Cart array position prompting method and device and terminal equipment

Abstract

The invention relates to the technical field of surgical robots, and provides a position prompting method and device for a cart array and terminal equipment. According to the method, firstly, a base of a mechanical arm serves as a position reference, and whether a cart array and optical navigation equipment are located on the same side of the base or not is detected; due to the fact that the mechanical arm of the operation cart is installed on the base, if the cart array and the optical navigation equipment are located on the same side of the base, an optical path from the optical navigation equipment to the cart array cannot be shielded by the mechanical arm, and at the moment, it can be considered that the installation position of the cart array is appropriate; on the contrary, if the cart array and the optical navigation equipment are located on the different sides of the base, the optical path from the optical navigation equipment to the cart array may be shielded by the mechanical arm, at the moment, it is prompted that the installation position of the cart array needs to be adjusted, and then the installation position of the cart array can be corrected in a manual or automatic adjusting mode; therefore, the success rate and accuracy of registration calibration of the mechanical arm are improved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a method, device and terminal equipment for prompting the position of a cart array. Background Art

[0002] In order to meet the requirements of clinical surgical precision and stability, surgical robots are being used more and more widely. To facilitate mobility, the structure of the surgical robot can be in the form of a surgical cart, and its robotic arm needs to be registered and calibrated before surgery. During the registration and calibration process, an optical navigation device needs to be used to capture the optical markers of the cart array provided on the surgical cart, so as to complete the calibration using the position information of these optical markers. However, if the installation position of the cart array is improper, the optical markers of the cart array may be blocked by objects such as the robotic arm of the surgical cart, which will result in a decrease in the success rate and accuracy of the registration and calibration. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a method, apparatus and terminal device for prompting the position of a cart array, which can provide a prompt when the installation position of the cart array is inappropriate, thereby improving the success rate and accuracy of registration and calibration of the robotic arm.

[0004] A first aspect of an embodiment of the present application provides a method for prompting a position of a cart array, comprising:

[0005] Detecting whether the cart array and the optical navigation device are located on the same side of a base of a robotic arm, wherein the robotic arm and the cart array are both mounted on a surgical cart;

[0006] If the cart array and the optical navigation device are located on different sides of the base, it is prompted that the installation position of the cart array needs to be adjusted.

[0007] In the embodiment of the present application, first, the base of the robotic arm is used as a position reference to detect whether the cart array and the optical navigation device are located on the same side of the base; since the robotic arm of the surgical cart is installed on the base, if the cart array and the optical navigation device are located on the same side of the base, the optical path from the optical navigation device to the cart array will not be blocked by the robotic arm, and it can be considered that the installation position of the cart array is appropriate; conversely, if the cart array and the optical navigation device are located on different sides of the base, the optical path from the optical navigation device to the cart array may be blocked by the robotic arm, and it will be prompted that the installation position of the cart array needs to be adjusted, and then the installation position of the cart array can be corrected by manual or automatic adjustment, thereby improving the success rate and accuracy of the registration and calibration of the robotic arm.

[0008] In one implementation of the embodiment of the present application, the robotic arm is provided with an end array, and detecting whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm may include:

[0009] Acquire a first spatial coordinate of the cart array in the optical navigation device coordinate system and a second spatial coordinate of the terminal array in the optical navigation device coordinate system;

[0010] According to the first spatial coordinate and the second spatial coordinate, obtain a third spatial coordinate of the cart array in the base coordinate system and a fourth spatial coordinate of the optical navigation device in the base coordinate system;

[0011] According to the third spatial coordinate and the fourth spatial coordinate, it is determined whether the cart array and the optical navigation device are located on the same side of the base.

[0012] Further, determining whether the cart array and the optical navigation device are located on the same side of the base according to the third spatial coordinate and the fourth spatial coordinate may include:

[0013] Obtaining a first y coordinate in the third space coordinate and a second y coordinate in the fourth space coordinate; wherein the y-axis direction corresponds to the width direction of the surgical cart;

[0014] If the product of the first y-coordinate and the second y-coordinate is greater than zero, then it is determined that the cart array and the optical navigation device are located on the same side of the base.

[0015] In one implementation of the embodiment of the present application, after detecting whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm, the following steps may also be included:

[0016] If the cart array and the optical navigation device are located on the same side of the base, detecting whether the position of the cart array exceeds a preset spatial range;

[0017] If the position of the cart array exceeds the preset space range, it will prompt that there is a risk of collision for the cart array.

[0018] Furthermore, detecting whether the position of the cart array exceeds a preset spatial range may include:

[0019] If the position of the cart array is on the first side of the base, detecting whether the position of the cart array exceeds a first spatial range; wherein the first spatial range is a preset spatial range located on the first side of the base;

[0020] If the position of the cart array is on the second side of the base, it is detected whether the position of the cart array exceeds the second spatial range; wherein the second spatial range is a preset spatial range located on the second side of the base.

[0021] Furthermore, detecting whether the position of the cart array exceeds the first spatial range may include:

[0022] Obtain the spatial coordinates of each boundary marking point set on the cart array in the base coordinate system;

[0023] Determine the maximum x-coordinate, maximum y-coordinate and maximum z-coordinate of each boundary marker point in the spatial coordinates of the base coordinate system;

[0024] If the maximum x-coordinate, the maximum y-coordinate, or the maximum z-coordinate exceeds the first spatial range, it is determined that the position of the cart array exceeds the first spatial range.

[0025] Furthermore, detecting whether the position of the cart array exceeds the second spatial range may include:

[0026] Obtain the spatial coordinates of each boundary marking point set on the cart array in the base coordinate system;

[0027] Determine the maximum x-coordinate, minimum y-coordinate and maximum z-coordinate of each boundary marker point in the spatial coordinates of the base coordinate system;

[0028] If the maximum x-coordinate, the minimum y-coordinate, or the maximum z-coordinate exceeds the second spatial range, it is determined that the position of the cart array exceeds the second spatial range.

[0029] Furthermore, after detecting whether the position of the cart array exceeds the preset space range, the method may further include:

[0030] If the position of the cart array exceeds the preset spatial range, the x-axis excess distance, y-axis excess distance and z-axis excess distance of the cart array are detected and displayed; wherein the x-axis excess distance, the y-axis excess distance and the z-axis excess distance are the distances that the cart array exceeds the preset spatial range in the x-axis direction, the y-axis direction and the z-axis direction, respectively.

[0031] A second aspect of an embodiment of the present application provides a position prompting device for a cart array, comprising:

[0032] A detection module, used to detect whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm; wherein the robotic arm and the cart array are both mounted on the surgical cart;

[0033] The prompt module is used to prompt that the installation position of the cart array needs to be adjusted if the cart array and the optical navigation device are located on different sides of the base.

[0034] A third aspect of an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the position prompt method for a cart array provided in the first aspect of an embodiment of the present application is implemented.

[0035] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for prompting a position of a cart array provided in the first aspect of an embodiment of the present application is implemented.

[0036] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the method for prompting the position of a cart array provided in the first aspect of the embodiments of the present application.

[0037] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic diagram of a surgical robot provided in an embodiment of the present application;

[0039] Figure 2 is a flow chart of a method for prompting a position of a cart array provided in an embodiment of the present application;

[0040] Figure 3 It is a schematic diagram of the orientation of the cart array and the optical navigation device provided in the embodiment of the present application, which are located on the same side of the robotic arm base;

[0041] Figure 4 It is a schematic diagram of the orientation of the cart array and the optical navigation device provided in the embodiment of the present application, which are located on different sides of the robotic arm base;

[0042] Figure 5 It is a schematic diagram of the functional modules of a surgical robot provided in an embodiment of the present application;

[0043] Figure 6 yes Figure 5 Schematic diagram of the working process of the mid-trolley array orientation detection module;

[0044] Figure 7 yes Figure 5 Schematic diagram of the working process of the mid-cart array collision detection module;

[0045] Figure 8 yes Figure 5 A schematic diagram of an interface outputted by an interface display module;

[0046] Fig. 9 It is a structural schematic diagram of a position prompt device for a cart array provided in an embodiment of the present application;

[0047] Fig.10 It is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures, technologies, etc. are proposed, so as to thoroughly understand the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, the detailed description of well-known systems, devices, circuits and methods is omitted to prevent unnecessary details from hindering the description of the present application. In addition, in the description of the present application specification and the attached claims, the terms "first", "second", "third" etc. are only used to distinguish the description, and cannot be interpreted as indicating or suggesting relative importance.

[0049] The surgical robot needs to register and calibrate the robotic arm before the operation. The position information of the cart array required in the calibration process has an important impact on the registration of the robotic arm and the subsequent processes. Registration calibration requires the use of an optical navigation device to capture the optical markers of the cart array, so as to complete the calibration using the position information of these optical markers. If the installation position of the cart array is inappropriate, these optical markers may be blocked by objects such as the robotic arm, resulting in the optical navigation device being unable to accurately capture the position of the optical markers, thereby affecting the success rate and accuracy of the registration calibration. In response to the above problems, the embodiments of the present application provide a method, device and terminal device for prompting the position of a cart array, which can provide prompts when the installation position of the cart array is inappropriate, thereby improving the success rate and accuracy of the registration calibration of the robotic arm. For more specific technical implementation details of the embodiments of the present application, please refer to the method embodiments described below.

[0050] See also Figure 1 , showing a schematic diagram of a surgical robot provided in an embodiment of the present application. Since the structure of the surgical robot is in the form of a cart, it can be called a surgical cart. The surgical cart may be provided with components such as a robotic arm, a cart array, and a display screen. Among them, the robotic arm may be installed on a base, and an end array may also be provided at the end of the robotic arm. Both the cart array and the end array are provided with optical markers, and the position information of the optical markers can be collected by an optical navigation device (Optical Tracking System, OTS) to obtain the cart array posture and the end array posture. In the Figure 1 Before the robotic arm performs registration and calibration, the method provided in the embodiment of the present application can be used to detect whether the installation position of the cart array is appropriate, thereby improving the success rate and accuracy of the registration and calibration.

[0051] It should be understood that the execution subjects of the various method embodiments of the present application are various types of terminal devices or servers, such as mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, surgical carts, surgical robots, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (PDA), large-screen TVs, etc. The embodiments of the present application do not impose any restrictions on the specific types of the terminal devices and servers.

[0052] See also Figure 2 , showing a method for prompting a position of a cart array provided in an embodiment of the present application, comprising:

[0053] 201. Detect whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm;

[0054] It should be understood that the execution subject of the embodiment of the method can be either the surgical cart itself or a third-party terminal device other than the surgical cart and the optical navigation device. The cart array and the robotic arm are both installed on the surgical cart, wherein the robotic arm is installed on the base. The surgical cart and the optical navigation device are usually placed at different locations in the same geographic space. For example, for the scene of the operating room, the optical navigation device is generally placed on the head side of the operating bed, while the surgical cart is generally placed on the left or right side of the operating bed.

[0055] First, it is detected whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm. That is, taking the base of the robotic arm as a reference, it is determined whether the cart array and the optical navigation device are on the same side relative to the base.

[0056] like Figure 3 The figure shows the orientation diagram of the cart array and the optical navigation device on the same side of the robotic arm base. Figure 3 The left side is a schematic diagram of the surgical cart on the left side of the bed. Figure 3 To the right of is a schematic diagram of a surgical trolley on the right side of the bed. The trolley array and the robotic arm are installed on the surgical trolley, and the optical navigation device is on the head side of the surgical bed. Figure 3 It can be seen that since the robotic arm base is located in the middle of the surgical cart, the cart array is placed on the side close to the optical navigation device, that is, the cart array and the optical navigation device are located on the same side of the robotic arm base. In this way, the light path from the optical navigation device to the cart array will not be blocked by the robotic arm. Therefore, it can be considered that the installation position of the cart array is appropriate.

[0057] like Figure 4 The figure shows the orientation diagram of the cart array and the optical navigation device located on different sides of the robotic arm base. Figure 4 The left side is a schematic diagram of the surgical cart on the left side of the bed. Figure 4 To the right of is a schematic diagram of a surgical trolley on the right side of the bed. The trolley array and the robotic arm are installed on the surgical trolley, and the optical navigation device is on the head side of the surgical bed. Figure 4 It can be seen that since the robotic arm base is in the middle of the surgical cart, the cart array is placed on the side away from the optical navigation device, that is, the cart array and the optical navigation device are located on different sides of the robotic arm base. In this way, the light path from the optical navigation device to the cart array may be blocked by the robotic arm. Therefore, it can be considered that the installation position of the cart array is improper and needs to be adjusted.

[0058] In one implementation of the embodiment of the present application, it is possible to determine whether the cart array and the optical navigation device are located on the same side of the robotic arm base by distance detection. For example, a distance measuring sensor may be provided to respectively detect a first distance between the optical navigation device and the cart array, and a second distance between the optical navigation device and the robotic arm. If the first distance is less than the second distance, it indicates that the cart array and the optical navigation device are located on the same side of the robotic arm base, otherwise it indicates that the cart array and the optical navigation device are located on different sides of the robotic arm base.

[0059] In one implementation of the embodiment of the present application, the robotic arm is provided with an end array, and detecting whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm may include:

[0060] (1) obtaining a first spatial coordinate of the cart array in the optical navigation device coordinate system and a second spatial coordinate of the terminal array in the optical navigation device coordinate system;

[0061] (2) obtaining a third spatial coordinate of the cart array in the base coordinate system and a fourth spatial coordinate of the optical navigation device in the base coordinate system according to the first spatial coordinate and the second spatial coordinate;

[0062] (3) Determine whether the cart array and the optical navigation device are located on the same side of the base according to the third spatial coordinate and the fourth spatial coordinate.

[0063] An optical marker array, called the end array, can be set at the end of the manipulator. The embodiment of the present application can use the optical markers of the cart array and the end array to obtain the cart array posture and the end array posture respectively, that is, the optical navigation device can be used to obtain the spatial coordinates of the cart array in the optical navigation device coordinate system (expressed by the first spatial coordinate, which includes the spatial coordinates of each optical marker of the cart array) and the spatial coordinates of the end array in the optical navigation device coordinate system (expressed by the second spatial coordinate, which includes the spatial coordinates of each optical marker of the end array). After obtaining the first spatial coordinate and the second spatial coordinate, the conversion relationship of the spatial coordinate system can be used to establish a conversion link between different spatial coordinate systems, thereby obtaining the spatial coordinates of the cart array in the base coordinate system (expressed by the third spatial coordinate) and the spatial coordinates of the optical navigation device in the base coordinate system (expressed by the fourth spatial coordinate), where the base coordinate system corresponds to the base of the manipulator. Since the third spatial coordinate and the fourth spatial coordinate are both spatial coordinates in the base coordinate system, it is very convenient to determine whether the cart array and the optical navigation device are located on the same side of the base according to the third spatial coordinate and the fourth spatial coordinate.

[0064] Specifically, the established spatial coordinate system may include an optical navigation device coordinate system (corresponding to the optical navigation device), an end array coordinate system (corresponding to the end array), a cart array coordinate system (corresponding to the cart array), a base coordinate system (corresponding to the base of the robotic arm), and a flange coordinate system (corresponding to a flange provided on the robotic arm). The third spatial coordinate of the cart array in the base coordinate system and the fourth spatial coordinate of the optical navigation device in the base coordinate system are obtained based on the first spatial coordinate and the second spatial coordinate, which may include:

[0065] (1) constructing a first coordinate transformation relationship between the optical navigation device coordinate system and the cart array coordinate system, and constructing a second coordinate transformation relationship between the optical navigation device coordinate system and the terminal array coordinate system according to the first spatial coordinate and the second spatial coordinate;

[0066] (2) Calculate the third coordinate transformation relationship between the base coordinate system and the flange coordinate system using forward kinematics;

[0067] (3) determining a fifth coordinate transformation relationship between the optical navigation device coordinate system and the base coordinate system by using the second coordinate transformation relationship, the third coordinate transformation relationship, and a pre-calibrated fourth coordinate transformation relationship between the flange coordinate system and the end array coordinate system;

[0068] (4) performing coordinate transformation on the first space coordinate according to the first coordinate transformation relationship and the fifth coordinate transformation relationship to obtain a third space coordinate;

[0069] (5) Determine the fourth space coordinate based on the fifth coordinate transformation relationship.

[0070] Exemplarily, using the first spatial coordinate and the second spatial coordinate, a coordinate transformation matrix from the optical navigation device coordinate system to the cart array coordinate system can be constructed: And construct the coordinate transformation matrix from the optical navigation device coordinate system to the terminal array coordinate system Where OTS represents the optical navigation device, Trolley Marker represents the trolley array, and Robot Marker represents the end array. Then, the coordinate transformation matrix from the base coordinate system to the flange coordinate system can be calculated using the forward kinematics method: Through the pre-calibrated coordinate transformation relationship between the flange coordinate system and the end array coordinate system, the coordinate transformation matrix from the flange coordinate system to the end array coordinate system can be constructed. It should be noted that the flange coordinate system used here can be a theoretical flange coordinate system that is pre-calibrated and shared by a large number of surgical carts. Since each surgical cart has certain individual differences, the actual flange coordinate system of a surgical cart may have a certain deviation from the theoretical flange coordinate system. However, based on the small deviation, it will not seriously affect the acquisition effect of the above coordinate transformation relationship, and this can avoid a lot of work such as calibrating the flange coordinate system for each surgical cart. Next, use and By calculating, we can get the coordinate transformation matrix from the optical navigation device coordinate system to the base coordinate system Afterwards, use The spatial coordinates in the optical navigation device coordinate system can be converted into the spatial coordinates in the base coordinate system. and By performing coordinate conversion processing on the first spatial coordinates of the cart array in the coordinate system of the optical navigation device, the third spatial coordinates of the cart array in the base coordinate system can be obtained. Since the spatial coordinates of the optical navigation device in its own coordinate system are known, After that, you can use Coordinate conversion processing is performed on the spatial coordinates of the optical navigation device in its own coordinate system, thereby obtaining fourth spatial coordinates of the optical navigation device in the base coordinate system.

[0071] Further, determining whether the cart array and the optical navigation device are located on the same side of the base according to the third spatial coordinate and the fourth spatial coordinate may include:

[0072] (1) obtaining a first y coordinate in the third spatial coordinate and a second y coordinate in the fourth spatial coordinate, wherein the y-axis direction corresponds to the width direction of the surgical cart;

[0073] (2) If the product of the first y-coordinate and the second y-coordinate is greater than zero, it is determined that the cart array and the optical navigation device are located on the same side of the base.

[0074] Assuming that the x-axis direction of the set base coordinate system corresponds to the length direction of the surgical cart, the y-axis direction corresponds to the width direction of the surgical cart, and the z-axis direction corresponds to the height direction of the surgical cart, when judging whether the cart array and the optical navigation device are located on the same side of the base according to the third spatial coordinate and the fourth spatial coordinate, it is only necessary to compare the y coordinates of the third spatial coordinate and the fourth spatial coordinate. Specifically, first obtain the first y coordinate in the third spatial coordinate and the second y coordinate in the fourth spatial coordinate. If the product of the first y coordinate and the second y coordinate is greater than zero, it indicates that the cart array and the optical navigation device are located on the same side of the base, otherwise it indicates that the cart array and the optical navigation device are located on different sides of the base. For example, assuming that the third spatial coordinate is (x T ,y T , z T ), the fourth spatial coordinate is (x O ,y O , z O ), if y T *y O > 0, it means that the cart array and the optical navigation device are on the same side of the base; if y T *y O <0, it means that the cart array and the optical navigation device are located on different sides of the base.

[0075] 202. If the cart array and the optical navigation device are located on different sides of the base, it is prompted that the installation position of the cart array needs to be adjusted.

[0076] If it is detected that the cart array and the optical navigation device are located on different sides of the base, the optical path from the optical navigation device to the cart array may be blocked by the robotic arm. At this time, various methods can be used to prompt that the installation position of the cart array needs to be adjusted. For example, the screen of the surgical cart can display information that the installation position of the cart array needs to be adjusted, or voice broadcast information that the installation position of the cart array needs to be adjusted, etc. After that, the installation position of the cart array can be corrected by manual or automatic adjustment, that is, the cart array is adjusted to the same side of the base as the optical navigation device, so that the optical path from the optical navigation device to the cart array will not be blocked by the robotic arm, thereby improving the success rate and accuracy of registration calibration.

[0077] In one implementation of the embodiment of the present application, after detecting whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm, the following steps may also be included:

[0078] (1) If the cart array and the optical navigation device are located on the same side of the base, detecting whether the position of the cart array exceeds the preset spatial range;

[0079] (2) If the position of the cart array exceeds the preset spatial range, it will be prompted that there is a risk of collision with the cart array.

[0080] In addition to detecting whether the placement position of the cart array is appropriate, the embodiment of the present application can further detect whether there is a collision risk in the position of the cart array. Generally speaking, the position of the cart array needs to be set within the range of a virtual collision module, that is, within a preset virtual space range, so that the movement space of the robotic arm can be limited to prevent the robotic arm from colliding with the cart array. For example, a spatial range of length A (mm), width B (mm) and height C (mm) can be preset to detect whether the position of the cart array exceeds the spatial range (specifically, it can be detected whether any boundary point of the cart array exceeds the spatial range). If it exceeds, it indicates that there is a collision risk in the cart array and the installation position of the cart array needs to be adjusted. Otherwise, it indicates that there is no collision risk in the cart array, that is, the installation position of the cart array is appropriate.

[0081] Furthermore, detecting whether the position of the cart array exceeds a preset spatial range may include:

[0082] (1) If the position of the cart array is on the first side of the base, detecting whether the position of the cart array exceeds a first spatial range; wherein the first spatial range is a preset spatial range located on the first side of the base;

[0083] (2) If the position of the cart array is on the second side of the base, detect whether the position of the cart array exceeds the second spatial range; wherein the second spatial range is a preset spatial range located on the second side of the base.

[0084] The installation position of the cart array can be on different sides of the base, such as the left side, right side, front side and rear side, etc. Obviously, the space ranges set on different sides are different. If the position of the cart array is on the first side of the base, it is detected whether the position of the cart array exceeds the first space range, and the first space range is a preset space range located on the first side of the base; if the position of the cart array is on the second side of the base, it is detected whether the position of the cart array exceeds the second space range, and the second space range is a preset space range located on the second side of the base. Among them, the first side and the second side can be different sides of the left side, the right side, the front side or the rear side.

[0085] Furthermore, detecting whether the position of the cart array exceeds the first spatial range may include:

[0086] (1) Obtaining the spatial coordinates of each boundary marking point on the cart array in the base coordinate system;

[0087] (2) determining the maximum x-coordinate, maximum y-coordinate, and maximum z-coordinate of each boundary marker point in the spatial coordinate system of the base coordinate system;

[0088] (3) If the maximum x-coordinate, the maximum y-coordinate, or the maximum z-coordinate exceeds the first spatial range, it is determined that the position of the cart array exceeds the first spatial range.

[0089] Assume that the x-axis direction of the set base coordinate system corresponds to the length direction of the surgical cart, the y-axis direction corresponds to the width direction of the surgical cart and points to the left in the positive direction, and the z-axis direction corresponds to the height direction of the surgical cart. Take the case where the cart array is on the left side of the base as an example. At this time, the first side is the left side, and the first spatial range is the preset spatial range located on the left side of the base. First, the spatial coordinates of each boundary marking point set on the cart array in the base coordinate system are obtained. For example, if the cart array is a quadrilateral, the spatial coordinates of its four corner points (i.e., boundary marking points) in the base coordinate system are obtained, and are represented by (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) and (x4, y4, z4) respectively. Then, the maximum x coordinate, maximum y coordinate and maximum z coordinate of each boundary marking point in the spatial coordinates of the base coordinate system are determined. For example, the maximum x coordinate x in (x1, x2, x3, x4) is determined respectively. Max , the maximum y coordinate y among (y1, y2, y3, y4) Max and the maximum z coordinate z among (z1, z2, z3, z4) Max If x Max ,y Max or Max If any one of the above exceeds the first spatial range, it can be determined that the position of the cart array exceeds the first spatial range.

[0090] Furthermore, detecting whether the position of the cart array exceeds the second spatial range may include:

[0091] (1) Obtaining the spatial coordinates of each boundary marking point on the cart array in the base coordinate system;

[0092] (2) determining the maximum x-coordinate, minimum y-coordinate, and maximum z-coordinate of each boundary marker point in the spatial coordinate system of the base;

[0093] (3) If the maximum x-coordinate, the minimum y-coordinate, or the maximum z-coordinate exceeds the second spatial range, it is determined that the position of the cart array exceeds the second spatial range.

[0094] Take the case where the cart array is on the right side of the base as an example. In this case, the second side is the right side, and the second spatial range is the preset spatial range on the right side of the base. First, obtain the spatial coordinates of each boundary marking point on the cart array in the base coordinate system. For example, if the cart array is a quadrilateral, obtain the spatial coordinates of its four corner points (i.e., boundary marking points) in the base coordinate system, which are represented by (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and (x4, y4, z4), respectively. Then, determine the maximum x coordinate, minimum y coordinate, and maximum z coordinate of each boundary marking point in the spatial coordinates of the base coordinate system. For example, determine the maximum x coordinate x1, x2, x3, x4, respectively. Max , the minimum y coordinate y among (y1, y2, y3, y4) Min and the maximum z coordinate z among (z1, z2, z3, z4) Max If x Max ,y Min or Max If any one of the above exceeds the second spatial range, it can be determined that the position of the cart array exceeds the second spatial range. Since the origin of the base coordinate system is set at the base of the robotic arm, and the robotic arm is located in the middle of the surgical cart, when the cart array is on the left side of the base, the y coordinate of its mark point is a positive value, so the maximum y coordinate is detected at this time, and when the cart array is on the right side of the base, the y coordinate of its mark point is a negative value, so the minimum y coordinate is detected at this time.

[0095] Furthermore, after detecting whether the position of the cart array exceeds the preset space range, the method may further include:

[0096] If the position of the cart array exceeds the preset spatial range, the x-axis excess distance, y-axis excess distance and z-axis excess distance of the cart array are detected and displayed; wherein the x-axis excess distance, the y-axis excess distance and the z-axis excess distance are the distances that the cart array exceeds the preset spatial range in the x-axis direction, the y-axis direction and the z-axis direction, respectively.

[0097] When it is detected that the position of the cart array exceeds the preset spatial range, in addition to prompting the risk of collision, the distance that the cart array exceeds the preset spatial range in each direction can also be detected and displayed, wherein if the preset spatial range is not exceeded in a certain direction, the corresponding excess distance can be zero or a null value. Assuming that the x-axis direction of the set base coordinate system corresponds to the length direction of the surgical cart, the y-axis direction corresponds to the width direction of the surgical cart, and the z-axis direction corresponds to the height direction of the surgical cart, the x-axis excess distance of the cart array exceeding the preset spatial range in the x-axis direction, the y-axis excess distance of the cart array exceeding the preset spatial range in the y-axis direction, and the z-axis excess distance of the cart array exceeding the preset spatial range in the z-axis direction can be detected respectively. For example, after obtaining the maximum x-coordinate, maximum y-coordinate (or minimum y-coordinate), and maximum z-coordinate of the boundary marking point of the cart array in the manner described above, the distance that the maximum x-coordinate exceeds the preset spatial range can be calculated as the x-axis excess distance, the distance that the maximum y-coordinate (or minimum y-coordinate) exceeds the preset spatial range can be calculated as the y-axis excess distance, and the distance that the maximum z-coordinate exceeds the preset spatial range can be calculated as the z-axis excess distance. Finally, the x-axis excess distance, y-axis excess distance, and z-axis excess distance of the cart array can be displayed in a setting manner, such as on the screen of the surgical cart, so that the user can be conveniently guided to make adaptive adjustments to the installation position of the cart array.

[0098] In the embodiment of the present application, first, the base of the robotic arm is used as a position reference to detect whether the cart array and the optical navigation device are located on the same side of the base; since the robotic arm of the surgical cart is installed on the base, if the cart array and the optical navigation device are located on the same side of the base, the optical path from the optical navigation device to the cart array will not be blocked by the robotic arm, and it can be considered that the installation position of the cart array is appropriate; conversely, if the cart array and the optical navigation device are located on different sides of the base, the optical path from the optical navigation device to the cart array may be blocked by the robotic arm, and it will be prompted that the installation position of the cart array needs to be adjusted, and then the installation position of the cart array can be corrected by manual or automatic adjustment, thereby improving the success rate and accuracy of the registration and calibration of the surgical robot.

[0099] To facilitate understanding of the position prompting method for a cart array provided in an embodiment of the present application, actual application scenarios are listed below.

[0100] like Figure 5 FIG. 1 is a schematic diagram of the functional modules of a surgical robot provided in an embodiment of the present application. Figure 5In the figure, the main functional modules used by the surgical robot before registration and calibration are shown, including the cart array orientation detection module, the cart array collision detection module and the interface display module. Among them, the cart array orientation detection module is mainly used to detect whether the cart array and the optical navigation device are located on the same side of the robot arm base, the cart array collision detection module is mainly used to detect whether there is a collision risk in the position of the cart array, and the interface display module is mainly used to display the position adjustment prompt of the cart array, whether the cart array is installed in place, and the distance of the cart array in each direction beyond the preset space range.

[0101] like Figure 6 As shown, Figure 5 Figure 1. Schematic diagram of the workflow of the cart array orientation detection module. First, the optical navigation device is used to capture the posture of the cart array and the end array of the robotic arm, that is, the spatial coordinates of the cart array and the end array in the coordinate system of the optical navigation device are obtained; then, the spatial coordinates of the cart array and the optical navigation device in the base coordinate system of the robotic arm are calculated by using the forward kinematics and the conversion relationship of each spatial coordinate system, which are (x T ,y T , z T ) and (x O ,y O , z O ); Next, determine y T *y O >0 is true. If not, it means that the cart array and the optical navigation device are located on different sides of the base. In this case, the user is prompted to adjust the installation position of the cart array. If true, it means that the cart array and the optical navigation device are located on the same side of the base. In this case, the installation position of the cart array is appropriate. After that, the cart array collision detection module can be loaded. The cart array collision detection module can include a left collision detection module and a right collision detection module. The left collision detection module corresponds to a preset space range on the left side of the base, and the right collision detection module corresponds to a preset space range on the right side of the base. When y T *y O >0, we can further judge y T > 0. If true, it means that the cart array is on the left side of the base, and the left collision detection module is loaded at this time; if not true, it means that the cart array is on the right side of the base, and the right collision detection module is loaded at this time. For the working principles of the left collision detection module and the right collision detection module, please refer to the following Figure 7 .

[0102] like Figure 7 As shown, Figure 5Figure 1. Schematic diagram of the workflow of the cart array collision detection module. First, obtain the spatial coordinates of each boundary marker point of the cart array in the base coordinate system, assuming they are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) and (x4, y4, z4). Then, determine the maximum x coordinate x among (x1, x2, x3, x4). Max and the maximum z coordinate z among (z1, z2, z3, z4) Max As for the y coordinate, first detect the above y T > 0, if true, load the left collision detection module, corresponding to obtaining the maximum y coordinate y in (y1, y2, y3, y4) Max If it does not hold, then load the right collision detection module, corresponding to obtaining the minimum y coordinate y in (y1, y2, y3, y4) Min . After that, we judge x Max ,y Max ,y Min and z Max Whether it exceeds the boundary of the preset space range. Specifically, when loading the left collision detection module, judge x Max ,y Max and z Max Whether it exceeds the boundary of the left space range; when loading the right collision detection module, judge x Max ,y Min and z Max Whether it exceeds the boundary of the right space range. Finally, if x is found Max ,y Max ,y Min and z Max If at least one of the above exceeds the boundary of the preset spatial range, a warning is given that the cart array has a collision risk. In addition, the distance that the cart array exceeds the preset spatial range in each direction can also be detected and recorded, namely, the x-axis excess distance, the y-axis excess distance, and the z-axis excess distance.

[0103] For some special surgical scenarios, the installation position of the cart array may not be within the range of the preset collision detection module. In this case, the position of the collision detection module can be compensated and moved accordingly according to the spatial coordinates of the boundary marker points of the captured cart array. For example, the distance values ​​of each spatial marker point exceeding the boundary of the collision detection module in each direction can be calculated, and then these distance values ​​can be compensated to the rotation and translation matrix of the collision detection module, so as to compensate the position of the collision detection module. After that, the new collision detection module obtained after the compensation movement can be loaded to perform collision risk detection on the cart array.

[0104] like Figure 8 As shown, Figure 5Schematic diagram of the interface output by the interface display module. Figure 8 Above is a top view 801 of the surgical cart, and in the upper right corner is a top view 802 of the envelope box of the loaded right collision detection module. In the top view 802, mark 8021 indicates that the position of the cart array exceeds the minimum limit of the right collision detection module in the y direction, mark 8022 indicates that the position of the cart array exceeds the maximum limit of the right collision detection module in the x direction, and mark 8023 indicates that the position of the cart array exceeds the maximum limit of the right collision detection module in the z direction. Figure 8 Below is a side view of the surgical cart, wherein 803 represents a side view of the cart array, and 804 represents a side view of the envelope box of the loaded right collision detection module. Figure 8 The lower right corner of the display shows the x-axis excess distance, y-axis excess distance and z-axis excess distance of the cart array, as well as the prompt information 805 indicating whether the cart array is installed in place. Figure 8 In the interface shown, the user can clearly know whether the cart array is installed in place, whether there is a collision risk at its installation position, and the distance that should be adjusted in each direction when there is a collision risk.

[0105] In summary, the embodiments of the present application provide a position prompt method for a cart array, which can prompt whether the installation position of the cart array is appropriate and whether there is a risk of collision. The installation position of the cart array can then be corrected by manual or automatic adjustment, thereby improving the success rate and accuracy of registration and calibration of the robotic arm.

[0106] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0107] The above mainly describes a method for prompting a position of a cart array, and the following will describe a device for prompting a position of a cart array.

[0108] See also Fig. 9 , an embodiment of a position prompting device for a cart array in an embodiment of the present application includes:

[0109] A detection module 901 is used to detect whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm; wherein the robotic arm and the cart array are both installed on the surgical cart;

[0110] The prompt module 902 is used to prompt that the installation position of the cart array needs to be adjusted if the cart array and the optical navigation device are located on different sides of the base.

[0111] In one implementation of the embodiment of the present application, the robotic arm is provided with an end array, and the detection module may include:

[0112] A spatial coordinate acquisition unit, used to acquire a first spatial coordinate of the cart array in the optical navigation device coordinate system and a second spatial coordinate of the terminal array in the optical navigation device coordinate system;

[0113] A spatial coordinate calculation unit, used to obtain a third spatial coordinate of the cart array in the base coordinate system and a fourth spatial coordinate of the optical navigation device in the base coordinate system according to the first spatial coordinate and the second spatial coordinate;

[0114] The orientation judgment unit is used to determine whether the cart array and the optical navigation device are located on the same side of the base according to the third space coordinate and the fourth space coordinate.

[0115] Furthermore, the position determination unit may include:

[0116] A y coordinate acquisition subunit, used to acquire a first y coordinate in the third space coordinate and a second y coordinate in the fourth space coordinate; wherein the y-axis direction corresponds to the width direction of the surgical cart;

[0117] The position determination subunit is configured to determine that the cart array and the optical navigation device are located on the same side of the base if the product of the first y-coordinate and the second y-coordinate is greater than zero.

[0118] In one implementation of the embodiment of the present application, the position prompting device of the cart array may further include:

[0119] a collision detection module, for detecting whether the position of the cart array exceeds a preset spatial range if the cart array and the optical navigation device are located on the same side of the base;

[0120] The collision prompt module is used to prompt the cart array that there is a risk of collision if the position of the cart array exceeds a preset spatial range.

[0121] Furthermore, the collision detection module may include:

[0122] A first collision detection unit, configured to detect whether the position of the cart array exceeds a first spatial range if the position of the cart array is on the first side of the base; wherein the first spatial range is a preset spatial range located on the first side of the base;

[0123] The second collision detection unit is used to detect whether the position of the cart array exceeds a second spatial range if the position of the cart array is on the second side of the base; wherein the second spatial range is a preset spatial range located on the second side of the base.

[0124] Furthermore, the first collision detection unit may include:

[0125] A first spatial coordinate acquisition subunit is used to acquire the spatial coordinates of each boundary marking point provided on the cart array in the base coordinate system;

[0126] A first maximum coordinate determination subunit is used to determine the maximum x coordinate, maximum y coordinate and maximum z coordinate of each boundary marking point in the spatial coordinates of the base coordinate system;

[0127] The first collision determination subunit is used to determine that the position of the cart array exceeds the first spatial range if the maximum x coordinate, the maximum y coordinate or the maximum z coordinate exceeds the first spatial range.

[0128] Furthermore, the second collision detection unit may include:

[0129] The second spatial coordinate acquisition subunit is used to acquire the spatial coordinates of each boundary marking point provided on the cart array in the base coordinate system;

[0130] A second maximum coordinate determination subunit is used to determine the maximum x coordinate, the minimum y coordinate and the maximum z coordinate of each boundary marking point in the spatial coordinates of the base coordinate system;

[0131] The second collision determination subunit is used to determine that the position of the cart array exceeds the second spatial range if the maximum x coordinate, the minimum y coordinate or the maximum z coordinate exceeds the second spatial range.

[0132] Furthermore, the position prompting device of the cart array may also include:

[0133] The excess distance display module is used to detect and display the x-axis excess distance, y-axis excess distance and z-axis excess distance of the cart array if the position of the cart array exceeds the preset spatial range; wherein the x-axis excess distance, the y-axis excess distance and the z-axis excess distance are the distances that the cart array exceeds the preset spatial range in the x-axis direction, the y-axis direction and the z-axis direction respectively.

[0134] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for prompting a position of a cart array as represented in any of the above embodiments is implemented.

[0135] An embodiment of the present application also provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the method for prompting the position of a cart array as represented by any of the above embodiments.

[0136] Fig.10 Schematic diagram of a terminal device provided by an embodiment of the present application. Fig.10As shown, the terminal device 10 of this embodiment includes: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100. When the processor 100 executes the computer program 102, the steps in the above-mentioned embodiments of the method for prompting the position of each cart array are implemented, for example Figure 2 Alternatively, when the processor 100 executes the computer program 102, the functions of each module / unit in the above-mentioned device embodiments are implemented, for example Fig. 9 Functions of modules 901 to 902 are shown.

[0137] The computer program 102 may be divided into one or more modules / units, which are stored in the memory 101 and executed by the processor 100 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 102 in the terminal device 10.

[0138] The processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0139] The memory 101 may be an internal storage unit of the terminal device 10, such as a hard disk or memory of the terminal device 10. The memory 101 may also be an external storage device of the terminal device 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 10. Further, the memory 101 may also include both an internal storage unit of the terminal device 10 and an external storage device. The memory 101 is used to store the computer program and other programs and data required by the terminal device. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0140] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0141] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0142] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0143] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0144] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0145] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0146] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0147] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0148] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for prompting the position of a cart array, characterized in that: include: Detecting whether the cart array and the optical navigation device are located on the same side of a base of a robotic arm; wherein the robotic arm and the cart array are both mounted on a surgical cart; If the cart array and the optical navigation device are located on different sides of the base, it is prompted that the installation position of the cart array needs to be adjusted.

2. The method according to claim 1, characterized in that The robotic arm is provided with an end array; the detection of whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm comprises: Acquire a first spatial coordinate of the cart array in the optical navigation device coordinate system and a second spatial coordinate of the terminal array in the optical navigation device coordinate system; Obtaining, according to the first spatial coordinate and the second spatial coordinate, a third spatial coordinate of the cart array in a base coordinate system and a fourth spatial coordinate of the optical navigation device in the base coordinate system; According to the third spatial coordinate and the fourth spatial coordinate, it is determined whether the cart array and the optical navigation device are located on the same side of the base.

3. The method according to claim 2, characterized in that The determining, according to the third spatial coordinate and the fourth spatial coordinate, whether the cart array and the optical navigation device are located on the same side of the base comprises: Acquire a first y coordinate in the third space coordinate and a second y coordinate in the fourth space coordinate; wherein the y-axis direction corresponds to the width direction of the surgical cart; If the product of the first y-coordinate and the second y-coordinate is greater than zero, it is determined that the cart array and the optical navigation device are located on the same side of the base.

4. The method according to any one of claims 1 to 3, characterized in that After detecting whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm, the method further includes: If the cart array and the optical navigation device are located on the same side of the base, detecting whether the position of the cart array exceeds a preset spatial range; If the position of the cart array exceeds the preset space range, it is prompted that the cart array has a collision risk.

5. The method according to claim 4, characterized in that The detecting whether the position of the cart array exceeds a preset spatial range includes: If the position of the cart array is on the first side of the base, detecting whether the position of the cart array exceeds a first spatial range; wherein the first spatial range is a preset spatial range located on the first side of the base; If the position of the cart array is on the second side of the base, it is detected whether the position of the cart array exceeds a second spatial range; wherein the second spatial range is a preset spatial range located on the second side of the base.

6. The method according to claim 5, characterized in that The detecting whether the position of the cart array exceeds the first spatial range includes: Obtaining the spatial coordinates of each boundary marking point provided on the cart array in the base coordinate system; Determine the maximum x-coordinate, maximum y-coordinate and maximum z-coordinate of each boundary marker point in the spatial coordinates in the base coordinate system; If the maximum x-coordinate, the maximum y-coordinate, or the maximum z-coordinate exceeds the first spatial range, it is determined that the position of the cart array exceeds the first spatial range.

7. The method according to claim 5, characterized in that The detecting whether the position of the cart array exceeds the second spatial range includes: Obtaining the spatial coordinates of each boundary marking point provided on the cart array in the base coordinate system; Determine the maximum x-coordinate, the minimum y-coordinate and the maximum z-coordinate of each boundary marking point in the spatial coordinates in the base coordinate system; If the maximum x-coordinate, the minimum y-coordinate, or the maximum z-coordinate exceeds the second spatial range, it is determined that the position of the cart array exceeds the second spatial range.

8. The method according to claim 4, characterized in that After detecting whether the position of the cart array exceeds the preset space range, the method further includes: If the position of the cart array exceeds the preset spatial range, the x-axis excess distance, y-axis excess distance and z-axis excess distance of the cart array are detected and displayed; wherein the x-axis excess distance, y-axis excess distance and z-axis excess distance are the distances that the cart array exceeds the preset spatial range in the x-axis direction, the y-axis direction and the z-axis direction, respectively.

9. A position prompting device for a cart array, characterized in that: include: A detection module, used to detect whether the cart array and the optical navigation device are located on the same side of the base of the robotic arm; wherein the robotic arm and the cart array are both mounted on a surgical cart; The prompt module is used for prompting that the installation position of the cart array needs to be adjusted if the cart array and the optical navigation device are located on different sides of the base.

10. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for prompting the position of the cart array according to any one of claims 1 to 8 is implemented.

Images