electromagnetic markers, at least a first type and a second type, and further includes at least one of a third type and a fourth type; wherein the first type of electromagnetic marker is used to be applied to a fixed component, the second type of electromagnetic marker is used to be applied to a target area, the third type of electromagnetic marker is used to be applied to a medical device, and the fourth type of electromagnetic marker is used to be applied to the end of a robotic arm; the fixed component is used to fix the target area; and the end of the robotic arm is used to grip the medical device. The electromagnetic marker is used to generate an electrical signal under the action of the magnetic field; the electrical signal is used to determine the coordinates of the electromagnetic marker in the coordinate system of the tracking device. The point cloud of the fixed component is acquired by the tracking device; based on the transformation relationship between the tracking device coordinate system and the image coordinate system, the point cloud is transformed from the tracking device coordinate system to the image coordinate system in order to perform path planning on the image of the target part.

2. The tracking system according to claim 1, characterized in that, The tracking device also includes an optical emitting component and an optical receiving component; The light emitting component is used to emit structured light to the fixed component; The light receiving component is used to receive the reflected light emitted by the fixed component based on the structured light; The reflected light is used to form a point cloud of the fixed component.

3. A medical device navigation method, characterized in that, The method, applied to the tracking system of claim 1 or 2, comprises: Obtain a first coordinate set; the first coordinate set includes the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the third type of electromagnetic marker in the tracking device coordinate system and the medical device coordinate system; the image coordinate system is a coordinate system describing the image of the target part; Based on the first coordinate set, the transformation relationship between the image coordinate system and the medical device coordinate system is obtained; The medical device is navigated based on the transformation relationship between the image coordinate system and the medical device coordinate system.

4. The method according to claim 3, characterized in that, The step of obtaining the transformation relationship between the image coordinate system and the medical device coordinate system based on the first coordinate set includes: Based on the coordinates of the first type of electromagnetic markers in the coordinate system of the tracking device and the coordinate system of the fixed component, the coordinates of the second type of electromagnetic markers and the third type of electromagnetic markers in the coordinate system of the tracking device are transformed to the coordinate system of the fixed component. Based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system, and the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system, the transformation relationship between the image coordinate system and the medical device coordinate system is obtained.

5. The method according to claim 3, characterized in that, The process of obtaining the transformation relationship between the image coordinate system and the medical device coordinate system based on the coordinates of the second type of electromagnetic marker in the image coordinate system and the fixed component coordinate system, and the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system, includes: Based on the coordinates of the second type of electromagnetic markers in the image coordinate system and the fixed component coordinate system, the transformation relationship between the fixed component coordinate system and the image coordinate system is obtained; Based on the coordinates of the third type of electromagnetic marker in the medical device coordinate system and the fixed component coordinate system, the transformation relationship between the fixed component coordinate system and the medical device coordinate system is obtained; Based on the transformation relationship between the fixed component coordinate system and the image coordinate system, and the transformation relationship between the fixed component coordinate system and the medical device coordinate system, the transformation relationship between the image coordinate system and the medical device coordinate system is obtained.

6. A method for controlling the movement of the end effector of a robotic arm, characterized in that, The method, applied to the tracking system of claim 1 or 2, comprises: Obtain a second set of coordinates; the second set of coordinates includes the coordinates of the first type of electromagnetic markers in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic markers in the tracking device coordinate system and the image coordinate system, and the coordinates of the fourth type of electromagnetic markers in the tracking device coordinate system and the robotic arm end effector coordinate system; Based on the second coordinate set and the transformation relationship between the robotic arm end coordinate system and the robotic arm base coordinate system, the transformation relationship between the robotic arm base coordinate system and the image coordinate system is obtained. The selected point on the image of the target area is obtained, and the end effector of the robotic arm is controlled to move according to the transformation relationship between the coordinate system of the robotic arm base and the image coordinate system.

7. The method according to claim 6, characterized in that, The transformation relationship between the robot arm base coordinate system and the image coordinate system, based on the second coordinate set and the transformation relationship between the robot arm end effector coordinate system and the robot arm base coordinate system, includes: Based on the coordinates of the fourth type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the robotic arm end effector, the coordinates of the first type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the fixed component, and the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the robotic arm base, the transformation relationship between the coordinate system of the fixed component and the coordinate system of the robotic arm base is obtained. Based on the coordinates of the second type of electromagnetic markers in the tracking device coordinate system and the image coordinate system, and the coordinates of the first type of electromagnetic markers in the tracking device coordinate system and the fixed component coordinate system, the transformation relationship between the fixed component coordinate system and the image coordinate system is obtained; Based on the transformation relationship between the fixed component coordinate system and the robot arm base coordinate system, and the transformation relationship between the fixed component coordinate system and the image coordinate system, the transformation relationship between the robot arm base coordinate system and the image coordinate system is obtained.

8. The method according to claim 7, characterized in that, The process of obtaining the transformation relationship between the fixed component coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, includes: Based on the coordinates of the first type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the fixed component, the transformation relationship between the coordinate system of the tracking device and the coordinate system of the fixed component is obtained; Based on the transformation relationship between the tracking device coordinate system and the fixed component coordinate system, and the coordinates of the second type of electromagnetic marker in the tracking device coordinate system, the coordinates of the second type of electromagnetic marker in the fixed component coordinate system are obtained; Based on the coordinates of the second type of electromagnetic marker in the fixed component coordinate system and the image coordinate system, the transformation relationship between the fixed component coordinate system and the image coordinate system is obtained.

9. The method according to claim 7, characterized in that, The transformation relationship between the fixed component coordinate system and the robotic arm base coordinate system is obtained based on the coordinates of the fourth type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the robotic arm end effector, the coordinates of the first type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the fixed component, and the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the robotic arm base. This includes: Based on the coordinates of the first type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the fixed component, the transformation relationship between the coordinate system of the tracking device and the coordinate system of the fixed component is obtained; Based on the transformation relationship between the tracking device coordinate system and the fixed component coordinate system, and the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system, the coordinates of the fourth type of electromagnetic marker in the fixed component coordinate system are obtained; Based on the coordinates of the fourth type of electromagnetic marker in the coordinate system of the fixed component and the coordinate system of the robotic arm end effector, the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the fixed component is obtained. Based on the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the fixed component, and the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the robotic arm base, the transformation relationship between the coordinate system of the fixed component and the coordinate system of the robotic arm base is obtained.

10. A path planning method, characterized in that, The method, applied to the tracking system of claim 1 or 2, comprises: The point cloud of the fixed component is obtained using the tracking device. Based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, the transformation relationship between the tracking device coordinate system and the image coordinate system is obtained; Based on the transformation relationship between the tracking device coordinate system and the image coordinate system, the point cloud is transformed from the tracking device coordinate system to the image coordinate system in order to perform path planning on the image of the target part.

11. The method according to claim 10, characterized in that, The method includes: Based on the coordinates of the fourth type of electromagnetic marker in the coordinate system of the tracking device and the coordinate system of the robotic arm end effector, and the transformation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the robotic arm base, the transformation relationship between the coordinate system of the tracking device and the coordinate system of the robotic arm base is obtained; Based on the transformation relationship between the tracking device coordinate system and the robotic arm base coordinate system, the point cloud is transformed from the tracking device coordinate system to the robotic arm base coordinate system in order to perform path planning for the robotic arm.

12. A medical device navigation device, characterized in that, Applied to the tracking system of claim 1 or 2, the device comprises: The coordinate acquisition module is used to acquire a first coordinate set; the first coordinate set includes the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the third type of electromagnetic marker in the tracking device coordinate system and the medical device coordinate system; the image coordinate system is a coordinate system describing the image of the target part; The transformation relationship acquisition module is used to obtain the transformation relationship between the image coordinate system and the medical device coordinate system based on the first coordinate set; The navigation module is used to navigate the medical device based on the transformation relationship between the image coordinate system and the medical device coordinate system.

13. A device for controlling the movement of the end effector of a robotic arm, characterized in that, Applied to the tracking system of claim 1 or 2, the device comprises: The coordinate acquisition module is used to acquire a second coordinate set; the second coordinate set includes the coordinates of the first type of electromagnetic marker in the tracking device coordinate system and the fixed component coordinate system, the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system, and the coordinates of the fourth type of electromagnetic marker in the tracking device coordinate system and the robotic arm end effector coordinate system; The transformation relationship acquisition module is used to obtain the transformation relationship between the robot arm base coordinate system and the image coordinate system based on the second coordinate set and the transformation relationship between the robot arm end coordinate system and the robot arm base coordinate system; The motion control module is used to acquire the selected point on the image of the target part and control the movement of the end effector of the robotic arm according to the transformation relationship between the coordinate system of the robotic arm base and the image coordinate system.

14. A path planning device, characterized in that, Applied to the tracking system of claim 1 or 2, the device comprises: A point cloud acquisition module is used to acquire the point cloud of the fixed component through the tracking device; The transformation relationship acquisition module is used to obtain the transformation relationship between the tracking device coordinate system and the image coordinate system based on the coordinates of the second type of electromagnetic marker in the tracking device coordinate system and the image coordinate system; The obstacle avoidance module is used to transform the point cloud from the tracking device coordinate system to the image coordinate system based on the transformation relationship between the tracking device coordinate system and the image coordinate system, so as to perform path planning on the image of the target part.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 3 to 11.

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