Surgical instrument verification method and system

Abstract

The application 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 by an optical navigation system in the case that a needle tip of the optical tracking probe abuts against a verification point on a surface of the surgical instrument; determining verification information of the surgical instrument according to the first pose information and the second pose information; and determining a verification result according to the verification information. The method can effectively determine whether the surgical instrument meets target requirements.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method and system for calibrating surgical instruments. Background Technology

[0002] Surgical instruments, as core and critical tools, are widely used in surgical support systems. The sheer variety of surgical instruments—their complexities, diverse appearances and functions, and numerous specifications—makes accurate selection of the instruments planned for the surgical procedure a significant challenge for surgeons.

[0003] Traditional techniques often involve silkscreening surgical instruments with information such as series, specifications, and model number to help users identify them. However, due to the wide variety of surgical instruments and the difficulty in identification, this method often cannot completely prevent accidental handling or misuse, which can lead to risks during surgery and, in severe cases, endanger the patient's life. Furthermore, surgical instruments typically possess certain precision characteristics, and if these characteristics change unexpectedly before use, it is difficult to identify and rule them out by visual inspection alone.

[0004] Therefore, traditional techniques have the problem of making it difficult to determine whether surgical instruments meet the target requirements. Summary of the Invention

[0005] Therefore, 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 surgical instruments meet the target requirements, in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a method for calibrating surgical instruments. The method includes: with the tip of an optical tracking probe abutting a calibration point on the surface of the surgical instrument, acquiring first pose information of the optical tracking probe and second pose information of the surgical instrument via an optical navigation system; determining calibration information of the surgical instrument based on the first pose information and the second pose information; and determining a calibration result based on the calibration information.

[0007] Secondly, this application also provides a surgical instrument calibration system. The system includes: an optical tracking probe, an optical navigation system, and a computing system; the optical navigation system is used to acquire first pose information of the optical tracking probe and second pose information of the surgical instrument when the tip of the optical tracking probe abuts against a calibration point on the surface of the surgical instrument; the computing system is used to determine calibration information of the surgical instrument based on the first pose information and the second pose information; the computing system is used to determine a calibration result based on the calibration information.

[0008] Thirdly, this application also provides a surgical instrument calibration device. The device includes: an acquisition module, configured to acquire, via an optical navigation system, first pose information of the optical tracking probe and second pose information of the surgical instrument when the tip of the optical tracking probe abuts against a calibration point on the surface of the surgical instrument; a determination module, configured to determine calibration information of the surgical instrument based on the first pose information and the second pose information; and a calibration module, configured to determine a calibration result based on the calibration information.

[0009] Fourthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program that, when executed by the processor, implements the steps of the method described above.

[0010] Fifthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0011] Sixthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described method.

[0012] The aforementioned surgical instrument calibration method, system, device, computer equipment, storage medium, and computer program product acquire first-position information of the optical tracking probe and second-position information of the surgical instrument through an optical navigation system when the tip of the optical tracking probe abuts against a calibration point on the surface of the surgical instrument; determine calibration information of the surgical instrument based on the first-position information and the second-position information; and determine the calibration result based on the calibration information.

[0013] By setting up an "instrument calibration" workflow in an optical navigation-based surgical navigation system, any selected surgical instrument can be calibrated and verified. At the same time, relying on the high precision, real-time performance, and flexible field of view of the optical navigation system, the "instrument calibration" workflow can be implemented conveniently, efficiently, and accurately. With sub-millimeter-level recognition accuracy, the selected instruments can be quickly identified and their precision calibrated, effectively determining whether the surgical instruments meet the target requirements. Attached Figure Description

[0014] Figure 1 This is a diagram illustrating the application environment of a surgical instrument calibration method in one embodiment.

[0015] Figure 2 This is a flowchart illustrating a surgical instrument verification method in one embodiment;

[0016] Figure 3This is a flowchart illustrating a method for determining verification information in one embodiment;

[0017] Figure 4 This is a flowchart illustrating a method for determining calibration information of an axial-cylindrical surgical instrument in one embodiment.

[0018] Figure 5 This is a flowchart illustrating a method for determining calibration information of a rotary surgical instrument in one embodiment.

[0019] Figure 6 This is a flowchart illustrating the method for determining surgical instrument calibration information in another embodiment;

[0020] Figure 7 This is a flowchart illustrating the method for determining surgical instrument calibration information in yet another embodiment;

[0021] Figure 8 This is a flowchart illustrating a method for determining instrument calibration results in one embodiment;

[0022] Figure 9 This is a flowchart illustrating the method for determining instrument calibration results in another embodiment;

[0023] Figure 10 This is a flowchart illustrating a method for determining preoperative calibration information in one embodiment;

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

[0025] Figure 12 This is a schematic diagram of a surgical instrument in one embodiment;

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

[0027] Figure 14 This is a flowchart illustrating different types of rotary surgical instruments in one embodiment;

[0028] Figure 15 This is a flowchart illustrating different specifications of rotary surgical instruments in one embodiment;

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

[0030] Figure 17 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0032] The surgical instrument calibration method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed in the cloud or on other network servers. When the tip of the optical tracking probe abuts against a calibration point on the surface of the surgical instrument, server 104 acquires the first pose information of the optical tracking probe and the second pose information of the surgical instrument through an optical navigation system; based on the first and second pose information, it determines the calibration information of the surgical instrument; and based on the calibration information, it determines the calibration result. Terminal 102 can be, but is not limited to, various IoT devices. Server 104 can be implemented using a standalone server or a server cluster composed of multiple servers.

[0033] In one embodiment, such as Figure 2 As shown, a method for calibrating surgical instruments is provided, which is applied to... Figure 1 Taking the server in the example, the following steps are included:

[0034] Step 202: With the tip of the optical tracking probe abutting the calibration point on the surface of the surgical instrument, the first pose information of the optical tracking probe and the second pose information of the surgical instrument are obtained through the optical navigation system.

[0035] Among them, the optical tracking probe can be a probe installed on an optical navigation system, such as... Figure 11 As shown in the lower left, the optical tracking probe makes rigid contact with the surgical instrument.

[0036] Surgical instruments can be mechanical items used in surgery, and the surgical instruments are equipped with tracers that can be captured by an optical navigation system.

[0037] Among them, the verification point can be a target point on the surgical instrument used to verify whether the surgical instrument meets the surgical requirements.

[0038] Among them, the optical navigation system can be a binocular vision-based optical navigation system (OTS), such as... Figure 11 As shown above.

[0039] The first pose information can be the pose information of the optical tracking probe verified in the optical navigation system.

[0040] The second pose information can be the pose information of the surgical instruments verified in the optical navigation system.

[0041] Specifically, to perform instrument calibration on surgical instruments, "calibration points" can be pre-defined on the instruments. These calibration points can be features such as tapered holes, circular holes, or stepped surfaces. An optical tracking probe, a contact-type sampling tool specifically designed for optical navigation systems, is rigidly connected to the instrument. When the tip of the optical tracking probe contacts the calibration point, the optical navigation system obtains the first pose information of the probe tip based on its optical navigation array, and acquires the second pose information of the surgical instrument within the optical navigation system through a tracer on the surgical instrument that can be captured by the optical navigation system. For example... Figure 11 As shown, a typical probe design includes an optical tracking array and long needles for easy selection.

[0042] Step 204: Determine the intraoperative calibration information of the surgical instruments based on the first pose information and the second pose information.

[0043] Among them, the intraoperative verification information can be the relative relationship between the various feature information of the surgical instruments and the verification points in the optical navigation system during the verification process.

[0044] Specifically, when using the optical navigation system 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 using the coordinate system of the optical navigation system. Similarly, since the optical tracking probe is rigidly connected to the surgical instrument, the second pose information of the surgical instrument can also be represented using the coordinate system of the optical navigation system. With both the first and second pose information using the coordinate system of the optical navigation system, the calibration position information of the calibration point of the surgical instrument in the optical navigation system is calculated. Therefore, through the calibration position information of the calibration point, the interrelationship information of various feature information in the surgical instrument, such as... Figure 12 By showing the relationship between the verification points and each part, the intraoperative verification information of the surgical instruments can be determined.

[0045] Step 206: Determine the verification result based on the verification information.

[0046] Specifically, surgical instruments are calibrated before use to obtain preoperative calibration information, which determines whether the instruments meet the surgical standards. During the surgery, the intraoperative calibration information of the surgical instruments is compared with their preoperative calibration information. If the comparison result is greater than a threshold, it indicates that the surgical instruments do not meet the requirements of the current surgery, and a calibration result indicating non-compliance is output. If the comparison result is less than the threshold, it indicates that the surgical instruments can be used in the current surgery, and a calibration result indicating suitability for use in the current surgery is output.

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

[0048] By setting up an "instrument calibration" workflow in an optical navigation-based surgical navigation system, any selected surgical instrument can be calibrated and verified. At the same time, relying on the high precision, real-time performance, and flexible field of view of the optical navigation system, the "instrument calibration" workflow can be implemented conveniently, efficiently, and accurately. With sub-millimeter-level recognition accuracy, the selected instruments can be quickly identified and their precision calibrated, effectively determining whether the surgical instruments meet the target requirements.

[0049] In one embodiment, such as Figure 3 As shown, based on the first and second pose information, the intraoperative calibration information of the surgical instruments is determined, including:

[0050] Step 302: Calculate the position information of the verification point in the coordinate system of the optical navigation system based on the first pose information and the second pose information.

[0051] The coordinate system of the optical navigation system can be the same as the coordinate system itself, used as a reference coordinate system for navigation.

[0052] Among them, the verification location information can be the coordinate information of the 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; furthermore, since the surgical instruments, optical tracking probes and optical navigation system are rigidly connected, the verification position information of the verification point in the optical navigation system coordinate system is determined by the relationship of the first transformation matrix and the transformation relationship of the second transformation matrix.

[0054] Step 304: Determine the intraoperative calibration information of the surgical instruments based on the calibration position information of the calibration point in the coordinate system of the optical navigation system.

[0055] Specifically, the calibration method for each surgical instrument is determined based on its specific characteristics. Once the calibration method is determined, the intraoperative calibration information for the surgical instrument is determined by the relationship between the calibration point's position information in the optical navigation system coordinate system and various feature 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 includes the radius; if the distance between a point on the surgical instrument and the calibration position information is L, then the intraoperative calibration information includes the distance.

[0056] In this embodiment, the calibration position information of the calibration point is determined by the pose information of the optical tracking probe and the pose information of the surgical instrument. Based on the calibration method of the surgical instrument, the intraoperative calibration information between the calibration position information and the feature information of the surgical instrument is calculated. This facilitates subsequent comparison with the preoperative calibration information of the surgical instrument and timely detection of abnormalities in the surgical instrument.

[0057] In one embodiment, such as Figure 4 As shown, based on the calibration position information of the calibration point in the coordinate system of the optical navigation system, the intraoperative calibration information of the surgical instruments is determined, including:

[0058] Step 402: Determine the distance between the verification point and the centroidal axis of the axial section based on the position information of the verification point in the coordinate system of the optical navigation system.

[0059] The axial section can be the section obtained by cutting perpendicular to the axis when the surgical instrument is a cylindrical surgical instrument.

[0060] Specifically, for round or square shafts or other axially shaped surgical instruments, such as Figure 13 As shown, if a stationary "calibration point" relative to the optical navigation system cannot be found on the surgical instrument, or if the instrument state of the rotating surgical instrument is uncertain, the stationary position of the cylindrical rod can vary when the operator performs instrument calibration. In this case, multiple calibration points can be equidistantly set on the same axial section of the cylindrical feature; the number of calibration points can be 2, 3, or 4. During surgical instrument calibration, the operator only needs to use an optical tracking probe to select any one of the calibration points to obtain the calibration position information of the calibration point in the coordinate system of the optical navigation system. Based on the calibration position information, the distance between the calibration point and the centroidal axis of the axial section can be calculated.

[0061] Step 404: Use the distance as intraoperative calibration information for surgical instruments.

[0062] Specifically, when calibrating a circular shaft, square shaft, or other axial-cylindrical surgical instrument, the distance between the calibration point and the centroidal axis is obtained under the same cross section. Therefore, the distance between the calibration point and the centroidal axis is used as intraoperative calibration information and compared with the distance between the calibration point and the centroidal axis obtained from the preoperative calibration of the surgical instrument.

[0063] In this embodiment, by using the distance between the calibration point and the centroidal axis as calibration information for the axial cylindrical surgical instrument, it is possible to clearly indicate whether the instrument was selected incorrectly or has been bent or deformed, based on the difference between the calibration information and the standardization information.

[0064] In one embodiment, such as Figure 5 As shown, the surgical instrument is a rotating type. After determining the distance between the calibration point and the centroidal axis of the axial section, the following steps are also included:

[0065] Step 502: Calculate the instrument fitting circle of the rotating surgical instrument based on the distance between each verification point and the centroidal axis of the axial section.

[0066] The instrument fitting circle can be a circle of a cross-section perpendicular to the centroidal axis of a rotating surgical instrument such as a cylinder or rod.

[0067] Specifically, for rotating surgical instruments such as cylinders or rods, Figure 13 As shown. Using the selected verification point, an axial section is constructed in a direction perpendicular to the centroidal axis. This axial section intersects the centroidal axis of the surgical instrument at a point that is the center of the axial section. Furthermore, based on the principle that any point on a circle is equidistant from the center, the distance between the verification point and the centroidal axis (center) of the axial section is calculated using the verification position information. The centroidal axis (center) is then used to calculate the fitted circle of the instrument.

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

[0069] The center of the fitted circle can be the center of the instrument fitted circle.

[0070] The radius of the fitted circle can be the radius of the instrument's fitted circle.

[0071] Specifically, by combining the position information of the instrument fitting circle in the coordinate system of the optical navigation system with the position information of each verification point, the center of the instrument fitting circle, i.e. the verification center, can be calculated. When the positions of the instrument fitting circle and its center can be determined, the radius of the instrument fitting circle is calculated as the fitting circle radius, i.e. the verification radius.

[0072] Step 506: Based on the center and radius of the fitted circle, use the radius of the fitted circle as the verification information for the surgical instruments.

[0073] Specifically, the center and radius of the calibration circle are used as the calibration values ​​of the calibration points for rotating surgical instruments such as cylinders or rods. In other words, the center and radius of the fitted circle are used as the calibration information for the calibration points of rotating surgical instruments such as cylinders or rods.

[0074] In this embodiment, by using the center and radius of the fitting circle of the instrument fitting circle as verification information, the difference between the characteristic comparison verification information and the calibration information of rotary surgical instruments such as cylinders or rods can be detected, effectively identifying abnormalities of rotary surgical instruments such as cylinders or rods in a timely manner during the calibration process.

[0075] In one embodiment, such as Figure 6 As shown, based on the position information of the calibration point in the coordinate system of the optical navigation system, the calibration information of the surgical instruments is determined, including:

[0076] Step 602: Determine the coordinate difference between the position information of at least two verification points based on the position information of the verification points in the coordinate system of the optical navigation system.

[0077] The coordinate difference can be the difference in the positional information of two different verification points.

[0078] Specifically, during surgical instrument calibration, the operator uses an optical tracking probe to select any two calibration points and uses an optical navigation system to measure the calibration position information of the two calibration points in the optical navigation system coordinate system. Since the calibration information is expressed in coordinate form, 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 the verification information for the surgical instruments.

[0080] Specifically, the coordinate difference between the position information of two verification points is checked. If the verification result indicates that the coordinate difference conforms to 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 does not conform to the actual situation, any two verification points are reselected to obtain the coordinate difference. When calibrating the surgical instrument, the coordinate difference during calibration is compared with the coordinate difference during standardization. If the difference between the two is less than the preset standard, it indicates that the surgical instrument meets the current usage requirements; otherwise, the surgical instrument does not meet the current usage requirements.

[0081] In this embodiment, by using the coordinate difference between the position information of two verification points as the verification information of the surgical instrument, the difference between the coordinate difference during inspection and the coordinate difference during calibration can be used to promptly detect incorrect selection of surgical instruments or unexpected deformation of the shape and size of surgical instruments before use, so as to suggest that the user should check and confirm or replace them.

[0082] In one embodiment, such as Figure 7 As shown, based on the position information of the calibration point in the coordinate system of the optical navigation system, the calibration information of the surgical instruments is determined, including:

[0083] Step 702: Determine the coordinate point set of multiple verification points based on the position information of the verification points in the coordinate system of the optical navigation system.

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

[0085] Specifically, during intraoperative instrument calibration, the operator uses an optical tracking probe to select any number of calibration points and uses an optical navigation system to measure the calibration position information of these points in the optical navigation system's coordinate system. Since the calibration information is expressed in coordinate form, a set of coordinate points for the positions of multiple calibration points is obtained. Because this set of coordinate points is obtained from the coordinate information of multiple calibration points corresponding to each other within a spatial range, the coordinate points in the set can form either coplanar polygons or non-coplanar polyhedra.

[0086] Step 704: Use polygons or polyhedra as verification information for surgical instruments.

[0087] Among them, polygons or polyhedra can be coplanar polygons or non-coplanar polyhedra formed by the coordinate information of multiple verification points within a spatial range.

[0088] Specifically, the polygon or polyhedron formed by the coordinate information of multiple verification points is inspected. 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 of 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 touches 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 of 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 touch at least one verification point, resulting in the polygon or polyhedron formed not meeting the preset conditions, unable to reflect the actual instrument situation, and unable to perform verification, then any number of verification points are reselected to obtain the polygon or polyhedron. When calibrating surgical instruments, the polygons or polyhedra used during calibration are compared with those used during standardization. If the difference between the two is less than the preset standard, it means that the surgical instruments meet the current usage requirements; otherwise, the surgical instruments do not meet the current usage requirements.

[0089] In this embodiment, a polygon or polyhedron with coordinate information of multiple verification points is used as the verification information of the surgical instrument. Based on the difference between the polygon or polyhedron during inspection and the polygon or polyhedron during calibration, an appropriate 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, such as Figure 8 As shown, based on the verification information, the verification result is determined, including:

[0091] Step 802: Obtain the calibration information of the surgical instruments.

[0092] The calibration information can be obtained by calibrating surgical instruments before surgery.

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

[0094] Step 804: Determine the instrument calibration results of the surgical instruments based on the calibration information and verification information.

[0095] Specifically, the calibration information and verification information are compared to determine their differences. Based on these differences, the verification result of the surgical instrument is determined. For example, for rotating surgical instruments such as cylinders or rods, the calibration information indicates a cross-sectional radius of L1, while the verification information indicates a cross-sectional radius of L2. If 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. If the difference between L1 and L2 is greater than the threshold, the verification result of the surgical instrument indicates that it does not meet the current surgical requirements.

[0096] In this embodiment, the difference between calibration information and verification information is used to determine whether there is an abnormality in the surgical instrument. The high precision, real-time performance and flexible field of view of the optical navigation system enable the instrument calibration workflow to be implemented conveniently, efficiently and accurately. With sub-millimeter level recognition accuracy, the selected instruments can be quickly identified and their precision calibrated, which can significantly improve the system's efficiency and enhance its availability and serviceability.

[0097] In one embodiment, such as Figure 9 As shown, based on the calibration and verification information, the instrument verification results of the surgical instruments are determined, including:

[0098] Step 902: Determine calibration information based on the instrument type or specifications of the surgical instrument; compare the calibration information with the verification information to obtain calibration difference information.

[0099] Among them, instrument type can be a parameter that indicates the type of surgical instrument.

[0100] Among them, instrument specifications can be parameters that indicate the specifications of surgical instruments.

[0101] Specifically, the instrument type of the surgical instrument is read, and a type calibration information database containing multiple preset type calibration information is traversed according to the instrument type. The type calibration information that matches the instrument type is selected from the type calibration information database. Furthermore, the calibration information of the instrument type is compared with the verification information of the instrument type to obtain calibration difference information.

[0102] Similarly, the instrument specifications of the surgical instruments are read, and a specification calibration information database containing multiple preset specification calibration information is traversed according to the instrument specifications. The specification calibration information that matches the instrument specifications is selected from the specification calibration information database. Furthermore, the calibration information of the instrument specifications is compared with the verification information of the instrument specifications to obtain calibration difference information.

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

[0104] Specifically, when calibrating using the instrument type of surgical instruments, if the calibration difference between the two is less than the preset standard, it indicates that the instrument type of surgical instruments meets the current usage requirements; otherwise, the instrument type of surgical instruments does not meet the current usage requirements. Similarly, when calibrating using the instrument specifications of surgical instruments, if the calibration difference between the two is less than the preset standard, it indicates that the instrument specifications of surgical instruments meet the current usage requirements; otherwise, the instrument specifications of surgical instruments do not meet the current usage requirements.

[0105] In one example, such as Figure 14 As shown, different instrument specifications and models belong to the same instrument type. Among them, the radius of specification 1 and specification 2 are different. The difference in the circle radius corresponding to different instrument specifications in the same series can be determined according to the calibration point, and can be distinguished and identified during instrument calibration.

[0106] In one example, such as Figure 15 As shown, the same instrument specifications and models belong to different instrument types. Among them, the location information of the verification point of instrument type (series) 1 and instrument type (series) 2 is different. The difference in the location information of the same instrument specifications of different instrument types can be determined based on the location information of the verification point, so as to distinguish and identify them during instrument verification.

[0107] In this embodiment, by verifying the type and specifications of surgical instruments, it is possible to ensure that the type and specifications of the instruments used during the operation meet the requirements of the current operation, thereby improving the safety of the operation.

[0108] In one embodiment, such as Figure 10 As shown, the method also includes the following steps before the surgical instruments leave the factory or are used:

[0109] Step 1002: With the tip of the optical tracking probe abutting a calibration point on the surface of the surgical instrument, the third pose information of the optical tracking probe and the fourth pose information of the surgical instrument are obtained through the optical navigation system.

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

[0111] The fourth pose information can be the pose information of the surgical instruments calibrated in the optical navigation system.

[0112] Specifically, to perform instrument calibration on surgical instruments, "calibration points" can be pre-defined on the instruments. These calibration points can be features such as tapered holes, round holes, or stepped surfaces. An optical tracking probe, a contact-type sampling tool specifically designed for optical navigation systems, is rigidly connected to the instrument. When the tip of the optical tracking probe contacts the calibration point, the optical navigation system can obtain the third pose information of the probe tip, and the fourth pose information of the surgical instrument within the optical navigation system, based on its optical navigation array.

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

[0114] Among them, intraoperative calibration information can be the relative relationship between the various feature information of surgical instruments and the calibration points in the optical navigation system during the calibration process.

[0115] Specifically, when using the optical navigation system as the coordinate system, since the optical tracking probe is rigidly connected to the optical navigation system, the third pose information of the optical tracking probe can be represented using the coordinate system of the optical navigation system. Similarly, since the optical tracking probe is rigidly connected to the surgical instrument, the fourth pose information of the surgical instrument can also be represented using the coordinate system of the optical navigation system. With both the third and fourth pose information using the coordinate system of the optical navigation system, the calibration position information of the calibration points of the surgical instrument in the optical navigation system is calculated. Therefore, by using the calibration position information of the calibration points and the interrelationship information of various feature information of the surgical instrument, the preoperative calibration information of the surgical instrument can be determined.

[0116] In this embodiment, by performing calibration operations on any selected surgical instrument in the optical navigation-based surgical navigation system, the preoperative calibration information of the surgical instrument can be obtained. In the event that subsequent surgical verification is required, the corresponding preoperative calibration information and verification information can be retrieved in a timely manner for comparison, thereby improving the efficiency of surgical instrument verification.

[0117] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0118] Based on the same inventive concept, this application also provides a surgical instrument calibration system for implementing the surgical instrument calibration method described above. The solution provided by this system is similar to the implementation scheme described in the above method; therefore, the specific limitations of the one or more surgical instrument calibration system embodiments provided below can be found in the limitations of the surgical instrument calibration method described 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 is used to acquire the first pose information of the optical tracking probe and the second pose information of the surgical instrument when the tip of the optical tracking probe is in contact with a calibration point on the surface of the surgical instrument.

[0121] The calculation system is used to determine the calibration information of the surgical instruments based on the first pose information and the second pose information;

[0122] The calculation system is used to determine the verification result based on the verification information.

[0123] Based on the same inventive concept, this application also provides a surgical instrument calibration device for implementing the surgical instrument calibration method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of the one or more surgical instrument calibration device embodiments provided below can be found in the limitations of the surgical instrument calibration method described above, and will not be repeated here.

[0124] In one embodiment, such as Figure 16 As shown, a surgical instrument calibration device is provided, comprising:

[0125] The acquisition module 1602 is used to acquire the first pose information of the optical tracking probe and the second pose information of the surgical instrument through the optical navigation system when the tip of the optical tracking probe abuts against the calibration point on the surface of the surgical instrument.

[0126] The determination module 1604 is used to determine the verification information of the surgical instruments based on the first pose information and the second pose information.

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

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

[0129] In one embodiment, the determining module 1604 is further configured to determine the distance between the verification point and the centroidal axis of the axial section based on the position information of the verification point in the coordinate system of the optical navigation system; and use the distance as the verification information of the surgical instrument.

[0130] In one embodiment, the determining module 1604 is further configured to calculate the instrument fitting circle of a rotary surgical instrument based on the distance between each verification point and the centroidal axis of the axial section; calculate the fitting circle center and fitting circle radius based on the position information of the instrument fitting circle in the coordinate system of the optical navigation system; and use the fitting circle radius as the verification information of the surgical instrument based on the fitting circle center and fitting circle radius.

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

[0132] In one embodiment, the determining module 1604 is further configured to determine a set of coordinate points for the position information of multiple verification points based on the position information of the verification points in the coordinate system of the optical navigation system; the set of coordinate points can be constructed into a polygon or 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 configured to acquire calibration information of surgical instruments; and determine the instrument verification result of surgical instruments based on the calibration information and verification information.

[0134] In one embodiment, the verification module 1606 is further configured to determine calibration information based on 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 based on the calibration difference information.

[0135] In one embodiment, the verification module 1606 is further configured to acquire the third pose information of the optical tracking probe and the fourth pose information of the surgical instrument through the optical navigation system when the tip of the optical tracking probe abuts against the verification point on the surface of the surgical instrument; and determine the preoperative calibration information of the surgical instrument based on the third pose information and the fourth pose information.

[0136] The modules in the aforementioned surgical instrument calibration system and surgical instrument calibration device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0137] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 17 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores server data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a surgical instrument calibration method.

[0138] Those skilled in the art will understand that Figure 17 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0139] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

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

[0141] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the computer device to perform the steps in the above 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, data stored, data displayed, 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 will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0144] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0145] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for calibrating surgical instruments, characterized in that, The method includes: When the tip of the optical tracking probe touches the calibration point on the surface of the surgical instrument, the first pose information of the optical tracking probe and the second pose information of the surgical instrument are obtained through the optical navigation system. Based on the first pose information and the second pose information, the verification information of the surgical instrument is determined; Based on the verification information, determine the verification result; The step of determining the calibration information of the surgical instrument based on the first pose information and the second pose information includes: Based on the first pose information and the second pose information, calculate the position information of the verification point in the coordinate system of the optical navigation system; Based on the position information of the calibration point in the coordinate system of the optical navigation system, the calibration information of the surgical instrument is determined; The step of calculating the position information of the verification point in the coordinate system of the optical navigation system based on the first pose information and the second pose information includes: Based on the position information of the verification point in the coordinate system of the optical navigation system, the distance between the verification point and the centroidal axis of the axial section is determined; this distance is used as the verification information of the surgical instrument; the axial section is a section obtained by cutting perpendicular to the axis when the surgical instrument is a cylindrical surgical instrument; or, Based on the position information of the verification points in the coordinate system of the optical navigation system, determine the coordinate difference between the position information of at least two verification points; use the coordinate difference as the verification information of the surgical instrument; or, Based on the position information of the verification points in the coordinate system of the optical navigation system, a set of coordinate points for the position information of multiple verification points is determined; the set of coordinate points can be constructed into a polygon or polyhedron; the polygon or polyhedron is used as the verification information of the surgical instrument.

2. The method according to claim 1, characterized in that, When determining the distance between the verification point and the centroidal axis of the axial section, at least two verification points are equidistantly arranged on the same axial section of the surgical instrument.

3. The method according to claim 2, characterized in that, The surgical instrument is a rotating type of surgical instrument. After determining the distance between the calibration point and the centroidal axis of the axial section, the procedure further includes: The instrument fitting circle of the rotary surgical instrument is calculated based on the distance between each of the verification points and the centroidal axis of the axial section. Based on the position information of the instrument fitting circle in the coordinate system of the optical navigation system, calculate the center and radius of the fitting circle; Based on the center and radius of the fitted circle, the radius of the fitted circle is used as the verification information of the surgical instrument.

4. The method according to claim 1, characterized in that, Determining the verification result based on the verification information includes: Obtain the calibration information of the surgical instruments; Based on the calibration information and the verification information, the instrument verification result of the surgical instrument is determined.

5. The method according to claim 4, characterized in that, Determining the instrument calibration result of the surgical instrument based on the calibration information and the calibration information includes: The calibration information is determined based on the instrument type or instrument specification of the surgical instrument; the calibration information is compared with the verification information to obtain calibration difference information; The instrument calibration result of the surgical instrument is determined based on the calibration difference information.

6. The method according to claim 4, characterized in that, Before the surgical instrument leaves the factory or is used, the method further includes: When the tip of the optical tracking probe abuts against a calibration point on the surface of the surgical instrument, the optical navigation system acquires the third pose information of the optical tracking probe and the fourth pose information of the surgical instrument. Based on the third and fourth pose information, the preoperative calibration information of the surgical instruments is determined.

7. A surgical instrument calibration system, characterized in that, The system is used to perform the surgical instrument calibration method according to claim 1, and the system includes: an optical tracking probe, an optical navigation system, and a computing system; The optical navigation system is used to acquire the first pose information of the optical tracking probe and the second pose information of the surgical instrument when the tip of the optical tracking probe abuts against a calibration 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 pose information and the second pose information; The computing system is used to determine the verification result based on the verification information.

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