Surgical instrument calibration method and system

Abstract

The invention relates to a surgical instrument verification method and system. The method comprises the following steps: acquiring first pose information of an optical tracking probe and second pose information of a surgical instrument through an optical navigation system under the condition that the tip of the optical tracking probe abuts against a verification point on the surface of the surgical instrument; according to the first pose information and the second pose information, verification information of the surgical instrument is determined; and determining a verification result according to the verification information. By adopting the method, whether the surgical instrument meets the target requirement or not can be effectively judged.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a surgical instrument calibration method and system. Background Art

[0002] As a core and key tool, surgical instruments are widely used in surgical auxiliary systems. Surgical instruments are complex, with diverse appearances and functions, and a full range of specifications. Accurately selecting the predetermined instruments in the surgical plan brings considerable challenges to surgical operators.

[0003] Traditional technology often prints information such as series, specifications, and models on the outer surface of surgical instruments for users to identify surgical instruments. However, due to the wide variety of surgical instruments and the difficulty in identification, this method often cannot completely avoid the occurrence of mishandling and misuse, which in turn brings risks to surgical operations and even endangers the patient's life. In addition, surgical instruments usually have certain precision characteristics. If the precision characteristics change unexpectedly before use, it is difficult to identify and eliminate them only through visual inspection by the user.

[0004] Therefore, traditional technology has the problem that it is difficult to judge whether the surgical instrument meets the target requirements. Summary of the invention

[0005] Based on this, it is necessary to provide a surgical instrument calibration method, system, device, computer equipment, computer-readable storage medium and computer program product that can effectively determine whether the surgical instrument meets the target requirements in response to the above technical problems.

[0006] In a first aspect, the present application provides a surgical instrument calibration method. The method comprises: when the tip of an optical tracking probe abuts against a calibration point on the surface of the surgical instrument, obtaining first posture information of the optical tracking probe and second posture information of the surgical instrument through an optical navigation system; determining calibration information of the surgical instrument according to the first posture information and the second posture information; and determining a calibration result according to the calibration information.

[0007] In the second aspect, the present application also provides a surgical instrument verification system. The system includes: an optical tracking probe, an optical navigation system, and a computing system; the optical navigation system is used to obtain the first posture information of the optical tracking probe and the second posture information of the surgical instrument when the tip of the optical tracking probe abuts against the verification point on the surface of the surgical instrument; the computing system is used to determine the verification information of the surgical instrument based on the first posture information and the second posture information; the computing system is used to determine the verification result based on the verification information.

[0008] In a third aspect, the present application also provides a surgical instrument verification device. The device includes: an acquisition module, which is used to obtain the first posture information of the optical tracking probe and the second posture information of the surgical instrument through the optical navigation system when the needle tip of the optical tracking probe abuts against the verification point on the surface of the surgical instrument; a determination module, which is used to determine the verification information of the surgical instrument according to the first posture information and the second posture information; and a verification module, which is used to determine the verification result according to the verification information.

[0009] In a fourth aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the above method are implemented.

[0010] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above method when executed by a processor.

[0011] In a sixth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0012] The above-mentioned surgical instrument calibration method, system, device, computer equipment, storage medium and computer program product obtains the first posture information of the optical tracking probe and the second posture information of the surgical instrument through the optical navigation system when the needle tip of the optical tracking probe abuts the calibration point on the surface of the surgical instrument; determines the calibration information of the surgical instrument based on the first posture information and the second posture information; and determines the calibration result based on the calibration information.

[0013] In the surgical navigation system based on optical navigation, the "instrument verification" workflow can be set up to calibrate and verify any selected surgical instrument. At the same time, relying on the high precision, good real-time performance, and flexible field of view of the optical navigation system, the "instrument verification" workflow can be implemented conveniently, efficiently, and accurately. By using sub-millimeter recognition accuracy, the selected instruments can be quickly identified and calibrated, which can effectively determine whether the surgical instruments meet the target requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A diagram of an application environment of a surgical instrument calibration method in an embodiment;

[0015] Figure 2 A schematic diagram of a flow chart of a surgical instrument calibration method in one embodiment;

[0016] Figure 3A schematic diagram of a flow chart of a method for determining verification information in an embodiment;

[0017] Figure 4 It is a flowchart of a method for determining verification information of a cylindrical surgical instrument in one embodiment;

[0018] Figure 5 It is a flowchart of a method for determining verification information of a rotary surgical instrument in one embodiment;

[0019] Figure 6 is a flow chart of a method for determining surgical instrument verification information in another embodiment;

[0020] Figure 7 is a flow chart of a method for determining surgical instrument verification information in yet another embodiment;

[0021] Figure 8 A schematic diagram of a flow chart of a method for determining a device calibration result in one embodiment;

[0022] Fig. 9 A schematic flow chart of a method for determining a device calibration result in another embodiment;

[0023] Fig.10 It is a flowchart of a method for determining preoperative calibration information in one embodiment;

[0024] Fig.11 is a schematic diagram of an optical navigation system including an optical tracking probe in one embodiment;

[0025] Fig.12 is a schematic diagram of a surgical instrument in one embodiment;

[0026] Fig.13 is a schematic diagram of a rotary surgical instrument in one embodiment;

[0027] Fig.14 A schematic diagram of the flow chart of different types of rotating body surgical instruments in one embodiment;

[0028] Fig.15 It is a schematic diagram of the process of rotating body surgical instruments of different specifications in one embodiment;

[0029] Fig.16 is a structural block diagram of a surgical instrument calibration device in one embodiment;

[0030] Fig.17 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] The present invention provides a method for calibrating surgical instruments, which can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. When the needle tip of the optical tracking probe abuts the verification point on the surface of the surgical instrument, the server 104 obtains the first posture information of the optical tracking probe and the second posture information of the surgical instrument through the optical navigation system; determines the verification information of the surgical instrument based on the first posture information and the second posture information; and determines the verification result based on the verification information. Among them, the terminal 102 can be but is not limited to various Internet of Things devices. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0033] In one embodiment, Figure 2 As shown, a surgical instrument calibration method is provided, which is applied to Figure 1 The server in the example is used to illustrate the following steps:

[0034] Step 202: When the tip of the optical tracking probe abuts against a verification point on the surface of the surgical instrument, the optical navigation system is used to obtain first posture information of the optical tracking probe and second posture information of the surgical instrument.

[0035] The optical tracking probe may be a probe mounted on an optical navigation system, such as Fig.11 As shown in the lower left, the optical tracking probe is in rigid contact with the surgical instrument.

[0036] The surgical instrument may be a mechanical item used in surgery, wherein the surgical instrument is provided with a tracer that can be captured by the optical navigation system.

[0037] The verification point may be a target point on a surgical instrument used to verify whether the surgical instrument meets surgical requirements.

[0038] Among them, the optical navigation system can be an optical navigation system (OTS) based on binocular vision, such as Fig.11 as shown above.

[0039] Among them, the first posture information can be the posture information of the optical tracking probe verified in the optical navigation system.

[0040] The second posture information may be posture information of the surgical instrument verified in the optical navigation system.

[0041] Specifically, in order to realize the function of instrument calibration for surgical instruments, "calibration points" can be reserved on the surgical instruments, wherein the calibration points can be features such as conical holes, round holes, and step surfaces. With the help of an optical tracking probe that is a contact point-taking tool dedicated to the optical navigation system, the two are rigidly connected. When the tip of the optical tracking probe contacts the calibration point, the optical navigation system can obtain the first position information of the tip of the optical tracking probe based on its optical navigation array, and obtain the second position information of the surgical instrument in the optical navigation system through the tracer on the surgical instrument that can be captured by the optical navigation system. Fig.11 As shown, a typical probe design includes an optical tracking array and a long needle for easy tapping.

[0042] Step 204: Determine intraoperative verification information of the surgical instrument based on the first posture information and the second posture information.

[0043] The intraoperative verification information may be the relative relationship between each feature information of the surgical instrument and the verification points in the optical navigation system during the verification process.

[0044] Specifically, when the optical navigation system is used as the coordinate system, since the optical tracking probe is rigidly connected to the optical navigation system, the first pose information of the optical tracking probe can be represented by the coordinate system of the optical navigation system. Similarly, the optical tracking probe is rigidly connected to the surgical instrument, so the second pose information of the surgical instrument can also be represented by the coordinate system of the optical navigation system. When the first pose information and the second pose information are both in the coordinate system of the optical navigation system, the verification position information of the verification point of the surgical instrument in the optical navigation system is calculated. Therefore, the relationship information between each feature information in the surgical instrument, such as the verification position information of the verification point, is obtained. Fig.12 The relationship between the verification points and the various parts shown can determine the intraoperative verification information of the surgical instrument.

[0045] Step 206: Determine the verification result according to the verification information.

[0046] Specifically, the surgical instrument will be calibrated before use to obtain preoperative calibration information to determine whether the surgical instrument meets the surgical standards. During the operation, the intraoperative verification information of the surgical instrument is compared with the preoperative calibration information of the surgical instrument. If the comparison result of the two is greater than a threshold, it indicates that the surgical instrument does not meet the requirements of the current operation, and the output is a verification result that does not meet the requirements of the current operation. If the comparison result of the two is less than a threshold, it indicates that the surgical instrument can be used in the current operation, and the output is a verification result that can be used in the current operation.

[0047] In the above-mentioned surgical instrument calibration method, when the needle tip of the optical tracking probe abuts against the calibration point on the surface of the surgical instrument, the first posture information of the optical tracking probe and the second posture information of the surgical instrument are obtained through the optical navigation system; the calibration information of the surgical instrument is determined based on the first posture information and the second posture information; and the calibration result is determined based on the calibration information.

[0048] In the surgical navigation system based on optical navigation, the "instrument verification" workflow can be set up to calibrate and verify any selected surgical instrument. At the same time, relying on the high precision, good real-time performance, and flexible field of view of the optical navigation system, the "instrument verification" workflow can be implemented conveniently, efficiently, and accurately. By using sub-millimeter recognition accuracy, the selected instruments can be quickly identified and calibrated, which can effectively determine whether the surgical instruments meet the target requirements.

[0049] In one embodiment, Figure 3 As shown, according to the first posture information and the second posture information, the intraoperative verification information of the surgical instrument is determined, including:

[0050] Step 302: Calculate the position information of the check point in the optical navigation system coordinate system according to the first pose information and the second pose information.

[0051] The optical navigation system coordinate system may use the optical navigation system's own coordinate system as a reference coordinate system for navigation.

[0052] The verification position information may be coordinate information of a verification point of the surgical instrument in the optical navigation system used for verification during the verification process.

[0053] Specifically, since there is a first transformation matrix relationship between the first pose information and the optical navigation system coordinate system, and similarly there is a second transformation matrix relationship between each feature information in the second pose information and the optical navigation system coordinate system; further, the surgical instrument, the optical tracking probe and the optical navigation system are rigidly connected, the verification position information of the verification point in the optical navigation system coordinate system is determined through the relationship of the first transformation matrix and the conversion relationship of the second transformation matrix.

[0054] Step 304: Determine intraoperative verification information of the surgical instrument according to the verification position information of the verification point in the optical navigation system coordinate system.

[0055] Specifically, the calibration method for the surgical instrument is determined according to different surgical instruments. When the calibration method of the surgical instrument is determined, the intraoperative calibration information of the surgical instrument is determined according to the correlation information between the calibration position information of the calibration point in the optical navigation system coordinate system and each characteristic information of the surgical instrument. For example, if the radius between the center of the surgical instrument and the calibration position information is R, then the intraoperative calibration information of the surgical instrument includes the radius information; if the distance between a certain point of the surgical instrument and the calibration position information is L, then the intraoperative calibration information of the surgical instrument includes the distance information.

[0056] In this embodiment, the verification position information of the verification point is determined by the posture information of the optical tracking probe and the posture information of the surgical instrument, and according to the verification method of the surgical instrument, the intraoperative verification information between the verification position information and the characteristic information of the surgical instrument is calculated, which can facilitate subsequent comparison with the preoperative calibration information of the surgical instrument and timely discover abnormalities of the surgical instrument.

[0057] In one embodiment, Figure 4 As shown, according to the verification position information of the verification point in the optical navigation system coordinate system, the intraoperative verification information of the surgical instrument is determined, including:

[0058] Step 402: Determine the distance between the check point and the centroid axis of the shaft section according to the position information of the check point in the optical navigation system coordinate system.

[0059] The axial cross section may be a cross section obtained by cutting perpendicularly to the axis when the surgical instrument is an axial column-shaped surgical instrument.

[0060] Specifically, for a round shaft or square shaft or other shaft-shaped surgical instrument, such as Fig.13 As shown, it is impossible to find a "check point" on the surgical instrument that is relatively stationary with the optical navigation system, or the instrument state of the rotating body surgical instrument is uncertain. When the operator calibrates the surgical instrument, there are multiple static positions of the round rod. At this time, multiple check points are set equidistantly on the same axial section of the cylindrical feature of the shaft, where the multiple can be 2, 3, or 4. When calibrating the surgical instrument during surgery, the operator only needs to use the optical tracking probe to select any of the check points to obtain the check point's check position information in the optical navigation system coordinate system, and calculate the distance between the check point and the centroid axis of the axial section based on the check position information.

[0061] Step 404, using the distance as intraoperative verification information of the surgical instrument.

[0062] Specifically, when calibrating a circular shaft, a square shaft or other cylindrical surgical instrument, the distance between the verification point and the centroid axis under the same section is obtained; therefore, the distance between the verification point and the centroid axis is used as intraoperative verification information and compared with the distance between the verification point and the centroid axis when calibrating the surgical instrument before the operation.

[0063] In this embodiment, by using the distance between the verification point and the centroid axis as verification information for the cylindrical surgical instrument, it is possible to clearly explain whether the instrument is incorrectly selected or has deformed, such as bending, based on the difference between the verification information and the calibration information.

[0064] In one embodiment, Figure 5 As shown, the surgical instrument is a rotating body surgical instrument, and after determining the distance between the check point and the centroid axis of the shaft section, the method further includes:

[0065] Step 502: Calculate the instrument fitting circle of the rotary surgical instrument according to the distance between each check point and the centroid axis of the shaft section.

[0066] The instrument fitting circle may be a circle of a cross section of a surgical instrument of a rotating body such as a cylinder or a round rod that is perpendicular to the centroid axis.

[0067] Specifically, for surgical instruments of rotating bodies such as cylinders or rods, Fig.13 As shown. Through the selected checkpoint, an axial section is made in a direction perpendicular to the centroid axis, wherein the axial section and the centroid axis of the surgical instrument form an intersection point, which is the center of the axial section; further, because of the principle that the distance from any point on a circle to the center is equal, the distance between the checkpoint and the centroid axis (center of the circle) of the axial section is calculated by checking the position information, and the centroid axis (center of the circle) is used to calculate the instrument fitting circle.

[0068] Step 504: Calculate the center and radius of the instrument fitting circle according to the position information of the instrument fitting circle in the optical navigation system coordinate system.

[0069] The center of the fitting circle may be the center of the instrument fitting circle.

[0070] The fitting circle radius may be the radius of the instrument fitting circle.

[0071] Specifically, through the position information of the instrument fitting circle in the optical navigation system coordinate system and the position information of each verification point, the center of the instrument fitting circle, that is, the verification center, can be calculated; when the positions of the instrument fitting circle and the center of the fitting circle can be determined, the radius of the instrument fitting circle is calculated as the fitting circle radius, that is, the verification radius.

[0072] Step 506: Based on the center of the fitting circle and the radius of the fitting circle, the radius of the fitting circle is used as verification information of the surgical instrument.

[0073] Specifically, the verification circle center and verification radius information are used as calibration values ​​of verification points of rotating surgical instruments such as cylinders or rods, that is, the fitting circle center and fitting circle radius are used as verification information of verification points of rotating surgical instruments such as cylinders or rods.

[0074] In this embodiment, by using the fitting circle center and fitting circle radius of the instrument fitting circle as verification information, the characteristics of rotating surgical instruments such as cylinders or rods can be checked to compare the differences between the verification information and the calibration information, thereby effectively discovering abnormalities of rotating surgical instruments such as cylinders or rods in a timely manner during the verification process of the surgical instruments.

[0075] In one embodiment, Figure 6 As shown, according to the position information of the verification point in the optical navigation system coordinate system, the verification information of the surgical instrument is determined, including:

[0076] Step 602: Determine the coordinate difference of the position information of at least two check points according to the position information of the check points in the optical navigation system coordinate system.

[0077] The coordinate difference may be the difference in position information of two different check points.

[0078] Specifically, when performing surgical instrument calibration during surgery, the operator uses an optical tracking probe to select any two calibration points, and uses the optical navigation system to measure and obtain the calibration position information of the two calibration points in the optical navigation system coordinate system. Since the calibration information is expressed in the form of coordinates, the difference between the corresponding coordinates of the two calibration points is calculated as the coordinate difference under the constraints of the optical navigation system coordinate system.

[0079] Step 604: Use the coordinate difference as verification information of the surgical instrument.

[0080] Specifically, the coordinate difference of the position information of the two verification points is checked. If the test result indicates that the coordinate difference is consistent with the actual situation, the coordinate difference is used as the verification information of the surgical instrument; if the verification result indicates that the coordinate difference is inconsistent with the actual situation, any two verification points are reselected to obtain the coordinate difference. When the surgical instrument is verified, the coordinate difference at the time of verification is compared with the coordinate difference at the time of calibration. If the difference between the two is less than the preset standard, it means that the surgical instrument meets the current use requirements, otherwise the surgical instrument does not meet the current use requirements.

[0081] In this embodiment, by using the coordinate difference of the position information of two verification points as the verification information of the surgical instrument, it is possible to promptly discover, based on the difference between the coordinate difference during inspection and the coordinate difference during calibration, that the wrong selection of the surgical instrument or unexpected deformation of the shape and size of the surgical instrument before use, so as to suggest the user to check and confirm or replace it.

[0082] In one embodiment, Figure 7 As shown, according to the position information of the verification point in the optical navigation system coordinate system, the verification information of the surgical instrument is determined, including:

[0083] Step 702: Determine a coordinate point set of position information of a plurality of check points according to the position information of the check points in the optical navigation system coordinate system.

[0084] The coordinate point set may be a collection of coordinate information of multiple different verification points.

[0085] Specifically, when performing surgical instrument calibration during surgery, the operator uses an optical tracking probe to select any number of calibration points, and uses the optical navigation system to measure and obtain the calibration position information of the multiple calibration points in the optical navigation system coordinate system. Since the calibration information is expressed in the form of coordinates, a coordinate point set of the position information of multiple calibration points is obtained. Since the coordinate point set is obtained by the coordinate information of multiple corresponding calibration points within the spatial range, the coordinate point information of each coordinate point in the coordinate point set can form a coplanar polygon or a non-coplanar polyhedron.

[0086] Step 704: Use the polygon or polyhedron as verification information of the surgical instrument.

[0087] The polygon or polyhedron may be a polygon or a polyhedron whose coordinate information of multiple verification points in the spatial range constitutes a coplanar polygon or a non-coplanar polyhedron.

[0088] Specifically, the polygon or polyhedron formed by the coordinate information of multiple verification points is checked. If the inspection result indicates that the number of verification points of the polygon or polyhedron meets the preset conditions and the position information of each verification point meets the preset conditions, that is, the verification through the number of verification points shows that the number of verification points is not missing and the position information of the verification points shows that the optical tracking probe hits each verification point, then the polygon or polyhedron is used as the verification information of the surgical instrument; if the inspection result indicates that the number of verification points of the polygon or polyhedron does not meet the preset conditions, or / and, the position information of each verification point does not meet the preset conditions, that is, the verification through the number of verification points shows that the number of verification points is missing, resulting in the inability to form the preset polygon or polyhedron and the inability to perform verification; or / and, the position information of the verification points shows that the optical tracking probe does not hit at least one verification point, resulting in the formed polygon or polyhedron does not meet the preset conditions, cannot reflect the actual instrument situation, and cannot be verified, then any multiple verification points are reselected to obtain the polygon or polyhedron. When the surgical instrument is calibrated, the polygon or polyhedron at the time of calibration is compared with the polygon or polyhedron at the time of calibration. If the difference between the two is less than the preset standard, it means that the surgical instrument meets the current use requirements, otherwise the surgical instrument does not meet the current use requirements.

[0089] In this embodiment, by using a polygon or polyhedron of coordinate information of multiple verification points as the verification information of the surgical instrument, and based on the difference between the polygon or polyhedron during verification and the polygon or polyhedron during calibration, a suitable verification method can be selected for different instrument types, thereby improving the verification accuracy of the surgical instrument and reducing the impact of abnormal conditions of the surgical instrument.

[0090] In one embodiment, Figure 8 As shown, according to the verification information, the verification result is determined, including:

[0091] Step 802, obtaining calibration information of the surgical instrument.

[0092] The calibration information may be information obtained by calibrating the surgical instrument before surgery.

[0093] Specifically, the preoperative calibration information of the surgical instrument that needs to be calibrated during the operation is retrieved from the server 104, wherein the method for obtaining the calibration information is similar to the method for obtaining the calibration information.

[0094] Step 804, determining the instrument verification result of the surgical instrument based on the calibration information and the verification information.

[0095] Specifically, the calibration information and the verification information are compared to obtain the difference between the two, and the verification result of the surgical instrument is determined according to the difference between the two. For example, for a rotating body surgical instrument such as a cylinder or a round rod, the calibration information indicates that the cross-sectional radius is L1, and the verification information indicates that the cross-sectional radius is L2. When the difference between L1 and L2 is less than a threshold, the verification result of the surgical instrument indicates that it meets the current surgical requirements. When the difference between L1 and L2 is greater than the threshold, the verification result of the surgical instrument indicates that the surgical instrument does not meet the current surgical requirements.

[0096] In this embodiment, by using the difference between the calibration information and the verification information to determine whether there is an abnormality in the surgical instrument, the optical navigation system can rely on its high precision, good real-time performance, flexible field of view and other characteristics to enable the instrument calibration workflow to be implemented conveniently, efficiently and accurately. By utilizing sub-millimeter recognition accuracy, the selected instrument can be quickly identified in type, calibrated in precision and other operations, which can significantly improve the efficiency of system use and enhance the system's availability and serviceability.

[0097] In one embodiment, Fig. 9 As shown, according to the calibration information and the verification information, the instrument verification result of the surgical instrument is determined, including:

[0098] Step 902, determining calibration information according to the instrument type or instrument specification of the surgical instrument; comparing the calibration information with the verification information to obtain calibration difference information.

[0099] The instrument type may be a parameter indicating the type of the surgical instrument.

[0100] The instrument specification may be a parameter indicating the specification of the surgical instrument.

[0101] Specifically, the instrument type of the surgical instrument is read, and a type calibration information library storing multiple preset type calibration information is traversed according to the instrument type, and type calibration information matching the instrument type is selected from the type calibration information library; further, the calibration information of the instrument type of the instrument is compared with the verification information of the instrument type of the instrument to obtain calibration difference information.

[0102] Similarly, the instrument specifications of the surgical instrument are read, and a specification calibration information library storing multiple preset specification calibration information is traversed according to the instrument specifications, and specification calibration information matching the instrument specifications is selected from the specification calibration information library; further, the calibration information of the instrument specifications of the instrument is compared with the verification information of the instrument specifications of the instrument to obtain calibration difference information.

[0103] Step 904: Determine the instrument calibration result of the surgical instrument based on the calibration difference information.

[0104] Specifically, when the surgical instrument's instrument type is used for calibration, if the calibration difference information between the two is less than the preset standard, it means that the surgical instrument's instrument type meets the current use requirements, otherwise the surgical instrument's instrument type does not meet the current use requirements; similarly, when the surgical instrument's instrument specifications are used for calibration, if the calibration difference information between the two is less than the preset standard, it means that the surgical instrument's instrument specifications meet the current use requirements, otherwise the surgical instrument's instrument specifications do not meet the current use requirements.

[0105] In an example, Fig.14 As shown, different instrument specifications and models belong to the same instrument type, where the radius of specification 1 is different from the radius of specification 2. The difference in the circle radii corresponding to different instrument specifications in the same series can be determined based on the calibration points, and can be distinguished and identified during instrument calibration.

[0106] In an example, Fig.15 As shown, the same instrument specifications and models belong to different instrument types, wherein the position information of the check points of instrument type (series) 1 and the check points of instrument type (series) 2 are different. The difference in position information corresponding to the same instrument specifications of different instrument types can be determined based on the position information of the check points, and can be distinguished and identified during instrument calibration.

[0107] In this embodiment, by using the instrument type and instrument specifications of the surgical instrument for verification, it can be ensured that the instrument type and instrument specifications used during the operation meet the requirements of the current operation, thereby improving the safety of the operation.

[0108] In one embodiment, Fig.10 As shown, before the surgical instrument leaves the factory or is used, the method further includes:

[0109] Step 1002: When the tip of the optical tracking probe abuts against a verification point on the surface of the surgical instrument, the third posture information of the optical tracking probe and the fourth posture information of the surgical instrument are acquired through the optical navigation system.

[0110] The third posture information may be posture information of the optical tracking probe calibrated in the optical navigation system.

[0111] The fourth posture information may be posture information of the surgical instrument calibrated in the optical navigation system.

[0112] Specifically, in order to realize the function of instrument calibration for surgical instruments, "calibration points" can be reserved on the surgical instruments, where the calibration points can be features such as conical holes, round holes, and step surfaces. With the help of an optical tracking probe that is a contact point-taking tool dedicated to the optical navigation system, the two are rigidly connected. When the tip of the optical tracking probe contacts the calibration point, the optical navigation system can obtain the third posture information of the tip of the optical tracking probe and the fourth posture information of the surgical instrument in the optical navigation system based on its optical navigation array.

[0113] Step 1004: Determine preoperative calibration information of the surgical instrument based on the third posture information and the fourth posture information.

[0114] The intraoperative calibration information may be the relative relationship between each feature information of the surgical instrument and the calibration points in the optical navigation system during the calibration process.

[0115] Specifically, when the optical navigation system is used as the coordinate system, since the optical tracking probe is rigidly connected to the optical navigation system, the third posture information of the optical tracking probe can be represented by the coordinate system of the optical navigation system. Similarly, the optical tracking probe is rigidly connected to the surgical instrument, so the fourth posture information of the surgical instrument can also be represented by the coordinate system of the optical navigation system. When the third posture information and the fourth posture information are both in the coordinate system of the optical navigation system, the calibration position information of the checkpoint of the surgical instrument in the optical navigation system is calculated. Therefore, the preoperative calibration information of the surgical instrument can be determined through the calibration position information of the checkpoint and the relationship information of each feature information in the surgical instrument.

[0116] In this embodiment, by calibrating any selected surgical instrument in a surgical navigation system based on optical navigation, the preoperative calibration information of the surgical instrument can be obtained. If a surgical verification is required later, the corresponding preoperative calibration information can be retrieved in time for comparison with the verification information, thereby improving the efficiency of verifying the surgical instrument.

[0117] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0118] Based on the same inventive concept, the embodiment of the present application also provides a surgical instrument calibration system for implementing the surgical instrument calibration method involved above. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more surgical instrument calibration system embodiments provided below can refer to the limitations of a surgical instrument calibration method above, and will not be repeated here.

[0119] In one embodiment, a surgical instrument calibration system is provided, comprising: an optical tracking probe, an optical navigation system, and a computing system;

[0120] An optical navigation system, for obtaining first posture information of the optical tracking probe and second posture information of the surgical instrument when the tip of the optical tracking probe abuts against a checkpoint on the surface of the surgical instrument;

[0121] A computing system, for determining verification information of the surgical instrument based on the first posture information and the second posture information;

[0122] The computing system is used to determine the verification result according to the verification information.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a surgical instrument calibration device for implementing the surgical instrument calibration method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more surgical instrument calibration device embodiments provided below can refer to the limitations of a surgical instrument calibration method above, and will not be repeated here.

[0124] In one embodiment, Fig.16 As shown, a surgical instrument calibration device is provided, comprising:

[0125] An acquisition module 1602, configured to acquire first posture information of the optical tracking probe and second posture information of the surgical instrument through an optical navigation system when the needle tip of the optical tracking probe abuts against a checkpoint on the surface of the surgical instrument;

[0126] A determination module 1604, configured to determine the calibration information of the surgical instrument according to the first posture information and the second posture information;

[0127] The verification module 1606 is used to determine the verification result according to the verification information.

[0128] In one embodiment, the determination module 1604 is also used to calculate the position information of the verification point in the optical navigation system coordinate system based on the first posture information and the second posture information; and determine the verification information of the surgical instrument based on the position information of the verification point in the optical navigation system coordinate system.

[0129] In one embodiment, the determination module 1604 is further used to determine the distance between the checkpoint and the centroid axis of the shaft section according to the position information of the checkpoint in the optical navigation system coordinate system; and use the distance as the verification information of the surgical instrument.

[0130] In one embodiment, the determination module 1604 is also used to calculate the instrument fitting circle of the rotating surgical instrument based on the distance between each verification point and the centroid axis of the shaft section; calculate the fitting circle center and fitting circle radius of the instrument fitting circle based on the position information of the instrument fitting circle in the optical navigation system coordinate system; and use the fitting circle radius as the verification information of the surgical instrument based on the fitting circle center and the fitting circle radius.

[0131] In one embodiment, the determination module 1604 is further used to determine the coordinate difference of the position information of at least two verification points according to the position information of the verification points in the optical navigation system coordinate system; and use the coordinate difference as the verification information of the surgical instrument.

[0132] In one embodiment, the determination module 1604 is also used to determine a coordinate point set of the position information of multiple verification points based on the position information of the verification points in the optical navigation system coordinate system; the coordinate point set can be constructed into a polygon or a polyhedron; and the polygon or polyhedron is used as the verification information of the surgical instrument.

[0133] In one embodiment, the verification module 1606 is further used to obtain calibration information of the surgical instrument; and determine the instrument verification result of the surgical instrument according to the calibration information and the verification information.

[0134] In one embodiment, the verification module 1606 is further used to determine calibration information according to the instrument type or instrument specification of the surgical instrument; compare the calibration information with the verification information to obtain calibration difference information; and determine the instrument verification result of the surgical instrument according to the calibration difference information.

[0135] In one embodiment, the verification module 1606 is also used to obtain the third posture information of the optical tracking probe and the fourth posture information of the surgical instrument through the optical navigation system when the needle tip of the optical tracking probe abuts the verification point on the surface of the surgical instrument; and determine the preoperative calibration information of the surgical instrument based on the third posture information and the fourth posture information.

[0136] Each module in the above-mentioned surgical instrument calibration system and surgical instrument calibration device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0137] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.17 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store server data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a surgical instrument calibration method is implemented.

[0138] Those skilled in the art will understand that Fig.17 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0139] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0140] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0141] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned method embodiments.

[0142] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0143] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present 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, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0144] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, 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.

[0145] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A surgical instrument calibration method, characterized in that: The method comprises: When the tip of the optical tracking probe abuts against a checkpoint on the surface of the surgical instrument, acquiring first posture information of the optical tracking probe and second posture information of the surgical instrument through the optical navigation system; Determining verification information of the surgical instrument according to the first posture information and the second posture information; A verification result is determined according to the verification information.

2. The method according to claim 1, characterized in that The step of determining the verification information of the surgical instrument according to the first posture information and the second posture information includes: Calculating the position information of the check point in the optical navigation system coordinate system according to the first pose information and the second pose information; The calibration information of the surgical instrument is determined according to the position information of the calibration point in the optical navigation system coordinate system.

3. The method according to claim 2, characterized in that At least two of the verification points are equidistantly arranged on the same axial cross section of the surgical instrument; and the verification information of the surgical instrument is determined according to the position information of the verification points in the optical navigation system coordinate system, including: Determining the distance between the check point and the centroid axis of the shaft section according to the position information of the check point in the optical navigation system coordinate system; The distance is used as verification information of the surgical instrument.

4. The method according to claim 3, characterized in that The surgical instrument is a rotating body surgical instrument, and after determining the distance between the check point and the centroid axis of the shaft section, the method further includes: Calculating the instrument fitting circle of the rotary surgical instrument according to the distance between each of the check points and the centroid axis of the shaft section; Calculating the center and radius of the instrument fitting circle according to the position information of the instrument fitting circle in the optical navigation system coordinate system; According to the center of the fitting circle and the radius of the fitting circle, the radius of the fitting circle is used as verification information of the surgical instrument.

5. The method according to claim 2, characterized in that: At least two of the verification points are set on the surgical instrument; and the verification information of the surgical instrument is determined according to the position information of the verification points in the optical navigation system coordinate system, including: Determining a coordinate difference of the position information of the at least two check points according to the position information of the check points in the optical navigation system coordinate system; The coordinate difference is used as verification information of the surgical instrument.

6. The method according to claim 2, characterized in that The surgical instrument is provided with a plurality of the verification points; and the verification information of the surgical instrument is determined according to the position information of the verification points in the optical navigation system coordinate system, including: Determine a coordinate point set of the position information of a plurality of the check points according to the position information of the check points in the optical navigation system coordinate system; the coordinate point set can be constructed into a polygon or a polyhedron; The polygon or polyhedron is used as verification information of the surgical instrument.

7. The method according to claim 1, characterized in that Determining a verification result according to the verification information includes: Acquiring calibration information of the surgical instrument; An instrument verification result of the surgical instrument is determined based on the calibration information and the verification information.

8. The method according to claim 7, characterized in that Determining the instrument verification result of the surgical instrument according to the calibration information and the verification information includes: Determining the calibration information according to the instrument type or instrument specification of the surgical instrument; comparing the calibration information with the verification information to obtain calibration difference information; An instrument calibration result of the surgical instrument is determined based on the calibration difference information.

9. The method according to claim 7, characterized in that: Before the surgical instrument leaves the factory or is used, the method further comprises: When the needle tip of the optical tracking probe abuts against the verification point on the surface of the surgical instrument, acquiring third position information of the optical tracking probe and fourth position information of the surgical instrument through the optical navigation system; Preoperative calibration information of the surgical instrument is determined according to the third posture information and the fourth posture information.

10. A surgical instrument calibration system, characterized in that: The system comprises: an optical tracking probe, an optical navigation system and a computing system; The optical navigation system is used to obtain the first posture information of the optical tracking probe and the second posture information of the surgical instrument when the needle tip of the optical tracking probe abuts against the verification point on the surface of the surgical instrument; The computing system is used to determine the verification information of the surgical instrument according to the first posture information and the second posture information; The computing system is used to determine a verification result according to the verification information.

Images