Mechanical arm trolley positioning method

Abstract

The invention discloses a mechanical arm trolley positioning method. The method comprises the steps that (1) the transformation relation between all planned target channels and patient tracers is obtained; (2) the patient tracer is set as a relative stationary point, the mechanical arm trolley is set as a relative action point, and the relative distance between the patient tracer and the mechanical arm trolley is adjusted according to the set step length; (3) the transformation relation between each target channel and the adjusted mechanical arm base is calculated; (4) through inverse kinematics of the mechanical arm, judging whether each target channel can be reached or not, if so, turning to the step (5), otherwise, returning to the step (2); (5) judging whether a tail end tracer is located in a visible range of the optical tracking system or not when the mechanical arm executes the reachable position of each target channel; if so, obtaining a target position; otherwise, returning to the step (2). The positioning of the mechanical arm trolley can be accurately completed, the mechanical arm trolley does not need to be frequently moved, the position of the optical tracking system does not need to be adjusted, and the execution precision is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of robot navigation technology, and in particular to a robot arm trolley positioning method. Background Art

[0002] At present, for spinal surgery, during the operation, the placement of the robotic arm trolley is heavily dependent on the operating experience of medical staff. If the robotic arm trolley is not placed in an appropriate position, the following two problems may occur:

[0003] 1. The robotic arm may not be able to reach the target position, and the operation cannot continue, which requires medical staff to frequently move the robotic arm trolley, and the medical staff do not know the moving direction of the trolley;

[0004] 2. When the robotic arm is in place, the end tracer is not within the visual range of the optical tracking system. At this time, medical staff need to frequently adjust the position of the optical tracking system, which affects the execution accuracy.

[0005] Among the above problems, the process of moving the trolley and adjusting the optical tracker is time-consuming and labor-intensive, which seriously affects the operating experience of medical staff and the smoothness of the surgical process, and even has an adverse impact on the quality of the surgery. Summary of the invention

[0006] Purpose of the invention: In view of the above-mentioned deficiencies, the present invention proposes a method for positioning a robotic arm trolley, which can accurately complete the positioning of the robotic arm trolley without the need to frequently move the robotic arm trolley, thereby ensuring the smooth progress of the operation and eliminating the need for medical staff to adjust the position of the optical tracking system, thereby reducing the operation time and ensuring the execution accuracy.

[0007] Technical solution:

[0008] The present invention provides a method for positioning a robot arm trolley, comprising:

[0009] (1) Obtain a medical image containing a surgical area, plan a number of target channels in the surgical area in the medical image, and calculate the transformation relationship between all planned target channels and the patient tracer installed in the patient's surgical area;

[0010] (2) The patient tracer is set as the relative static point and the robotic arm trolley is set as the relative action point, and the relative distance between the two is adjusted according to the set step length;

[0011] (3) Positioning the end tracer by the optical tracking system, and obtaining the transformation relationship between the adjusted manipulator base of the manipulator trolley and the optical tracking system according to the forward kinematics of the manipulator, thereby combining step (1) to calculate the transformation relationship between each target channel and the adjusted manipulator base;

[0012] (4) According to the transformation relationship obtained in step (3), through the inverse kinematics of the robot arm, determine whether all target channels are reachable. If all are reachable, go to step (5); otherwise, return to step (2);

[0013] (5) Determine whether the end tracer is within the visual range of the optical tracking system when the robot arm executes to the reachable position of each target channel;

[0014] If the end tracer is within the visible range of the optical tracking system at this time, the corresponding robotic arm trolley position is used as the target position; otherwise, return to step (2).

[0015] Specifically, in step (4), the determination of whether all target channels are reachable is as follows:

[0016] (41) According to the transformation relationship obtained in step (3), each target channel is raised by a set distance along its axis direction, and the transformation relationship between the end tool and the robot arm base is calculated;

[0017] (42) According to the set rotation step, the navigation angle of the end tool is traversed, and according to the inverse kinematics of the manipulator, it is determined whether there is a non-singular inverse solution for the transformation relationship between the end tool and the manipulator base under the corresponding navigation angle; if there is an inverse solution, it is considered that the target channel is reachable, otherwise it is considered that the target channel is unreachable;

[0018] S43, repeat step (42) to traverse and determine whether all target channels are reachable.

[0019] More specifically, in step (42), the navigation angle range of the end tool is 360°, and the set rotation step is 2°.

[0020] More specifically, the step (5) comprises:

[0021] (51) according to the transformation relationship between the end tool and the robot arm base obtained in step (41) and the reachable navigation angle obtained in step (42), combined with the transformation relationship between the end tracer and the robot arm base, the transformation relationship between the end tracer and the robot arm base when in the reachable position is calculated;

[0022] (52) combining step (3) and step (51), calculating the transformation relationship between the end tracer and the optical tracking system when the end tool is located at the reachable position;

[0023] (53) When the end tool is located at a reachable position, the transformation relationship between the end tracer and the optical tracking system obtained in step (52) is used to calculate the angle between the normal vector of the end tracer and the normal vector of the optical tracking system. If the angle is less than 90°, the end tracer is considered to be within the visible range of the optical tracking system; otherwise, the end tracer is considered to be outside the visible range of the optical tracking system.

[0024] Specifically, the transformation relationship between the robot arm base and the optical tracking system of the adjusted robot arm trolley is obtained according to the robot arm forward kinematics calculation, which is specifically:

[0025] After each distance adjustment, the transformation relationship between the end of the manipulator and the base of the manipulator is calculated through the forward kinematics of the manipulator. The transformation relationship between the end of the manipulator and the end tracer is calculated according to the installation parameters of the end of the manipulator and the end tracer. The transformation relationship between the end tracer and the optical tracking system is calculated by positioning the end tracer through the optical tracking system.

[0026] Through the above conversion relationship, the transformation relationship between the adjusted robot arm base of the robot arm trolley and the optical tracking system is calculated.

[0027] Specifically, in step (2), the robotic arm trolley is adjusted in two orthogonal directions according to a set step length within the adjustable range of the robotic arm trolley.

[0028] More specifically, the adjustable range of the robotic arm trolley is a square range with a length of 130 cm and a width of 50 cm formed on the side of the operating bed close to the patient's feet, the wide side of the square range is 30 cm and 100 cm away from the tail side of the operating bed close to the patient's feet, and the long side is 50 cm and 100 cm away from the side of the operating bed; accordingly, the step length is set to 10 cm.

[0029] Specifically, the step (1) comprises:

[0030] (11) obtaining a medical image including the surgical area, and obtaining a transformation relationship between the patient tracer and the medical image through registration calculation;

[0031] (12) obtaining a transformation relationship between each target channel and the medical image according to the positions of several target channels planned in the medical image;

[0032] (13) Calculating the transformation relationship between each target channel and the patient tracer based on the transformation relationship between the patient tracer and the medical image obtained in step (11) and the transformation relationship between each target channel and the medical image obtained in step (12).

[0033] More specifically, in step (11), the registration calculation process is completed by a calibration tool.

[0034] More specifically, the registration calculation process is completed by the calibration tool, specifically:

[0035] By positioning the patient tracer through the optical positioning system, a transformation relationship between the patient tracer and the optical tracking system is obtained;

[0036] Positioning a calibration fixture placed on the patient through an optical tracking system, and identifying the calibration fixture in the medical image, and calculating a transformation relationship between the medical image and the optical tracking system;

[0037] In summary, the transformation relationship between the patient tracer and the medical image is calculated.

[0038] Beneficial effects: The present invention can accurately complete the positioning of the robotic arm trolley by continuously adjusting the position of the robotic arm trolley during positioning, and after each adjustment, judging whether the end tool on the end of the robotic arm of the robotic arm trolley can reach each target channel, and judging whether the guide on the end of the robotic arm is within the visual range of the optical tracking system when the robotic arm executes to each target channel, without the need to frequently move the robotic arm trolley, thereby ensuring the smooth progress of the operation. In addition, there is no need for medical staff to adjust the position of the optical tracking system, which reduces the operation time and ensures the execution accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are merely embodiments of the present invention, and ordinary technicians in this field can obtain other drawings based on these drawings without creative work.

[0040] Figure 1 This is a schematic diagram of the scene where the robotic arm trolley is positioned;

[0041] Figure 2 This is a flow chart of the robot arm trolley positioning;

[0042] Figure 3 It is a position relationship diagram of the target end tool and the channel;

[0043] Figure 4 It is a flowchart for calculating the reachability of the target channel;

[0044] Figure 5 It is a flow chart for determining whether the terminal tracer is visible.

[0045] Among them, 10 is an optical tracking system, 20 is an operating table, 30 is a patient, 31 is the patient's skin, 32 is the patient's vertebra, 40 is a patient tracer, 50 is a target channel area, 51 is a channel entry point, 52 is a channel exit point, 60 is a robotic arm trolley, 61 is a robotic arm, 62 is an end guide, and 70 is a target position. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0047] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0048] The scene of the robot arm trolley positioning of the present invention is as follows Figure 1 As shown, the optical tracking system 10 is placed on the side of the operating table 20, the patient 30 is placed on the operating table 20, and the patient tracker 40 is installed in the surgical area of ​​the patient 30; the robot arm trolley 60 is movably set within the set range on the side of the operating table 20, as shown in FIG. Figure 1 In the box at the lower left side of the middle operating bed 20 , an end tool 62 is installed at the end of a robot arm 61 of a robot arm trolley 60 , and an end tracer is installed on the end tool 62 .

[0049] In the present invention, the optical tracking system 10 can be placed on one side of the operating table 20 close to the patient's head, and is used to obtain the position and posture of the patient's tracer 40 and the end tracer in real time, thereby providing position and posture navigation for the robotic arm 601.

[0050] In the present invention, the surgical area of ​​the patient 30 includes the patient's spine, that is, the patient tracer 40 is fixed on the spine of the patient 30 .

[0051] In the present invention, the robotic arm trolley 60 is movably arranged on the left or right side of the operating bed 20, and the setting range size on the operating bed 20 side can be set to m×n, wherein m represents the maximum distance from the edge of the operating bed, and n represents the maximum distance from the edge of the operating bed close to the patient's feet; in a specific embodiment of the present invention, m can be 70 cm and n can be 50 cm.

[0052] The process of the robot arm trolley positioning method of the present invention is as follows Figure 2 As shown, including:

[0053] S1. Obtain a medical image containing a surgical procedure area, plan a number of target channels in the surgical procedure area in the medical image, and calculate the transformation relationship between all planned target channels and the patient tracer;

[0054] In the present invention, the acquired medical images including the surgical area are generally three-dimensional images, including CT images, CBCT images, and the like.

[0055] Specifically, the steps include:

[0056] S11, obtaining a medical image including a surgical area such as a spine, and obtaining a transformation relationship between the patient tracer and the medical image through registration calculation;

[0057] In the present invention, the coordinate system C corresponding to the patient tracer can be calculated by registration. p Relative to the image coordinate system C corresponding to the medical image i The transformation matrix

[0058] In the present invention, the registration calculation process can be completed by a calibration tool. Specifically, the patient tracer can be recognized by the optical tracking system, so the transformation relationship between the patient tracer and the optical tracking system can be obtained; at the same time, the calibration tool is installed near the surgical area (such as above the lesion), which can be displayed in the medical image and recognized by the optical tracking system, so the transformation relationship of the medical image relative to the optical tracking system can be established. Based on the transformation relationship between the patient tracer and the medical image relative to the optical tracking system, both are under the reference of the optical tracking system, so the transformation relationship between the patient tracer and the medical image can be determined, that is, the coordinate system C corresponding to the patient tracer is obtained. p Relative to the image coordinate system C corresponding to the medical image i The transformation matrix

[0059] S12, the medical staff plans several target channels in the medical image, and obtains the transformation relationship between each target channel and the medical image according to the position and posture of the target channel in the medical image;

[0060] In the present invention, medical personnel plan several target channels in the medical image, and the position and posture of the target channels in the medical image can be obtained by establishing the corresponding channel coordinate system C according to the target channels. c .

[0061] As one of the implementation methods, refer to Figure 3 , the entry point 51 of the target channel is the channel coordinate system C c The origin of the channel, the direction from the entry point 51 to the exit point 52 is set as the channel coordinate system C cThe z-axis of each target channel can be obtained by determining the x-axis and y-axis according to the right-hand rule. c Relative to the image coordinate system C i The transformation matrix That is, the transformation relationship between each target channel and the medical image;

[0062] S13, according to the transformation relationship between the patient tracer and the medical image obtained in S11 and the transformation relationship between each target channel and the medical image obtained in S12, the transformation relationship between each target channel and the patient tracer can be calculated;

[0063] Specifically, the patient tracer coordinate system C obtained in S11 is p Relative to the image coordinate system C i The transformation matrix The coordinate system C of each target channel obtained by S12 c Relative to the image coordinate system C i The transformation matrix Multiply them together to get the coordinate system C of each target channel. c Relative to the patient tracer coordinate system C p The transformation matrix

[0064]

[0065] S2, setting the patient tracer as a relative static point and the robotic arm trolley as a relative action point, and adjusting the relative distance between the two according to the set step length;

[0066] In the present invention, a plane coordinate system can be established on a horizontal plane, with the patient tracer 40 as the origin O, and the position of the robotic arm trolley can be adjusted according to a set step length along the coordinate axis direction of the plane coordinate system.

[0067] In the present invention, reference is made to Figure 1 The adjustable range of the robotic arm trolley is set within the range of the lower left corner of the figure. The plane coordinate system established on the horizontal plane can take the patient tracer as the origin, the direction of the human head and feet as the x-axis, and the left and right direction of the human body as the y-axis. The displacement of the robotic arm trolley is reflected in the coordinate system of the patient tracer 40. The setting range of the displacement is [-100cm, -30cm] in the x-axis direction and [50cm, 100cm] in the y-axis direction; accordingly, the step lengths in the x- and y-axis directions are both set to 10cm.

[0068] S3, positioning the end tracer through the optical tracking system, and calculating the transformation relationship between the robot arm base and the optical tracking system after the robot arm trolley adjusts its position according to the robot arm forward kinematics;

[0069] Specifically, each time the position of the robot trolley is adjusted, the end tracer is positioned by the optical tracking system to obtain the end tracer coordinate system C e Transformation matrix relative to the optical tracking system It is known that the flange coordinate system C corresponding to the end flange of the robotic arm can be calculated through the forward kinematics of the robotic arm. f Relative to the base coordinate system C corresponding to the robot base b The transformation matrix Calculate the flange coordinate system C according to the installation parameters of the end flange of the robot and the end tracer f The end tracer coordinate system C corresponding to the end tracer e The transformation matrix Through the above conversion relationship, the base coordinate system C can be calculated b Transformation matrix relative to the optical tracking system as follows:

[0070]

[0071] That is, the adjusted robotic arm base is transformed to the optical tracking system, that is, the transformation relationship between the robotic arm base after adjustment of the robotic arm trolley and the optical tracking system is obtained.

[0072] S4, positioning the patient tracer by the optical tracking system, combining the transformation relationship between all planned target channels and the patient tracer obtained in S1 and the transformation relationship between the robotic arm base and the optical tracking system obtained in S3, and calculating the transformation relationship between each target channel and the robotic arm base;

[0073] By positioning the patient tracer through the optical tracking system, the patient tracer coordinate system C can be obtained. p Transformation matrix relative to the optical tracking system Combined with S1, the coordinate system C of each target channel is obtained c Relative to the patient tracer coordinate system C p The transformation matrix The base coordinate system C obtained by S3 b Transformation matrix relative to the optical tracking system The coordinate system C of each target channel can be calculated c Equivalent to the base coordinate system C b The transformation matrix as follows:

[0074]

[0075] That is, the position and posture of each target channel in the patient tracer coordinate system is transformed into the adjusted robot arm base coordinate system, that is, the transformation relationship between each target channel and the adjusted robot arm base of the robot arm trolley is obtained.

[0076] S5, according to the transformation relationship between each target channel and the robot base obtained in S4, through the inverse kinematics of the robot, determine whether each target channel is reachable, if all are reachable, go to S6, otherwise return to S2;

[0077] The requirement for the target channel to be reachable is that before nail placement, the axis of the end tool on the robot arm must move to coincide with the axis of the target channel. Specifically, refer to Figure 4 , including the steps of:

[0078] S51, according to the transformation relationship between each target channel and the robot arm base obtained in S4, each target channel is lifted by a set distance along its axis direction, and the transformation relationship between the end tool and the robot arm base is calculated;

[0079] In the present invention, in order to prevent the end tool of the robot arm from contacting the human skin, the set distance is set to 150cm. Therefore, based on the planned target channels, after the set distance is lifted along the axis, the target position of the end tool is obtained, and the axis direction of the end tool coincides with the axis of the target channel. The process of judging whether the target position is reachable is to judge whether the movement of the robot arm enables the end tool to move to the target position.

[0080] Specifically, the coordinate system C of each target channel obtained based on S4 c Relative to the base coordinate system C b The transformation matrix After calculating the set distance of each target channel moving along its axis, the end tool coordinate system C t Relative to the robot base coordinate system C b The transformation matrix of

[0081] S52, according to the set rotation step length, traverse the navigation angle of the end tool, and determine whether there is a non-singular inverse solution for the transformation relationship between the end tool and the base of the robotic arm under the corresponding navigation angle based on the inverse kinematics of the robotic arm; if there is an inverse solution, it is considered that the target channel is reachable, otherwise it is considered that the target channel is unreachable;

[0082] like Figure 3 As shown, the navigation angle of the end tool is the angle of rotation of the end tool around its own axis (that is, the planned channel axis, namely the Z axis). It can be understood that the navigation angle range of the end tool is 360°.

[0083] Therefore, different navigation angles of the end tool correspond to different robot arm postures. When the transformation matrix of the end tool relative to the robot arm base has an inverse solution and is not singular, it means that the robot arm can drive the end tool to reach the target position corresponding to the planned channel; otherwise, the target position is unreachable, and the corresponding target channel cannot be reached by the robot arm to perform tool operation.

[0084] Exemplarily, the navigation angle traversal range of the end tool is [-180°, 180°], and the set rotation step is 2°.

[0085] Specifically, starting from the initial angle of the end tool, the navigation angle is traversed according to the above rotation step length, and the inverse kinematics of the manipulator is used to calculate the coordinate system C of each target channel. c Relative to the base coordinate system C b The transformation matrix Find the inverse solution. When an inverse solution exists and is not singular, stop traversal immediately, indicating that the robot has found a path to reach the target position.

[0086] S53, repeat S52, traverse and determine whether all target channels are reachable, if all are reachable, go to S6, otherwise return to S2;

[0087] S6, determining whether the end tracer is within the visible range of the optical tracking system when the robot arm reaches the reachable position of each target channel;

[0088] If the end tracer is within the visible range of the optical tracking system at this time, the corresponding position of the robotic arm trolley is used as the target position of the robotic arm trolley, such as Figure 1 As indicated by mark 70; otherwise, return to S2;

[0089] It should be noted that the execution process of the robot arm includes first driving the end tool to a reachable position coaxial with the target position (ie, the Z axis), and then rotating according to the heading angle obtained in S52, so that the end tool is finally at the target position.

[0090] Specifically, refer to Figure 5 , including the steps of:

[0091] S61, according to the transformation relationship between the end tool and the robot arm base obtained in S51 and the reachable navigation angle obtained in S52, combined with the transformation relationship between the end tracer and the robot arm base and the installation parameters of the end tool and the end tracer, calculate the transformation relationship between the end tracer and the robot arm base when in the reachable position;

[0092] Specifically, according to the end tool coordinate system C obtained in S51 t Relative to the base coordinate system C b The transformation matrix According to the reachable angle rotation, the reachable end tool coordinate system C is obtained t1 Relative to the base coordinate system C b The transformation matrix It can be understood that the reachable end tool coordinate system C t1 It represents the coordinate system of the robot arm driving the end tool to reach the reachable position; the reachable end tool coordinate system C t1 According to the rotation angle, it can be converted into the end tool coordinate system C t expression.

[0093] In addition, the end tool coordinate system C is obtained according to the installation parameters of the end tool and the end tracer. t Relative to the end tracer coordinate system C e The transformation matrix Combined with the reachable end tool coordinate system C t1 Relative to the base coordinate system C b The transformation matrix Get the tracer coordinate system C that can be reached e1 Relative to the base coordinate system C b The transformation matrix as follows:

[0094]

[0095] S62, calculating the transformation relationship between the end tracer and the optical tracking system when the end tool is located at the reachable position according to the transformation relationship between the robot arm base and the optical tracking system obtained in S3 and the transformation relationship between the end tracer and the robot arm base when the end tool is located at the reachable position obtained in S61;

[0096] Specifically, S3 obtains the base coordinate system C b Transformation matrix in optical tracking system S61 obtains the reachable end tracer coordinate system C e1 Relative to the base coordinate system C b The transformation matrix The coordinate system C of the tracer that can be reached under the optical tracking system is calculated. e1 The transformation matrix as follows:

[0097]

[0098] S63. When the end tool obtained in S62 is located at a reachable position, the transformation relationship between the end tracer and the optical tracking system is used to calculate the angle between the normal vector of the end tracer and the normal vector of the optical tracking system. If the angle is less than 90°, the end tracer is considered to be within the visible range of the optical tracking system; otherwise, the end tracer is considered to be outside the visible range of the optical tracking system.

[0099] The present invention continuously adjusts the position of the robotic arm trolley during positioning, and after each adjustment, determines whether the end tool on the end of the robotic arm of the robotic arm trolley can reach each target channel, and determines whether the guide on the end of the robotic arm is within the visible range of the optical tracking system when the robotic arm executes to each target channel, thereby accurately completing the positioning of the robotic arm trolley, ensuring that the end tool can reach its target position during the subsequent execution process, without the need to frequently move the robotic arm trolley, and ensuring the smooth progress of the operation. In addition, it can be ensured that when the robotic arm is in place, the end guide is within the visible range of the optical tracking system, and there is no need for medical staff to adjust the position of the optical tracking system, thereby reducing the operation time and ensuring the execution accuracy.

[0100] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0101] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for positioning a robot arm trolley, characterized in that: include: (1) Obtain a medical image containing a surgical area, plan a number of target channels in the surgical area in the medical image, and calculate the transformation relationship between all planned target channels and the patient tracer installed in the patient's surgical area; (2) The patient tracer is set as the relative static point and the robotic arm trolley is set as the relative action point, and the relative distance between the two is adjusted according to the set step length; (3) Positioning the end tracer by the optical tracking system, and obtaining the transformation relationship between the adjusted manipulator base of the manipulator trolley and the optical tracking system according to the forward kinematics of the manipulator, thereby combining step (1) to calculate the transformation relationship between each target channel and the adjusted manipulator base; (4) According to the transformation relationship obtained in step (3), through the inverse kinematics of the robot arm, determine whether all target channels are reachable. If all are reachable, go to step (5); otherwise, return to step (2); (5) Determine whether the end tracer is within the visual range of the optical tracking system when the robot arm executes to the reachable position of each target channel; If the end tracer is within the visual range of the optical tracking system at this time, the corresponding position of the robotic arm trolley is used as the target position; Otherwise, return to step (2).

2. The method for positioning a robot arm trolley according to claim 1, characterized in that: In step (4), the determination of whether all target channels are reachable is as follows: (41) According to the transformation relationship obtained in step (3), each target channel is raised by a set distance along its axis direction, and the transformation relationship between the end tool and the robot arm base is calculated; (42) According to the set rotation step, the navigation angle of the end tool is traversed, and according to the inverse kinematics of the manipulator, it is determined whether there is a non-singular inverse solution for the transformation relationship between the end tool and the manipulator base at the corresponding navigation angle; If there is an inverse solution, the target channel is considered reachable, otherwise it is considered unreachable; S43, repeat step (42) to traverse and determine whether all target channels are reachable.

3. The method for positioning a robot arm trolley according to claim 2, characterized in that: In the step (42), the navigation angle range of the end tool is 360°, and the set rotation step is 2°.

4. The method for positioning a robot arm trolley according to claim 2, characterized in that: The step (5) comprises: (51) according to the transformation relationship between the end tool and the robot arm base obtained in step (41) and the reachable navigation angle obtained in step (42), combined with the transformation relationship between the end tracer and the robot arm base, the transformation relationship between the end tracer and the robot arm base when in the reachable position is calculated; (52) combining step (3) and step (51), calculating the transformation relationship between the end tracer and the optical tracking system when the end tool is located at the reachable position; (53) When the end tool is located at a reachable position, the transformation relationship between the end tracer and the optical tracking system obtained in step (52) is used to calculate the angle between the normal vector of the end tracer and the normal vector of the optical tracking system. If the angle is less than 90°, the end tracer is considered to be within the visible range of the optical tracking system; otherwise, the end tracer is considered to be outside the visible range of the optical tracking system.

5. The method for positioning a robot arm trolley according to claim 1, characterized in that: The transformation relationship between the adjusted manipulator base and the optical tracking system of the manipulator trolley is obtained according to the forward kinematics calculation of the manipulator, specifically: After each distance adjustment, the transformation relationship between the end of the manipulator and the base of the manipulator is calculated through the forward kinematics of the manipulator. The transformation relationship between the end of the manipulator and the end tracer is calculated according to the installation parameters of the end of the manipulator and the end tracer. The transformation relationship between the end tracer and the optical tracking system is calculated by positioning the end tracer through the optical tracking system. Through the above conversion relationship, the transformation relationship between the adjusted robot arm base of the robot arm trolley and the optical tracking system is calculated.

6. The method for positioning a robot arm trolley according to claim 1, characterized in that: In the step (2), the robotic arm trolley is adjusted in two orthogonal directions according to a set step length within the adjustable range of the robotic arm trolley.

7. The method for positioning a robot arm trolley according to claim 6, characterized in that: The adjustable range of the robotic arm trolley is specifically a square range with a length of 130 cm and a width of 50 cm formed on the side of the operating bed close to the patient's feet. The wide side of the square range is 30 cm and 100 cm away from the tail side of the operating bed close to the patient's feet, and the long side is 50 cm and 100 cm away from the side of the operating bed; accordingly, the step length is set to 10 cm.

8. The method for positioning a robot arm trolley according to claim 1, characterized in that: The step (1) comprises: (11) obtaining a medical image including the surgical area, and obtaining a transformation relationship between the patient tracer and the medical image through registration calculation; (12) obtaining a transformation relationship between each target channel and the medical image according to the positions of several target channels planned in the medical image; (13) Calculating the transformation relationship between each target channel and the patient tracer based on the transformation relationship between the patient tracer and the medical image obtained in step (11) and the transformation relationship between each target channel and the medical image obtained in step (12).

9. The method for positioning a robot arm trolley according to claim 8, characterized in that: In the step (11), the registration calculation process is completed by calibrating the tooling.

10. The method for positioning a robot arm trolley according to claim 9, characterized in that: The registration calculation process is completed by calibrating the fixture, specifically: By positioning the patient tracer through the optical positioning system, a transformation relationship between the patient tracer and the optical tracking system is obtained; Positioning a calibration fixture placed on the patient through an optical tracking system, and identifying the calibration fixture in the medical image, and calculating a transformation relationship between the medical image and the optical tracking system; In summary, the transformation relationship between the patient tracer and the medical image is calculated.

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