A surgical auxiliary positioning system, method, device, and storage medium

Abstract

The application discloses a surgical auxiliary positioning system, method, device and storage medium. The surgical auxiliary positioning system comprises 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 each comprise a plurality of joint nodes; two ends of the first joint arm are connected with the trolley base and a tracking piece respectively; two ends of the second joint arm are connected with the trolley base and a surgical instrument respectively; the positioning processor acquires rotation data of each joint node, determines a target conversion relationship between a surgical instrument coordinate system in which the surgical instrument is located and a display coordinate system based on the rotation data, first coordinate information of the tracking piece in a surgical object coordinate system and second coordinate information of the tracking piece in the display coordinate system; based on third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship, the positioning processor determines positioning coordinate information of the surgical instrument in the display coordinate system; and the display displays a surgical instrument positioning picture. The accuracy of surgical instrument positioning is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical treatment, and in particular to a surgical auxiliary positioning system, method, device and storage medium. BACKGROUND

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

[0003] The optical navigation system realizes tracking and positioning of a target object by recognizing specific markers (such as reflective discs, reflective balls, etc.) through a binocular camera, but is easily affected by external environment, such as the shielding of obstacles, the interference of reflective objects and environmental temperature, etc. factors will affect the accuracy of the optical navigation system positioning.

[0004] The electromagnetic navigation system generates a magnetic field through a magnetic field generator, combines a magnetic sensor installed on a tracked object, and determines the position of the target object by detecting the change of the magnetic field, which is easily affected by magnetic interference, resulting in reduced positioning accuracy of the tracked object. SUMMARY

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

[0006] According to an aspect of the present application, a surgical auxiliary positioning system is provided, which comprises 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 each comprise a plurality of joint nodes;

[0007] The first end of the first articulated arm is connected with the trolley base, and the second end of the first articulated arm is rigidly connected with a tracking piece, which is carried by a surgical subject; the first end of the second articulated arm is connected with the trolley base, and the second end of the second articulated arm is rigidly connected with a surgical instrument;

[0008] The positioning processor acquires rotation data of each joint node in the first articulated arm and the second articulated arm, determines a target conversion relationship between a surgical instrument coordinate system in which the surgical instrument is located and a display coordinate system based on the rotation data of each joint node in the first articulated arm and the second articulated arm, first coordinate information of the tracking piece in the surgical subject coordinate system and second coordinate information of the tracking piece in the display coordinate system;

[0009] Based on 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;

[0010] The display interface of the display device displays a positioning picture of the surgical instrument, and the positioning picture includes the medical image of the surgical instrument and the surgical object.

[0011] According to another aspect of the present application, there is provided a surgical auxiliary positioning method applied to the surgical auxiliary positioning system provided in any of the embodiments of the present application, and the surgical auxiliary positioning method comprises:

[0012] Rotational data of each joint node in the first joint arm and the second joint arm are acquired; the first joint arm is rigidly connected with the tracking member, and the tracking member is carried by the surgical object; the second joint arm is rigidly connected with the surgical instrument;

[0013] Based on the rotational data of each joint node in the first joint arm and the second joint arm, the first coordinate information of the tracking member in the surgical object coordinate system, and the second coordinate information of the tracking member in the display coordinate system, a target conversion relationship between the surgical instrument coordinate system in which the surgical instrument is located and the display coordinate system is determined;

[0014] Third coordinate information of the surgical instrument in the surgical instrument coordinate system is acquired; based on the third coordinate information and the target conversion relationship, positioning coordinate information of the surgical instrument in the display coordinate system is determined;

[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 application, there is provided an electronic device, which comprises:

[0017] at least one processor; and

[0018] a memory connected with the at least one processor in communication; wherein,

[0019] 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 to enable the at least one processor to execute the surgical auxiliary positioning method provided in any of the embodiments of the present application.

[0020] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to implement the surgical auxiliary positioning method provided in any of the embodiments of the present application when executed by the processor.

[0021] The technical scheme of the embodiment of the present application acquires 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 surgery instrument coordinate system and the display coordinate system of the surgery 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 piece in the surgery object coordinate system and the second coordinate information of the tracking piece in the display coordinate system, determines the target conversion relationship between the surgery instrument coordinate system and the display coordinate system of the surgery instrument through the rotation data of each joint node and the coordinate information of the tracking piece in different coordinate systems, and improves the accuracy of the target conversion relationship between the surgery instrument coordinate system and the display coordinate system of the surgery instrument. The positioning coordinate information of the surgery instrument in the display coordinate system is determined based on the third coordinate information of the surgery instrument in the surgery instrument coordinate system and the target conversion relationship, the positioning coordinate information of the surgery instrument in the display coordinate system is determined through the third coordinate information of the surgery instrument in the surgery instrument coordinate system and the target conversion relationship, the positioning of the surgery instrument in the display coordinate system is realized, and the accuracy of the positioning of the surgery instrument is improved. The display interface of the display shows the positioning picture of the surgery instrument, the positioning picture includes the medical image of the surgery instrument and the surgery object, the visualization of the positioning of the surgery instrument is realized, the problem of inaccurate positioning of the surgery instrument is solved, and the accuracy of the positioning of the surgery instrument in the display coordinate system is improved.

[0022] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creating laborious work.

[0024] Figure 1 is a structural schematic diagram of a surgery auxiliary positioning system provided by an embodiment of the present application;

[0025] Figure 2 is a structural schematic diagram of a surgery auxiliary positioning system provided by an embodiment of the present application;

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

[0027] Figure 4 is a flowchart of a surgery auxiliary positioning method provided by an embodiment of the present application;

[0028] Figure 5 is a structural schematic diagram of an electronic device provided by Embodiment Four of the present application. DETAILED DESCRIPTION

[0029] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

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

[0031] Embodiment One

[0032] Figure 1 is a structural schematic diagram of a surgical auxiliary positioning system provided by Embodiment One of the present application, and the present embodiment can be applicable to the case of improving the accuracy of positioning of a surgical instrument in a display coordinate system. As shown in Figure 1 the surgical auxiliary positioning system comprises 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 each comprise a plurality of joint nodes;

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

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

[0035] 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.

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

[0037] In the embodiment, the first articulated arm 110 can be understood as an articulated arm for assisting in positioning the surgical instrument, the tracking piece can be understood as a component for assisting in positioning, and the tracking piece can include a plurality of tracking sub-pieces. Optionally, the tracking piece includes at least three tracking sub-pieces. The tracking piece can include five tracking sub-pieces, and can also include seven tracking sub-pieces. The number of tracking sub-pieces can be set according to requirements, which is not limited here. The tracking piece is carried by the surgical object, and the position of the tracking piece relative to the surgical object is fixed. The tracking sub-pieces can have different shapes and sizes to facilitate distinguishing the plurality of tracking sub-pieces. The tracking sub-pieces can also have the same shape and size, and a mark can be provided on the tracking sub-pieces to distinguish the plurality of tracking sub-pieces. 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 piece. 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 can include a plurality of joint nodes, which can be understood as 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. By setting the degree of freedom of the first articulated arm 110 to seven degrees of freedom, the first articulated arm 110 further includes a redundant degree of freedom on the basis of six degrees of freedom. In a three-dimensional coordinate system, six degrees of freedom can realize rotation and translation of x-axis, y-axis and z-axis, and the redundant degree of freedom can realize rotation and translation of x-axis, y-axis and z-axis in any direction. By adjusting the position of the first articulated arm 110 through the redundant degree of freedom, for example, freely adjusting the position of the first articulated arm 110 during the operation, the first articulated arm 110 can be set at a position that does not affect the operation, thereby reducing the interference with the operation.

[0039] Optionally, the joint nodes in the first joint arm 110 are rotary joints. The rotary joint can be understood as a joint node that can rotate. The first joint arm 110 can include a plurality of rotary joints. When the first joint arm 110 is a seven-degree-of-freedom joint arm, the first joint arm 110 includes seven rotary joints. Optionally, any rotary joint of the first joint arm 110 includes a driving mechanism, a rotary shaft, an encoder, and a locking structure. The driving mechanism can provide power for the first joint arm 110. The locking structure is fixedly connected with the rotary shaft. The driving mechanism is connected with the locking structure by power-off and power-on to realize attraction and separation, respectively, so as to realize locking and rotation of the rotary joint. The encoder is connected with the rotary shaft to obtain rotary data of the rotary shaft. The encoder is in communication connection with the positioning processor 140 to transmit the rotary data to the positioning processor 140. The rotary data can be understood as data generated by the rotary shaft during rotation. The rotary data can include a rotation angle. Two adjacent rotary shafts are connected on the same rotary joint. The encoder can obtain the rotary data of the rotary shaft in real time to accurately measure the rotation angle of the first joint arm 110. The encoder is in communication connection with the positioning processor 140. The communication connection can include wireless connection. For example, the encoder can be configured with a wireless transmission module to realize wireless connection with the positioning processor 140, thereby solving the problem of complex wiring in wired connection. The encoder can also be in wireless connection with the positioning processor 140 through a serial RS232 mode, thereby solving the problem of complex wiring in wired connection and improving the stability of rotary data transmission.

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

[0041] The positioning processor 140 can be understood as a component for processing rotation data of each joint node in the first articulated arm 110 and the second articulated arm 120, and the positioning processor 140 can be connected with the display 150 through communication. In the embodiment, in order to realize navigation positioning of the surgical instrument, a target conversion relationship between a surgical instrument coordinate system in which the surgical instrument is located and a display coordinate system is established, 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, and real-time display of navigation positioning of the surgical instrument on the display interface of the display can be realized. 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 piece, and the tracking piece 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 articulated arm 110 and the second articulated arm 120, and 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] The first articulated arm 110 and the second articulated arm 120 are connected to the trolley base respectively, and correspondingly, the conversion relationship between the surgical object coordinate system and the trolley base coordinate system can be determined through the conversion angles 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 through the conversion angles of each joint node in the second articulated arm 120, and then the conversion relationship between the surgical object coordinate system and the surgical instrument coordinate system is obtained.

[0043] Optionally, the positioning processor 140 is specifically configured 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 piece in the surgical object coordinate system and the second coordinate information of the tracking piece in the display coordinate system; and 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 a surgical site of the surgical object. The surgical object coordinate system can be a three-dimensional coordinate system. The connection points of the first articulated arm 110 and the second articulated arm 120 on the trolley base 130 can be located in the same coordinate system, for example, 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 a corresponding relationship between the spatial positions of the surgical object coordinate system and the trolley base coordinate system. The first conversion relationship can be represented by a first conversion matrix. According to the first conversion relationship, coordinate information in the trolley base coordinate system can be converted into coordinate information in the surgical object coordinate system. The first conversion relationship can be determined by a D-H parameter method to obtain a forward kinematics equation corresponding to the surgical object coordinate system and the trolley base coordinate system. The first conversion matrix can be obtained by solving the forward kinematics equation, and the first conversion matrix can be used as the first conversion relationship.

[0045] Each joint node in the first articulated arm 110 corresponds to a coordinate system. Taking the i th joint node in the first articulated 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 coordinate system i, and the coordinate system corresponding to the i-1 joint node is coordinate system i-1. The D-H parameter method uses four D-H parameters, including the rotation angle, the offset, the link length, and the twist 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 of the common axis between the coordinate system i-1 and the coordinate system i. The link length can represent the distance between two joint nodes, which can be obtained by measuring the length of the corresponding link in the first articulated arm 110. The twist angle can represent the relative twist angle between adjacent links, which is usually in the z-axis and can be obtained by measuring the included angle between the z-axes of the coordinate systems corresponding to adjacent links. A D-H matrix is established according to the rotation angle, the offset, the link length, and the twist angle. The D-H matrix is a 4x4 homogeneous transformation matrix, and the calculation formula is as follows:

[0046]

[0047] wherein, T i represents the D-H matrix of the i th joint node, θ i represents the rotation angle, a idenotes a twist angle, a i denotes a link length, d i denotes an offset. A total transformation matrix T is calculated, and the total transformation matrix T can be obtained by performing matrix multiplication calculation on a plurality of D-H matrices, for example, a forward kinematics equation is obtained, and the forward kinematics equation is calculated as follows:

[0048] T = T1 · T2 ·... · Tn n

[0049] wherein n denotes the number of joint nodes in the first joint arm 110, T n denotes the nth D-H matrix. By solving the forward kinematics equation, the total transformation matrix T can be obtained.

[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 corresponding relationship of the spatial position between 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 joint arm 120, a forward kinematics equation corresponding to the surgical instrument coordinate system and the trolley base coordinate system is determined according to the D-H parameter method, and the forward kinematics equation is solved to obtain the second conversion matrix, and the second conversion matrix is taken as the second conversion relationship.

[0051] The first coordinate information can be understood as position information of the tracking member in the surgical object coordinate system, and can include three-dimensional coordinate information of the tracking member, for example. The display coordinate system can be understood as a coordinate system established based on the display 150, and can be a three-dimensional coordinate system established based on the display 150. In the process of assisted positioning by the surgical assistance positioning system, medical images of the surgical object can be acquired, and the images obtained by scanning by a medical imaging device can include, but are not limited to, computed tomography images, magnetic resonance images, and X-ray images. The medical images can include the surgical instrument and the surgical object. The second coordinate information can be understood as position information of the tracking member in the display coordinate system, and can include three-dimensional coordinate information of the tracking member, for example. The second coordinate information and the first coordinate information represent coordinate information of the tracking member in different coordinate systems. The second coordinate information represents the position information of the tracking member in the display coordinate system, that is, in the case of displaying the medical image in the display interface, the coordinate information of the tracking member in the medical image is the second coordinate information. The first coordinate information represents the position information of the tracking member in the surgical object coordinate system. The third conversion relationship can be understood as a corresponding relationship between the spatial positions of the surgical object coordinate system and the display coordinate system, and can be represented by a third conversion matrix. According to the third conversion relationship, coordinate information in the surgical object coordinate system can be converted into coordinate information in the display coordinate system. The third conversion relationship can be determined according to the first coordinate information of the tracking member in the surgical object coordinate system and the second coordinate information of the tracking member in the display coordinate system. For example, the first coordinate information of the tracking member is (x1, y1, z1), and the second coordinate information of the tracking member is (x2, y2, z2). The mapping relationship of the corresponding coordinates in the first coordinate information and the second coordinate information is calculated, and the mapping relationship is taken as the third conversion relationship.

[0052] The target conversion relationship can be understood as a corresponding relationship between the spatial positions of the surgical instrument coordinate system and the display coordinate system, and can be represented by a target conversion matrix. The target conversion relationship can be determined by the first conversion relationship, the second conversion relationship, and the third conversion relationship. For example, the first conversion matrix represents the first conversion relationship, the second conversion matrix represents the second conversion relationship, and the third conversion matrix represents the third conversion relationship. The product of the second conversion matrix, the first conversion matrix, and the third conversion matrix is calculated, and the target conversion matrix is obtained. The target conversion matrix is taken as the target conversion relationship. For example, the target conversion matrix can be represented by the following formula:

[0053] T = T2T1T3

[0054] Wherein, T represents the target conversion matrix, T2 represents the second conversion matrix, T1 represents the first conversion matrix, and T3 represents the third conversion matrix. The positioning coordinate information of the surgical instrument in the display coordinate system can be represented by the following formula:

[0055] p 5= T2T1T3p 4

[0056] wherein p 5 indicates the positioning coordinate information of the surgical instrument in the display coordinate system, p 4 indicates 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, and can include, for example, three-dimensional coordinate information of the surgical instrument in the surgical instrument coordinate system. The third coordinate information can be collected by a coordinate information collection module, and the collected third coordinate information is transmitted 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, and can include, for example, three-dimensional coordinate information of the surgical instrument in the display coordinate system. The positioning coordinate information can be determined according to 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, 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, and the product of the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship can be calculated to obtain the positioning coordinate information of the surgical instrument in the display coordinate system.

[0058] The display 150 can display the positioning picture of the surgical instrument, and the positioning picture of the surgical instrument can be displayed through the display interface of the display 150. The medical image can be understood as an image obtained by scanning by a medical imaging device, including but not limited to a computed tomography image, a magnetic resonance image, and an X-ray image. The medical image can include the surgical instrument and the surgical object. The medical image displayed by the display 150 can include a medical image collected in real time during the surgery.

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

[0060] Optionally, the positioning processor 140 is further configured to: acquire first coordinate information of the at least three tracking sub-members in the surgical object coordinate system; acquire second coordinate information of the at least three tracking sub-members in the medical image in the display interface of the display 150; and register the first coordinate information and the second coordinate information corresponding to the at least three tracking sub-members respectively, and determine the third conversion relationship based on the registered first coordinate information and the second coordinate information.

[0061] Since the tracking member is carried by the surgical object, the position of the tracking member relative to the surgical object does not change, and thus the first coordinate information of the tracking member in the surgical object coordinate system is known. In the case where the tracking member includes at least three tracking sub-members, the first coordinate information of the plurality of tracking sub-members in the surgical object coordinate system can be acquired by 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 and stored. When the positioning processor 140 receives a first coordinate information calling instruction, the first coordinate information of the plurality of tracking sub-members in the surgical object coordinate system is called. The second coordinate information of the at least three tracking sub-members in the medical image in the display interface of the display 150 can be transmitted to the positioning processor 140 in a communication manner. For example, the positioning processor 140 sends a second coordinate information instruction to the display 150, the display 150 receives the instruction and verifies it, and in the case where the verification is successful, the second coordinate information of the at least three tracking sub-members in the medical image is sent to the positioning processor 140.

[0062] The first coordinate information and the second coordinate information corresponding to the at least three tracking sub-pieces are registered, which can be registered through a registration model. For example, the tracking piece includes three tracking sub-pieces, 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 the at least three tracking sub-pieces 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, the at least three tracking sub-pieces can be provided with markers, which can be digital markers. For three tracking sub-pieces, the markers can be 1-3. The first coordinate information and the second coordinate information corresponding to the tracking sub-pieces marked as 1, 2, and 3 are registered to obtain the registered first coordinate information and the second coordinate information. The tracking sub-pieces can also be registered according to their shapes. For three tracking sub-pieces, the shapes can be set as a triangle, a rectangle, and a circle. The first coordinate information and the second coordinate information corresponding to the tracking sub-pieces with the shapes of a triangle, a rectangle, and a circle are registered to obtain the registered 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 by a singular value decomposition method to realize the registration of the first coordinate information and the second coordinate information.

[0063] The third conversion relationship is determined according to the registered first coordinate information and the second coordinate information, for example, the coordinate mapping relationship corresponding to the registered first coordinate information and the second coordinate information can be calculated. By registering the first coordinate information and the second coordinate information corresponding to the at least three tracking sub-pieces, 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, and the accuracy of the positioning of the surgical instrument in the display coordinate system is improved.

[0064] The technical solution of this embodiment obtains the rotation data of each joint node in the first and second joint arms through a positioning processor. Based on the rotation data of each joint node in the first and second joint arms, the first coordinate information of the tracking device in the surgical object coordinate system, and the second coordinate information in the display coordinate system, the target transformation relationship between the surgical instrument coordinate system and the display coordinate system is determined. By using the rotation data of each joint node and the coordinate information of the tracking device in different coordinate systems, the target transformation relationship between the surgical instrument coordinate system and the display coordinate system is determined, improving the accuracy of the target transformation relationship between the surgical instrument coordinate system and the display coordinate system. 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. By using 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, realizing the positioning of the surgical instrument in the display coordinate system and improving the accuracy of the surgical instrument positioning. The display interface of the monitor displays the positioning screen of the surgical instrument, which includes medical images of the surgical instrument and the surgical object, realizing the visualization of the surgical instrument positioning and improving the accuracy of the surgical instrument positioning in the display coordinate system.

[0065] Example 2

[0066] Figure 2 This is a schematic diagram of a surgical assistance positioning system provided in 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 articulated arm 210, a second articulated arm 220, a trolley base 230, a positioning processor 240, and a display 250; the first articulated arm 210 and the second articulated arm 220 each include multiple articulated nodes; the trolley base 230 is provided with a first fixing point 231 and a second fixing point 232; the first end of the first articulated arm 210 is connected to the first fixing point 231; the first end of the second articulated arm 220 is connected to the second fixing 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 device, 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 rotation data of each joint node in the first articulated arm 210 and the second articulated arm 220, determines a fourth conversion relationship between the surgical object coordinate system and a first trolley base coordinate system in which the first fixed point 231 is located based on the rotation data of each joint node in the first articulated arm 210, determines a fifth conversion relationship between the surgical instrument coordinate system and a second trolley base coordinate system in which the second fixed point 232 is located based on the rotation data of each joint node in the second articulated arm 220, determines a sixth conversion relationship between the surgical object coordinate system and the display coordinate system based on the first coordinate information of the tracking member in the surgical object coordinate system and the second coordinate information of the tracking member in the display coordinate system, obtains a seventh conversion relationship between the first trolley base coordinate system and the second trolley base coordinate system, determines a 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, and 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 the medical image of the surgical instrument and the surgical object.

[0070] In the 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 arranged 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, referring to Figure 3 , Figure 3 is a connection diagram of a surgical auxiliary positioning system provided by the embodiment of the application. 1 represents the first articulated arm 210, 2 represents the second articulated arm 220, 3 represents the trolley base 230, 4 represents the display 250, and the display 250 is configured with the positioning processor 240. The first end of the first articulated arm 210 is connected with the first fixed point 231, and the second end of the first articulated arm 210 is rigidly connected with the tracking member. The first end of the second articulated arm 220 is connected with the second fixed point 232, and the second end of the second articulated arm 220 is rigidly connected with 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 a corresponding relationship of spatial positions between 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, a first mapping relationship between the coordinate information is calculated, and the first mapping relationship between the coordinate information is taken as the fourth conversion relationship. Based on the rotation data of each joint node in the first joint arm 210, a forward kinematics equation corresponding to the surgical object coordinate system and the first trolley base coordinate system is determined according to the D-H parameter method, and the forward 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 a corresponding relationship of spatial positions between 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, a second mapping relationship between the coordinate information is calculated, and the second mapping relationship between the coordinate information is taken as the fifth conversion relationship. Based on the rotation data of each joint node in the first joint arm 210, a forward kinematics equation corresponding to the surgical instrument coordinate system and the second trolley base coordinate system is determined according to the D-H parameter method, and the forward kinematics equation is solved to obtain the fifth conversion matrix, and the fifth conversion matrix is taken as the fifth conversion relationship.

[0073] The sixth conversion relationship can be understood as a corresponding relationship of spatial positions between the surgical object coordinate system and the display coordinate system, and the sixth conversion relationship can be represented by a sixth conversion matrix. According to the sixth conversion relationship, the first coordinate information of the tracking piece in the surgical object coordinate system can be converted into the second coordinate information of the tracking piece in the display coordinate system, a third mapping relationship between the first coordinate information and the second coordinate information is calculated, and the third mapping relationship between the first coordinate information and the second coordinate information is taken as the sixth conversion relationship. The seventh conversion relationship can be understood as a corresponding relationship of spatial positions between the first trolley base coordinate system and the second trolley base coordinate system, and the seventh conversion relationship can be determined according to the size of the trolley base 230. The seventh conversion relationship is pre-stored in the positioning processor 240, and when the positioning processor 240 receives a seventh conversion relationship instruction, the seventh conversion relationship pre-stored in the positioning processor 240 is called. The target conversion relationship can be determined by the fourth conversion relationship, the fifth conversion relationship, the sixth conversion relationship and the seventh conversion 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 can obtain a target conversion matrix, and the target conversion matrix is determined as the target conversion relationship. Exemplarily, the target conversion matrix can be represented by the following formula:

[0074] T=T5T7T6T4

[0075] Wherein, T represents the target conversion matrix, T5 represents the fifth conversion matrix, T7 represents the seventh conversion matrix, T6 represents the sixth conversion matrix, and T4 represents the fourth conversion matrix. The positioning coordinate information of the surgical instrument in the display coordinate system can be represented by the following formula:

[0076] p 5 =T5T7T6T4p 4

[0077] Wherein, p 5 represents the positioning coordinate information of the surgical instrument in the display coordinate system, and 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 rotary joints.

[0081] Optionally, the rotary joint comprises a driving mechanism, a rotary 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 with the rotary shaft, the driving mechanism is respectively connected with the locking structure by power-off and power-on to realize attraction and separation of the locking structure, so as to realize locking and rotation of the rotary joint; the encoder is connected with the rotary shaft to obtain rotation data of the rotary shaft, and the encoder is in communication connection with the positioning processor 240 to transmit the rotation data to the positioning processor 240.

[0082] The technical scheme of the embodiment, through the positioning processor, obtains rotation data of each joint node in the first joint arm and the second joint arm, determines a fourth conversion relationship between the surgical object coordinate system and the first trolley base coordinate system where the first fixed point is based on the rotation data of each joint node in the first joint arm, determines a fifth conversion relationship between the surgical instrument coordinate system and the second trolley base coordinate system where the second fixed point is based on the rotation data of each joint node in the second joint arm, determines a sixth conversion relationship between the surgical object coordinate system and the display coordinate system based on the first coordinate information of the tracking piece in the surgical object coordinate system and the second coordinate information in the display coordinate system, obtains a seventh conversion relationship between the first trolley base coordinate system and the second trolley base coordinate system, and determines a 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. The fourth conversion relationship, the fifth conversion relationship, the sixth conversion relationship and the seventh conversion relationship provide comprehensive data support for determination of the target conversion relationship, so that the target conversion relationship is more comprehensive and accurate. 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. The positioning coordinate information of the surgical instrument in the display coordinate system is determined through the third coordinate information and the target conversion relationship, which improves the accuracy of the positioning coordinate information. The display interface of the display 250 displays the positioning picture of the surgical instrument, and the positioning picture includes the medical image of the surgical instrument and the surgical object, realizing the visualization of the surgical instrument positioning and improving the accuracy of the surgical instrument positioning in the display coordinate system.

[0083] Embodiment three

[0084] Figure 4 It is a flowchart of a surgical auxiliary positioning method provided by the embodiment three of the application. The embodiment can be applied to the case of improving the accuracy of the surgical instrument positioning in the display coordinate system. The surgical auxiliary positioning method is applied to the surgical auxiliary positioning system provided by any embodiment of the application. As shown in the figure, the surgical auxiliary positioning method comprises the following steps. Figure 4

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

[0086] Optionally, the first joint arm is a seven-degree-of-freedom joint arm; and the second joint arm is a six-degree-of-freedom joint arm.

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

[0088] Optionally, the rotary joint comprises a rotary shaft and an encoder, the encoder is connected with the rotary shaft, the rotation data of the rotary shaft is obtained, and the encoder is in communication connection with the positioning processor and transmits the rotation data to the positioning processor.

[0089] S320, determine 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 piece in the surgical object coordinate system, and the second coordinate information of the tracking piece in the display coordinate system.

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

[0091] Optionally, the fourth conversion 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 first joint arm; the fifth conversion 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 rotation data of each joint node in the second joint arm; the sixth conversion relationship between the surgical object coordinate system and the display coordinate system is determined based on the first coordinate information of the tracking piece in the surgical object coordinate system and the second coordinate information of the tracking piece in the display coordinate system; the seventh conversion relationship between the first trolley base coordinate system and the second trolley base coordinate system is obtained; and the 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.

[0092] Optionally, the tracking piece comprises at least three tracking sub-pieces.

[0093] S330, acquire third coordinate information of the surgical instrument in the surgical instrument coordinate system; determine 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 further configured to: acquire first coordinate information of the at least three tracking sub-components in the object coordinate system; acquire second coordinate information of the at least three tracking sub-components in the medical image in the display interface of the display; register the first coordinate information and the second coordinate information corresponding to the at least three tracking sub-components respectively, and determine the third conversion relationship based on the registered 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 scheme of the embodiment, by acquiring rotation data of each joint node in the first joint arm and the second joint arm; the first joint arm is rigidly connected with the tracking component, and the tracking component is carried by the surgical object; the second joint arm is rigidly connected with 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 object coordinate system, and the second coordinate information of the tracking component in the display coordinate system, the target conversion relationship between the surgical instrument coordinate system in which the surgical instrument is located and the display coordinate system is determined, the target conversion relationship between the surgical instrument coordinate system in which 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, the accuracy of the target conversion relationship between the surgical instrument coordinate system in which the surgical instrument is located and the display coordinate system is improved; the third coordinate information of the surgical instrument in the surgical instrument coordinate system is acquired; the positioning coordinate information of the surgical instrument in the display coordinate system is determined based on the third coordinate information and the target conversion relationship, the positioning of the surgical instrument in the display coordinate system is realized through the third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship, the accuracy of the positioning of the surgical instrument is improved; 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, the visualization of the positioning of the surgical instrument is realized, and the accuracy of the positioning of the surgical instrument in the display coordinate system is improved.

[0097] Embodiment four

[0098] Figure 5This 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 processors, cellular phones, smartphones, 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 illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

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

[0102] In some embodiments, the surgery assisting positioning method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the surgery assisting positioning method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the surgery assisting positioning method by way of other means, e.g., with the aid of firmware.

[0103] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0104] Computer programs used to implement the surgery assisting positioning method of the present application 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, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program running on the processor implements the functions / operations specified in the flow charts and / or block diagrams. The computer program can be executed entirely on a machine, partly on a machine and partly on a remote machine or entirely on a remote machine or server.

[0105] Embodiment Five

[0106] Embodiment five of the present application also provides a computer readable storage medium, which stores computer instructions for causing a processor to execute a surgery assisting 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 with a tracking piece, the tracking piece is carried by a surgical object; the second joint arm is rigidly connected with a surgical instrument; 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 piece in a surgical object coordinate system and second coordinate information of the tracking piece in a display coordinate system, a target conversion relationship between a surgical instrument coordinate system in which the surgical instrument is located and the display coordinate system is determined; third coordinate information of the surgical instrument in the surgical instrument coordinate system is obtained; based on the third coordinate information and the target conversion relationship, positioning coordinate information of the surgical instrument in the display coordinate system is determined; a medical image of the surgical object is displayed in a display interface, and the surgical instrument is displayed based on the positioning coordinate information of the surgical instrument in the display coordinate system.

[0108] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0109] To provide for interaction with a user, the systems and techniques described here can 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 a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0110] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can 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] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can 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 large management difficulty and weak business scalability in traditional physical host and VPS service.

[0112] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, and the present disclosure is not limited herein as long as the desired results of the technical solutions of the present disclosure can be achieved.

[0113] The specific embodiments described above are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that various modifications, combinations, sub-combinations, and alternatives can be made to the specific embodiments without departing from the spirit and principles of the present disclosure. Any further modifications, equivalents, and / or alternatives come within the scope of the present disclosure as set forth in the following claims.

Claims

1. A surgical auxiliary positioning system, characterized in that, The application relates to a medical positioning device. The device comprises 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 each comprise a plurality of joint nodes. A first end of the first joint arm is connected to the trolley base, and a second end of the first joint arm is rigidly connected to a tracking piece which is carried by a surgical subject. A first end of the second joint arm is connected to the trolley base, and a second end of the second joint arm is rigidly connected to a surgical instrument. The positioning processor acquires rotation data of each joint node in the first joint arm and the second joint arm, determines a target conversion relationship between a surgical instrument coordinate system in which the surgical instrument is located and a 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 piece in a surgical subject coordinate system and second coordinate information of the tracking piece in the display coordinate system, determines positioning coordinate information of the surgical instrument in the display coordinate system based on third coordinate information of the surgical instrument in the surgical instrument coordinate system and the target conversion relationship, and displays a positioning picture of the surgical instrument on a display interface of the display, wherein the positioning picture comprises the surgical instrument and a medical image of the surgical subject. The positioning processor is specifically configured to: determine a first conversion relationship between the surgical subject coordinate system and a trolley base coordinate system based on the 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; determine a third conversion relationship between the surgical subject coordinate system and the display coordinate system based on the first coordinate information of the tracking piece in the surgical subject coordinate system and the second coordinate information of the tracking piece in the display coordinate system; and determine the 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. The first joint arm is a seven-degree-of-freedom joint arm, and the second joint arm is a six-degree-of-freedom joint arm. The joint nodes in the first joint arm and the second joint arm are rotary joints.

2. The surgical assist positioning system of claim 1, wherein, The rotary joint comprises a rotary shaft and an encoder, the encoder is connected to the rotary shaft, acquires rotation data of the rotary shaft, and is in communication connection with the positioning processor and transmits the rotation data to the positioning processor.

3. A surgical aid positioning system according to claim 1 or 2, characterized in that, The trolley base is provided with a first fixed point and a second fixed point, the first end of the first joint arm is connected to the first fixed point, and the first end of the second joint arm is connected to the second fixed point.

4. The surgical assist positioning system of claim 3, wherein, The positioning processor is specifically configured to:

5. The surgical assist positioning system of claim 1, wherein, determine a fourth conversion relationship between the surgical subject coordinate system and a first trolley base coordinate system in which the first fixed point is located based on the rotation data of each joint node in the first joint arm; determine a fifth conversion relationship between the surgical instrument coordinate system and a second trolley base coordinate system in which the second fixed point is located based on the rotation data of each joint node in the second joint arm. ​ ​ determine a sixth conversion relationship between the surgical object coordinate system and the display coordinate system based on the first coordinate information of the tracking member in the surgical object coordinate system and the second coordinate information of the tracking member in the display coordinate system; obtain a seventh conversion relationship between the first trolley base coordinate system and the second trolley base coordinate system; determine a 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.

6. The surgical assist positioning system of claim 1, wherein, The tracking member includes at least three tracking sub-members. The positioning processor is further configured to obtain first coordinate information of the at least three tracking sub-members in the object coordinate system, and obtain second coordinate information of the at least three tracking sub-members in a medical image in a display interface of the display. The first coordinate information and the second coordinate information corresponding to the at least three tracking sub-members are registered, and the third conversion relationship is determined based on the registered first coordinate information and second coordinate information.

7. A surgical auxiliary positioning method, characterized by, The method is applied to the surgical auxiliary positioning system of any one of claims 1-6, and 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 with the tracking member, and the tracking member is carried by the surgical object; the second joint arm is rigidly connected with the surgical instrument; determining a target conversion relationship between a surgical instrument coordinate system in which the surgical instrument is located and a 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 member in the surgical object coordinate system, and the second coordinate information of the tracking member in the display coordinate system; obtaining third coordinate information of the surgical instrument in the surgical instrument coordinate system; and determining positioning coordinate information of the surgical instrument in the display coordinate system based on the third coordinate information and the target conversion relationship; displaying a medical image of the surgical object in a display interface, and displaying the surgical instrument based on the positioning coordinate information of the surgical instrument in the display coordinate system.

8. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; 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 to enable the at least one processor to execute the surgical auxiliary positioning method of claim 7.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the surgical auxiliary positioning method of claim 7 when executed.

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