Intraoperative actuator and target point accurate registration system and method

Abstract

The invention provides an intraoperative actuator and a target point precise registration system and method. The system comprises a target point local positioning device, a second positioning device, three-dimensional auxiliary positioning equipment and a data processing module. The target point local positioning device comprises a medical image developing device and a first positioning device, is visible under medical imaging equipment and is used as a reference position of an operation target point; the first positioning device is fixedly arranged in an operation area; the second positioning device is mounted on the surgical device and has a certain relative position relation with the actuator; the three-dimensional auxiliary positioning equipment is used for collecting spatial position information of a first positioning device and a second positioning device in the target point local positioning device; and the data processing module is used for establishing a space coordinate conversion relation between the target point and the surgical device actuator. The technical problem that when surgical equipment needs to move or execute tasks in different spaces, precise space conversion and butt joint become very difficult is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical navigation and registration equipment, and in particular to an intraoperative actuator, a target point precise registration system, and a method. Background Art

[0002] In the medical field, precision surgeries such as magnetic traction interventional surgery, in vivo ultrasound imaging or confocal ultrasound in vivo surgery require high-precision operations in complex, dynamic and changeable environments. The precise positioning of surgical equipment is crucial to the normal effect of treatment. However, the existing positioning methods for the above surgeries have some limitations. Many traditional positioning technologies often rely on a single spatial coordinate system, which makes it difficult to cope with precise docking between different spaces. When surgical equipment needs to move or perform tasks in different spaces, accurate spatial conversion and docking become very difficult. This limitation not only affects the operating accuracy of surgical equipment, but may also lead to deviations in subsequent surgical procedures, affecting the treatment effect or creating safety risks. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide an intraoperative actuator, target point precise registration system and method to solve the technical problem that traditional positioning technology in the prior art often relies on a single spatial coordinate system and is difficult to cope with precise docking between different spaces. When surgical equipment needs to move or perform tasks in different spaces, accurate spatial conversion and docking become very difficult.

[0004] In order to achieve the above technical objectives, in a first aspect, the technical solution of the present invention provides an intraoperative actuator and a target point precise registration system, characterized in that it comprises: a target point local positioning device, a second positioning device, a three-dimensional auxiliary positioning device and a data processing module; Wherein, the target point local positioning device is installed in the operation area; the target point local positioning device includes: a medical image developing device and a first positioning device; the medical image developing device is fixedly arranged in the operation area, the medical image developing device is visible under the medical imaging device, and is used as a reference position of the operation target point, and the first relative position information of the target point and the first positioning device of the medical image developing device is obtained based on the image data taken by the medical imaging device; the first positioning device is fixedly arranged in the operation area, and has a determined relative position relationship with the medical image developing device in the target point local positioning device; A second positioning device is installed on the surgical device, and the actuator of the surgical device has a determined relative position relationship with respect to the second positioning device; A three-dimensional auxiliary positioning device, used for collecting spatial position information of the first positioning device and the second positioning device in the local positioning device of the target point, and establishing second relative position information of the first positioning device and the second positioning device; A data processing module establishes a communication connection with the medical imaging device, the surgical device and the auxiliary positioning device, and uses the data processing module to establish a spatial coordinate transformation relationship between the target point and the surgical device actuator based on the first relative position information, the relative position relationship determined by the first positioning device and the medical image developing device, the second relative position information, and the relative position relationship confirmed by the surgical device actuator and the second positioning device.

[0005] Compared with the prior art, the beneficial effects of the present invention include: The existing traditional positioning technology relies on a single spatial coordinate system, which makes it difficult to achieve accurate docking between different spaces. However, this system works in coordination with multiple components such as a medical imaging device, a first positioning device, a medical imaging device, a second positioning device of a surgical device, and a three-dimensional auxiliary positioning device. The medical imaging device obtains the relative position information between the target point and the medical imaging device, the three-dimensional auxiliary positioning device establishes the relative position relationship between different positioning devices, and the data processing module integrates this information, breaking the limitation of a single coordinate system and effectively solving the problem of accurate docking between different spaces.

[0006] The data processing module establishes a spatial reference coordinate system for the target point and the actuator based on multiple sets of relative position relationship information. This enables accurate spatial conversion and docking when the surgical equipment moves or performs tasks in different spaces, greatly improving the operating accuracy of the surgical equipment, avoiding positioning deviations caused by difficulties in spatial conversion, and providing a strong guarantee for accurate surgical operations.

[0007] According to some embodiments of the present invention, the medical image developing device of the target point local positioning device is placed on the target object or on the operating table, and the medical image developing device is visible under the medical imaging equipment.

[0008] According to some embodiments of the present invention, the first positioning device of the target point local positioning device is placed on the target object or the operating table, and the first positioning device and the second positioning device are visible under the three-dimensional auxiliary positioning equipment.

[0009] According to some embodiments of the present invention, the medical imaging device includes: an X-ray imaging device, a digital subtraction angiography (DSA) imaging device, an MRI imaging device or an ultrasound imaging device; the medical image developing device is a developing patch or device visible under the corresponding medical imaging device, including but not limited to: an X-ray developing patch or device, a DSA developing patch or device, an MRI developing patch or device, and an ultrasound developing patch or device.

[0010] According to some embodiments of the present invention, the surgical device may be a surgical robot or a manually operated surgical instrument.

[0011] According to some embodiments of the present invention, the actuator of the surgical device is a magnetic control device, a magnetic field traction device, an ultrasonic imaging device, or a confocal ultrasonic device.

[0012] According to some embodiments of the present invention, the three-dimensional auxiliary positioning device is one or more of a binocular vision three-dimensional positioning device, a magnetic three-dimensional positioning device, a laser three-dimensional positioning device, and an ultrasonic three-dimensional positioning device, and the first positioning device and the second positioning device are marking positioning tools or positioning devices adapted for the auxiliary positioning device.

[0013] In a second aspect, the technical solution of the present invention provides an intraoperative actuator and a target point precise registration method, which is applied to an intraoperative actuator and a target point precise registration system as described in any one of the first aspects, comprising the following steps: The medical image developing device and the first positioning device in the target point local positioning device are fixedly arranged in the operation area, and the relative position relationship between the medical image developing device and the first positioning device is obtained; Acquiring image data of a surgical area, wherein the image data includes a target object and a medical image developing device; Identifying a target point in the image data, and establishing first relative position information between the target point and the medical image developing device; Moving the surgical device to a preset position near the surgical area, collecting spatial position information of the first positioning device and the second positioning device, and establishing second relative position information of the first positioning device and the second positioning device; Establishing a conversion relationship between the target point and the spatial coordinates of the actuator according to the first relative position information, the relative position relationship determined by the first positioning device and the medical image developing device, the second relative position information, and the relative position relationship confirmed by the surgical device actuator and the second positioning device; Based on the spatial coordinate transformation relationship between the target point and the actuator, a surgical operation instruction is issued to the surgical device, where the surgical operation instruction is used to control the actuator to operate the target point.

[0014] Compared with the prior art, the beneficial effects of the present invention include: The intraoperative actuator and target point precise registration method of the present invention comprehensively utilizes information from multiple aspects such as the medical image developing device, the first positioning device, and the second positioning device to determine the positional relationship between the target point and the actuator. By obtaining the relative positional relationship between the medical image developing device and the first positioning device, the first relative position information between the target point and the medical image developing device, the second relative position information between the first positioning device and the second positioning device, and the default relative positional relationship between the actuator and the second positioning device, multi-dimensional data complement and verify each other, greatly improving the accuracy of positioning, and can effectively reduce positioning errors during surgery, laying the foundation for achieving high-precision surgical operations.

[0015] Based on multiple sets of relative position relationship information, a spatial reference coordinate system is established for the target point and the actuator. The establishment of this coordinate system provides a unified and accurate spatial positioning standard for surgical operations, allowing the actuator to accurately reach the target point, ensuring the accuracy and stability of surgical operations and helping to improve the success rate of surgery.

[0016] In a complex, dynamic and changeable surgical environment, this method can flexibly respond to various changes that may occur during the operation by acquiring and processing various position information in real time. Even if the situation in the surgical area changes, the actuator can be accurately controlled to operate on the target point based on the established spatial reference coordinate system and real-time position information, ensuring that the operation is not excessively disturbed by environmental changes, thereby improving the adaptability and reliability of the operation. This registration method can be applied to precision surgeries such as magnetic traction interventional surgery, in vivo ultrasound imaging, and confocal ultrasound in vivo surgery. Its versatility allows it to be widely used in surgeries in a variety of medical fields, providing a unified and accurate positioning solution for different types of precision surgeries, which helps promote the development and advancement of surgical technology in the medical field.

[0017] According to some embodiments of the present invention, after issuing a surgical operation instruction to the surgical device based on the coordinate transformation relationship between the target point and the actuator of the surgical device, the steps include: During the operation of the target point by the actuator, monitoring the position of the medical image developing device and the position of the target point relative to the medical image developing device; If the position of the medical image developing device or the target point relative to the position of the medical image developing device changes in value relative to the initial position, image data of the surgical area is acquired again, the target point in the image data is identified, and the position information of the target point relative to the medical image developing device is updated; The position and posture information of the surgical device actuator is updated according to the position information of the first positioning device, the updated position information of the target point, and the position information of the medical image developing device.

[0018] According to some embodiments of the present invention, after issuing a surgical operation instruction to the surgical device based on the coordinate transformation relationship between the target point and the actuator of the surgical device, the steps include: During the process of the actuator operating the target point, monitoring the dynamic position information of the end effector of the surgical device; The relative position relationship of the end effector of the surgical device with respect to the second positioning device is updated according to the real-time motion information of the end effector during the operation.

[0019] According to some embodiments of the present invention, based on the position and posture information of the target point updated during the operation, and the position and posture information of the surgical device end effector updated in real time during the operation, the spatial coordinate relationship between the surgical device end effector and the target point is dynamically updated based on the updated position and posture information of the target point and the position and posture information of the surgical device end effector updated in real time during the operation, thereby assisting in precise surgical intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, wherein the abstract drawings are identical to one of the drawings in the specification: Figure 1 A structural diagram of an intraoperative actuator and a target point precise registration system provided by an embodiment of the present invention; Figure 2 A structural diagram of an intraoperative actuator and a target point precise registration system provided by an embodiment of the present invention; Figure 3 A schematic diagram of a three-dimensional auxiliary positioning device for an intraoperative actuator and a target point precise registration system provided by an embodiment of the present invention.

[0021] Explanation of the reference numerals: medical image developing device 101 , operation area 102 , target point 103 , first positioning device 104 , medical imaging equipment 105 , operation device 106 , second positioning device 107 , actuator 108 , three-dimensional auxiliary positioning device 109 . DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] It should be noted that, although the functional modules are divided in the system schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0024] Reference Figures 1 to 3 , Figure 1 A structural diagram of an intraoperative actuator and a target point precise registration system provided by an embodiment of the present invention; Figure 2 A structural diagram of an intraoperative actuator and a target point precise registration system provided by an embodiment of the present invention; Figure 3 A schematic diagram of a three-dimensional auxiliary positioning device for an intraoperative actuator and a target point precise registration system provided by an embodiment of the present invention.

[0025] In one embodiment, a target point local positioning device, a second positioning device 107, a three-dimensional auxiliary positioning device 109 and a data processing module; wherein the target point local positioning device is installed in the operation area 102; the target point local positioning device includes: a medical image developing device 101 and a first positioning device 104; the medical image developing device 101 is fixedly installed in the operation area 102, the medical image developing device 101 is visible under the medical imaging device 105, and is used as a reference position of the operation target point 103, and the first relative position information of the target point 103 and the first positioning device 104 of the medical image developing device 101 is obtained based on the image data taken by the medical imaging device 105; the first positioning device 104 is fixedly installed in the operation area 102, and has a determined relative position relationship with the medical image developing device 101 in the target point local positioning device; the second positioning device 107 is installed In the surgical device 106, the actuator 108 of the surgical device 106 has a determined relative position relationship with respect to the second positioning device 107; the three-dimensional auxiliary positioning device 109 is used to collect the spatial position information of the first positioning device 104 and the second positioning device 107 in the local positioning device of the target point, and establish the second relative position information of the first positioning device 104 and the second positioning device 107; the data processing module establishes a communication connection with the medical imaging device 105, the surgical device 106 and the auxiliary positioning device, and uses the data processing module to establish the spatial coordinate conversion relationship between the target point 103 and the actuator 108 of the surgical device 106 according to the first relative position information, the relative position relationship determined by the first positioning device 104 and the medical imaging development device 101, the second relative position information, and the relative position relationship confirmed by the actuator 108 of the surgical device 106 and the second positioning device 107.

[0026] The intraoperative actuator and target point precise registration system of the present application has the advantage of high positioning accuracy. Through the coordinated action of the medical image development device 101, the first positioning device 104, the medical imaging device 105, the second positioning device 107 of the surgical device and the three-dimensional auxiliary positioning device 109, the target point 103 and the actuator 108 are positioned from multiple dimensions. Compared with the traditional single space coordinate system, the position information can be obtained more comprehensively and accurately, and the positioning accuracy can be effectively improved.

[0027] By utilizing the relative position relationship between the devices, the data processing module can accurately establish a spatial reference coordinate system and achieve precise docking between different spaces. Even if the surgical equipment moves or performs tasks in different spaces, it can ensure the accuracy of positioning and reduce surgical deviations caused by inaccurate spatial conversion.

[0028] The intraoperative actuator and target point precise registration system of the present application is convenient and efficient to operate, and can perform real-time positioning and monitoring. The medical imaging device 105 can obtain the image data of the target object in the surgical area 102 in real time, and the three-dimensional auxiliary positioning device 109 can collect the spatial position information of the first positioning device 104 and the second positioning device 107 in real time, so that the system can monitor and update the position of the target point 103 and the actuator 108 in real time. The doctor can adjust the surgical operation in time according to the real-time feedback to improve the surgical efficiency.

[0029] Once the relative position relationship of each device in the intraoperative actuator and target point precision registration system of the present application is determined, there is no need to frequently re-register during the operation, which reduces the operational complexity and time cost caused by multiple registrations, making the operation process smoother. Accurate positioning helps doctors operate surgical equipment more accurately, avoids damage to surrounding tissues or organs due to misoperation caused by inaccurate positioning, reduces surgical risks, and improves surgical safety.

[0030] The present invention can monitor abnormalities in real time. During the operation, real-time position monitoring and data processing can promptly detect abnormal changes in the position of the target point 103 or the actuator 108, so that the doctor can respond quickly and take corresponding measures to prevent the occurrence of safety accidents. The system can be applied to a variety of precision surgeries such as magnetic traction interventional surgery, in vivo ultrasound imaging, and confocal ultrasound in vivo surgery. It has a wide range of applicability and can meet the high positioning requirements of different surgeries. The data processing module establishes a spatial reference coordinate system for the target point 103 and the actuator 108 based on multiple sets of relative position relationship information. This enables the surgical equipment to achieve accurate spatial conversion and docking when moving or performing tasks in different spaces, greatly improving the operating accuracy of the surgical equipment, avoiding positioning deviations caused by difficulties in spatial conversion, and providing a strong guarantee for the precise operation of the surgery.

[0031] Each module in the system has a certain degree of independence and scalability, and can be flexibly configured and upgraded according to different surgical requirements and clinical environments. For example, different types of medical imaging equipment 105 or surgical devices 106 can be replaced to adapt to new surgical techniques and methods.

[0032] The image data acquired by the medical imaging device 105 and the established spatial reference coordinate system can provide the doctor with intuitive visualization information of the surgical area 102, so that the doctor can clearly see the relative position relationship between the target point 103, the actuator 108 and the surrounding tissues, which helps the doctor to better plan and operate the surgery, just like having an accurate "map". Visual guidance can make the doctor more confident in performing the surgery, reduce the anxiety and uncertainty caused by the lack of understanding of the situation in the surgical area 102, and thus focus more on the surgery itself, thereby improving the success rate of the surgery.

[0033] The medical imaging device 105 includes an X-ray imaging device, a digital subtraction angiography (DSA) imaging device, an MRI imaging device or an ultrasound imaging device, and the medical image developing device 101 is a developing patch or device visible under the corresponding medical imaging device 105, including but not limited to an X-ray developing patch or device, a DSA developing patch or device, an MRI developing patch or device, and an ultrasound developing patch or device.

[0034] The medical imaging device 105 can use a digital subtraction angiography (DSA) imaging device in conjunction with a DSA developing patch or device placed on the operating table, and mark the lesion point with iodixanol developing solution, so that the position of the lesion point on the DSA developing patch or device can be observed through the human body.

[0035] Medical imaging equipment 105 includes various types of X-ray imaging equipment, DSA imaging equipment, MRI imaging equipment or ultrasound imaging equipment, which can provide a variety of imaging methods according to different surgical requirements and lesion characteristics. For example, for vascular-related surgery, DSA imaging equipment can clearly display the vascular morphology and the relationship between the lesion and the blood vessel; MRI imaging equipment has advantages in soft tissue imaging, which helps to more accurately observe the details of the diseased tissue and provide doctors with more comprehensive information to formulate more accurate surgical plans.

[0036] Equipped with a variety of corresponding medical imaging development devices 101, such as X-ray development patches or devices, DSA development patches or devices, etc., it can be clearly developed under different imaging devices, providing an accurate reference position for the target point 103. Taking the DSA imaging device with the DSA development patch or device, and using iodixanol developer to mark the lesion point as an example, the position of the lesion point on the development device can be clearly observed through the human body, which greatly improves the accuracy of lesion positioning and provides accurate guidance for subsequent surgical operations.

[0037] The three-dimensional auxiliary positioning device 109 is one or more of a binocular vision three-dimensional positioning device, a magnetic three-dimensional positioning device, a laser three-dimensional positioning device, and an ultrasonic three-dimensional positioning device. If a binocular vision three-dimensional positioning device is used, it can be an optical positioning ball, a reflective sticker, etc.; if a magnetic three-dimensional positioning device is used, it can be an electromagnetic sensor probe, an electromagnetic coil array, an embedded marking tool, etc.; if a laser three-dimensional positioning device is used, it can be a reflective prism, a laser receiver array, a plane reflector, etc.; if an ultrasonic three-dimensional positioning device is used, it can be an ultrasonic reflection point, an ultrasonic transmitter, etc.

[0038] The three-dimensional auxiliary positioning device 109 includes one or more of a binocular vision three-dimensional positioning device, a magnetic three-dimensional positioning device, a laser three-dimensional positioning device, and an ultrasonic three-dimensional positioning device. Different positioning devices have their own advantages. The binocular vision three-dimensional positioning device can quickly obtain the spatial position information of the object through optical principles; the magnetic three-dimensional positioning device uses the principle of electromagnetic induction and is not affected by obstructions, and can achieve precise positioning in complex environments; the laser three-dimensional positioning device has high accuracy and good stability; the ultrasonic three-dimensional positioning device can adapt to some special surgical environments, such as positioning in certain parts of the body. The integration of multiple positioning technologies can be flexibly selected or used in combination according to different surgical scenarios and needs, which improves the adaptability of the system and the reliability of positioning.

[0039] Each 3D auxiliary positioning device has a variety of specific equipment to choose from. For example, the binocular vision 3D positioning device can be an optical positioning ball, a reflective sticker, etc., providing more options for different surgical conditions and equipment layouts. Doctors and technicians can choose the most suitable positioning device based on the existing equipment in the operating room, the specific requirements of the surgery, and factors such as cost, which improves the practicality and operability of the system.

[0040] The end effector 108 of the surgical device is a magnetic control device, a magnetic field traction device, an ultrasonic imaging device, and a confocal ultrasonic device. These actuators 108 are designed for different precision surgical needs. The magnetic control device and the magnetic field traction device are suitable for magnetic traction interventional surgery, which can accurately control the movement of surgical instruments in a magnetic field environment and achieve precise operation of the target site; the ultrasonic imaging device and the confocal ultrasonic device meet the needs of in vivo ultrasonic imaging and confocal ultrasonic in vivo surgery respectively, provide real-time image information during the operation, assist doctors to accurately judge the situation of the surgical site, and improve the accuracy and safety of the operation. The end effectors 108 with multiple different functions enable the surgical device to adapt to a variety of complex precision surgeries. A surgical device can complete different types of surgical tasks by replacing different end effectors 108, which improves the use efficiency and cost-effectiveness of the surgical device, reduces the cost of hospitals purchasing a variety of special surgical equipment, and also provides patients with more convenient and efficient medical services.

[0041] In one embodiment, a method for precise registration of an intraoperative actuator and a target point includes the following steps: fixing a medical imaging developing device and a first positioning device in a local positioning device for a target point in a surgical area, and acquiring a relative position relationship determined by the medical imaging developing device and the first positioning device; acquiring image data of the surgical area, the image data including a target object and a medical imaging developing device; identifying a target point in the image data, and establishing first relative position information between the target point and the medical imaging developing device; moving the surgical device to a preset position near the surgical area, collecting spatial position information of the first positioning device and the second positioning device, and establishing second relative position information of the first positioning device and the second positioning device; establishing a conversion relationship between the spatial coordinates of the target point and the actuator based on the first relative position information, the relative position relationship determined by the first positioning device and the medical imaging developing device, the second relative position information, and the relative position relationship confirmed by the actuator of the surgical device and the second positioning device; and issuing a surgical operation instruction to the surgical device based on the spatial coordinate conversion relationship between the target point and the actuator, the surgical operation instruction being used to control the actuator to operate the target point.

[0042] The entire registration process is carried out in sequence according to clear steps, from fixing the medical image development device and the first positioning device and determining their relative position relationship, to acquiring image data, identifying the target point to establish the first relative position information, and then moving the surgical device, collecting the position information of the positioning device to establish the second relative position information, and finally establishing a spatial reference coordinate system based on various position relationships and issuing surgical operation instructions. This clear process design enables the surgical team to operate in an orderly manner, reduce errors caused by confusion in the operation sequence, and improve the efficiency of surgical preparation and the fluency of execution.

[0043] The result of each step provides key information for the subsequent steps, and the completion of the previous step is the basis for the smooth progress of the next step. For example, the determination of the relative position relationship between the medical imaging development device and the first positioning device provides a benchmark for the subsequent establishment of the first relative position information between the target point and the medical imaging development device through image data; and the first and second relative position information and the relative position relationship between the actuator and the second positioning device together provide the necessary data support for the establishment of the spatial reference coordinate system, ensuring the consistency and accuracy of the entire registration process.

[0044] This method comprehensively considers multiple sets of relative position relationships, including the position relationship between the medical image development device and the first positioning device, the target point and the medical image development device, the first positioning device and the second positioning device, and the actuator and the second positioning device. By integrating these multi-dimensional position information, the position of the target point and the actuator in the surgical space can be determined more comprehensively and accurately. Compared with the traditional method that only relies on a single position information, the positioning accuracy is greatly improved and the surgical error is reduced. The spatial reference coordinate system established based on multiple sets of relative position relationships can unify the position of the target point and the actuator in an accurate coordinate system. This enables the surgical device to accurately receive the position information about the target point, and accurately control the actuator to operate the target point according to the instructions, ensuring that the actuator can reach the target position accurately, improving the precision and accuracy of the surgical operation, and thus improving the surgical treatment effect.

[0045] Accurate registration and positioning can effectively avoid damage to surrounding normal tissues and organs due to actuator position deviation during surgery, reduce surgical risks, and improve surgical safety. For example, in some complex interventional surgeries, precise positioning can ensure that surgical instruments accurately reach the lesion site, reduce the impact on important structures such as surrounding blood vessels and nerves, and reduce the probability of surgical complications. The standardized process and accurate data of the entire registration method make the surgical process more reliable. Doctors can perform surgical operations more confidently based on accurate spatial reference coordinate systems and surgical operation instructions, reduce surgical failures or the need for secondary operations due to inaccurate positioning, and improve patients' confidence and satisfaction with surgical treatment.

[0046] This method does not rely on a specific type of surgery or equipment brand and has strong versatility. Whether it is magnetic traction interventional surgery, in vivo ultrasound imaging, or confocal ultrasound in vivo surgery, this registration method can be used to achieve precise positioning of target points and actuators. At the same time, for different types of medical imaging equipment, positioning devices, and surgical devices, as long as the corresponding relative position information can be obtained, this method can be applied for registration, which improves the scope of application and flexibility of the method. With the continuous development of medical technology and the emergence of new equipment and new technologies, this registration method has good scalability. For example, when more advanced medical imaging equipment or more accurate positioning devices appear, it is only necessary to obtain the relative position relationship between the new equipment and the existing device according to the established process, and it can be integrated into the entire registration system without large-scale modifications to the method, which provides convenient conditions for the upgrading and development of future surgical technology.

[0047] Before the operation begins, the medical imaging device and the first positioning device are fixedly set in the operation area, and the relative position relationship between them is accurately obtained. This relative position relationship serves as the basis for all subsequent positioning and operations and will not change due to the movement of the surgical device. Even if the surgical device moves to different positions near the operation area, this basic relative position relationship is always stable, providing a reliable benchmark for subsequent precise positioning.

[0048] The scheme comprehensively considers multiple sets of relative position relationships, including the position relationship between the target point and the medical imaging device, the first positioning device and the second positioning device, and the actuator and the second positioning device. These relative position relationships are interrelated and complementary to each other, forming a stable positioning information network. When the surgical device moves, although its absolute position changes, the comprehensive calculation and analysis of these relative position relationships can still accurately determine the spatial relationship between the actuator and the target point, ensuring that the accuracy of positioning is not affected.

[0049] When the surgical device moves to a preset position near the surgical area, the spatial position information of the first positioning device and the second positioning device can be collected in real time, and the second relative position information between them can be established. This means that no matter how the surgical device moves, the system can obtain its latest position information in a timely manner and incorporate it into the entire positioning system for analysis and processing. This ability to collect and update position information in real time enables the system to dynamically adapt to the movement of the surgical device and always maintain precise control of the actuator and target point position.

[0050] The spatial reference coordinate system can be updated dynamically. Based on the real-time acquired position information and other fixed relative position relationships, the system can dynamically update the spatial reference coordinate system of the target point and the actuator. Even if the original spatial reference coordinate system changes after the surgical device moves, the system can quickly re-establish an accurate coordinate system based on the new position information to ensure that the surgical operation instructions can accurately guide the actuator to the target point. This ability to dynamically update the spatial reference coordinate system allows the surgical device to maintain accurate positioning and operation of the target point during movement.

[0051] In actual surgery, the surgical device may need to move around the surgical area according to the specific circumstances of the surgery and the doctor's operating requirements to obtain a better operating angle or avoid certain obstacles. This solution can maintain accurate positioning when the surgical device moves, providing doctors with greater operational flexibility, allowing them to operate on the target point in a wider range of space and better adapt to the complex and changing surgical environment.

[0052] Various emergencies may occur during surgery, such as the need to adjust the position of the surgical device to cope with unexpected anatomical changes or surgical instrument failures. This solution can maintain accurate characteristics when the surgical device is moved, allowing doctors to respond to these emergencies quickly and effectively, adjust the position of the surgical device in time and continue to perform precise surgical operations, thereby improving the success rate and safety of the operation. Since this solution can ensure that the surgical device always maintains accurate positioning during movement, doctors do not need to spend a lot of time recalibrating or positioning the surgical device, thereby significantly shortening the operation time. This not only reduces the pain and risks of patients during surgery, but also improves the efficiency of the use of operating rooms, allowing more patients to receive timely treatment.

[0053] In one embodiment, a method for precise registration of an intraoperative actuator and a target point includes the following steps: fixing a medical imaging developing device and a first positioning device in a local positioning device for a target point in a surgical area, and acquiring a relative position relationship determined by the medical imaging developing device and the first positioning device; acquiring image data of the surgical area, the image data including a target object and a medical imaging developing device; identifying a target point in the image data, and establishing first relative position information between the target point and the medical imaging developing device; moving the surgical device to a preset position near the surgical area, collecting spatial position information of the first positioning device and the second positioning device, and establishing second relative position information of the first positioning device and the second positioning device; establishing a conversion relationship between the spatial coordinates of the target point and the actuator based on the first relative position information, the relative position relationship determined by the first positioning device and the medical imaging developing device, the second relative position information, and the relative position relationship confirmed by the actuator of the surgical device and the second positioning device; and issuing a surgical operation instruction to the surgical device based on the spatial coordinate conversion relationship between the target point and the actuator, the surgical operation instruction being used to control the actuator to operate the target point.

[0054] According to the first relative position information, the relative position relationship determined by the first positioning device and the medical image developing device, the second relative position information, and the relative position relationship confirmed by the actuator and the second positioning device in the default state, a spatial reference coordinate system is established for the target point and the actuator, including the steps of: establishing a first spatial coordinate system according to the first relative position information and the relative position relationship determined by the first positioning device and the medical image developing device, the first spatial coordinate system including: target point position information, medical image developing device position information and first positioning device position information; establishing a second spatial coordinate system according to the second relative position information and the relative position relationship confirmed by the actuator and the second positioning device in the default state, the second spatial coordinate system including: first positioning device position information, second positioning device position information and actuator position information; establishing a spatial reference coordinate system for the target point and the actuator according to the first spatial coordinate system and the second spatial coordinate system.

[0055] This method establishes the first spatial coordinate system and the second spatial coordinate system in steps, and then combines the two to construct the final spatial reference coordinate system. The whole process is logically rigorous and well-organized. First, the first spatial coordinate system is established based on the positional relationship between the target point, the medical imaging development device, and the first positioning device, focusing on the integration of the position information related to the target point; then the second spatial coordinate system is established based on the positional relationship between the first positioning device, the second positioning device, and the actuator, focusing on the sorting of the position information related to the actuator. This step-by-step construction method gradually simplifies complex spatial positioning problems, facilitates understanding and operation, and reduces the probability of errors.

[0056] The step-by-step method of establishing the coordinate system is conducive to the modular design of the system. Each step can be regarded as an independent module, which is responsible for processing the position information of different parts. In practical applications, if the equipment or algorithm of a certain part needs to be updated or adjusted, only the corresponding module needs to be modified without affecting the normal operation of other parts. For example, if a new surgical device is replaced, only the module for establishing the second spatial coordinate system needs to be adjusted to adapt to the positional relationship between the second positioning device and the actuator of the new device, while the establishment part of the first spatial coordinate system can remain unchanged, which greatly improves the maintainability and scalability of the system.

[0057] In the process of establishing the spatial reference coordinate system, the multi-dimensional position information between the target point, the medical imaging device, the first positioning device, the second positioning device and the actuator is fully integrated. Through this rich position information, the relative position of the target point and the actuator in space can be determined more comprehensively and accurately, reducing the positioning error caused by inaccurate or incomplete single information. For example, when determining the position of the target point, not only the relative position of the target point and the medical imaging device is considered, but also the relationship between the first positioning device and other devices is used to further refine the position of the target point in the entire space, thereby improving the accuracy of positioning.

[0058] In the process of establishing the coordinate system step by step, the error can be effectively transmitted and controlled. In each step, the error can be controlled within a certain range by accurately measuring and calculating the relative position relationship between the devices. Then, when the two coordinate systems are merged to establish the final spatial reference coordinate system, the error can be further comprehensively analyzed and processed to avoid the accumulation and amplification of the error. This effective control of the error ensures that the final established spatial reference coordinate system can accurately reflect the actual position of the target point and the actuator, providing a reliable positioning basis for surgical operations.

[0059] In actual surgery, the surgical environment is complex and changeable, and various interference factors may affect the accuracy of positioning. This method of establishing a spatial reference coordinate system based on multiple sets of relative position relationships can better adapt to these changes. For example, when it is necessary to move the surgical device or adjust the position of certain devices during surgery, by updating the corresponding relative position information, an accurate spatial reference coordinate system can be re-established to ensure that the surgical operation is not affected. This flexibility makes this method applicable to different types of surgeries and various complex surgical scenarios.

[0060] This method does not depend on specific equipment types and brands and has strong compatibility. Different medical imaging equipment, positioning devices, and surgical devices can establish a spatial reference coordinate system according to this method as long as the relative position relationship between them can be obtained. This provides hospitals with greater flexibility in selecting and using different medical equipment, and is also conducive to promoting the development and innovation of medical technology and promoting the collaborative application of equipment from different manufacturers in surgery.

[0061] After issuing a surgical operation instruction to the surgical device based on the coordinate conversion relationship between the target point and the actuator of the surgical device, the method includes the following steps: during the operation of the target point by the actuator, monitoring the position of the medical image developing device and the position of the target point relative to the medical image developing device; if the position of the medical image developing device or the position of the target point relative to the medical image developing device changes relative to the initial position, acquiring image data of the surgical area again, identifying the target point in the image data, and updating the position information of the target point relative to the medical image developing device; and updating the position and posture information of the first space coordinate system according to the position information of the first positioning device, the updated position information of the target point, and the position information of the medical image developing device.

[0062] The medical image developing device can be attached to the target object or fixedly installed on the operating table, and the first positioning device can be attached to the target object or fixedly installed on the operating table.

[0063] In the process of the actuator operating the target point, adding the monitoring of the position of the medical imaging device and the corresponding coordinate system update step has the following advantages: the position of the medical imaging device is monitored in real time during the surgical operation, and any possible position changes can be discovered in time. The medical imaging device is an important reference for the positioning of the target point, and its position change may cause deviations in the positioning of the target point. Through continuous monitoring, once a position change is found, measures are taken immediately to ensure that the entire positioning system is always consistent with the actual situation and maintain high-precision positioning during the operation.

[0064] When the position of the medical imaging device changes, the image data of the surgical area is acquired again and the target point is identified, and then the first spatial coordinate system is re-established based on the new information. This process can quickly integrate the position change information into the positioning system, update the position information of the target point, and enable the surgical device to continue to operate based on the latest and most accurate positioning data, avoiding surgical errors caused by changes in the reference point position, and ensuring the accuracy and safety of the surgery.

[0065] During surgery, the position of the medical imaging device may change due to various factors, such as patient movement and the impact of surgical operations. This method can effectively deal with these complex situations. No matter what interference factors occur during the operation, it can ensure the smooth progress of the operation through timely monitoring and adjustment. This adaptability to complex situations greatly improves the success rate and reliability of the operation, providing doctors with more reliable surgical support.

[0066] The ability to dynamically adjust positioning during surgery makes the operation more flexible. Doctors do not need to worry about the change of reference point position and can perform surgery more freely. At the same time, this flexibility also provides possibilities for some special surgical needs or complex surgical operations, expanding the scope of application and feasibility of surgery.

[0067] In one embodiment, after a surgical operation instruction is issued to the surgical device based on the coordinate transformation relationship between the target point and the actuator of the surgical device, the steps include: monitoring the position of the medical imaging developing device and the position of the target point relative to the medical imaging developing device during the actuator's operation on the target point; if the position of the medical imaging developing device or the position of the target point relative to the medical imaging developing device changes relative to the initial position, acquiring image data of the surgical area again, identifying the target point in the image data, and updating the position information of the target point relative to the medical imaging developing device; and updating the position and posture information of the actuator of the surgical device according to the position information of the first positioning device, the updated position information of the target point, and the position information of the medical imaging developing device.

[0068] Based on the position and posture information of the target point in the first spatial coordinate system updated during the operation, and the position and posture information of the surgical device end effector in the second spatial coordinate system updated in real time during the operation, based on the updated first spatial coordinate system and second spatial coordinate system, the spatial coordinate relationship between the surgical device end effector and the target point is dynamically updated to assist in precise surgical intervention.

[0069] When the surgical device is moved, the updated position information of the second positioning device is obtained, and the position changes of the surgical device can be tracked in real time. During the operation, the surgical device may need to be moved according to actual operation requirements to adjust the angle, approach the target point or avoid obstacles. By obtaining real-time position updates, the system can accurately grasp the latest position of the surgical device and provide accurate data support for subsequent operations.

[0070] The second spatial coordinate system is re-established based on the updated position information and the relative position relationship between the actuator and the second positioning device, ensuring that the position of the actuator can be accurately updated as the surgical device moves. Even if the position of the surgical device changes, the position of the actuator in space can be accurately determined, thereby ensuring the accuracy of the target point operation, avoiding positioning deviation caused by the movement of the device, and allowing the surgical operation to be carried out continuously and accurately.

[0071] In actual surgery, doctors may need to flexibly adjust the position of surgical devices according to the patient's specific conditions, surgical progress or anatomical characteristics. This process allows the surgical device to move within the surgical area and update the coordinate system in a timely manner, meeting the need for device position adjustment during surgery, allowing doctors to operate in a wider range of spaces, improving the flexibility and adaptability of surgery, and helping to cope with various complex surgical scenarios.

[0072] Some emergencies may occur during surgery, such as the need to change surgical strategies, avoid unexpected tissues, or readjust the operating angle. By being able to move the surgical device in time and update the coordinate system, doctors can quickly respond to these emergencies, adjust the surgical plan, ensure that the operation can continue smoothly, and reduce the adverse effects of emergencies on the operation.

[0073] Each time the surgical device is moved, a second spatial coordinate system is established based on accurate position information. This dynamic update mechanism enables the entire positioning system to always adapt to the movement of the surgical device. The system will not be confused or wrong due to the movement of the device, ensuring the stability and reliability of the positioning system and providing a solid guarantee for the smooth progress of the operation.

[0074] As the operation progresses, if the position information of the surgical device is not updated in time, errors may gradually accumulate, affecting the accuracy of the operation. By obtaining the updated position of the second positioning device in real time and establishing a new coordinate system, the accumulation of errors can be effectively avoided, so that the positioning error during the operation is always kept within an acceptable range, improving the quality and safety of the operation.

[0075] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, and may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0076] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are executed by a processor or controller, for example, by a processor in the above-mentioned terminal embodiment, so that the above-mentioned processor can execute the intraoperative actuator and target point precise alignment method in the above-mentioned embodiment.

[0077] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0078] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

[0079] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A precise registration system for actuators and target points during surgery, characterized in that: include: Target point local positioning device, second positioning device, three-dimensional auxiliary positioning equipment and data processing module; Wherein, the target point local positioning device is installed in the operation area; the target point local positioning device includes: a medical image developing device and a first positioning device; the medical image developing device is fixedly arranged in the operation area, the medical image developing device is visible under the medical imaging device, and is used as a reference position of the operation target point, and the first relative position information of the target point and the first positioning device of the medical image developing device is obtained based on the image data taken by the medical imaging device; the first positioning device is fixedly arranged in the operation area, and has a determined relative position relationship with the medical image developing device in the target point local positioning device; A second positioning device is installed on the surgical device, and the actuator of the surgical device has a determined relative position relationship with respect to the second positioning device; A three-dimensional auxiliary positioning device, used for collecting spatial position information of the first positioning device and the second positioning device in the local positioning device of the target point, and establishing second relative position information of the first positioning device and the second positioning device; A data processing module establishes a communication connection with the medical imaging device, the surgical device and the auxiliary positioning device, and uses the data processing module to establish a spatial coordinate transformation relationship between the target point and the surgical device actuator based on the first relative position information, the relative position relationship determined by the first positioning device and the medical image developing device, the second relative position information, and the relative position relationship confirmed by the surgical device actuator and the second positioning device.

2. The intraoperative actuator and target point precise registration system according to claim 1, characterized in that: The medical image developing device of the target point local positioning device is placed on the target object or on the operating table, and the medical image developing device is visible under the medical imaging equipment.

3. The intraoperative actuator and target point precise registration system according to claim 1, characterized in that: The first positioning device of the target point local positioning device is placed on the target object or the operating table, and the first positioning device and the second positioning device are visible under the three-dimensional auxiliary positioning equipment.

4. The intraoperative actuator and target point precise registration system according to claim 2, characterized in that: The medical imaging device includes: an X-ray imaging device, a digital subtraction angiography (DSA) imaging device, an MRI imaging device or an ultrasound imaging device; The medical image developing device is a developing patch or device visible under the corresponding medical imaging equipment, including but not limited to: X-ray developing patch or device, DSA developing patch or device, MRI developing patch or device, and ultrasound developing patch or device.

5. The intraoperative actuator and target point precise registration system according to any one of claims 1 to 4, characterized in that: The surgical device may be a surgical robot or a manually operated surgical instrument.

6. The intraoperative actuator and target point precise registration system according to claim 5, characterized in that: The actuator of the surgical device is a magnetic control device, a magnetic field traction device, an ultrasonic imaging device, and a confocal ultrasonic device.

7. The intraoperative actuator and target point precise registration system according to claim 1, characterized in that: The three-dimensional auxiliary positioning device is one or more of a binocular vision three-dimensional positioning device, a magnetic three-dimensional positioning device, a laser three-dimensional positioning device, and an ultrasonic three-dimensional positioning device, and the first positioning device and the second positioning device are marking positioning tools or positioning devices adapted to the auxiliary positioning device.

8. A method for accurate registration of an actuator and a target point during surgery, applied to the accurate registration system of an actuator and a target point during surgery as claimed in any one of claims 1 to 7, characterized in that: Includes steps: The medical image developing device and the first positioning device in the target point local positioning device are fixedly arranged in the operation area, and the relative position relationship between the medical image developing device and the first positioning device is obtained; Acquiring image data of a surgical area, wherein the image data includes a target object and a medical image developing device; Identifying a target point in the image data, and establishing first relative position information between the target point and the medical image developing device; Moving the surgical device to a preset position near the surgical area, collecting spatial position information of the first positioning device and the second positioning device, and establishing second relative position information of the first positioning device and the second positioning device; Establishing a conversion relationship between the target point and the spatial coordinates of the actuator according to the first relative position information, the relative position relationship determined by the first positioning device and the medical image developing device, the second relative position information, and the relative position relationship confirmed by the surgical device actuator and the second positioning device; Based on the spatial coordinate transformation relationship between the target point and the actuator, a surgical operation instruction is issued to the surgical device, where the surgical operation instruction is used to control the actuator to operate the target point.

9. The method for accurate registration of actuators and target points during surgery according to claim 8, characterized in that: After issuing a surgical operation instruction to the surgical device based on the coordinate conversion relationship between the target point and the actuator of the surgical device, the method comprises the following steps: During the operation of the target point by the actuator, monitoring the position of the medical image developing device and the position of the target point relative to the medical image developing device; If the position of the medical image developing device or the target point relative to the position of the medical image developing device changes in value relative to the initial position, image data of the surgical area is acquired again, the target point in the image data is identified, and the position information of the target point relative to the medical image developing device is updated; The position and posture information of the surgical device actuator is updated according to the position information of the first positioning device, the updated position information of the target point, and the position information of the medical image developing device.

10. The method for accurate registration of actuators and target points during surgery according to claim 8, characterized in that: After issuing a surgical operation instruction to the surgical device based on the coordinate conversion relationship between the target point and the actuator of the surgical device, the method comprises the following steps: During the process of the actuator operating the target point, monitoring the dynamic position information of the end effector of the surgical device; According to the real-time motion information of the end effector during the operation, the relative position relationship of the end effector of the surgical device with respect to the second positioning device is updated, and the position and posture information of the end effector of the surgical device in the second space coordinate system is recalculated.

11. A method for accurate registration of actuators and target points during surgery according to any one of claims 8 to 10, characterized in that: Based on the position and posture information of the target point in the first spatial coordinate system updated during the operation, and the position and posture information of the surgical device end effector in the second spatial coordinate system updated in real time during the operation, and based on the updated first spatial coordinate system and the second spatial coordinate system, the spatial coordinate relationship between the surgical device end effector and the target point is dynamically updated to assist in precise surgical intervention.

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