Surgical auxiliary positioning system, method and equipment and storage medium

Abstract

The invention discloses an auxiliary operation positioning system, method and equipment and a storage medium. The auxiliary operation positioning system comprises a first articulated arm, a second articulated arm, a trolley base, a positioning processor and a display, the first joint arm and the second joint arm respectively comprise a plurality of joint nodes; the two ends of the first joint arm are connected with the trolley base and the tracking piece respectively. Two ends of the second articulated arm are respectively connected with the trolley base and the surgical instrument; the positioning processor obtains rotation data of each joint node, and determines a target conversion relation between a surgical instrument coordinate system where the surgical instrument is located and a display coordinate system based on the rotation data, first coordinate information of the tracking part in the surgical object coordinate system and second coordinate information of the tracking part in the display coordinate system; based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relation, determining the positioning coordinate information of the surgical instrument in the display coordinate system; the display displays a surgical instrument positioning picture. And the positioning accuracy of the surgical instrument is improved.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a surgical auxiliary positioning system, method, device and storage medium. Background Art

[0002] The surgical assisted positioning system plays an increasingly important role in the surgical process. At present, the surgical assisted positioning system mainly includes two different types of navigation systems: optical navigation system and electromagnetic navigation system.

[0003] The optical navigation system uses a binocular camera to identify specific markers (such as reflective disks, reflective balls, etc.) to track and locate the target object, but it is easily affected by the external environment. For example, factors such as obstruction by obstacles, interference from reflective objects and ambient temperature can affect the accuracy of the optical navigation system's positioning.

[0004] The electromagnetic navigation system uses a magnetic field generator to generate a magnetic field. Combined with a magnetic sensor installed on the tracked object, it determines the position of the target object by detecting changes in the magnetic field. It is easily affected by magnetic interference, resulting in reduced positioning accuracy of the tracked object. Summary of the invention

[0005] The present invention provides a surgical auxiliary positioning system, method, device and storage medium to solve the problem of surgical instrument positioning accuracy.

[0006] According to one aspect of the present invention, a surgical assisted positioning system is provided, the surgical assisted positioning system comprising: a first joint arm, a second joint arm, a trolley base, a positioning processor and a display; the first joint arm and the second joint arm respectively comprise a plurality of joint nodes;

[0007] The first end of the first articulated arm is connected to the trolley base, and the second end of the first articulated arm is rigidly connected to the tracking member, and the tracking member is carried by the surgical object; the first end of the second articulated arm is connected to the trolley base, and the second end of the second articulated arm is rigidly connected to the surgical instrument;

[0008] The positioning processor obtains the rotation data of each joint node in the first joint arm and the second joint arm, and determines the target conversion relationship between the surgical instrument coordinate system and the display coordinate system based on the rotation data of each joint node in the first joint arm and the second joint arm, the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system;

[0009] Determine the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship;

[0010] The display interface of the display shows a positioning picture of the surgical instrument, which includes medical images of the surgical instrument and the surgical object.

[0011] According to another aspect of the present invention, a surgical assisted positioning method is provided. The surgical assisted positioning method is applied to a surgical assisted positioning system provided by any embodiment of the present invention. The surgical assisted positioning method comprises:

[0012] Obtaining rotation data of each joint node in the first joint arm and the second joint arm; the first joint arm is rigidly connected to the tracking component, and the tracking component is carried by the surgical object; the second joint arm is rigidly connected to the surgical instrument;

[0013] Determine a target conversion relationship between a surgical instrument coordinate system where the surgical instrument is located and a display coordinate system based on rotation data of each joint node in the first articulated arm and the second articulated arm, first coordinate information of the tracking element in the surgical object coordinate system, and second coordinate information in the display coordinate system;

[0014] Acquire the third coordinate information of the surgical instrument in the surgical instrument coordinate system; determine the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information and the target conversion relationship;

[0015] The medical image of the surgical object is displayed in the display interface, and the surgical instrument is displayed based on the positioning coordinate information of the surgical instrument in the display coordinate system.

[0016] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the surgical assisted positioning method provided by any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for enabling a processor to implement the surgical assisted positioning method provided by any embodiment of the present invention when the computer instructions are executed.

[0021] The technical solution of the embodiment of the present invention obtains the rotation data of each joint node in the first joint arm and the second joint arm through a positioning processor, and determines the target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system based on the rotation data of each joint node in the first joint arm and the second joint arm, the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system. The target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system is determined through the rotation data of each joint node and the coordinate information of the tracking component in different coordinate systems, thereby improving the target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system. Accuracy; based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship, the positioning coordinate information of the surgical instrument in the display coordinate system is determined, and the positioning of the surgical instrument in the display coordinate system is realized, thereby improving the accuracy of the positioning of the surgical instrument; the display interface of the display shows the positioning picture of the surgical instrument, and the positioning picture includes medical images of the surgical instrument and the surgical object, thereby realizing the visualization of the positioning of the surgical instrument, solving the problem of inaccurate positioning of the surgical instrument, and improving the accuracy of the positioning of the surgical instrument in the display coordinate system.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a structural schematic diagram of a surgical auxiliary positioning system provided in Embodiment 1 of the present invention;

[0025] Figure 2 is a structural schematic diagram of a surgical auxiliary positioning system provided by Embodiment 2 of the present invention;

[0026] Figure 3 is a connection diagram of a surgical auxiliary positioning system provided by an embodiment of the present invention;

[0027] Figure 4 is a flow chart of a surgical assisted positioning method provided in Embodiment 3 of the present invention;

[0028] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 1 is a schematic diagram of the structure of a surgical auxiliary positioning system provided by the first embodiment of the present invention. This embodiment can be applied to improve the accuracy of positioning of surgical instruments in a display coordinate system. Figure 1 As shown, the surgical auxiliary positioning system includes: a first articulated arm 110, a second articulated arm 120, a trolley base 130, a positioning processor 140 and a display 150; the first articulated arm 110 and the second articulated arm 120 respectively include a plurality of joint nodes;

[0033] The first end of the first articulated arm 110 is connected to the trolley base 130, and the second end of the first articulated arm 110 is rigidly connected to the tracking element, which is carried by the surgical object; the first end of the second articulated arm 120 is connected to the trolley base 130, and the second end of the second articulated arm 120 is rigidly connected to the surgical instrument;

[0034] The positioning processor 140 obtains the rotation data of each joint node in the first joint arm 110 and the second joint arm 120, and determines the target conversion relationship between the surgical instrument coordinate system and the display coordinate system based on the rotation data of each joint node in the first joint arm 110 and the second joint arm 120, the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system;

[0035] Determine the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship;

[0036] The display interface of the display 150 displays a positioning picture of the surgical instrument, and the positioning picture includes medical images of the surgical instrument and the surgical object.

[0037] In this embodiment, the first articulated arm 110 can be understood as an articulated arm for assisting in positioning surgical instruments, the tracking component can be understood as a component for assisting in positioning, and the tracking component can include multiple tracking sub-components. Optionally, the tracking component includes at least three tracking sub-components. The tracking component can include five tracking sub-components, and can also include seven tracking sub-components. The number of tracking sub-components can be set according to needs and is not limited here. The tracking component is carried by the surgical object, and the position of the tracking component relative to the surgical object is fixed. The tracking sub-components can have different shapes and sizes to facilitate distinguishing between multiple tracking sub-components. The tracking sub-components can also have the same shape and size, and multiple tracking sub-components can be distinguished by setting marks on the tracking sub-components. The first end of the first articulated arm 110 is connected to the trolley base 130, and the second end of the first articulated arm 110 is rigidly connected to the tracking component. The trolley base 130 can be understood as a component for fixing the first articulated arm 110 and the second articulated arm 120.

[0038] The first articulated arm 110 may include a plurality of joint nodes, and the joint nodes may be understood as the connection points connecting adjacent joints in the first articulated arm 110, and each joint node provides one degree of freedom. Two adjacent joint nodes are connected by a connecting rod. Optionally, the first articulated arm 110 is a seven-degree-of-freedom articulated arm, and the first articulated arm 110 includes seven joint nodes. The degrees of freedom of the first articulated arm 110 are set to seven degrees of freedom. On the basis of six degrees of freedom, the first articulated arm 110 also includes redundant degrees of freedom. In a three-dimensional coordinate system, the six degrees of freedom can realize rotation and translation of the x-axis, y-axis and z-axis, and the redundant degrees of freedom can realize rotation and translation of any direction of the x-axis, y-axis and z-axis. The position of the first articulated arm 110 is adjusted by the redundant degrees of freedom. For example, the free adjustment of the position of the first articulated arm 110 during surgery can set the first articulated arm 110 at a position that does not affect the surgical operation, thereby reducing interference with the surgery.

[0039] Optionally, the joint node in the first articulated arm 110 is a rotary joint. The rotary joint can be understood as a joint node that can rotate. The first articulated arm 110 may include multiple rotary joints. When the first articulated arm 110 is a seven-degree-of-freedom articulated arm, the first articulated arm 110 includes seven rotary joints. Optionally, any rotary joint of the first articulated arm 110 includes a driving mechanism, a rotating shaft, an encoder and a locking structure. The driving mechanism can provide power for the first articulated arm 110, and the locking structure is fixedly connected to the rotating shaft. The driving mechanism is respectively attracted and separated with the locking structure by power off and power on to achieve locking and rotation of the rotary joint; the encoder is connected to the rotating shaft to obtain the rotation data of the rotating shaft, and the encoder is connected to the positioning processor 140 for communication, and the rotation data is transmitted to the positioning processor 140. The rotation data can be understood as data that characterizes the rotating shaft generated during the rotation process, and the rotation data may include a rotation angle. Two adjacent rotating shafts are connected to the same rotary joint, and the encoder can obtain the rotation data of the rotating shaft in real time to achieve accurate measurement of the rotation angle of the first articulated arm 110. The encoder is communicatively connected to the positioning processor 140, and the communication connection may include a wireless connection. For example, the encoder may be configured with a wireless transmission module, and a wireless connection is achieved with the positioning processor 140 through the wireless transmission module, thereby solving the problem of complex wiring in wired connection. The encoder may also be wirelessly connected to the positioning processor 140 through a serial port RS232, thereby solving the problem of complex wiring in wired connection and improving the stability of rotational data transmission.

[0040] The second articulated arm 120 can be understood as an articulated arm used by doctors to operate surgical instruments. The first end of the second articulated arm 120 is connected to the trolley base 130, and the second end of the second articulated arm 120 is rigidly connected to the surgical instrument to achieve control of the surgical instrument and perform surgery on the surgical object. Optionally, the second articulated arm 120 is a six-degree-of-freedom articulated arm. The degrees of freedom of the second articulated arm 120 are set to six degrees of freedom, for example, six degrees of freedom including forward and reverse directions in the horizontal direction, forward and reverse directions in the vertical direction, and forward and reverse directions in the coronal direction. The position and posture of the second articulated arm 120 can be set according to the operation requirements of the surgical instrument during the operation. Optionally, the joint node in the second articulated arm 120 is a rotary joint. The second articulated arm 120 may include multiple rotary joints. When the second articulated arm 120 is a six-degree-of-freedom articulated arm, the second articulated arm 120 includes six rotary joints. Optionally, any rotating joint of the second articulated arm 120 includes a rotating shaft and an encoder, the encoder is connected to the rotating shaft to obtain rotation data of the rotating shaft, and the encoder is communicatively connected to the positioning processor to transmit the rotation data to the positioning processor 140.

[0041] The positioning processor 140 can be understood as a component that processes the rotation data of each joint node in the first joint arm 110 and the second joint arm 120. The positioning processor 140 and the display 150 can be connected by communication. In this embodiment, in order to realize the navigation positioning of the surgical instrument, a target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system is established. The positioning coordinate information corresponding to the third coordinate information of the surgical instrument in the surgical instrument coordinate system in the display coordinate system can be determined through the target conversion relationship, so as to realize the real-time display of the navigation positioning of the surgical instrument on the display interface of the display. In order to determine the target conversion relationship between the surgical instrument coordinate system and the display coordinate system, the surgical object carries a tracking component, and the tracking component is displayed on the display interface of the display to determine the conversion relationship between the display coordinate system and the surgical object coordinate system. The conversion relationship between the surgical object coordinate system and the surgical instrument coordinate system is established through the first joint arm 110 and the second joint arm 120. Further, the target conversion relationship between the surgical instrument coordinate system and the display coordinate system can be determined through the conversion relationship between the display coordinate system and the surgical object coordinate system and the conversion relationship between the surgical object coordinate system and the surgical instrument coordinate system.

[0042] Among them, the first articulated arm 110 and the second articulated arm 120 are respectively connected to the trolley base. Accordingly, the conversion relationship between the surgical object coordinate system and the trolley base coordinate system can be determined by the conversion angle of each joint node in the first articulated arm 110, and the conversion relationship between the surgical instrument coordinate system and the trolley base coordinate system can be determined by the conversion angle of each joint node in the second articulated arm 120, thereby obtaining the conversion relationship between the surgical object coordinate system and the surgical instrument coordinate system.

[0043] Optionally, the positioning processor 140 is specifically used to: determine a first conversion relationship between the surgical object coordinate system and the trolley base coordinate system based on the rotation data of each joint node in the first articulated arm 110; determine a second conversion relationship between the surgical instrument coordinate system and the trolley base coordinate system based on the rotation data of each joint node in the second articulated arm 120; determine a third conversion relationship between the surgical object coordinate system and the display coordinate system based on the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system; determine a target conversion relationship between the surgical instrument coordinate system and the display coordinate system based on the first conversion relationship, the second conversion relationship and the third conversion relationship.

[0044] Specifically, the surgical object coordinate system can be understood as a coordinate system established based on the surgical object. For example, the surgical object coordinate system can be established based on the surgical site of the surgical object, and the surgical object coordinate system can be a three-dimensional coordinate system. The connection point of the first articulated arm 110 on the trolley base 130 and the connection point of the second articulated arm 120 on the trolley base 130 can be located in the same coordinate system, for example, they can be located in the same trolley base coordinate system. Optionally, the first articulated arm 110 and the second articulated arm 120 can be connected to the same connection point of the trolley base 130. Optionally, the first articulated arm 110 and the second articulated arm 120 can be connected to different connection points of the trolley base 130, and the different connection points are located in the same coordinate system. The trolley base coordinate system can be understood as a coordinate system established based on the trolley base 130, and can be a three-dimensional coordinate system. The first conversion relationship can be understood as the correspondence between the spatial position of the surgical object coordinate system and the trolley base coordinate system, and the first conversion relationship can be represented by a first conversion matrix. According to the first conversion relationship, the coordinate information in the trolley base coordinate system can be converted into the coordinate information in the surgical object coordinate system. The first conversion relationship can be determined by the DH parameter method to determine the positive kinematics equation corresponding to the surgical object coordinate system and the trolley base coordinate system, and the positive kinematics equation can be solved to obtain the first conversion matrix, and the first conversion matrix is ​​used as the first conversion relationship.

[0045] Each joint node in the first joint arm 110 corresponds to a coordinate system. Taking the i-th joint node in the first joint arm 110 as an example, the conversion relationship corresponding to the i-th joint node can be obtained through the first i-1 coordinate systems. The coordinate system corresponding to the i-th joint node is the coordinate system i, and the coordinate system corresponding to the i-1-th joint node is the coordinate system i-1. The DH parameter method uses four DH parameters, including the rotation angle, offset, connecting rod length and torsion angle of the joint node. The rotation angle can represent the angle of rotation of the i-th joint node relative to the coordinate system i-1, for example, it can be the rotation data of the i-th joint node. The offset can represent the distance between the common axis of the coordinate system i-1 and the coordinate system i. The connecting rod length can represent the distance between the two joint nodes, which can be obtained by measuring the length of the corresponding connecting rod in the first joint arm 110. The torsion angle can represent the relative torsion angle between adjacent connecting rods, usually on the z-axis, which can be obtained by measuring the angle between the z-axes in the corresponding coordinate systems of the adjacent connecting rods. The DH matrix is ​​established according to the rotation angle, offset, connecting rod length and torsion angle. The DH matrix is ​​a 4×4 homogeneous transformation matrix. The calculation formula is as follows:

[0046]

[0047] Among them, T i represents the DH matrix of the i-th joint node, θ i represents the rotation angle, α irepresents the torsion angle, a i Indicates the connecting rod length, d i Represents the offset. Calculate the total transformation matrix T. The total transformation matrix T can be obtained by performing matrix multiplication on multiple DH matrices, for example, to obtain the positive kinematics equation. The positive kinematics equation is calculated as follows:

[0048] T=T 1 ·T 2 ·...·T n

[0049] Wherein, n represents the number of joint nodes in the first joint arm 110, T n Denotes the nth DH matrix. Solving the forward kinematics equations, we can obtain the total transformation matrix T.

[0050] The surgical instrument coordinate system can be understood as a coordinate system established based on the surgical instrument, which can be a three-dimensional coordinate system. The second conversion relationship can be understood as the correspondence between the spatial positions of the surgical instrument coordinate system and the trolley base coordinate system, and the second conversion relationship can be represented by a second conversion matrix. According to the second conversion relationship, the coordinate information in the surgical instrument coordinate system can be converted into the coordinate information in the trolley base coordinate system. Based on the rotation data of each joint node in the second articulated arm 120, the positive kinematic equation corresponding to the surgical instrument coordinate system and the trolley base coordinate system is determined according to the DH parameter method, and the positive kinematic equation is solved to obtain the second conversion matrix, and the second conversion matrix is ​​used as the second conversion relationship.

[0051] The first coordinate information can be understood as the position information representing the tracking element in the coordinate system of the surgical object, for example, it can include the three-dimensional coordinate information of the tracking element. The display coordinate system can be understood as a coordinate system established based on the display 150, which can be a three-dimensional coordinate system established based on the display 150. In the process of using the surgical auxiliary positioning system for auxiliary positioning, medical images of the surgical object can be collected, and the images obtained by scanning by medical imaging equipment include but are not limited to computer tomography images, magnetic resonance images and X-ray images. The medical image can include surgical instruments and surgical objects. The second coordinate information can be understood as the position information representing the tracking element in the display coordinate system, for example, it can include the three-dimensional coordinate information of the tracking element, the second coordinate information and the first coordinate information represent the coordinate information of the tracking element in different coordinate systems, and the second coordinate information represents the position information of the tracking element in the display coordinate system, that is, when the medical image is displayed in the display interface, the coordinate information of the tracking element in the medical image is the second coordinate information, and the first coordinate information represents the position information of the tracking element in the coordinate system of the surgical object. The third conversion relationship can be understood as the correspondence between the spatial positions of the surgical object coordinate system and the display coordinate system. The third conversion relationship can be represented by a third conversion matrix. According to the third conversion relationship, the coordinate information in the surgical object coordinate system can be converted into the coordinate information in the display coordinate system. The third conversion relationship can be determined based on the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system. For example, the first coordinate information of the tracking component is (x1, y1, z1), and the second coordinate information of the tracking component is (x2, y2, z2). The mapping relationship between the corresponding coordinates in the first coordinate information and the second coordinate information is calculated, and the mapping relationship is used as the third conversion relationship.

[0052] The target transformation relationship can be understood as the correspondence between the spatial positions of the surgical instrument coordinate system and the display coordinate system, and the target transformation relationship can be represented by a target transformation matrix. The target transformation relationship can be determined by the first transformation relationship, the second transformation relationship, and the third transformation relationship. For example, the first transformation matrix represents the first transformation relationship, the second transformation matrix represents the second transformation relationship, and the third transformation matrix represents the third transformation relationship. The product of the second transformation matrix, the first transformation matrix, and the third transformation matrix is ​​calculated to obtain the target transformation matrix. The target transformation matrix is ​​used as the target transformation relationship. Exemplarily, the target transformation matrix can be represented by the following formula:

[0053] T=T 2 T 1 T 3

[0054] Where T represents the target transformation matrix, T 2 represents the second transformation matrix, T 1 represents the first transformation matrix, T 3Represents the third transformation matrix. The positioning coordinate information of the surgical instrument in the display coordinate system can be expressed by the following formula:

[0055] p 5 =T 2 T 1 T 3 p 4

[0056] Among them, p 5 Indicates the positioning coordinate information of the surgical instrument in the display coordinate system, p 4 Represents the third coordinate information of the surgical instrument in the surgical instrument coordinate system.

[0057] The third coordinate information can be understood as the position information of the surgical instrument in the surgical instrument coordinate system, for example, it may include the three-dimensional coordinate information of the surgical instrument in the surgical instrument coordinate system. The third coordinate information can be acquired by the coordinate information acquisition module, and the coordinate information acquisition module transmits the acquired third coordinate information to the positioning processor 140 through communication. The positioning coordinate information can be understood as the position information of the surgical instrument in the display coordinate system, for example, it may include the three-dimensional coordinate information of the surgical instrument in the display coordinate system. The positioning coordinate information can be determined based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship. For example, the target conversion matrix represents the target conversion relationship, and the three-dimensional coordinate information of the surgical instrument in the surgical instrument coordinate system represents the third coordinate information of the surgical instrument in the surgical instrument coordinate system. The product of the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship is calculated to obtain the positioning coordinate information of the surgical instrument in the display coordinate system.

[0058] The display 150 can display the positioning screen of the surgical instrument, and the positioning screen of the surgical instrument can be displayed through the display interface of the display 150. Medical images can be understood as images obtained by scanning through medical imaging equipment, including but not limited to computer tomography images, magnetic resonance images and X-ray images. Medical images can include surgical instruments and surgical objects. The medical images displayed by the display 150 may include medical images collected in real time during the operation.

[0059] When the medical imaging device scans the surgical object, the surgical object can be scanned at different scanning angles, so that the medical image includes multiple tracking sub-components and the surgical object. In order to ensure the corresponding relationship between the multiple tracking sub-components in the surgical object coordinate system and the display coordinate system, and to obtain an accurate third conversion relationship, the first coordinate information and the second coordinate information corresponding to at least three tracking sub-components can be registered, and the third conversion relationship can be determined based on the registered first coordinate information and the second coordinate information.

[0060] Optionally, the positioning processor 140 is also used to: obtain first coordinate information of at least three tracking sub-components in the coordinate system of the surgical object; and obtain second coordinate information of at least three tracking sub-components in the medical image in the display interface of the display 150; align the first coordinate information and the second coordinate information corresponding to the at least three tracking sub-components, and determine a third conversion relationship based on the aligned first coordinate information and the second coordinate information.

[0061] Since the tracking component is carried by the surgical object, the position of the tracking component relative to the surgical object will not change, so the first coordinate information of the tracking component in the surgical object coordinate system is known. In the case where the tracking component includes at least three tracking sub-components, the first coordinate information of multiple tracking sub-components in the surgical object coordinate system can be acquired through the first coordinate information module after the surgical object coordinate system is constructed, and the acquired first coordinate information is transmitted to the positioning processor 140 through communication and stored. When the positioning processor 140 receives the first coordinate information call instruction, the first coordinate information of multiple tracking sub-components in the surgical object coordinate system is called. The second coordinate information of at least three tracking sub-components in the medical image in the display interface of the display 150 can be transmitted to the positioning processor 140 by communication. For example, the positioning processor 140 sends a second coordinate information instruction to the display 150, and the display 150 receives the instruction and verifies it. If the verification is successful, the second coordinate information of at least three tracking sub-components in the medical image is sent to the positioning processor 140.

[0062] The first coordinate information and the second coordinate information corresponding to at least three tracking components are respectively registered, and the registration can be performed through a registration model. Exemplarily, the tracking component includes three tracking components, and the point set formed by the first coordinate information can be (C1, C2, C3), and the point set formed by the second coordinate information can be (V1, V2, V3). Optionally, the first coordinate information and the second coordinate information corresponding to at least three tracking components can be input into a pre-trained registration model for registration processing, and the registered first coordinate information and the second coordinate information can be obtained. The registration model includes but is not limited to a neural network model. Optionally, at least three tracking sub-components may be marked, which may be digital marks. For the three tracking sub-components, 1-3 may be marked, and the first coordinate information and the second coordinate information corresponding to the tracking sub-components marked 1, 2, and 3 are respectively aligned to obtain the aligned first coordinate information and the second coordinate information. Alignment may also be performed based on the shape of the tracking sub-components. For the three tracking sub-components, three shapes of triangle, rectangle, and circle may be set respectively, and the first coordinate information and the second coordinate information corresponding to the tracking sub-components in the shape of triangle, rectangle, and circle are respectively aligned to obtain the aligned first coordinate information and the second coordinate information. Optionally, the point set formed by the first coordinate information and the point set formed by the second coordinate information are transformed using the singular value decomposition method to achieve alignment of the first coordinate information and the second coordinate information.

[0063] The third conversion relationship is determined based on the first coordinate information and the second coordinate information after registration. For example, the coordinate mapping relationship corresponding to the first coordinate information and the second coordinate information after registration can be calculated. By registering the first coordinate information and the second coordinate information corresponding to at least three tracking components, and determining the third conversion relationship based on the registered first coordinate information and the second coordinate information, the accuracy of the third conversion relationship is improved, thereby improving the accuracy of positioning the surgical instrument in the display coordinate system.

[0064] The technical solution of this embodiment obtains the rotation data of each joint node in the first joint arm and the second joint arm through the positioning processor, determines the target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system based on the rotation data of each joint node in the first joint arm and the second joint arm, the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system, determines the target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system through the rotation data of each joint node and the coordinate information of the tracking component in different coordinate systems, and improves the accuracy of the target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system; determines the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship, determines the positioning coordinate information of the surgical instrument in the display coordinate system through the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship, realizes the positioning of the surgical instrument in the display coordinate system, and improves the accuracy of the positioning of the surgical instrument; the display interface of the display displays the positioning screen of the surgical instrument, and the positioning screen includes medical images of the surgical instrument and the surgical object, realizes the visualization of the positioning of the surgical instrument, and improves the accuracy of the positioning of the surgical instrument in the display coordinate system.

[0065] Embodiment 2

[0066] Figure 2 FIG. 1 is a schematic diagram of a surgical auxiliary positioning system provided by Embodiment 2 of the present invention. This embodiment is an optimization of the above embodiment. Figure 2 As shown, the surgical auxiliary positioning system includes: a first joint arm 210, a second joint arm 220, a trolley base 230, a positioning processor 240 and a display 250; the first joint arm 210 and the second joint arm 220 respectively include a plurality of joint nodes; a first fixed point 231 and a second fixed point 232 are provided on the trolley base 230; the first end of the first joint arm 210 is connected to the first fixed point 231; the first end of the second joint arm 220 is connected to the second fixed point 232;

[0067] The first end of the first articulated arm 210 is connected to the trolley base 230, and the second end of the first articulated arm 210 is rigidly connected to the tracking element, which is carried by the surgical object; the first end of the second articulated arm 220 is connected to the trolley base 230, and the second end of the second articulated arm 220 is rigidly connected to the surgical instrument;

[0068] The positioning processor 240 obtains the rotation data of each joint node in the first joint arm 210 and the second joint arm 220, and determines the fourth conversion relationship between the surgical object coordinate system and the first trolley base coordinate system where the first fixed point 231 is located based on the rotation data of each joint node in the first joint arm 210; determines the fifth conversion relationship between the surgical instrument coordinate system and the second trolley base coordinate system where the second fixed point 232 is located based on the rotation data of each joint node in the second joint arm 220; determines the sixth conversion relationship between the surgical object coordinate system and the display coordinate system based on the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system; obtains the seventh conversion relationship between the first trolley base coordinate system and the second trolley base coordinate system; determines the target conversion relationship between the surgical instrument coordinate system and the display coordinate system based on the fourth conversion relationship, the fifth conversion relationship, the sixth conversion relationship and the seventh conversion relationship; determines the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship;

[0069] The display interface of the display 250 displays a positioning picture of the surgical instrument, and the positioning picture includes medical images of the surgical instrument and the surgical object.

[0070] In this embodiment, the first fixed point 231 can be understood as a component for fixing the first articulated arm 210, and the second fixed point 232 can be understood as a component for fixing the second articulated arm 220. The first fixed point 231 and the second fixed point 232 can be set on the trolley base 230. The first trolley base coordinate system can be understood as a coordinate system established based on the first fixed point 231, and can include a three-dimensional coordinate system established based on the first fixed point 231. The second trolley base coordinate system can be understood as a coordinate system established based on the second fixed point 232, and can include a three-dimensional coordinate system established based on the second fixed point 232.

[0071] For example, see Figure 3 , Figure 3 It is a connection diagram of a surgical auxiliary positioning system provided by an embodiment of the present invention. 1 represents the first articulated arm 210, 2 represents the second articulated arm 220, 3 represents the trolley base 230, and 4 represents the display 250. The display 250 is equipped with a positioning processor 240; the first end of the first articulated arm 210 is connected to the first fixed point 231, and the second end of the first articulated arm 210 is rigidly connected to the tracking part; the first end of the second articulated arm 220 is connected to the second fixed point 232, and the second end of the second articulated arm 220 is rigidly connected to the surgical instrument. O1 represents the first trolley base coordinate system, O2 represents the second trolley base coordinate system, O3 represents the surgical object coordinate system, O4 represents the surgical instrument coordinate system, and O5 represents the display coordinate system.

[0072] The fourth conversion relationship can be understood as the correspondence between the spatial position of the surgical object coordinate system and the first trolley base coordinate system where the first fixed point 231 is located, and the fourth conversion relationship can be represented by a fourth conversion matrix. According to the fourth conversion relationship, the coordinate information in the first trolley base coordinate system can be converted into the coordinate information in the surgical object coordinate system, and the first mapping relationship between the coordinate information is calculated, and the first mapping relationship between the coordinate information is used as the fourth conversion relationship. Based on the rotation data of each joint node in the first articulated arm 210, the positive kinematics equation corresponding to the surgical object coordinate system and the first trolley base coordinate system is determined according to the DH parameter method, and the positive kinematics equation is solved to obtain the fourth conversion matrix, and the fourth conversion matrix is ​​determined as the fourth conversion relationship. The fifth conversion relationship can be understood as the correspondence between the spatial position of the surgical instrument coordinate system and the second trolley base coordinate system where the second fixed point 232 is located, and the fifth conversion relationship can be represented by a fifth conversion matrix. According to the fifth conversion relationship, the coordinate information in the surgical instrument coordinate system can be converted into the coordinate information in the second trolley base coordinate system, and the second mapping relationship between the coordinate information is calculated, and the second mapping relationship between the coordinate information is used as the fifth conversion relationship. Based on the rotation data of each joint node in the first articulated arm 210, the forward kinematics equations corresponding to the surgical instrument coordinate system and the second trolley base coordinate system are determined according to the DH parameter method. By solving the forward kinematics equations, the fifth transformation matrix can be obtained, and the fifth transformation matrix is ​​used as the fifth transformation relationship.

[0073] The sixth transformation relationship can be understood as the correspondence relationship between the spatial position of the surgical object coordinate system and the display coordinate system, and the sixth transformation relationship can be represented by the sixth transformation matrix. According to the sixth transformation relationship, the first coordinate information of the tracking component in the surgical object coordinate system can be converted into the second coordinate information of the tracking component in the display coordinate system, and the third mapping relationship between the first coordinate information and the second coordinate information can be calculated, and the third mapping relationship between the first coordinate information and the second coordinate information can be used as the sixth transformation relationship. The seventh transformation relationship can be understood as the correspondence relationship between the spatial position of the first trolley base coordinate system and the second trolley base coordinate system, which can be determined according to the size of the trolley base 230. The seventh transformation relationship is pre-stored in the positioning processor 240. When the positioning processor 240 receives the seventh transformation relationship instruction, the seventh transformation relationship pre-stored in the positioning processor 240 is called. The target transformation relationship can be determined by the fourth transformation relationship, the fifth transformation relationship, the sixth transformation relationship and the seventh transformation relationship. For example, the fourth conversion matrix represents the fourth conversion relationship, the fifth conversion matrix represents the fifth conversion relationship, the sixth conversion matrix represents the sixth conversion relationship, and the seventh conversion matrix represents the seventh conversion relationship. The product of the fifth conversion matrix, the seventh conversion matrix, the fourth conversion matrix, and the sixth conversion matrix is ​​calculated to obtain the target conversion matrix, and the target conversion matrix is ​​determined as the target conversion relationship. Exemplarily, the target conversion matrix can be expressed by the following formula:

[0074] T=T 5 T 7 T 6 T 4

[0075] Where T represents the target transformation matrix, T 5 represents the fifth transformation matrix, T 7 represents the seventh transformation matrix, T 6 represents the sixth transformation matrix, T 4 Represents the fourth transformation matrix. The positioning coordinate information of the surgical instrument in the display coordinate system can be expressed by the following formula:

[0076] p 5 =T 5 T 7 T 6 T 4 p 4

[0077] Among them, p 5 Indicates the positioning coordinate information of the surgical instrument in the display coordinate system, p 4 Represents the third coordinate information of the surgical instrument in the surgical instrument coordinate system.

[0078] Optionally, the first articulated arm 210 is a seven-degree-of-freedom articulated arm.

[0079] Optionally, the second articulated arm 220 is a six-degree-of-freedom articulated arm.

[0080] Optionally, the joint nodes in the first articulated arm 210 and the second articulated arm 220 are rotational joints.

[0081] Optionally, the rotary joint includes a driving mechanism, a rotating shaft, an encoder and a locking structure. The driving mechanism can provide power for the first joint arm 210. The locking structure is fixedly connected to the rotating shaft. The driving mechanism engages and separates with the locking structure by powering off and on respectively to achieve locking and rotation of the rotary joint; the encoder is connected to the rotating shaft to obtain the rotation data of the rotating shaft, and the encoder is communicatively connected to the positioning processor 240 to transmit the rotation data to the positioning processor 240.

[0082] The technical solution of this embodiment obtains the rotation data of each joint node in the first joint arm and the second joint arm through the positioning processor, and determines the fourth transformation relationship between the surgical object coordinate system and the first trolley base coordinate system where the first fixed point is located based on the rotation data of each joint node in the first joint arm; determines the fifth transformation relationship between the surgical instrument coordinate system and the second trolley base coordinate system where the second fixed point is located based on the rotation data of each joint node in the second joint arm; determines the sixth transformation relationship between the surgical object coordinate system and the display coordinate system based on the first coordinate information of the tracking element in the surgical object coordinate system and the second coordinate information of the tracking element in the display coordinate system; obtains the seventh transformation relationship between the first trolley base coordinate system and the second trolley base coordinate system; and determines the fifth transformation relationship based on the fifth transformation relationship, the sixth transformation relationship and the seventh transformation relationship. The target transformation relationship between the surgical instrument coordinate system and the display coordinate system is determined based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target transformation relationship, and the fourth transformation relationship, the fifth transformation relationship, the sixth transformation relationship and the seventh transformation relationship provide comprehensive data support for the determination of the target transformation relationship, making the target transformation relationship more comprehensive and accurate; based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target transformation relationship, the positioning coordinate information of the surgical instrument in the display coordinate system is determined, and the positioning coordinate information of the surgical instrument in the display coordinate system is determined by the third coordinate information and the target transformation relationship, thereby improving the accuracy of the positioning coordinate information; the display interface of the display 250 displays a positioning screen of the surgical instrument, and the positioning screen includes medical images of the surgical instrument and the surgical object, thereby realizing the visualization of the positioning of the surgical instrument and improving the accuracy of the positioning of the surgical instrument in the display coordinate system.

[0083] Embodiment 3

[0084] Figure 4 is a flow chart of a surgical assisted positioning method provided in the third embodiment of the present invention. This embodiment can be applied to the case of improving the accuracy of positioning of surgical instruments in the display coordinate system. The surgical assisted positioning method is applied to the surgical assisted positioning system provided in any embodiment of the present invention. Figure 4 As shown, the surgical assisted positioning method includes:

[0085] S310, obtaining rotation data of each joint node in the first joint arm and the second joint arm; the first joint arm is rigidly connected to the tracking component, and the tracking component is carried by the surgical object; the second joint arm is rigidly connected to the surgical instrument.

[0086] Optionally, the first articulated arm is an articulated arm with seven degrees of freedom; and the second articulated arm is an articulated arm with six degrees of freedom.

[0087] Optionally, the joint nodes in the first articulated arm and the second articulated arm are rotational joints.

[0088] Optionally, the rotary joint includes a rotary shaft and an encoder, the encoder is connected to the rotary shaft to obtain rotation data of the rotary shaft, and the encoder is communicatively connected to the positioning processor to transmit the rotation data to the positioning processor.

[0089] S320, based on the rotation data of each joint node in the first articulated arm and the second articulated arm, the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system, determine the target conversion relationship between the surgical instrument coordinate system and the display coordinate system.

[0090] Optionally, based on the rotation data of each joint node in the first articulated arm, the first conversion relationship between the surgical object coordinate system and the trolley base coordinate system is determined; based on the rotation data of each joint node in the second articulated arm, the second conversion relationship between the surgical instrument coordinate system and the trolley base coordinate system is determined; based on the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system, the third conversion relationship between the surgical object coordinate system and the display coordinate system is determined; based on the first conversion relationship, the second conversion relationship and the third conversion relationship, the target conversion relationship between the surgical instrument coordinate system and the display coordinate system is determined.

[0091] Optionally, based on the rotation data of each joint node in the first articulated arm, the fourth transformation relationship between the surgical object coordinate system and the first trolley base coordinate system where the first fixed point is located is determined; based on the rotation data of each joint node in the second articulated arm, the fifth transformation relationship between the surgical instrument coordinate system and the second trolley base coordinate system where the second fixed point is located is determined; based on the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information of the tracking component in the display coordinate system, the sixth transformation relationship between the surgical object coordinate system and the display coordinate system is determined; the seventh transformation relationship between the first trolley base coordinate system and the second trolley base coordinate system is obtained; based on the fourth transformation relationship, the fifth transformation relationship, the sixth transformation relationship and the seventh transformation relationship, the target transformation relationship between the surgical instrument coordinate system and the display coordinate system is determined.

[0092] Optionally, the tracking component includes at least three tracking sub-components.

[0093] S330, obtaining the third coordinate information of the surgical instrument in the surgical instrument coordinate system; and determining the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information and the target conversion relationship.

[0094] Optionally, the positioning processor is also used to: obtain first coordinate information of at least three tracking sub-components in the object coordinate system; and obtain second coordinate information of at least three tracking sub-components in the medical image in the display interface of the display; align the first coordinate information and the second coordinate information corresponding to the at least three tracking sub-components, and determine a third conversion relationship based on the aligned first coordinate information and the second coordinate information.

[0095] S340: Display the medical image of the surgical object in the display interface, and display the surgical instrument based on the positioning coordinate information of the surgical instrument in the display coordinate system.

[0096] The technical solution of this embodiment obtains the rotation data of each joint node in the first joint arm and the second joint arm; the first joint arm is rigidly connected to the tracking component, and the tracking component is carried by the surgical object; the second joint arm is rigidly connected to the surgical instrument; based on the rotation data of each joint node in the first joint arm and the second joint arm, the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system, the target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system is determined, and the target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system is determined by the rotation data of each joint node and the coordinate information of the tracking component in different coordinate systems, thereby improving the surgical instrument coordinate system where the surgical instrument is located. The accuracy of the target transformation relationship between the surgical instrument coordinate system and the display coordinate system; obtaining the third coordinate information of the surgical instrument in the surgical instrument coordinate system; determining the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information and the target transformation relationship, and determining the positioning coordinate information of the surgical instrument in the display coordinate system through the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target transformation relationship, thereby realizing the positioning of the surgical instrument in the display coordinate system and improving the accuracy of the positioning of the surgical instrument; displaying the medical image of the surgical object in the display interface, and displaying the surgical instrument based on the positioning coordinate information of the surgical instrument in the display coordinate system, thereby realizing the visualization of the positioning of the surgical instrument and improving the accuracy of the positioning of the surgical instrument in the display coordinate system.

[0097] Embodiment 4

[0098] Figure 51 is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0099] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0100] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0101] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a surgical assisted positioning method.

[0102] In some embodiments, the surgical assisted positioning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the surgical assisted positioning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the surgical assisted positioning method in any other appropriate manner (e.g., by means of firmware).

[0103] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] The computer program for implementing the surgical assisted positioning method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0105] Embodiment 5

[0106] Embodiment 5 of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute a surgical assisted positioning method, the method comprising:

[0107] Obtain rotation data of each joint node in the first joint arm and the second joint arm; the first joint arm is rigidly connected to the tracking component, and the tracking component is carried by the surgical object; the second joint arm is rigidly connected to the surgical instrument; based on the rotation data of each joint node in the first joint arm and the second joint arm, the first coordinate information of the tracking component in the surgical object coordinate system and the second coordinate information in the display coordinate system, determine the target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system; obtain the third coordinate information of the surgical instrument in the surgical instrument coordinate system; based on the third coordinate information and the target conversion relationship, determine the positioning coordinate information of the surgical instrument in the display coordinate system; display the medical image of the surgical object in the display interface, and display the surgical instrument based on the positioning coordinate information of the surgical instrument in the display coordinate system.

[0108] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0109] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0110] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0111] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0112] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0113] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical assisted positioning system, characterized in that: include: a first articulated arm, a second articulated arm, a trolley base, a positioning processor and a display; The first articulated arm and the second articulated arm respectively include a plurality of joint nodes; The first end of the first articulated arm is connected to the trolley base, and the second end of the first articulated arm is rigidly connected to a tracking member, and the tracking member is carried by the surgical subject; The first end of the second articulated arm is connected to the trolley base, and the second end of the second articulated arm is rigidly connected to the surgical instrument; The positioning processor obtains rotation data of each joint node in the first joint arm and the second joint arm, and determines a target conversion relationship between a surgical instrument coordinate system where the surgical instrument is located and the display coordinate system based on the rotation data of each joint node in the first joint arm and the second joint arm, first coordinate information of the tracking component in the surgical object coordinate system, and second coordinate information in the display coordinate system; Determine the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship; The display interface of the display shows a positioning picture of the surgical instrument, and the positioning picture includes medical images of the surgical instrument and the surgical object.

2. The surgical assisted positioning system according to claim 1, characterized in that: The first articulated arm is an articulated arm with seven degrees of freedom; the second articulated arm is an articulated arm with six degrees of freedom.

3. The surgical assisted positioning system according to claim 1 or 2, characterized in that: The joint nodes in the first joint arm and the second joint arm are rotation joints.

4. The surgical assisted positioning system according to claim 3, characterized in that: The rotary joint includes a rotary shaft and an encoder. The encoder is connected to the rotary shaft to obtain rotation data of the rotary shaft. The encoder is communicatively connected to the positioning processor to transmit the rotation data to the positioning processor.

5. The surgical assisted positioning system according to claim 1, characterized in that: The positioning processor is specifically used for: Determining a first conversion relationship between the surgical object coordinate system and the trolley base coordinate system based on rotation data of each joint node in the first joint arm; Determine a second conversion relationship between the surgical instrument coordinate system and the trolley base coordinate system based on the rotation data of each joint node in the second joint arm; determining a third conversion relationship between the surgical object coordinate system and the display coordinate system based on first coordinate information of the tracking element in the surgical object coordinate system and second coordinate information of the tracking element in the display coordinate system; A target transformation relationship between the surgical instrument coordinate system and the display coordinate system is determined based on the first transformation relationship, the second transformation relationship, and the third transformation relationship.

6. The surgical assisted positioning system according to claim 1, characterized in that: The trolley base is provided with a first fixing point and a second fixing point; the first end of the first articulated arm is connected to the first fixing point; the first end of the second articulated arm is connected to the second fixing point; The positioning processor is specifically used for: Determine, based on the rotation data of each joint node in the first joint arm, a fourth transformation relationship between the surgical object coordinate system and the first trolley base coordinate system where the first fixed point is located; Determine, based on the rotation data of each joint node in the second articulated arm, a fifth transformation relationship between the surgical instrument coordinate system and the second trolley base coordinate system where the second fixed point is located; determining a sixth conversion relationship between the surgical object coordinate system and the display coordinate system based on first coordinate information of the tracking element in the surgical object coordinate system and second coordinate information of the tracking element in the display coordinate system; Acquire a seventh transformation relationship between the first trolley base coordinate system and the second trolley base coordinate system; A target conversion relationship between the surgical instrument coordinate system and the display coordinate system is determined based on the fourth conversion relationship, the fifth conversion relationship, the sixth conversion relationship, and the seventh conversion relationship.

7. The surgical assisted positioning system according to claim 5 or 6, characterized in that: The tracking component includes at least three tracking sub-components; The positioning processor is further used to: obtain first coordinate information of the at least three tracking components in the object coordinate system; and obtain second coordinate information of the at least three tracking components in the medical image in the display interface of the display; The first coordinate information and the second coordinate information respectively corresponding to the at least three tracking components are aligned, and the third conversion relationship is determined based on the aligned first coordinate information and the second coordinate information.

8. A surgical assisted positioning method, characterized in that: The surgical assisted positioning system according to any one of claims 1 to 7, wherein the method comprises: Obtaining rotation data of each joint node in the first joint arm and the second joint arm; the first joint arm is rigidly connected to a tracking component, and the tracking component is carried by the surgical object; the second joint arm is rigidly connected to a surgical instrument; Determine a target conversion relationship between the surgical instrument coordinate system where the surgical instrument is located and the display coordinate system based on rotation data of each joint node in the first joint arm and the second joint arm, first coordinate information of the tracking element in the surgical object coordinate system and second coordinate information in the display coordinate system; Acquire the third coordinate information of the surgical instrument in the surgical instrument coordinate system; determine the positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information and the target conversion relationship; The medical image of the surgical object is displayed in the display interface, and the surgical instrument is displayed based on the positioning coordinate information of the surgical instrument in the display coordinate system.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the surgical assisted positioning method according to claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the surgical assisted positioning method of claim 8 when executed by a processor.

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