Instrument navigation method, system, device and equipment and storage medium

Abstract

The invention relates to an instrument navigation method, system and device, equipment and a storage medium. The method comprises the following steps: acquiring an actual path corresponding to an operation instrument, acquiring an expected path corresponding to the operation instrument, displaying an expected area according to the expected path, and generating navigation prompt information according to the actual path and the expected path; wherein the expected area is used for indicating to adjust the actual path to enter the expected area, and the navigation prompt information is used for indicating to adjust the actual path to be matched with the expected path. According to the method, preliminary adjustment can be realized on the basis of the expected area generated by the expected path to adjust the actual path to enter the expected area, further adjustment can be realized on the basis of the navigation prompt information generated by the actual path and the expected path to adjust the actual path to be matched with the expected path, and the actual path is adjusted on the basis of the prompt information. The consumed time is saved, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to an instrument navigation method, system, device, equipment and storage medium. Background Art

[0002] Surgical navigation is a visual image-guided surgical technology developed with the help of computer image processing, which uses medical images as basic data. It can achieve visualization and automation of surgical operations through three-dimensional digitization of patient lesion tissue and real-time tracking of surgical instruments, thereby assisting doctors or robots to complete operations more quickly, accurately and safely.

[0003] In the related art, the patient's diseased tissue obtained by three-dimensional digitization is displayed on a display screen. The doctor operates the surgical instrument while observing the display screen, switching the field of view back and forth between the patient and the display screen to perform the operation.

[0004] However, in the related art, doctors need to adjust the operating instruments to the operating position based on the patient's lesion tissue displayed on the display screen and their own operating experience, which greatly reduces the operating efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide an instrument navigation method, system, device, equipment and storage medium to address the above technical issues.

[0006] In a first aspect, the present application provides an instrument navigation method, comprising:

[0007] Obtaining an actual path corresponding to the operating device, and obtaining an expected path corresponding to the operating device;

[0008] The expected area is displayed according to the expected path; the expected area is used to indicate the adjustment of the actual path into the expected area;

[0009] Navigation prompt information is generated according to the actual path and the expected path; the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path.

[0010] In one embodiment, obtaining the actual path corresponding to the operating device includes:

[0011] Acquiring the position information of the instrument target associated with the guide channel; the guide channel is used for the operation instrument to penetrate;

[0012] The actual path is generated according to the posture information of the instrument target and the preset posture relationship between the instrument target and the guide channel.

[0013] In one embodiment, obtaining the expected path corresponding to the operating device includes:

[0014] Obtaining position information of a target associated with the target object;

[0015] The desired path is generated according to the position and posture information of the target object and the preset position and posture relationship between the target object and the desired path.

[0016] In one embodiment, displaying the desired area according to the desired path includes:

[0017] Get the specification parameters of the desired area;

[0018] With the expected path as the central axis, the expected area is determined and displayed according to the specification parameters.

[0019] In one embodiment, generating navigation prompt information according to the actual path and the expected path includes:

[0020] When the actual path enters the expected area, the posture deviation between the actual path and the expected path is obtained;

[0021] Generate navigation prompt information including pose deviation.

[0022] In a second aspect, the present application further provides an instrument navigation system, comprising: a navigation device, a guiding device, and a fixing device; wherein the guiding device is connected to the fixing device; the fixing device is used to fix the target object; the guiding device is provided with a guiding channel, and the guiding channel is used for the operating instrument to penetrate;

[0023] A navigation device is used to obtain an actual path corresponding to an operating device and an expected path corresponding to the operating device; display an expected area according to the expected path; generate navigation prompt information according to the actual path and the expected path; the expected area is used to instruct the adjustment of the guidance device to adjust the actual path to enter the expected area; the navigation prompt information is used to instruct the adjustment of the guidance device to adjust the actual path to match the expected path.

[0024] In one embodiment, the guiding device includes: an instrument target, a first adjustment mechanism, and a second adjustment mechanism;

[0025] Among them, one end of the first adjustment mechanism is connected to the fixing device, the other end of the first adjustment mechanism is connected to one end of the second adjustment mechanism, the other end of the second adjustment mechanism is connected to the instrument target, and the other end of the second adjustment mechanism is also provided with a guide channel, and the positions of the instrument target and the guide channel are relatively fixed.

[0026] In one embodiment, the second adjustment mechanism includes: a first joint, a second joint and a third joint connected in sequence; wherein the first joint is used to drive the second joint to rotate around a first direction, the second joint is used to drive the third joint to rotate around a second direction and move along the second direction, and the third joint can rotate around a third direction relative to the second joint; the first direction, the second direction and the third direction are all perpendicular to each other.

[0027] In one embodiment, the navigation device is further configured to:

[0028] When the actual path enters the expected area, the actual position and posture of the instrument target corresponding to the actual path are obtained, and the expected position and posture of the instrument target corresponding to the expected path are obtained;

[0029] Determining adjustment information of the second adjustment mechanism according to the actual posture and the expected posture of the instrument target;

[0030] A navigation prompt message including adjustment information is generated.

[0031] In one embodiment, the navigation device is further configured to:

[0032] Determining the actual position and posture of each joint in the second adjustment mechanism according to the actual position and posture of the instrument target, and determining the expected position and posture of each joint in the second adjustment mechanism according to the expected position and posture of the instrument target;

[0033] According to the actual posture of each joint in the second adjustment mechanism and the expected posture of each joint in the second adjustment mechanism, the posture deviation corresponding to each joint in the second adjustment mechanism is determined as the adjustment information of the second adjustment mechanism.

[0034] In one embodiment, the navigation device is further configured to:

[0035] determining an actual position and posture of the first joint according to an actual position and posture of the instrument target;

[0036] Determining a desired position of the first joint according to a desired position of the instrument target;

[0037] The posture deviation of the first joint is determined according to the actual posture and the expected posture of the first joint, which is used as adjustment information of the first joint in the second adjustment mechanism.

[0038] In one embodiment, the navigation device is further configured to:

[0039] Determine the actual position and posture of the first joint after adjustment and the actual position and posture of the second joint after adjustment of the first joint according to the actual position and posture of the instrument target after adjustment of the first joint;

[0040] Determining the desired posture of the second joint according to the adjusted actual posture of the first joint and the desired posture of the instrument target;

[0041] The posture deviation of the second joint is determined according to the actual posture of the second joint after the adjustment of the first joint and the expected posture of the second joint, which is used as the adjustment information of the second joint in the second adjustment mechanism.

[0042] In one embodiment, the navigation device is further configured to:

[0043] Determine the actual posture after the second joint is adjusted and the actual posture of the third joint after the second joint is adjusted according to the actual posture of the instrument target after the second joint is adjusted;

[0044] Determining the desired posture of the third joint according to the actual posture after adjustment of the first joint, the actual posture after adjustment of the second joint, and the desired posture of the instrument target;

[0045] The posture deviation of the third joint is determined according to the actual posture of the third joint after the second joint is adjusted and the expected posture of the third joint, which serves as the adjustment information of the third joint in the second adjustment mechanism.

[0046] In one embodiment, the navigation device comprises an augmented reality navigation device.

[0047] In a third aspect, the present application also provides an instrument navigation device, comprising:

[0048] A path acquisition module, used to acquire the actual path corresponding to the operating device and the expected path corresponding to the operating device;

[0049] The expected area module is used to display the expected area according to the expected path; the expected area is used to indicate the adjustment of the actual path to enter the expected area;

[0050] The navigation information module is used to generate navigation prompt information according to the actual path and the expected path; the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path.

[0051] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above-mentioned instrument navigation methods when executing the computer program.

[0052] In a fifth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above-mentioned instrument navigation methods when the computer program is executed by a processor.

[0053] In a sixth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of any of the above-mentioned instrument navigation methods when executed by a processor.

[0054] In the above-mentioned instrument navigation method, system, device, equipment and storage medium, by obtaining the actual path corresponding to the operating instrument and the expected path corresponding to the operating instrument, the expected area is displayed according to the expected path, and then the navigation prompt information is generated according to the actual path and the expected path; wherein the expected area is used to indicate the adjustment of the actual path to enter the expected area, and the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path. In the above-mentioned method, the expected area generated based on the expected path can be initially adjusted to adjust the actual path to enter the expected area, and the navigation prompt information generated based on the actual path and the expected path can be further adjusted to adjust the actual path to match the expected path. The actual path corresponding to the operating instrument is adjusted based on the above-mentioned prompt information, which saves time and improves operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a schematic diagram of an application of an instrument navigation system in an embodiment;

[0056] Figure 2 is a schematic diagram of a desired area in one embodiment;

[0057] Figure 3 is a schematic structural diagram of a guiding device in one embodiment;

[0058] Figure 4 is a schematic structural diagram of a fixing device in one embodiment;

[0059] Figure 5 is a schematic structural diagram of a second adjustment mechanism in one embodiment;

[0060] Figure 6 is a flowchart of an instrument navigation method in one embodiment;

[0061] Figure 7 A schematic diagram of a process for generating an actual path in an embodiment;

[0062] Figure 8 A schematic diagram of a process for generating an expected path in one embodiment;

[0063] Fig. 9 A schematic diagram of a process for generating a desired area in one embodiment;

[0064] Fig.10 A schematic diagram of a process for generating navigation prompt information in an embodiment;

[0065] Fig.11 is a structural block diagram of an instrument navigation device in one embodiment;

[0066] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment.

[0067] Navigation device - 100 Guidance device - 200 Fixing device - 300

[0068] Device target——201 First regulating mechanism——202 Second regulating mechanism——203

[0069] Target – 301 Fixing bracket – 302. DETAILED DESCRIPTION

[0070] 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.

[0071] The present application embodiment provides an instrument navigation system, such as Figure 1 As shown, the instrument navigation system includes: a navigation device 100 , a guiding device 200 and a fixing device 300 .

[0072] The guiding device 200 is connected to the fixing device 300; the fixing device 300 is used to fix the target object; the guiding device 200 is provided with a guiding channel, and the guiding channel is used for the operating instrument to penetrate.

[0073] The navigation device 100 is used to obtain the actual path corresponding to the operating device and the expected path corresponding to the operating device; display the expected area according to the expected path; and generate navigation prompt information according to the actual path and the expected path. The expected area is used to instruct the adjustment and guidance device 200 to adjust the actual path to enter the expected area; the navigation prompt information is used to instruct the adjustment and guidance device 200 to adjust the actual path to match the expected path.

[0074] It should be noted that the actual path corresponding to the operating device is used to characterize the actual posture of the operating device, and the expected path corresponding to the operating device is used to characterize the expected posture that the operating device is expected to achieve. The expected area is a spatial area formed based on the expected path.

[0075] Optionally, when there is an operating instrument in the guide channel of the instrument navigation system, the actual path corresponding to the operating instrument can be directly obtained based on the positioning of the operating instrument, or based on the positioning of the guide channel for the operating instrument to penetrate; when there is no operating instrument in the guide channel of the instrument navigation system, the actual path corresponding to the operating instrument can be obtained based on the positioning of the guide channel for the operating instrument to penetrate. Optionally, when the application scenario includes a target object, the expected path corresponding to the operating instrument can be directly obtained based on the positioning of the target object, or based on the positioning of the preset posture relationship between the fixture 300 and the expected path; when the application scenario does not include a target object, the expected path corresponding to the operating instrument can be obtained based on the positioning of the preset posture relationship between the fixture 300 and the expected path.

[0076] Optionally, the desired area may be a spatial area formed with the desired path as the edge, or may be a spatial area formed around the desired path. Exemplarily, the desired area is a spatial area of ​​preset specifications formed with the desired path as the central axis. Figure 2 As shown, the desired area is a cylindrical space area formed by taking the desired path S as the central axis, the length L of the desired path as the height, and R as the radius. In the embodiment of the present application, there is no specific limitation on the size and shape of the desired area.

[0077] The fixing device 300 includes a fixing bracket to fix the target object on the bed. One end of the guiding device 200 is connected to the fixing device 300, and the other end is provided with a guiding channel for the operating instrument to pass through. In one application scenario, the guiding device 200 can drive the guiding channel to move to the desired position, and then the operator inserts the operating instrument into the guiding channel to perform relevant operations on the target object. In another application scenario, the operator can also directly insert the operating instrument into the guiding channel and fix it, and the guiding device 200 drives the operating instrument to move to the desired position to perform relevant operations on the target object. For example, Figure 1 As shown, the fixed bracket in the fixing device 300 is a fixed head frame, which can fix the patient's head (i.e., the target object) on the bed. A guide channel is provided at the end of the guiding device 200 for the puncture needle to pass through. The guide channel moves to the desired position under the drive of the guiding device 200, and the operator inserts the puncture needle into the guide channel to perform a puncture operation on the patient's head.

[0078] The navigation device 100 can obtain the actual path and the expected path corresponding to the operating device, generate and display the expected area based on the expected path, prompt the operator to control the guidance device 200 to adjust the actual path to enter the expected area, and generate navigation prompt information based on the actual path and the expected path, further prompting the operator to control the guidance device 200 to adjust the actual path to match the expected path.

[0079] Exemplarily, the navigation device 100 includes a display unit, which can be used to display the actual path and expected path corresponding to the operating device, and display the generated expected area, as well as navigation prompt information, to provide guidance for the operator to adjust the actual path corresponding to the operating device to coincide with the expected path, so as to achieve matching of the actual path with the expected path.

[0080] In the embodiment of the present application, the instrument navigation system provided includes a navigation device, a guiding device, and a fixing device. The guiding device is connected to the fixing device; the fixing device is used to fix the target object; the guiding device is provided with a guiding channel, and the guiding channel is used for the operating instrument to penetrate. The navigation device is used to obtain the actual path corresponding to the operating instrument, and obtain the expected path corresponding to the operating instrument, so as to display the expected area according to the expected path, and generate navigation prompt information according to the actual path and the expected path. Among them, the expected area is used to indicate the adjustment of the guiding device to adjust the actual path to enter the expected area; the navigation prompt information is used to indicate the adjustment of the guiding device to adjust the actual path to match the expected path. The above-mentioned instrument navigation system provides an expected area generated based on the expected path, which can realize preliminary adjustment to adjust the actual path to enter the expected area, and also provides navigation prompt information generated based on the actual path and the expected path, which can realize further adjustment to adjust the actual path to match the expected path. The actual path is adjusted based on the above-mentioned prompt information, which saves time and improves operation efficiency.

[0081] In one embodiment, if Figure 3 As shown, the guiding device 200 includes an instrument target 201 , a first adjustment mechanism 202 , and a second adjustment mechanism 203 .

[0082] Combination Figure 1 One end of the first adjustment mechanism 202 in the guiding device 200 is connected to the fixing device 300, and the other end of the first adjustment mechanism 202 is connected to one end of the second adjustment mechanism 203. The other end of the second adjustment mechanism 203 is connected to the instrument target 201, and the other end of the second adjustment mechanism 203 is also provided with a guide channel, and the positions of the instrument target 201 and the guide channel are relatively fixed.

[0083] The instrument target 201 is used to locate the actual path. The first adjustment mechanism 202 and the second adjustment mechanism 203 are both used to drive the guide channel to move so as to adjust the actual path corresponding to the operating instrument. The first adjustment mechanism 202 is used to adjust the actual path to enter the desired area to achieve rough adjustment of the actual path; the second adjustment mechanism 203 is used to adjust the actual path to match the desired path to achieve fine adjustment of the actual path.

[0084] Exemplarily, the first adjustment mechanism 202 can be used to perform adjustments with at least 6 degrees of freedom. Figure 3As shown, the first adjustment mechanism 202 may be a spherical-roll-spherical (SRS) linkage mechanism, including two connecting rods, which can be adjusted along the x, y, and z axes in space. The freedom of movement in the axial direction and the freedom of rotation around the three coordinate axes, a total of 6 degrees of freedom.

[0085] In one embodiment, if Figure 4 As shown, the fixing device 300 includes a target 301 and a fixing bracket 302 .

[0086] Combination Figure 1 The target 301 in the fixing device 300 is connected to the fixing bracket 302 , the fixing bracket 302 is fixed to the bed, and one end of the fixing bracket 302 is connected to the guiding device 200 .

[0087] The fixing bracket 302 is used to fix the target object, and the target 301 is used to locate the desired path.

[0088] In actual application, the navigation device 100 can locate the guide channel based on the instrument target 201, and display the actual path corresponding to the operating instrument. At the same time, the desired path corresponding to the operating instrument can be located based on the target target 301, and the desired path and the desired area generated based on the desired path can be displayed. Then, navigation prompt information is generated according to the actual path and the desired path, and provided to the operator. The operator can first lock the second adjustment mechanism 203, and adjust the first adjustment mechanism 202 based on the desired area displayed by the navigation device 100 to drive the actual path corresponding to the operating instrument to move to the desired area. When the actual path enters the desired area, the operator can lock the first adjustment mechanism 202, and adjust the second adjustment mechanism 203 based on the navigation prompt information provided by the navigation device 100 to drive the actual path corresponding to the operating instrument to match the desired path.

[0089] In the embodiment of the present application, the guiding device in the instrument navigation system provided includes an instrument target, a first adjusting mechanism and a second adjusting mechanism. Among them, one end of the first adjusting mechanism is connected to the fixing device, the other end of the first adjusting mechanism is connected to one end of the second adjusting mechanism, the other end of the second adjusting mechanism is connected to the instrument target, and the other end of the second adjusting mechanism is also provided with a guiding channel, and the position of the instrument target and the guiding channel is relatively fixed. In the above-mentioned instrument navigation system, the guiding channel can be accurately positioned based on the instrument target in the guiding device, thereby improving the positioning accuracy of the actual path corresponding to the operating instrument, the first adjusting mechanism can be used to achieve coarse adjustment of the actual path, and the second adjusting mechanism can be used to achieve fine adjustment of the actual path, and the dual adjustment process greatly improves the adjustment accuracy.

[0090] In one embodiment, if Figure 5 As shown, the second adjustment mechanism 203 includes: a first joint A1, a second joint A2 and a third joint A3 connected in sequence. The first joint A1 is used to drive the second joint A2 to rotate around a first direction, the second joint A2 is used to drive the third joint A3 to rotate around a second direction and move along the second direction, and the third joint A3 can rotate around a third direction relative to the second joint A2; the first direction, the second direction and the third direction are all perpendicular to each other.

[0091] For example, Figure 5 As shown, the first joint A1 rotates around the axis u1 to realize rotation around the first direction; the second joint A2 can move along the axis u2 and can also rotate around the axis u2 to realize movement along the second direction and rotation around the second direction; the third joint A3 rotates around the axis u3 to realize rotation around the third direction. Among them, a guide channel is provided at one end of the third joint A3 away from the second joint A2. Figure 5 The P in the figure is the path corresponding to the operating instrument passing through the guide channel.

[0092] In an optional embodiment, the second joint A2 includes a sleeve and an adjustment arm sleeved in the sleeve. The adjustment arm can move relative to the sleeve along the axis of the sleeve, and can also rotate relative to the sleeve around the axis of the sleeve. The axis direction of the sleeve is the second direction. In actual applications, when the actual path enters the expected area, the operator can lock the first adjustment mechanism 202, and based on the navigation prompt information provided by the navigation device 100, adjust the various joints in the second adjustment mechanism 203 to drive the actual path corresponding to the operating device to match the expected path.

[0093] In one embodiment, the navigation device 100 is further configured to implement the following process:

[0094] When the actual path enters the expected area, the actual position and posture of the instrument target corresponding to the actual path are obtained, and the expected position and posture of the instrument target corresponding to the expected path are obtained;

[0095] Determining adjustment information of the second adjustment mechanism according to the actual position and expected path of the instrument target;

[0096] A navigation prompt message including adjustment information is generated.

[0097] Among them, the instrument target 201 can be used to locate the guide channel on the second adjustment mechanism 203, the guide channel is used for the operating instrument to penetrate, the actual path corresponding to the operating instrument corresponds to the actual posture of the instrument target, and the expected path corresponding to the operating instrument corresponds to the expected posture of the instrument target. The adjustment information of the second adjustment mechanism 203 includes adjustment information for all joints in the second adjustment mechanism 203. The adjustment information is used to indicate the posture deviation between the actual path and the expected path, that is, the posture deviation between the actual posture of the instrument target 201 and the expected posture.

[0098] Optionally, the posture deviation can be directly used to represent the adjustment information, and the posture deviation includes an angle difference represented by an angle and / or a distance difference represented by a distance. For a joint that realizes rotation, the adjustment information includes the rotation angle of the joint; for a joint that realizes movement, the adjustment information includes the movement distance of the joint; for a joint that can realize both rotation and movement, the adjustment information includes the rotation angle and rotation direction of the joint. Among them, the positive and negative representation directions of the posture deviation, such as a positive rotation angle, represents clockwise rotation; a negative rotation angle represents counterclockwise rotation; a positive movement distance represents elongation movement; a negative movement distance represents shortening movement. When the posture deviation is 0 or meets the tolerance deviation, it represents that the actual posture of each joint has reached the desired posture, and there is no need to adjust the second adjustment mechanism 203 again.

[0099] Optionally, the navigation device 100 can locate the actual path corresponding to the operating instrument in real time, and when detecting that the actual path enters the expected area, obtain the actual posture of the instrument target corresponding to the actual path, and the expected posture of the instrument target corresponding to the expected path, so as to determine the adjustment information of each joint in the second adjustment mechanism 203 according to the actual posture and expected posture of the instrument target, and then generate navigation prompt information including the adjustment information.

[0100] In an optional embodiment, the navigation device 100 is further used for:

[0101] Determining the actual position and posture of each joint in the second adjustment mechanism according to the actual position and posture of the instrument target, and determining the expected position and posture of each joint in the second adjustment mechanism according to the expected position and posture of the instrument target;

[0102] According to the actual posture and expected posture of each joint in the second adjustment mechanism, the posture deviation corresponding to each joint in the second adjustment mechanism is determined as the adjustment information of the second adjustment mechanism.

[0103] Optionally, the process of obtaining the adjustment information of the second adjustment mechanism 203 is as follows:

[0104] During the rough adjustment of the actual path, the second adjustment mechanism 203 can first be adjusted to a preset configuration and locked, so that only the configuration of the first adjustment mechanism 202 changes during the rough adjustment, while the second adjustment mechanism 203 always maintains the preset configuration unchanged. After the rough adjustment is completed, the actual path is within the desired area, the first adjustment mechanism 202 can be locked, and then the second adjustment mechanism 203 can be adjusted to start fine adjustment of the actual path.

[0105] During the fine adjustment of the actual path, the instrument target 201 is set at the end of the second adjustment mechanism 203. First, the actual posture of the instrument target 201 is obtained, and then the actual posture of each joint in the second adjustment mechanism 203 under the actual posture is determined based on inverse kinematics. Among them, the preset configuration can be the initial default configuration of the second adjustment mechanism 203. Similarly, the navigation device 100 can determine the expected posture of each joint in the second adjustment mechanism 203 under the expected posture according to the expected posture of the instrument target 201 based on inverse kinematics. After obtaining the actual posture and expected posture of each joint in the second adjustment mechanism 203, the navigation device 100 further obtains the posture deviation between the actual posture and the expected posture of each joint in the second adjustment mechanism 203 as the adjustment information of the second adjustment mechanism 203, and then generates navigation prompt information including the adjustment information.

[0106] Optionally, the navigation device 100 may output navigation prompt information in at least one of text, voice or graphic. Exemplarily, the navigation device 100 may output navigation prompt information in a manner combining text and graphic. For example, the navigation device 100 includes an augmented reality ( , ) An augmented reality navigation device for glasses can display adjustment information of at least one joint in text form through the AR glasses.

[0107] Exemplarily, for the first joint A1 in the second adjustment mechanism 203, the adjustment information displayed is -5° (clockwise rotation is positive, counterclockwise rotation is negative), indicating that in order to make the actual path corresponding to the operating device match the expected path, the first joint A1 needs to be rotated 5° counterclockwise to reduce the posture deviation between the actual path and the expected path; for the second joint A2 in the second adjustment mechanism 203, the adjustment information displayed is 2mm (the direction approaching the third joint A3 is positive, and the direction approaching the first joint A1 is negative), indicating that in order to make the actual path corresponding to the operating device match the expected path, the second joint A2 needs to be moved 2mm toward the third joint A3 to reduce the posture deviation between the actual path and the expected path.

[0108] In the embodiment of the present application, the navigation device in the provided instrument navigation system is also used to obtain the actual posture of the instrument target corresponding to the actual path and the expected posture of the instrument target corresponding to the expected path when the actual path enters the expected area, and then determine the adjustment information of the second adjustment mechanism according to the actual posture and expected posture of the instrument target to generate navigation prompt information including the adjustment information. The above-mentioned instrument navigation system obtains the posture deviation of each joint in the second adjustment mechanism at one time based on the actual posture and expected posture of the instrument target, and uses this as the adjustment information of the second adjustment mechanism to generate navigation prompt information, so as to simplify the navigation prompt information, improve the efficiency of information generation, and provide navigation prompts to the operator in a timely manner.

[0109] In actual applications, during the fine-tuning of the actual path, the actual posture of each joint in the second adjustment mechanism 203 changes in real time as the adjustment operation is implemented. Therefore, the adjustment information determined based on the desired posture of each joint in the second adjustment mechanism 203 and the real-time changing actual posture also changes in real time.

[0110] The navigation device 100 may sequentially determine the adjustment information of the first joint, the second joint, and the third joint in the second adjustment mechanism 203, and the adjustment information of the latter joint in the second adjustment mechanism 203 is generated based on the actual adjustment of the former joint. The former joint and the latter joint are two connected joints, and the front and back are used to represent the adjustment order, the former joint is adjusted first, and the latter joint is adjusted later.

[0111] In an optional embodiment, the navigation device 100 preferentially determines the adjustment information of the first joint in the second adjustment mechanism 203, and the specific process is as follows:

[0112] determining an actual position and posture of the first joint according to an actual position and posture of the instrument target;

[0113] Determining a desired position of the first joint according to a desired position of the instrument target;

[0114] The posture deviation of the first joint is determined according to the actual posture and the expected posture of the first joint, which is used as adjustment information of the first joint in the second adjustment mechanism.

[0115] During the rough adjustment of the actual path, the second adjustment mechanism 203 can first be adjusted to a preset configuration and locked, so that only the configuration of the first adjustment mechanism 202 changes during the rough adjustment, while the second adjustment mechanism 203 always maintains the preset configuration unchanged. After the rough adjustment is completed, the actual path is within the desired area, the first adjustment mechanism 202 can be locked, and then the second adjustment mechanism 203 can be adjusted to start fine adjustment of the actual path.

[0116] During the fine adjustment of the actual path, the instrument target 201 is set at the end of the second adjustment mechanism 203. First, the actual posture of the instrument target 201 is obtained, and then the actual posture of the first joint in the second adjustment mechanism 203 under the actual posture is determined based on inverse kinematics. Among them, the preset configuration can be the initial default configuration of the second adjustment mechanism 203. Similarly, the navigation device 100 can determine the expected posture of the first joint in the second adjustment mechanism 203 under the expected posture based on inverse kinematics according to the expected posture of the instrument target 201. After obtaining the actual posture and the expected posture of the first joint in the second adjustment mechanism 203, the navigation device 100 further obtains the posture deviation between the actual posture and the expected posture of the first joint in the second adjustment mechanism 203 as the adjustment information of the first joint in the second adjustment mechanism 203.

[0117] In an optional embodiment, the operator adjusts the first joint according to the adjustment information of the first joint. After the adjustment of the first joint is completed, the navigation device 100 determines the adjustment information of the second joint in the second adjustment mechanism 203. The specific process is as follows:

[0118] Determine the actual position and posture of the first joint after adjustment and the actual position and posture of the second joint after adjustment of the first joint according to the actual position and posture of the instrument target after adjustment of the first joint;

[0119] Determining the desired posture of the second joint according to the adjusted actual posture of the first joint and the desired posture of the instrument target;

[0120] The posture deviation of the second joint is determined according to the actual posture and the expected posture of the second joint after the adjustment of the first joint, which is used as the adjustment information of the second joint in the second adjustment mechanism.

[0121] The operator adjusts the first joint in the second adjustment mechanism 203 according to the adjustment information of the first joint, and after the adjustment is completed, the first joint is locked. After the first joint is adjusted, the actual posture of the second joint changes accordingly. The navigation device 100 obtains the actual posture of the instrument target 201 after the first joint is adjusted, and determines the actual posture of the second joint in the second adjustment mechanism 203 under the adjusted actual posture based on inverse kinematics, that is, the actual posture of the second joint after the first joint is adjusted. The navigation device 100 can use the actual posture after the adjustment of the first joint and the expected posture of the instrument target 201 as input information to determine the expected posture of the second joint in the second adjustment mechanism 203. After obtaining the actual posture and expected posture of the second joint after the first joint is adjusted, the navigation device 100 further obtains the posture deviation between the actual posture and the expected posture of the second joint after the first joint is adjusted as the adjustment information of the second joint in the second adjustment mechanism 203.

[0122] In an optional embodiment, the operator adjusts the second joint according to the adjustment information of the second joint. After the adjustment of the second joint is completed, the navigation device 100 determines the adjustment information of the third joint in the second adjustment mechanism 203. The specific process is as follows:

[0123] Determine the actual posture after the second joint is adjusted and the actual posture of the third joint after the second joint is adjusted according to the actual posture of the instrument target after the second joint is adjusted;

[0124] Determining the desired posture of the third joint according to the actual posture after adjustment of the first joint, the actual posture after adjustment of the second joint, and the desired posture of the instrument target;

[0125] The posture deviation of the third joint is determined according to the actual posture and the expected posture of the third joint after the second joint is adjusted, which serves as the adjustment information of the third joint in the second adjustment mechanism.

[0126] The operator adjusts the second joint in the second adjustment mechanism 203 according to the adjustment information of the second joint, and after the adjustment is completed, the second joint is locked. After the second joint is adjusted, the actual posture of the third joint also changes accordingly. The navigation device 100 obtains the actual posture of the instrument target 201 after the second joint is adjusted, and determines the actual posture of the third joint in the second adjustment mechanism 203 under the actual posture after the adjustment based on inverse kinematics, that is, the actual posture of the third joint after the second joint is adjusted. The navigation device 100 can use the actual posture after the first joint is adjusted, the actual posture after the second joint is adjusted, and the expected posture of the instrument target 201 as input information to determine the expected posture of the third joint in the second adjustment mechanism 203. After obtaining the actual posture and expected posture of the third joint after the second joint is adjusted, the navigation device 100 further obtains the posture deviation between the actual posture and the expected posture of the third joint after the second joint is adjusted as the adjustment information of the third joint in the second adjustment mechanism 203.

[0127] The operator adjusts the third joint in the second adjustment mechanism 203 according to the adjustment information of the third joint, and then locks the third joint after the adjustment is completed.

[0128] It should be noted that the actual position and posture of each joint in the second adjustment mechanism 203 can be determined not only based on inverse kinematics when the actual position and posture of the instrument target 201 is obtained, but also by identifying the corresponding joint based on the image features of each joint.

[0129] In the embodiment of the present application, the navigation device in the provided instrument navigation system is also used to determine the actual posture of the first joint according to the actual posture of the instrument target, determine the expected posture of the first joint according to the expected posture of the instrument target, and determine the posture deviation of the first joint according to the actual posture and expected posture of the first joint as the adjustment information of the first joint in the second adjustment mechanism. And, according to the actual posture of the instrument target after the first joint is adjusted, determine the actual posture of the first joint after adjustment and the actual posture of the second joint after the first joint is adjusted, determine the expected posture of the second joint according to the actual posture of the first joint after adjustment and the expected posture of the instrument target, and determine the posture deviation of the second joint according to the actual posture and expected posture of the second joint after adjustment of the first joint as the adjustment information of the second joint in the second adjustment mechanism. And, according to the actual posture of the instrument target after the second joint is adjusted, the actual posture of the second joint after adjustment and the actual posture of the third joint after adjustment are determined, and the expected posture of the third joint is determined according to the actual posture of the first joint after adjustment, the actual posture of the second joint after adjustment and the expected posture of the instrument target, so as to determine the posture deviation of the third joint according to the actual posture and the expected posture of the third joint after adjustment of the second joint, as the adjustment information of the third joint in the second adjustment mechanism. In the above instrument navigation system, the adjustment information of the first joint, the second joint and the third joint in the second adjustment mechanism is determined respectively in turn, and specifically, the adjustment process of the subsequent joints is adaptively adjusted based on the actual adjustment of the previous joint, the adjustment error is compensated, and the adjustment accuracy is improved.

[0130] The embodiment of the present application also provides an instrument navigation method applied to the above-mentioned instrument navigation system. Among them, the guiding device 200 is provided with a guiding channel for the operating instrument to penetrate, the navigation device 100 can locate the actual path corresponding to the operating instrument based on the guiding device 200, the fixing device 300 fixes the target object, and the navigation device 100 can locate the expected path corresponding to the operating instrument based on the fixing device 300. The navigation device 100 obtains the actual path corresponding to the operating instrument, and obtains the expected path corresponding to the operating instrument, and displays the expected area according to the expected path, and then generates navigation prompt information according to the actual path and the expected path; the expected area is used to indicate the adjustment of the actual path to enter the expected area, and the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path. The guiding device 200 can be used to adjust the actual path corresponding to the operating instrument to match the expected path under the indication of the expected area and the navigation prompt information. The navigation device 100 can also be used to present images, such as presenting the actual path, the expected path, the expected area and the navigation prompt information, which can realize navigation for the operating instrument. Exemplarily, the navigation device 100 can be an augmented reality navigation device.

[0131] In one embodiment, Figure 6 As shown, a device navigation method is provided, which is applied to Figure 1The navigation device in the embodiment is taken as an example to illustrate, and the method includes the following steps:

[0132] S610: Acquire an actual path corresponding to the operating device, and acquire an expected path corresponding to the operating device.

[0133] The actual path corresponding to the operating instrument is used to characterize the actual position and posture of the operating instrument, which can be determined based on the operating instrument or the guide channel for the operating instrument to penetrate. The expected path corresponding to the operating instrument is used to characterize the expected position and posture that the operating instrument is expected to achieve, which can be pre-set or determined based on the target object acted on by the operating instrument.

[0134] Exemplarily, the navigation device can identify a guide channel in the application scene for the operating instrument to pass through, and generate an actual path corresponding to the operating instrument along the extension direction of the guide channel. It can also identify the target object in the application scene, and generate an expected path passing through the target point based on the posture relationship between the target object and the target point.

[0135] Optionally, the navigation device includes a display unit to display the actual path and the expected path corresponding to the operating device through the display unit. Exemplarily, the display unit may be AR glasses.

[0136] S620. Display the expected area according to the expected path; the expected area is used to indicate adjusting the actual path to enter the expected area.

[0137] The expected area is a spatial area formed based on the expected path. The expected area can be used as a basis for adjusting the operating device to indicate that the actual path corresponding to the operating device is adjusted to enter the expected area.

[0138] Optionally, after obtaining the expected path corresponding to the operating device, the navigation device may generate an expected area according to the expected path and preset specifications, and display the expected area. Figure 2 As shown, the navigation device can use the expected path as the central axis, the length L of the expected path as the height, and R as the radius to form a cylindrical space area, and use the cylindrical space area as the expected area.

[0139] S630: Generate navigation prompt information according to the actual path and the expected path; the navigation prompt information is used to instruct to adjust the actual path to match the expected path.

[0140] Optionally, the navigation device may continuously obtain the actual path corresponding to the operating device to determine the positional relationship between the actual path and the expected area, and when the actual path enters the expected area, generate navigation prompt information based on the actual path and the expected path at the current moment to indicate that the actual path is adjusted to match the expected path. For example, the actual path is adjusted to coincide with the expected path.

[0141] Exemplarily, the navigation device includes AR glasses, which can be used to display the actual path and expected path corresponding to the operating equipment based on the real scene, and display the generated expected area, as well as navigation prompt information, to provide guidance for the operator to adjust the actual path corresponding to the operating equipment to match the expected path.

[0142] In the embodiment of the present application, by obtaining the actual path corresponding to the operating device and obtaining the expected path corresponding to the operating device, the expected area is displayed according to the expected path, and then the navigation prompt information is generated according to the actual path and the expected path; wherein the expected area is used to indicate the adjustment of the actual path to enter the expected area, and the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path. In the above method, the expected area generated based on the expected path can achieve preliminary adjustment to adjust the actual path to enter the expected area, and the navigation prompt information generated based on the actual path and the expected path can achieve further adjustment to adjust the actual path to match the expected path. The actual path corresponding to the operating device is adjusted based on the above prompt information, which saves time and improves operation efficiency.

[0143] In practical applications, the actual path corresponding to the operating instrument can be determined based on the instrument target associated with the guide channel. Based on this, in one embodiment, Figure 7 As shown, the actual path corresponding to the operating device is obtained in the above S610, including:

[0144] S710, acquiring the position information of the instrument target associated with the guide channel; the guide channel is used for the operating instrument to penetrate.

[0145] Among them, the instrument target associated with the guide channel is a target with a fixed posture relationship with the guide channel, which can be used to locate the guide channel. The guide channel can be used for the operating instrument to penetrate, and the posture of the guide channel is the posture of the operating instrument.

[0146] In the above-mentioned instrument navigation system, if Figure 3 As shown, the guiding device 200 includes an instrument target 201. The instrument target 201 is located at the end of the guiding device 200 and is relatively fixed in position with respect to the guiding channel. For example, the preset position relationship between the instrument target 201 and the guiding channel can be that the instrument target 201 is coaxial with the guiding channel and is separated by a preset distance.

[0147] Optionally, the navigation device may acquire image data of the application scene to identify the instrument target in the image data and obtain the position information of the instrument target. For example, the instrument target in the image data may be identified based on the structural features (such as shape and size) of the instrument target, or the instrument target in the image data may be identified using a network model based on machine learning.

[0148] S720: Generate an actual path according to the posture information of the instrument target and the preset posture relationship between the instrument target and the guide channel.

[0149] Optionally, after the navigation device identifies the instrument target, it can determine the posture information of the guide channel based on the posture information of the instrument target and a preset posture relationship between the instrument target and the guide channel.

[0150] Optionally, after obtaining the position information of the guide channel, the navigation device may generate an actual path corresponding to the operating device based on the position information of the guide channel. The navigation device may generate the actual path corresponding to the operating device by extending the position information of the guide channel along the extension direction of the guide channel.

[0151] For example, continuing with the above example, when the preset posture relationship between the instrument target and the guide channel is that the instrument target and the guide channel are coaxial and separated by a preset distance, the navigation device obtains the posture information of the guide channel, and can use a point in the guide channel as the starting point, and extend a preset length (i.e., the length of the operating instrument) along the axis of the instrument target in the direction away from the instrument target, and use the generated extended line segment as the actual path corresponding to the operating instrument.

[0152] In the embodiment of the present application, the position information of the instrument target associated with the guide channel is obtained to generate an actual path according to the position information of the instrument target and the preset position relationship between the instrument target and the guide channel. In the above method, the guide channel is located based on the instrument target associated with the guide channel, and then the actual path corresponding to the operating instrument is obtained, which decouples the strong correlation between the actual path and the operating instrument. Regardless of whether the operating instrument is installed, the actual path corresponding to the operating instrument can be determined to perform instrument navigation, thereby reducing the application conditions of the instrument navigation method, expanding the scope of application, and improving the convenience of instrument navigation.

[0153] In practical applications, the desired path corresponding to the operating device can also be determined based on the target associated with the target object. Based on this, in one embodiment, Figure 8 As shown, the above step S610 of obtaining the expected path corresponding to the operating device includes:

[0154] S810: Acquire position and posture information of a target associated with a target object.

[0155] The target associated with the target object is a target having a fixed position and posture relationship with the target object.

[0156] In the above-mentioned instrument navigation system, if Figure 4As shown, the fixing device 300 includes a target 301 and a fixing bracket 302. The target 301 is connected to the fixing bracket 302, and the fixing bracket 302 is fixed to the bed. The fixing bracket 302 can fix the target object in a preset posture, and the preset posture makes the posture relationship between the target point on the target object used to generate the expected path and the target 301 fixed, that is, the preset posture relationship between the target 301 and the expected path. For example, the preset posture relationship between the target 301 and the expected path can be that the expected path and the target 301 are arranged side by side and are separated by a preset distance in the horizontal direction.

[0157] Optionally, the navigation device may acquire image data of the application scene to identify the target in the image data and obtain the position information of the target. For example, the target in the image data may be identified based on the structural features (such as shape and size) of the target, or a network model based on machine learning may be used to identify the target in the image data.

[0158] S820: Generate an expected path according to the position and posture information of the target and the preset position and posture relationship between the target and the expected path.

[0159] Optionally, after the navigation device identifies the target, it can determine the position and posture information of the expected path based on the position and posture information of the target and a preset position and posture relationship between the target and the expected path.

[0160] In the embodiment of the present application, the position and posture information of the target associated with the target object is obtained to generate the expected path according to the position and posture information of the target and the preset position and posture relationship between the target and the expected path. In the above method, the target is simpler in structure than the target object, and the recognition process is simple and easy, so the acquisition method of the expected path is simplified, the processing time is shortened, and the efficiency of the instrument navigation is improved.

[0161] In one embodiment, if Fig. 9 As shown, the above S620 generates and displays the expected area according to the expected path, including:

[0162] S910. Obtain specification parameters of the desired area.

[0163] The specification parameters of the desired area are used to characterize the size and shape of the desired area. For example, the specification parameters of the desired area can be a radius and a sphere, or a radius and a cylinder.

[0164] Optionally, the navigation device may directly obtain the pre-stored specification parameters of the desired area, or may obtain the specification parameters of the desired area input by the operator based on the real-time input operation of the operator.

[0165] S920 , taking the expected path as the central axis, determining and displaying the expected area according to the specification parameters.

[0166] Optionally, the navigation device can use the expected path as the central axis, read the size and shape in the specification parameters, and generate a spatial area of ​​corresponding size and shape as the expected area, and display the expected area at the same time. The navigation device can display the expected area in an application scene, or display the expected area in a virtual scene corresponding to the application scene, and then present it through a display unit.

[0167] In the embodiment of the present application, the specification parameters of the desired area are obtained, and the desired path is used as the central axis, and the desired area is determined and displayed according to the specification parameters. In the above method, the desired area generated with the desired path as the central axis is displayed to lock the desired path, provide guidance for adjusting the actual path, and improve the accuracy and efficiency of instrument navigation.

[0168] The navigation prompt information is used to characterize the position deviation between the actual path and the expected path. Fig.10 As shown, in the above S630, generating navigation prompt information according to the actual path and the expected path includes:

[0169] S1010: When the actual path enters the expected area, obtain a posture deviation between the actual path and the expected path.

[0170] The posture deviation is used to indicate how to adjust the posture of the actual path so as to adjust the actual path toward the expected path so that the actual path matches the expected path.

[0171] Optionally, the navigation device can continuously obtain the actual path corresponding to the operating device to determine the posture relationship between the actual path and the expected area, and when the actual path enters the expected area, further obtain the actual posture of the actual path of the operating device in the application scene at the current moment, and correspondingly obtain the expected posture of the expected path of the operating device in the application scene, so as to calculate the posture deviation between the actual path and the expected path based on the actual posture and the expected posture.

[0172] S1020: Generate navigation prompt information including posture deviation.

[0173] Optionally, after obtaining the position and posture deviation between the actual path and the expected path, the navigation device generates navigation prompt information including the position and posture deviation.

[0174] In the embodiment of the present application, when the actual path enters the expected area, the position deviation between the actual path and the expected path is obtained to generate navigation prompt information including the position deviation. In the above method, the actual path entering the expected area indicates that the actual path is very close to the expected path, and the position deviation between the actual path and the expected path is provided as an adjustment basis to accurately adjust the actual path, thereby correspondingly improving the navigation accuracy.

[0175] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned 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 does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can 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 to be 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.

[0176] Based on the same inventive concept, the embodiment of the present application also provides an instrument navigation device for implementing the instrument navigation method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more instrument navigation device embodiments provided below can refer to the limitations on the instrument navigation method above, and will not be repeated here.

[0177] In one embodiment, Fig.11 As shown, a device navigation apparatus is provided, comprising: a path acquisition module 1101, a desired area module 1102 and a navigation information module 1103, wherein:

[0178] The path acquisition module 1101 is used to acquire the actual path corresponding to the operating device and acquire the expected path corresponding to the operating device;

[0179] The expected area module 1102 is used to display the expected area according to the expected path; the expected area is used to indicate adjusting the actual path to enter the expected area;

[0180] The navigation information module 1103 is used to generate navigation prompt information according to the actual path and the expected path; the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path.

[0181] In one embodiment, the path acquisition module 1101 includes:

[0182] A first acquisition module is used to acquire the position information of the instrument target associated with the guide channel; the guide channel is used for the operating instrument to penetrate;

[0183] The first path module is used to generate an actual path according to the posture information of the instrument target and the preset posture relationship between the instrument target and the guide channel.

[0184] In one embodiment, the path acquisition module 1101 includes:

[0185] A second acquisition module is used to acquire the position and posture information of the target associated with the target object;

[0186] The second path module is used to generate the expected path according to the position and posture information of the target and the preset position and posture relationship between the target and the expected path.

[0187] In one embodiment, the desired area module 1102 includes:

[0188] The parameter acquisition submodule is used to obtain the specification parameters of the desired area;

[0189] The area generation submodule is used to determine and display the expected area based on the expected path as the central axis according to the specification parameters.

[0190] In one embodiment, the navigation information module 1103 includes:

[0191] The deviation acquisition submodule is used to obtain the posture deviation between the actual path and the expected path when the actual path enters the expected area;

[0192] The information generation submodule is used to generate navigation prompt information including posture deviation.

[0193] Each module in the above-mentioned instrument navigation 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 above.

[0194] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.12As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device 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 and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a device navigation method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse.

[0195] Those skilled in the art will understand that Fig.12 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.

[0196] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0197] Obtain the actual path corresponding to the operating device, and obtain the expected path corresponding to the operating device; display the expected area according to the expected path; the expected area is used to indicate the adjustment of the actual path to enter the expected area; generate navigation prompt information according to the actual path and the expected path; the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path.

[0198] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0199] The position and posture information of the instrument target associated with the guide channel is obtained; the guide channel is used for the operation instrument to penetrate; the actual path is generated according to the position and posture information of the instrument target and the preset position and posture relationship between the instrument target and the guide channel.

[0200] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0201] The position and posture information of the target object associated with the target object is obtained; and the expected path is generated according to the position and posture information of the target object and the preset position and posture relationship between the target object and the expected path.

[0202] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0203] Obtain specification parameters of the expected area; take the expected path as the central axis, determine the expected area according to the specification parameters and display it.

[0204] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0205] When the actual path enters the expected area, a position deviation between the actual path and the expected path is obtained; and navigation prompt information including the position deviation is generated.

[0206] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0207] Obtain the actual path corresponding to the operating device, and obtain the expected path corresponding to the operating device; display the expected area according to the expected path; the expected area is used to indicate the adjustment of the actual path to enter the expected area; generate navigation prompt information according to the actual path and the expected path; the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path.

[0208] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0209] The position and posture information of the instrument target associated with the guide channel is obtained; the guide channel is used for the operation instrument to penetrate; the actual path is generated according to the position and posture information of the instrument target and the preset position and posture relationship between the instrument target and the guide channel.

[0210] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0211] The position and posture information of the target object associated with the target object is obtained; and the expected path is generated according to the position and posture information of the target object and the preset position and posture relationship between the target object and the expected path.

[0212] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0213] Obtain specification parameters of the expected area; take the expected path as the central axis, determine the expected area according to the specification parameters and display it.

[0214] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0215] When the actual path enters the expected area, a position deviation between the actual path and the expected path is obtained; and navigation prompt information including the position deviation is generated.

[0216] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0217] Obtain the actual path corresponding to the operating device, and obtain the expected path corresponding to the operating device; display the expected area according to the expected path; the expected area is used to indicate the adjustment of the actual path to enter the expected area; generate navigation prompt information according to the actual path and the expected path; the navigation prompt information is used to indicate the adjustment of the actual path to match the expected path.

[0218] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0219] The position and posture information of the instrument target associated with the guide channel is obtained; the guide channel is used for the operation instrument to penetrate; the actual path is generated according to the position and posture information of the instrument target and the preset position and posture relationship between the instrument target and the guide channel.

[0220] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0221] The position and posture information of the target object associated with the target object is obtained; and the expected path is generated according to the position and posture information of the target object and the preset position and posture relationship between the target object and the expected path.

[0222] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0223] Obtain specification parameters of the expected area; take the expected path as the central axis, determine the expected area according to the specification parameters and display it.

[0224] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0225] When the actual path enters the expected area, a position deviation between the actual path and the expected path is obtained; and navigation prompt information including the position deviation is generated.

[0226] 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 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), 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.

[0227] 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.

[0228] 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 device navigation method, characterized in that: The method comprises: Acquiring an actual path corresponding to an operating device, and acquiring an expected path corresponding to the operating device; Displaying an expected area surrounding the expected path according to the expected path; the expected area is used to indicate a rough adjustment of the actual path to adjust the actual path to enter the expected area; When the actual path enters the expected area, navigation prompt information is generated according to the actual path and the expected path; the navigation prompt information is used to instruct to fine-tune the actual path to adjust the actual path to match the expected path.

2. The method according to claim 1, characterized in that The obtaining of the actual path corresponding to the operating device includes: Acquiring position information of an instrument target associated with a guide channel; the guide channel is used for the operating instrument to penetrate; The actual path is generated according to the posture information of the instrument target and the preset posture relationship between the instrument target and the guide channel.

3. The method according to claim 1, characterized in that The obtaining of the expected path corresponding to the operating device includes: Obtaining position information of a target associated with the target object; The expected path is generated according to the posture information of the target object and the preset posture relationship between the target object and the expected path.

4. The method according to any one of claims 1 to 3, characterized in that The displaying the expected area according to the expected path includes: Obtaining specification parameters of the desired area; Taking the expected path as the central axis, the expected area is determined and displayed according to the specification parameters.

5. The method according to any one of claims 1 to 3, characterized in that: The generating navigation prompt information according to the actual path and the expected path includes: When the actual path enters the expected area, obtaining a posture deviation between the actual path and the expected path; Generate the navigation prompt information including the posture deviation.

6. An instrument navigation system, characterized in that: The system comprises: a navigation device, a guiding device and a fixing device; wherein the guiding device is connected to the fixing device; the fixing device is used to fix the target object; the guiding device is provided with a guiding channel, and the guiding channel is used for the operating instrument to penetrate; The navigation device is used to obtain the actual path corresponding to the operating device and the expected path corresponding to the operating device; display an expected area surrounding the expected path according to the expected path; and generate navigation prompt information according to the actual path and the expected path when the actual path enters the expected area; the expected area is used to indicate adjustment of the guidance device to make a rough adjustment to the actual path so as to adjust the actual path to enter the expected area; the navigation prompt information is used to indicate adjustment of the guidance device to make a fine adjustment to the actual path so as to match the expected path.

7. The system according to claim 6, characterized in that The guiding device comprises: an instrument target, a first adjustment mechanism and a second adjustment mechanism; Among them, one end of the first adjustment mechanism is connected to the fixing device, the other end of the first adjustment mechanism is connected to one end of the second adjustment mechanism, the other end of the second adjustment mechanism is connected to the instrument target, and the other end of the second adjustment mechanism is also provided with the guide channel, and the positions of the instrument target and the guide channel are relatively fixed.

8. The system according to claim 7, characterized in that The second adjustment mechanism includes: a first joint, a second joint and a third joint connected in sequence; wherein, the first joint is used to drive the second joint to rotate around a first direction, the second joint is used to drive the third joint to rotate around a second direction and move along the second direction, and the third joint can rotate around a third direction relative to the second joint; the first direction, the second direction and the third direction are all perpendicular to each other.

9. The system according to claim 8, characterized in that The navigation device is also used for: When the actual path enters the expected area, obtaining an actual position and posture of the instrument target corresponding to the actual path, and obtaining an expected position and posture of the instrument target corresponding to the expected path; Determining adjustment information of the second adjustment mechanism according to the actual posture and the expected posture of the instrument target; Generate the navigation prompt information including the adjustment information.

10. The system according to claim 9, characterized in that The navigation device is also used for: Determining the actual position and posture of each joint in the second adjustment mechanism according to the actual position and posture of the instrument target, and determining the expected position and posture of each joint in the second adjustment mechanism according to the expected position and posture of the instrument target; According to the actual posture and expected posture of each joint in the second adjusting mechanism, the posture deviation corresponding to each joint in the second adjusting mechanism is determined as the adjustment information of the second adjusting mechanism.

11. The system according to claim 9, characterized in that The navigation device is also used for: Determining an actual position and posture of the first joint according to the actual position and posture of the instrument target; Determining a desired position and posture of the first joint according to the desired position and posture of the instrument target; The posture deviation of the first joint is determined according to the actual posture and the expected posture of the first joint as adjustment information of the first joint in the second adjustment mechanism.

12. The system according to claim 11, characterized in that The navigation device is also used for: Determine the actual position and posture of the first joint after adjustment and the actual position and posture of the second joint after adjustment of the first joint according to the actual position and posture of the instrument target after adjustment of the first joint; Determining the desired position and posture of the second joint according to the actual position and posture of the first joint after adjustment and the desired position and posture of the instrument target; The posture deviation of the second joint is determined according to the actual posture and the expected posture of the second joint after the first joint is adjusted, which serves as the adjustment information of the second joint in the second adjustment mechanism.

13. The system according to claim 12, characterized in that The navigation device is also used for: Determine the actual position and posture of the second joint after adjustment and the actual position and posture of the third joint after adjustment of the second joint according to the actual position and posture of the instrument target after adjustment of the second joint; Determining the desired posture of the third joint according to the actual posture of the first joint after adjustment, the actual posture of the second joint after adjustment, and the desired posture of the instrument target; The posture deviation of the third joint is determined according to the actual posture and the expected posture of the third joint after the adjustment of the second joint, which serves as the adjustment information of the third joint in the second adjustment mechanism.

14. The system according to any one of claims 6 to 13, characterized in that: The navigation device comprises an augmented reality navigation device.

15. An instrument navigation device, characterized in that: The device comprises: A path acquisition module, used to acquire an actual path corresponding to an operating device, and to acquire an expected path corresponding to the operating device; An expected area module, used for displaying an expected area surrounding the expected path according to the expected path; the expected area is used to indicate a rough adjustment of the actual path to adjust the actual path into the expected area; A navigation information module is used to generate navigation prompt information according to the actual path and the expected path when the actual path enters the expected area; the navigation prompt information is used to instruct to fine-tune the actual path to adjust the actual path to match the expected path.

16. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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