Method and device for adjusting position and posture of guider, electronic equipment and computer readable storage medium

Abstract

The invention discloses a method and device for adjusting the position and posture of a guider, electronic equipment and a computer readable storage medium. The method comprises the following steps: determining a first pose of a first three-dimensional model of a guider under an optical coordinate system, a second pose of a second three-dimensional model of an optical tracking device under the optical coordinate system and at least three third poses of at least three third three-dimensional models of at least three target markers under the optical coordinate system, and controlling the first three-dimensional model to rotate around the axis to a fourth pose when the pose of the guider is determined to be the first pose and the guider affects target positioning. On the basis of the first pose, the second pose, the at least three third poses and the fourth pose, determining the degree of influence on target positioning when the pose of the guider is the fourth pose, and on the condition that the degree of influence on target positioning when the pose of the guider is the first pose is lower than the degree of influence on target positioning when the pose of the guider is the first pose, determining the target pose of the guider based on the fourth pose. According to the method, the influence of the guider on target positioning can be reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a method, device, electronic device and computer-readable storage medium for adjusting the position of an introducer. Background Art

[0002] Puncturing the target object based on the puncture path can remove the lesion in the target object. Specifically, after the puncture path is planned, the guide is controlled to move so that the axis of the puncture rail of the guide is aligned with the puncture path, so that when the surgical needle is placed on the puncture rail so that the axis of the surgical needle and the puncture rail coincide, the surgical needle can be moved along the puncture path by moving the surgical needle along the axis of the puncture rail, thereby achieving puncture of the target object.

[0003] Considering that the movement of the target object may cause the target object's posture when planning the puncture path to be different from the posture when the surgical needle punctures the target object by moving along the axis of the puncture guide, which may cause errors in the planned puncture path. At this time, the surgical needle punctures the target object by moving along the axis of the puncture guide, which may cause damage to the target object. Therefore, in the process of puncturing the target object, it is necessary to locate the target object through an optical tracking device to determine the posture of the target object, so as to determine whether the posture of the target object has changed, thereby reducing the damage to the target object caused by the change in the posture of the target object. Specifically, the optical tracking device locates the target marker of the target object, determines the posture of the target marker, and then determines the posture of the target object.

[0004] However, since the guide may affect the positioning of the target marker of the target object by the optical tracking device, the positioning accuracy of the target marker by the optical tracking device is low. For example, if the guide is located between the optical tracking device and the target marker, the optical tracking device cannot locate the target marker. Therefore, it is of great significance to reduce the influence of the guide on the positioning of the target marker of the target object by the optical tracking device. Summary of the invention

[0005] The present application provides a method, device, electronic device and computer-readable storage medium for adjusting the position of a guide to reduce the influence of the guide on the positioning of a target marker by an optical tracking device.

[0006] In a first aspect, a method for adjusting the position of an introducer is provided, the method comprising: Acquire a first pose of a first three-dimensional model of the guide in an optical coordinate system, a second pose of a second three-dimensional model of the optical tracking device in the optical coordinate system, and at least three third poses of at least three third three-dimensional models of at least three target markers in the optical coordinate system; when the pose of the guide in the optical coordinate system is the first pose, the axis of the puncture guide rail of the guide is aligned with the puncture path for the target object; the optical coordinate system is constructed based on the optical tracking device, and the optical tracking device determines the pose of the target object by positioning the poses of the at least three target markers; When the guide's posture is determined to be the first posture based on the first posture, the second posture and the at least three third postures, in the case where the guide affects target positioning, controlling the first three-dimensional model to rotate around the axis to a fourth posture, the target positioning including positioning of the at least three target markers by the optical tracking device; When it is determined based on the first posture, the second posture, the at least three third postures and the fourth posture that the influence of the guide's posture in the fourth posture on the target positioning is lower than the influence of the guide's posture in the first posture on the target positioning, the target posture of the guide is determined based on the fourth posture.

[0007] In combination with any embodiment of the present application, the guide is installed on a mechanical arm, and the guide can be driven to move by controlling the movement of the mechanical arm, and the movement range of the mechanical arm is a first range; The controlling the first three-dimensional model to rotate around the axis to a fourth posture includes: Determining a second motion range of the first three-dimensional model based on the first motion range of the robotic arm; The motion range of the first three-dimensional model is within the second motion range as a constraint condition, and the first three-dimensional model is controlled to rotate around the axis to the fourth posture.

[0008] In combination with any embodiment of the present application, controlling the first three-dimensional model to rotate around the axis to the fourth posture includes: Controlling the first three-dimensional model to rotate from the first posture to a preset angle around the axis in a first direction, so that the posture of the first three-dimensional model is a fifth posture; When the guide's posture is determined to be the fifth posture based on the fifth posture, the second posture and the at least three third postures, and the guide affects the target positioning, the first three-dimensional model is controlled to rotate from the first posture around the axis toward the second direction by the preset angle, so that the posture of the first three-dimensional model is the fourth posture, and the first direction is the opposite direction of the second direction.

[0009] In combination with any embodiment of the present application, controlling the first three-dimensional model to rotate around the axis to the fourth posture includes: Controlling the first three-dimensional model to rotate from the first posture to a preset angle around the axis in a first direction, so that the posture of the first three-dimensional model is a fifth posture; When the guide's posture is determined to be the fifth posture based on the fifth posture, the second posture and the at least three third postures, and the guide affects the positioning of the at least three target markers by the optical tracking device, determine a first degree of influence on the positioning of the target when the guide's posture is the first posture, and determine a second degree of influence on the positioning of the target when the guide's posture is the fifth posture; When the second influence degree is lower than the first influence degree, controlling the first three-dimensional model to rotate from the fifth posture around the axis toward the first direction by the preset angle so that the posture of the first three-dimensional model is the fourth posture; When the second influence degree is higher than the first influence degree, the first three-dimensional model is controlled to rotate from the first posture around the axis toward the second direction by the preset angle, so that the posture of the first three-dimensional model is the fourth posture, and the first direction is the opposite direction of the second direction.

[0010] In combination with any embodiment of the present application, when the guide's posture is determined to be the first posture based on the first posture, the second posture, and the at least three third postures, and the guide affects the positioning of the at least three target markers by the optical tracking device, before controlling the first three-dimensional model to rotate around the axis to a fourth posture, the method further includes: Based on the second posture and the at least three third postures, determining at least three connecting lines between the second three-dimensional model and the at least three third three-dimensional models; When it is determined that the first three-dimensional model intersects at least one of the at least three lines based on the first posture, the target positioning is affected when the posture of the guide is determined to be the first posture.

[0011] In combination with any embodiment of the present application, when, based on the first posture, the second posture, the at least three third postures and the fourth posture, it is determined that the influence of the guide's posture on the target positioning when the fourth posture is lower than the influence of the guide's posture on the target positioning when the first posture is the fourth posture, before determining the target posture of the guide based on the fourth posture, the method further includes: Determining, based on a line among the at least three lines intersecting with the first three-dimensional model when the posture of the first three-dimensional model is the first posture, a first number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the first posture, the obscured markers including the target markers that cannot be located by the optical tracking device; Determining, based on a line among the at least three lines that intersects with the first three-dimensional model when the posture of the first three-dimensional model is the fourth posture, a second number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the fourth posture; In the case where the second number is smaller than the first number, it is determined that the influence of the guide's position in the fourth position on the target positioning is lower than the influence of the guide's position in the first position on the target positioning.

[0012] In combination with any embodiment of the present application, determining the target posture of the guide based on the fourth posture includes: When the second number is 0, the target posture of the guide is determined based on the fourth posture.

[0013] In a second aspect, a device for adjusting the position of an introducer is provided, the device for adjusting the position of the introducer comprising: An acquisition unit is used to acquire a first posture of a first three-dimensional model of the guide in an optical coordinate system, a second posture of a second three-dimensional model of the optical tracking device in the optical coordinate system, and at least three third postures of at least three third three-dimensional models of at least three target markers in the optical coordinate system; when the posture of the guide in the optical coordinate system is the first posture, the axis of the puncture guide rail of the guide is aligned with the puncture path for the target object; the optical coordinate system is constructed based on the optical tracking device, and the optical tracking device determines the posture of the target object by positioning the postures of the at least three target markers; a control unit, configured to control the first three-dimensional model to rotate about the axis to a fourth posture when the guide affects target positioning when the guide is determined to be the first posture based on the first posture, the second posture and the at least three third postures, wherein the target positioning includes positioning of the at least three target markers by the optical tracking device; A determination unit is used to determine the target posture of the guide based on the fourth posture when, based on the first posture, the second posture, the at least three third postures and the fourth posture, the influence of the guide's posture being the fourth posture on the target positioning is lower than the influence of the guide's posture being the first posture on the target positioning.

[0014] In combination with any embodiment of the present application, the guide is installed on a mechanical arm, and the guide can be driven to move by controlling the movement of the mechanical arm, and the movement range of the mechanical arm is a first range; The control unit is further used for: Determining a second motion range of the first three-dimensional model based on the first motion range of the robotic arm; The motion range of the first three-dimensional model is within the second motion range as a constraint condition, and the first three-dimensional model is controlled to rotate around the axis to the fourth posture.

[0015] In combination with any embodiment of the present application, the control unit is further used for: Controlling the first three-dimensional model to rotate from the first posture to a preset angle around the axis in a first direction, so that the posture of the first three-dimensional model is a fifth posture; When the guide's posture is determined to be the fifth posture based on the fifth posture, the second posture and the at least three third postures, and the guide affects the target positioning, the first three-dimensional model is controlled to rotate from the first posture around the axis toward the second direction by the preset angle, so that the posture of the first three-dimensional model is the fourth posture, and the first direction is the opposite direction of the second direction.

[0016] In combination with any embodiment of the present application, the control unit is further used for: Controlling the first three-dimensional model to rotate from the first posture to a preset angle around the axis in a first direction, so that the posture of the first three-dimensional model is a fifth posture; When the guide's posture is determined to be the fifth posture based on the fifth posture, the second posture and the at least three third postures, and the guide affects the positioning of the at least three target markers by the optical tracking device, determine a first degree of influence on the positioning of the target when the guide's posture is the first posture, and determine a second degree of influence on the positioning of the target when the guide's posture is the fifth posture; When the second influence degree is lower than the first influence degree, controlling the first three-dimensional model to rotate from the fifth posture around the axis toward the first direction by the preset angle so that the posture of the first three-dimensional model is the fourth posture; When the second influence degree is higher than the first influence degree, the first three-dimensional model is controlled to rotate from the first posture around the axis toward the second direction by the preset angle, so that the posture of the first three-dimensional model is the fourth posture, and the first direction is the opposite direction of the second direction.

[0017] In combination with any implementation manner of the present application, the determining unit is further configured to: Based on the second posture and the at least three third postures, determining at least three connecting lines between the second three-dimensional model and the at least three third three-dimensional models; When it is determined that the first three-dimensional model intersects at least one of the at least three lines based on the first posture, the target positioning is affected when the posture of the guide is determined to be the first posture.

[0018] In combination with any implementation manner of the present application, the determining unit is further configured to: Determining, based on a line among the at least three lines intersecting with the first three-dimensional model when the posture of the first three-dimensional model is the first posture, a first number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the first posture, the obscured markers including the target markers that cannot be located by the optical tracking device; Determining, based on a line among the at least three lines that intersects with the first three-dimensional model when the posture of the first three-dimensional model is the fourth posture, a second number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the fourth posture; In the case where the second number is smaller than the first number, it is determined that the influence of the guide's position in the fourth position on the target positioning is lower than the influence of the guide's position in the first position on the target positioning.

[0019] In combination with any embodiment of the present application, the determination unit is further used to: when the second number is 0, determine the target posture of the guide based on the fourth posture.

[0020] In a third aspect, an electronic device is provided, comprising: a processor and a memory, the memory being used to store computer program code, the computer program code comprising computer instructions, and when the processor executes the computer instructions, the electronic device executes the method as described in the first aspect above and any possible implementation thereof.

[0021] In a fourth aspect, another electronic device is provided, comprising: a processor, a sending device, an input device, an output device and a memory, wherein the memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the electronic device executes the method as described in the first aspect above and any possible implementation method thereof.

[0022] In a fifth aspect, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to execute the method as described in the first aspect above and any possible implementation method thereof.

[0023] In a sixth aspect, a computer program product is provided, which includes a computer program or instructions, and when the computer program or instructions are run on a computer, the computer is enabled to execute the method of the above-mentioned first aspect and any possible implementation thereof.

[0024] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

[0025] In the present application, the optical coordinate system is constructed based on the optical tracking device, and the optical tracking device determines the position and posture of the target object by positioning the positions and postures of at least three target markers. When the position and posture of the guide in the optical coordinate system is the first position, the axis of the puncture guide rail of the guide is aligned with the puncture path for the target object. After obtaining the first position and posture of the first three-dimensional model of the guide in the optical coordinate system, the second position and posture of the second three-dimensional model of the optical tracking device in the optical coordinate system, and the at least three third positions and postures of at least three third three-dimensional models of at least three target markers in the optical coordinate system, the adjustment device determines that the position and posture of the guide is the first position based on the first position, the second position and the at least three third positions. When the guide affects the target positioning, the first three-dimensional model is controlled to rotate around the axis to the fourth position, wherein the target positioning includes the positioning of at least three target markers by the optical tracking device. Then, based on the first posture, the second posture, at least three third postures and the fourth posture, the influence degree of the guide's posture on the target positioning when it is the fourth posture is determined. When the influence degree of the guide's posture on the target positioning is lower than the influence degree of the guide's posture when it is the first posture, the posture of the guide is determined based on the fourth posture, which can align the axis of the puncture guide rail of the guide with the puncture path and reduce the influence of the guide on the target positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0027] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0028] Figure 1 A schematic flow chart of a method for adjusting the position and posture of an introducer provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of an introducer provided in an embodiment of the present application; Figure 3 A schematic diagram of a scenario for adjusting the position of a guide provided in an embodiment of the present application; Figure 4 A schematic diagram of the intersection of a first three-dimensional model and a connecting line provided in an embodiment of the present application; Figure 5 A schematic flow chart of another method for adjusting the position and posture of an introducer provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of a device for adjusting the position of an introducer provided in an embodiment of the present application; Figure 7A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

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

[0030] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0031] Mentioning "embodiments" herein means that the specific features, structures or characteristics described in conjunction with the embodiments may be included in at least three embodiments of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments. It should be understood that in the present application, "at least three (items)" means one or more, "multiple" means two or more, and "at least two (items)" means two or three and more than three.

[0032] Puncture the target object based on the puncture path to remove the lesion in the target object. Specifically, after planning the puncture path, control the movement of the introducer so that the axis of the puncture rail of the introducer is aligned with the puncture path, so that by placing the surgical needle on the puncture rail so that the axis of the surgical needle coincides with the axis of the puncture rail, the surgical needle can be moved along the puncture path by moving the surgical needle along the axis of the puncture rail, thereby achieving puncture of the target object. Optionally, the introducer can be controlled to move from any position to align the axis of the puncture rail of the introducer with the puncture path.

[0033] Considering that the movement of the target object may cause the target object's posture when planning the puncture path to be different from the posture when the surgical needle punctures the target object by moving along the axis of the puncture guide, which may cause errors in the planned puncture path. At this time, the surgical needle punctures the target object by moving along the axis of the puncture guide, which may cause damage to the target object. Therefore, in the process of puncturing the target object, it is necessary to locate the target object through an optical tracking device to determine the posture of the target object, so as to determine whether the posture of the target object has changed, thereby reducing the damage to the target object caused by the change in the posture of the target object. Specifically, the optical tracking device locates the target marker of the target object, determines the posture of the target marker, and then determines the posture of the target object.

[0034] However, since the guide is usually located between the target object and the optical tracking device, the guide may affect the optical tracking device's positioning of the target marker of the target object. For example, the optical tracking device positions the target object based on the light reflected from the target marker of the target object. If the guide is located on the light path of the light reflected from the target marker of the target object to the optical tracking device, the guide will block the light reflected from the target marker of the target object to the optical tracking device, thereby causing the optical tracking device to be unable to position the target marker of the target object, thereby causing the optical tracking device to be unable to position the target object.

[0035] Based on this, an embodiment of the present application provides a method for adjusting the position of the guide, so that when it is determined that the guide affects the positioning of the target marker of the target object by the optical tracking device, the position of the guide can be adjusted so that the guide does not affect the positioning of the target marker of the target object by the optical tracking device, and the axis of the puncture guide rail of the guide is aligned with the puncture path.

[0036] The execution subject of the embodiment of the present application is a device for adjusting the position of the guide (hereinafter referred to as the adjustment device), wherein the adjustment device can be any electronic device that can execute the technical solution disclosed in the embodiment of the method of the present application. Optionally, the adjustment device can be one of the following: a mobile phone, a computer, a tablet computer, and a wearable smart device.

[0037] It should be understood that the method embodiment of the present application can also be implemented by a processor executing a computer program code. The following describes the embodiment of the present application in conjunction with the drawings in the embodiment of the present application. Figure 1 , Figure 1 A flowchart of a method for adjusting the position of an introducer provided in an embodiment of the present application.

[0038] 101. Obtain a first pose of a first three-dimensional model of a guide in an optical coordinate system, a second pose of a second three-dimensional model of an optical tracking device in the optical coordinate system, and at least three third poses of at least three third three-dimensional models of at least three target markers in the optical coordinate system.

[0039] In the embodiment of the present application, the posture includes position and posture. The optical tracking device can determine the posture of the marker by positioning the marker, and then can determine the posture of the guide based on the position of the marker according to the posture of the marker. In the case of determining the posture, the posture of any object on the guide can be determined according to the posture of the guide and the geometric relationship between any object on the guide and the guide. For example, the posture of the puncture guide rail can be determined according to the posture of the guide and the geometric relationship between the puncture guide rail and the guide. For another example, the posture of the axis of the puncture guide rail can be determined according to the posture of the guide and the geometric relationship between the axis of the puncture guide rail and the guide.

[0040] In an embodiment of the present application, an optical coordinate system is constructed based on an optical tracking device, wherein the optical tracking device can determine the position and posture of the marker by positioning the marker. The optical tracking device can determine the position and posture of the target object by tracking the position and posture of at least three target markers. The positions and postures obtained by the optical tracking device through positioning are all positions and postures in the optical coordinate system. Optionally, the optical coordinate system is constructed with the geometric center of the optical tracking device as the origin. Optionally, at least three target markers are placed on the surface of the target object. Optionally, the optical tracking device includes a binocular camera. Optionally, the optical tracking device includes a north digital inc (NDI). Optionally, the optical coordinate system is a world coordinate system.

[0041] In the embodiment of the present application, the three-dimensional model (including the first three-dimensional model, the second three-dimensional model and the third three-dimensional model) can be one of the following: a triangular mesh model, a computer aided design (CAD) three-dimensional model, and a point cloud three-dimensional model. Optionally, the three-dimensional model is a three-dimensional bounding box determined based on the CAD three-dimensional model, which can reduce the amount of data processing for subsequent processing based on the three-dimensional model. Optionally, the three-dimensional bounding box includes an oriented bounding box (OBB). Optionally, the format of the three-dimensional model includes stereolithography (STL).

[0042] The first three-dimensional model is a three-dimensional model of the guide, the second three-dimensional model is a three-dimensional model of the optical tracking device, and the third three-dimensional model is a three-dimensional model of the target marker. Since the number of target markers is at least three, the number of third three-dimensional models is also at least three, and the third three-dimensional models correspond one-to-one to the target markers.

[0043] When the first three-dimensional model is in the first pose in the optical coordinate system, the axis of the puncture guide rail of the introducer is aligned with the puncture path, wherein the puncture guide rail is used to place a surgical needle. The puncture path is a path for puncturing a target object. For example, the target object includes a lesion in the body. The target object is punctured based on the puncture path, so that the surgical needle can penetrate the lesion and remove the lesion. Optionally, the alignment of the axis of the puncture guide rail of the introducer with the puncture path includes the axis of the puncture guide rail coinciding with the puncture path.

[0044] When the surgical needle is placed in the puncture guide rail of the introducer, the axis of the surgical needle and the puncture guide rail coincide. In one possible implementation, Figure 2 A schematic diagram of the structure of an introducer provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the introducer includes four markers 2001, 2002, 2003, and 2004 and a puncture guide. Figure 2 The axis of the puncture guide (i.e. Figure 2 ), when the surgical needle is clamped by the puncture guide rail, the axis of the surgical needle coincides with the axis of the puncture guide rail. Optionally, the marker in the embodiment of the present application includes an infrared light reflector, wherein the infrared light reflector is an object capable of reflecting infrared rays, and the optical tracking device can locate the infrared light reflector based on the infrared rays reflected by the infrared light reflector.

[0045] Optionally, before puncturing the target object based on the puncture path, the axis of the puncture guide rail of the guide can be aligned with the puncture path by moving the guide so that the guide's position in the optical coordinate system is the first position.

[0046] Because when the surgical needle is placed on the puncture guide rail of the introducer, the axes of the surgical needle and the puncture guide rail coincide, and when the first three-dimensional model is in the first posture in the optical coordinate system, the axis of the puncture guide rail of the introducer is aligned with the puncture path, so when the first three-dimensional model is in the first posture in the optical coordinate system, the surgical needle placed on the introducer is aligned with the puncture path. At this time, the surgical needle moves toward the axis of the puncture guide rail, which can make the surgical needle move toward the puncture path.

[0047] In an implementation method of obtaining the first pose, the adjustment device obtains the puncture pose of the puncture path in the optical coordinate system, wherein the puncture path in the optical coordinate system can be determined based on the puncture pose. The first pose of the first three-dimensional model of the introducer in the optical coordinate system can be determined based on the puncture pose. Specifically, the pose of the axis of the puncture guide rail of the introducer in the optical coordinate system can be determined based on the puncture pose, and then the pose of the introducer in the optical coordinate system can be determined as the first pose based on the geometric relationship between the axis of the puncture guide rail and the introducer.

[0048] In an implementation method of acquiring at least three third postures, the optical tracking device can determine at least three postures of at least three target markers by locating at least three target markers, and then determine at least three third postures based on the at least three postures of the at least three target markers.

[0049] In another implementation of obtaining at least three third poses, the optical tracking device may be unable to locate the target marker due to some reasons, and thus unable to determine the pose of the target marker, for example, because the target marker is blocked, resulting in the optical tracking device being unable to locate the target marker. For the sake of convenience, the target marker that the optical tracking device cannot locate is referred to as an blocked marker, and the target markers other than the blocked marker are referred to as unblocked markers.

[0050] In the case where there is an obscured marker among the at least three target markers, the optical tracking device determines the posture of the unobstructed marker by locating the unobstructed marker, and then determines the posture of the obscured marker based on the relative position relationship between the unobstructed marker and the obscured marker and the posture of the unobstructed marker. The adjustment device then determines at least three postures of the at least three target markers based on the unobstructed marker and the obscured marker.

[0051] 102. When the guide's posture is determined to be the first posture based on the first posture, the second posture and at least three third postures, and the guide affects the target positioning, the first three-dimensional model is controlled to rotate around the axis to a fourth posture.

[0052] In the embodiment of the present application, target positioning includes positioning of at least three target markers by the optical tracking device. The guide affects the target positioning, that is, affects the positioning of the at least three target markers by the optical tracking device, which in turn results in low accuracy of positioning of the at least three target markers by the optical tracking device, thereby resulting in low accuracy of the position and posture of the target object determined based on the positioning of the at least three target markers.

[0053] Since the first three-dimensional model, the second three-dimensional model, and at least three third models can be used to simulate the guide, the optical tracking device, and at least three target markers, the adjustment device can further determine whether the guide affects the target positioning when the guide's posture is the first posture when the first three-dimensional model's posture is in the first position based on the first posture, the second posture, and at least three third postures.

[0054] In one possible implementation, the adjustment device can determine the relative position relationship between the first three-dimensional model, the second three-dimensional model and the at least three third three-dimensional models based on the first posture, the second posture and at least three third postures, and then can determine whether the guide affects the target positioning when the guide's posture is the first posture based on the relative position relationship.

[0055] In another possible implementation, the optical tracking device locates the target object based on the light reflected by the target marker of the target object. For example, the optical tracking device includes a binocular camera, which generates a binocular image including the target marker based on the light reflected by the target marker of the target object, and then determines the position of the target marker based on the binocular image. The blocked marker includes the target marker whose light reflected to the optical tracking device is blocked by the guide, and the unblocked marker includes the target marker whose light reflected to the optical tracking device is not blocked by the guide.

[0056] Optionally, the adjustment device can determine the number of obscured markers and the number of unobstructed markers among at least three target markers based on the first posture, the second posture and at least three third postures, and further, based on the number of obscured markers and the number of unobstructed markers, determine whether the guide affects the target positioning when the guide's posture is the first posture.

[0057] Optionally, when the adjustment device determines that the number of obscured markers among at least three target markers is 0 based on the first pose, the second pose, and at least three third poses, the guide does not affect the target positioning. When the adjustment device determines that the number of obscured markers among at least three target markers is greater than or equal to 1 based on the first pose, the second pose, and at least three third poses, the guide affects the target positioning.

[0058] Optionally, when the adjustment device determines that the number of unobstructed markers among at least three target markers is greater than or equal to a preset value based on the first pose, the second pose and at least three third poses, the guide does not affect the target positioning when the adjustment device determines that the pose of the guide is the first pose. When the adjustment device determines that the number of unobstructed markers among at least three target markers is less than a preset value based on the first pose, the second pose and at least three third poses, the guide affects the target positioning. Optionally, the preset value is 3.

[0059] The adjustment device can change the position of the guide while ensuring that the axis of the puncture guide rail of the guide is aligned with the puncture path by controlling the first three-dimensional model to rotate around the axis, thereby reducing the influence of the guide on the target positioning. Therefore, when the adjustment device determines that the position of the guide is the first position based on the first position, the second position and at least three third positions, and the guide affects the positioning of at least three target markers by the optical tracking device, the first three-dimensional model is controlled to rotate around the axis to the fourth position to further reduce the influence of the guide on the target positioning.

[0060] Optionally, the direction of rotation around the axis includes a first direction and a second direction. For example, when one end of the first axis looks toward the other end, the first direction is clockwise and the second direction is counterclockwise. For another example, when one end of the first axis looks toward the other end, the first direction is counterclockwise and the second direction is clockwise. The adjustment device can control the first three-dimensional model to rotate around the axis in the first direction to a fourth posture, and can also control the first three-dimensional model to rotate around the axis in the second direction to a fourth posture.

[0061] 103. When it is determined based on the first posture, the second posture, at least three third postures and the fourth posture that the influence of the guide's posture at the fourth posture on the target positioning is lower than the influence of the guide's posture at the first posture on the target positioning, the target posture of the guide is determined based on the fourth posture.

[0062] In the embodiment of the present application, the target posture is the posture of the introducer. Specifically, when the surgical needle is placed on the puncture guide rail of the introducer and the surgical needle is moved along the axis of the puncture guide rail to puncture the target object along the puncture path, the posture of the introducer is the target posture.

[0063] As described in step 102, in the case where the guide affects the positioning of the marker by the optical tracking device, the influence of the guide on the target positioning can be reduced by adjusting the guide's posture. Therefore, after the posture of the first three-dimensional model is adjusted to the fourth posture, the adjustment device determines whether the influence of the guide's posture on the target positioning when it is the fourth posture is lower than the influence of the guide's posture on the target positioning when it is the first posture based on the first posture, the second posture, at least three third postures and the fourth posture. Optionally, the adjustment device determines the influence of the guide's posture on the target positioning when it is the first posture based on the first posture, the second posture and at least three third postures. The adjustment device determines the influence of the guide's posture on the target positioning when it is the fourth posture based on the fourth posture, the second posture and at least three third postures.

[0064] When it is determined that the influence of the guide's posture as the fourth posture on the target positioning is lower than the influence of the guide's posture as the first posture on the target positioning, the guide's posture is determined based on the fourth posture. In one possible implementation, the adjustment device uses the fourth posture as the guide's posture. In another possible implementation, the adjustment device converts the fourth posture into the guide's posture in the target coordinate system.

[0065] In an embodiment of the present application, the optical coordinate system is constructed based on an optical tracking device, and the optical tracking device determines the position and posture of the target object by positioning the positions and postures of at least three target markers. When the position and posture of the guide in the optical coordinate system is the first position, the axis of the puncture guide rail of the guide is aligned with the puncture path for the target object. After obtaining the first position and posture of the first three-dimensional model of the guide in the optical coordinate system, the second position and posture of the second three-dimensional model of the optical tracking device in the optical coordinate system, and the at least three third positions and postures of at least three third three-dimensional models of at least three target markers in the optical coordinate system, the adjustment device determines that the position and posture of the guide is the first position based on the first position, the second position and the at least three third positions. When the guide affects the target positioning, the first three-dimensional model is controlled to rotate around the axis to the fourth position, wherein the target positioning includes the positioning of at least three target markers by the optical tracking device. Then, based on the first posture, the second posture, at least three third postures and the fourth posture, the influence degree of the guide's posture on the target positioning when it is the fourth posture is determined. When the influence degree of the guide's posture on the target positioning is lower than the influence degree of the guide's posture when it is the first posture, the posture of the guide is determined based on the fourth posture, which can align the axis of the puncture guide rail of the guide with the puncture path and reduce the influence of the guide on the target positioning.

[0066] As an optional implementation, the guide is installed on the robot arm, and the movement of the guide can be driven by controlling the movement of the robot arm, and the movement range of the robot arm is the first range. Specifically, due to the movement range of each joint of the robot arm, the spatial area that the robot arm can reach is also limited, that is, the posture that the robot arm can present is limited, wherein the movement range of the robot arm includes the posture that the robot arm can present, that is, the first range includes the posture that the robot arm can present. In this implementation, the adjustment device implements "controlling the first three-dimensional model to rotate around the axis to the fourth posture" by executing the following steps: 2001. Determine a second motion range of the first three-dimensional model based on the first motion range of the robotic arm.

[0067] Since the guide is installed on the robot arm, the geometric relationship (i.e., the relative position relationship) between the guide and the robot arm is determined, so the adjustment device can determine the guide's posture based on the geometric relationship when determining the posture of the robot arm. Accordingly, the adjustment device can determine the movement range of the guide based on the first movement range of the robot arm, and further determine the second movement range of the first three-dimensional model, wherein the second movement range includes the postures that the first three-dimensional model can present.

[0068] 2002. The motion range of the first three-dimensional model is within the second motion range as a constraint condition, and the first three-dimensional model is controlled to rotate around the axis to a fourth posture.

[0069] The second range of motion includes the positions that the guide can present, that is, the position of the first three-dimensional model should not exceed the second range of motion. Controlling the first three-dimensional model to rotate around the axis will change the position of the first three-dimensional model. Therefore, the adjustment device uses the range of motion of the guide within the second range of motion as a constraint condition to control the first three-dimensional model to rotate around the axis to the fourth position. This can improve the rationality of the fourth position, and further improve the accuracy of the fourth position.

[0070] In a possible implementation, the adjustment device implements "controlling the first three-dimensional model to rotate around the axis to the fourth posture" by executing the following steps: controlling the first three-dimensional model to rotate around the axis in the first direction at a preset angle starting from the first posture, so that the posture of the first three-dimensional model is the fifth posture. When the posture of the guide is determined to be the fifth posture based on the fifth posture, the second posture and at least three third postures, and the guide affects the positioning of at least three target markers by the optical tracking device, the first three-dimensional model is controlled to rotate around the axis in the second direction at a preset angle starting from the first posture, so that the posture of the first three-dimensional model is the fourth posture.

[0071] In this implementation, the preset angle is the step length for adjusting the posture of the first three-dimensional model, that is, the adjustment device adjusts the posture of the first three-dimensional model based on the step length until it is determined that the impact on target positioning can be reduced. For the convenience of expression, the posture that can reduce the impact on target positioning will be referred to as the reference posture below. Considering that there are two directions of rotation around the axis, the first direction and the second direction, if it rotates in one direction all the time, it may be necessary to determine the reference posture through multiple steps. At this time, the angle difference between the reference posture and the first posture is large. Accordingly, the robot arm needs to adjust the posture of the guide from the first posture to the reference posture through a larger movement (such as a larger rotation angle).

[0072] Therefore, the adjustment device first controls the first three-dimensional model to rotate around the axis in the first direction from the first posture by a preset angle, so that the posture of the first three-dimensional model is the fifth posture. Then, based on the fifth posture, the second posture and at least three third postures, it is determined whether the guide affects the target positioning when the posture of the guide is the fifth posture. When it is determined that the posture of the guide is the fifth posture, in the case where the guide affects the target positioning, it is necessary to continue to adjust the posture of the guide, and at this time, it is selected to rotate around the axis in the second direction from the first posture by a preset angle, so that the posture of the first three-dimensional model is the fourth posture, wherein the first direction is the opposite direction of the second direction. In this way, in the first iteration process, it can be achieved that the two postures determined by the first iteration are not the reference postures, and in the second iteration, starting from the two postures determined by the first iteration, they are rotated in two directions according to the preset angles, and then it is determined whether the two postures determined by the second iteration are the reference postures. This can avoid missing the reference posture determined by rotating in another direction due to rotating in one direction all the time, and thus reduce the angle difference between the reference posture and the first posture.

[0073] For example, the preset angle is 1°, the angle of rotation toward the first direction is called a positive angle, and the angle of rotation toward the second direction is called a negative angle. Then, during the first iteration, the first three-dimensional model rotates from the first pose, and the rotation angles include +1° and -1°. If the pose of the first three-dimensional model after rotating +1° from the first pose is called the first iteration positive pose, the adjustment device controls the first three-dimensional model to rotate -1° from the first pose to determine the first iteration negative pose of the first three-dimensional model when it is determined that the first iteration positive pose is not the reference pose. When the adjustment device determines that the first iteration negative pose is not the reference pose, the second iteration process is started, wherein, during the second iteration, the first three-dimensional model is first controlled to rotate +1° from the first iteration positive pose to determine the second iteration positive pose of the first three-dimensional model, and when the adjustment device determines that the second iteration positive pose is not the reference pose, the adjustment device controls the first three-dimensional model to rotate -1° from the first iteration negative pose to determine the second iteration negative pose of the first three-dimensional model. Then, it is determined whether the second iteration negative pose is the reference pose.

[0074] Optionally, the adjustment device determines a set of candidate rotation angles of the first three-dimensional model based on a preset angle, and then determines in sequence in order of absolute value from small to large whether the candidate rotation angles in the set of candidate rotation angles are within the second range of motion. For example, if the preset angle is 1°, then the set of candidate rotation angles may be: {±1°, ±2°, …, ±N°}. In order of absolute value from small to large, first determine whether +1° is within the second range of motion, or determine whether -1° is within the second range of motion. When it is determined that it is within the second range of motion, control the first three-dimensional model to rotate the candidate rotation angle around the axis starting from the first posture, and determine whether the angle determined by the rotation is the reference posture.

[0075] In another possible implementation, it is determined that the first three-dimensional model is controlled to rotate a preset angle around the axis toward the first direction starting from the first posture, so that the posture of the first three-dimensional model is the fifth posture. When the posture of the guide is determined to be the fifth posture based on the fifth posture, the second posture and at least three third postures, when the guide affects the target positioning, the first degree of influence on the target positioning when the posture of the guide is the first posture is determined, and the second degree of influence on the target positioning when the posture of the guide is the fifth posture is determined. When the second degree of influence is lower than the first degree of influence, the first three-dimensional model is controlled to rotate a preset angle around the axis toward the first direction starting from the fifth posture, so that the posture of the first three-dimensional model is the fourth posture. When the second degree of influence is higher than the first degree of influence, the first three-dimensional model is controlled to rotate a preset angle around the axis toward the second direction starting from the first posture, so that the posture of the first three-dimensional model is the fourth posture, wherein the first direction is the opposite direction of the second direction.

[0076] In this embodiment, the higher the influence degree, the higher the influence of the guide on the target positioning, and accordingly, the lower the accuracy of positioning the at least three target markers by the optical tracking device. Optionally, the influence degree includes the number of obscured markers, wherein the greater the number of obscured markers, the higher the influence degree.

[0077] The first influence degree is the influence degree of the guide on the target positioning when the guide's posture is the first posture. The second influence degree is the influence degree of the guide on the target positioning when the guide's posture is the fifth posture. Because the fifth posture is obtained by rotating from the first posture toward the first direction, if the second influence degree is lower than the first influence degree, it means that the probability of continuing to rotate toward the first direction and reducing the influence degree on the target positioning is higher. At this time, when the second influence degree is lower than the first influence degree, the adjustment device controls the first three-dimensional model to rotate from the fifth posture around the axis toward the first direction by a preset angle, so that the posture of the first three-dimensional model is the fourth posture. If the second influence degree is higher than the first influence degree, it means that the probability of continuing to rotate toward the first direction and increasing the influence degree on the target positioning is higher. At this time, when the second influence degree is higher than the first influence degree, the adjustment device controls the first three-dimensional model to rotate from the first posture around the axis toward the second direction by a preset angle, so that the posture of the first three-dimensional model is the fourth posture. After determining the fourth posture, determining whether the fourth posture is a reference posture can improve the efficiency of determining the reference posture.

[0078] As an optional implementation, before executing step 102, the adjustment device determines whether the guide affects the positioning of at least three target markers by the optical tracking device when the guide's posture is the first posture by executing the following steps: 3001. Determine at least three connecting lines between a second three-dimensional model and at least three third three-dimensional models based on a second posture and at least three third postures.

[0079] In an embodiment of the present application, each third three-dimensional model has at least one connection line with the second three-dimensional model, and the connection line represents a detection path for the optical tracking device to locate the target marker, wherein the optical tracking device can obtain information for locating the target marker through the detection path. In one possible implementation, the connection line represents the light path of the light reflected by the target marker to the optical tracking device, and the optical tracking device can obtain the light reflected by the target marker through the connection line, and then locate the target marker based on the light. Optionally, the optical tracking device includes a binocular camera, and correspondingly, the second three-dimensional model includes models of two cameras in the binocular camera, and each third three-dimensional model has a connection line with the models of the two cameras, and at this time, each third three-dimensional model has two connection lines with the second three-dimensional model. For example, Figure 3 A schematic diagram of a scenario for adjusting the position of the guide provided in an embodiment of the present application. Figure 3 As shown, the body surface of the target object includes 6 third three-dimensional models, that is, the body surface of the target object has 6 target markers. Figure 3The puncture path for the target object is also shown. The guide is located between the second three-dimensional model and the target object, that is, the guide is located between the optical tracking device and the target object. There are connecting lines between the second three-dimensional model and each third three-dimensional model. Specifically, there are two connecting lines between the second three-dimensional model and each third three-dimensional model. Optionally, Figure 3 The second three-dimensional model in the embodiment includes binocular cameras, wherein there is a connection line between each camera and each third three-dimensional model.

[0080] 3002. When it is determined that the first three-dimensional model intersects at least one of the at least three lines based on the first posture, it is determined that the posture of the guide affects the target positioning when it is the first posture.

[0081] The first three-dimensional model intersects at least one of the at least three lines, indicating that the guide blocks at least one detection path, and accordingly, the positioning of at least three target markers by the optical tracking device will be affected. Therefore, when the adjustment device determines that the position of the guide is the first position, the target positioning is affected. For example, Figure 4 A schematic diagram of the intersection of a first three-dimensional model and a connecting line provided in an embodiment of the present application. Figure 4 As shown, the body surface of the target object includes 6 third three-dimensional models, that is, the body surface of the target object has 6 target markers. Figure 4 The puncture path for the target object is also shown. Figure 4 In the embodiment, the axis of the guide is aligned with the puncture path. The guide is located between the second three-dimensional model and the target object, that is, the guide is located between the optical tracking device and the target object. Figure 4 The connection line between the second three-dimensional model and the third three-dimensional model is also shown. Specifically, Figure 4 The lines shown include two lines between the second three-dimensional model and a third three-dimensional model. Figure 4 As shown, the first three-dimensional model intersects with the two lines.

[0082] As an optional implementation, before executing step 103, the adjustment device determines that the influence of the guide's posture in the fourth posture on the optical tracking device's positioning of the target is lower than the influence of the guide's posture in the first posture on the optical tracking device's positioning of the target by executing the following steps: 4001. Determine, based on a line among at least three lines that intersects with the first three-dimensional model when the posture of the first three-dimensional model is the first posture, a first number of obscured markers among at least three target markers when the posture of the first three-dimensional model is the first posture.

[0083] In the embodiment of the present application, the line between the second three-dimensional model and the third three-dimensional model intersects with the first three-dimensional model, indicating that the target marker corresponding to the third three-dimensional model is blocked by the guide, and further indicating that the optical tracking device cannot locate the target marker corresponding to the third three-dimensional model, that is, the target marker corresponding to the third three-dimensional model is an obscured marker.

[0084] Optionally, the optical tracking device includes a binocular camera, and accordingly, the second three-dimensional model includes models of two cameras in the binocular camera, and each third three-dimensional model has a connection line with the models of the two cameras, and in this case, each third three-dimensional model has two connection lines with the second three-dimensional model. When determining that at least one of the two connection lines corresponding to the first three-dimensional model and the third three-dimensional model intersects, the adjustment device determines that the target marker corresponding to the third three-dimensional model is an obscured marker.

[0085] Therefore, the adjustment device can determine the number of obscured markers among the at least three target markers based on the line intersecting the first three-dimensional model among the at least three lines. The first number is the number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the first posture.

[0086] 4002. Determine a second number of obscured markers among at least three target markers when the posture of the first three-dimensional model is the fourth posture, based on the lines among the at least three lines that intersect with the first three-dimensional model when the posture of the first three-dimensional model is the fourth posture.

[0087] The first number is the number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the first posture.

[0088] 4003. When the second number is smaller than the first number, determine that the influence of the guide's posture in the fourth posture on the target positioning is lower than the influence of the guide's posture in the first posture on the target positioning.

[0089] The second number is smaller than the first number, indicating that after the guide's posture is converted from the first posture to the fourth posture, the number of obscured markers has decreased. The fewer the number of obscured markers, the lower the influence of the guide on target positioning. Therefore, when the second number is smaller than the first number, the adjustment device determines that the influence of the guide's posture on target positioning when it is in the fourth posture is lower than the influence of the guide's posture on target positioning when it is in the first posture.

[0090] As an optional implementation, the second number is 0, indicating that the number of blocked markers is 0. At this time, the guide has no effect on the target positioning. Accordingly, the optical tracking device has the highest accuracy in positioning at least three target markers. Therefore, when the second number is 0, the adjustment device determines the target posture of the guide based on the fourth posture.

[0091] As an optional implementation, the adjustment device further performs the following steps before executing step 102: taking the preset angle as the step size of the rotation of the first three-dimensional model, determining a candidate rotation angle set, for example, if the preset angle is 1°, then the compensation for the rotation of the first three-dimensional model is 1°. Accordingly, the candidate rotation angle set can be: {±1°, ±2°, ..., ±N°}, wherein the "+" before the angle indicates rotation in the first direction, and the "-" before the angle indicates rotation in the second direction. Optionally, the absolute value of the rotation angle in the candidate rotation angle set is less than or equal to a threshold, for example, the threshold is 30°.

[0092] Then, based on the rotation angle in the candidate rotation angle set, the first three-dimensional model is controlled to rotate around the axis to the fourth posture, and the second quantity is determined based on the fourth posture. When the second quantity is not 0, the rotated angle in the candidate rotation angle set and the rotation angle in the second motion range are removed to obtain an alternative rotation angle set, wherein the rotated angle is the rotation angle corresponding to the fourth posture, and specifically, the first three-dimensional model is rotated around the axis from the first posture to determine the fourth posture. Based on the alternative rotation angle set, a candidate posture set is determined, wherein the candidate posture set is a set of candidate postures, and the candidate postures correspond to the rotation angles in the alternative rotation angle set one by one. For example, the alternative rotation angle set is: {-1°, ±2°}, then the candidate posture set includes the posture determined by the first three-dimensional model rotating around the axis by -1° from the first posture, the posture determined by the first three-dimensional model rotating around the axis by +2° from the first posture, and the posture determined by the first three-dimensional model rotating around the axis by -2° from the first posture. In order of absolute value from small to large, the third number of blocked markers among the at least three target markers when the pose of the first three-dimensional model is a candidate pose in the candidate pose set is determined based on the lines intersecting with the first three-dimensional model in the at least three lines when the pose of the first three-dimensional model is a candidate pose in the candidate pose set. When the third number is 0, the adjustment device determines the target pose of the guide based on the candidate pose corresponding to the third number.

[0093] When the third number corresponding to all candidate poses is not 0, and the second number is less than the first number, the candidate pose corresponding to the third number that is less than the first number and the fourth pose are determined to be intermediate poses. Optionally, to determine the pose of the target object, at least m target markers are required. Accordingly, the optical tracking device needs to determine the poses of at least m target markers by locating at least m target markers. In other words, the number of unobstructed markers should be greater than or equal to m. Therefore, if the number of target markers is the target number, when the third number corresponding to all candidate poses is not 0, and the second number is less than the first number, and the difference between the second number and the target number is greater than or equal to m, the third number that is less than the first number and the difference between the second number and the target number is greater than or equal to m is determined to be the fourth number, and the candidate pose and the fourth pose corresponding to the fourth number are determined to be intermediate poses. Optionally, m is 3.

[0094] Determine that when the guide's posture is an intermediate posture, the sum of the rotation angles of the joints of the robot arm is obtained to obtain the total rotation. Optionally, the guide is fixedly connected to the end effector of the robot arm, and the adjustment device determines the rotation angle corresponding to the posture as the rotation angle of the end effector of the robot arm, and then determines the rotation angle of each joint of the robot arm based on inverse kinematics and the rotation angle of the end effector, and finally determines the sum of the rotation angles of each joint of the robot arm to obtain the total rotation. In the case where the posture corresponding to the minimum value of the total rotation includes a fourth posture, the target posture of the guide is determined based on the fourth posture. In this way, when the guide's posture is adjusted to the target posture through the movement of the robot arm, the sum of the rotation angles of the joints of the robot arm can be reduced, thereby reducing the energy consumption of the robot arm movement and reducing the range of motion of the robot arm.

[0095] See also Figure 5 , Figure 5 A schematic diagram of another method for adjusting the position of the introducer provided in an embodiment of the present application. Figure 5 As shown, after starting the process, first determine the candidate rotation angle set, specifically, use the preset angle as the step size of the first three-dimensional model rotation to determine the candidate rotation angle set. Then select the rotation angle from the candidate rotation angle set, and determine whether the rotation angle is within the second motion range. If not, that is, the rotation angle is outside the second motion range, then determine whether the candidate rotation angle set has been traversed, that is, determine whether the rotation angles in the candidate rotation angle set have been selected. If not, continue to select the rotation angle from the candidate rotation angle set, and continue to determine whether the rotation angle is within the second motion range.

[0096] If the rotation angle is within the second range of motion, the line intersecting with the first three-dimensional model is determined. Specifically, the first three-dimensional model is rotated based on the rotation angle to obtain a rotated posture (the rotated posture includes the fourth posture described above and the candidate posture in the candidate posture set). When the posture based on the first three-dimensional model is a rotated posture, the line intersecting with the first three-dimensional model among at least three lines is determined. After determining the line intersecting with the first three-dimensional model, it can be determined whether the number of obscured markers is 0 based on the line intersecting with the first three-dimensional model. If it is 0, the target posture is determined based on the rotated posture. If it is not 0, the rotated posture in which the number of obscured markers is less than the first number is determined to be an intermediate posture, and it is determined again whether the candidate rotation angle set has been traversed. If yes, that is, the candidate rotation angle set has been traversed, the target posture is determined based on the intermediate posture. Optionally, the target posture is determined based on the intermediate posture with the smallest number of obscured markers. Optionally, when the guider is in an intermediate posture, the sum of the rotation angles of the joints of the robot arm is determined to obtain a rotation sum, and the target posture is determined based on the intermediate posture corresponding to the minimum value of the rotation sum.

[0097] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0098] If the technical solution of this application involves personal information, the product using the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using the technical solution of this application has obtained the individual's separate consent before processing the sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, clear and prominent signs are set to inform that the personal information collection scope has been entered and personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that he or she agrees to the collection of his or her personal information; or on the device that processes personal information, the personal information processing rules are notified by obvious signs / information, and the individual's authorization is obtained through pop-up information or by asking the individual to upload his or her personal information; among which, personal information processing may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.

[0099] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0100] See also Figure 6 , Figure 6The present invention provides a schematic diagram of a device for adjusting the position of an introducer according to an embodiment of the present invention. The device 1 for adjusting the position of an introducer comprises: an acquisition unit 11, a control unit 12, and a determination unit 13, wherein: An acquisition unit 11 is used to acquire a first posture of a first three-dimensional model of the guide in an optical coordinate system, a second posture of a second three-dimensional model of the optical tracking device in the optical coordinate system, and at least three third postures of at least three third three-dimensional models of at least three target markers in the optical coordinate system; when the posture of the guide in the optical coordinate system is the first posture, the axis of the puncture guide rail of the guide is aligned with the puncture path for the target object; the optical coordinate system is constructed based on the optical tracking device, and the optical tracking device determines the posture of the target object by positioning the postures of the at least three target markers; a control unit 12, configured to control the first three-dimensional model to rotate around the axis to a fourth posture when it is determined that the posture of the guide is the first posture based on the first posture, the second posture and the at least three third postures, and in the case where the guide affects target positioning, the target positioning includes positioning of the at least three target markers by the optical tracking device; A determination unit 13 is used to determine the target posture of the guide based on the fourth posture when, based on the first posture, the second posture, the at least three third postures and the fourth posture, the influence degree of the guide's posture being the fourth posture on the target positioning is lower than the influence degree of the guide's posture being the first posture on the target positioning.

[0101] In combination with any embodiment of the present application, the guide is installed on a mechanical arm, and the guide can be driven to move by controlling the movement of the mechanical arm, and the movement range of the mechanical arm is a first range; The control unit 12 is further used for: Determining a second motion range of the first three-dimensional model based on the first motion range of the robotic arm; The motion range of the first three-dimensional model is within the second motion range as a constraint condition, and the first three-dimensional model is controlled to rotate around the axis to the fourth posture.

[0102] In combination with any embodiment of the present application, the control unit 12 is further configured to: Controlling the first three-dimensional model to rotate from the first posture to a preset angle around the axis in a first direction, so that the posture of the first three-dimensional model is a fifth posture; When the guide's posture is determined to be the fifth posture based on the fifth posture, the second posture and the at least three third postures, and the guide affects the target positioning, the first three-dimensional model is controlled to rotate from the first posture around the axis toward the second direction by the preset angle, so that the posture of the first three-dimensional model is the fourth posture, and the first direction is the opposite direction of the second direction.

[0103] In combination with any embodiment of the present application, the control unit 12 is further configured to: Controlling the first three-dimensional model to rotate from the first posture to a preset angle around the axis in a first direction, so that the posture of the first three-dimensional model is a fifth posture; When the guide's posture is determined to be the fifth posture based on the fifth posture, the second posture and the at least three third postures, and the guide affects the positioning of the at least three target markers by the optical tracking device, determine a first degree of influence on the positioning of the target when the guide's posture is the first posture, and determine a second degree of influence on the positioning of the target when the guide's posture is the fifth posture; When the second influence degree is lower than the first influence degree, controlling the first three-dimensional model to rotate from the fifth posture around the axis toward the first direction by the preset angle so that the posture of the first three-dimensional model is the fourth posture; When the second influence degree is higher than the first influence degree, the first three-dimensional model is controlled to rotate from the first posture around the axis toward the second direction by the preset angle, so that the posture of the first three-dimensional model is the fourth posture, and the first direction is the opposite direction of the second direction.

[0104] In combination with any implementation manner of the present application, the determining unit 13 is further configured to: Based on the second posture and the at least three third postures, determining at least three connecting lines between the second three-dimensional model and the at least three third three-dimensional models; When it is determined that the first three-dimensional model intersects at least one of the at least three lines based on the first posture, the target positioning is affected when the posture of the guide is determined to be the first posture.

[0105] In combination with any implementation manner of the present application, the determining unit 13 is further configured to: Determining, based on a line among the at least three lines intersecting with the first three-dimensional model when the posture of the first three-dimensional model is the first posture, a first number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the first posture, the obscured markers including the target markers that cannot be located by the optical tracking device; Determining, based on a line among the at least three lines that intersects with the first three-dimensional model when the posture of the first three-dimensional model is the fourth posture, a second number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the fourth posture; In the case where the second number is smaller than the first number, it is determined that the influence of the guide's position in the fourth position on the target positioning is lower than the influence of the guide's position in the first position on the target positioning.

[0106] In combination with any embodiment of the present application, the determination unit 13 is further used to: when the second number is 0, determine the target posture of the guide based on the fourth posture.

[0107] In an embodiment of the present application, the optical coordinate system is constructed based on an optical tracking device, and the optical tracking device determines the position and posture of the target object by positioning the positions and postures of at least three target markers. When the position and posture of the guide in the optical coordinate system is the first position, the axis of the puncture guide rail of the guide is aligned with the puncture path for the target object. After obtaining the first position and posture of the first three-dimensional model of the guide in the optical coordinate system, the second position and posture of the second three-dimensional model of the optical tracking device in the optical coordinate system, and the at least three third positions and postures of at least three third three-dimensional models of at least three target markers in the optical coordinate system, the adjustment device determines that the position and posture of the guide is the first position based on the first position, the second position and the at least three third positions. When the guide affects the target positioning, the first three-dimensional model is controlled to rotate around the axis to the fourth position, wherein the target positioning includes the positioning of at least three target markers by the optical tracking device. Then, based on the first posture, the second posture, at least three third postures and the fourth posture, the influence degree of the guide's posture on the target positioning when it is the fourth posture is determined. When the influence degree of the guide's posture on the target positioning is lower than the influence degree of the guide's posture when it is the first posture, the posture of the guide is determined based on the fourth posture, which can align the axis of the puncture guide rail of the guide with the puncture path and reduce the influence of the guide on the target positioning.

[0108] In some embodiments, the functions or modules included in the device provided in the embodiments of the present application can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0109] Figure 7 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 also includes an input device 23 and an output device 24. The processor 21, the memory 22, the input device 23 and the output device 24 are coupled via a connector, and the connector includes various interfaces, transmission lines or buses, etc., which are not limited in the embodiments of the present application. It should be understood that in each embodiment of the present application, coupling refers to mutual connection in a specific manner, including direct connection or indirect connection through other devices, for example, it can be connected through various interfaces, transmission lines, buses, etc.

[0110] The processor 21 may be one or more graphics processing units (GPUs). When the processor 21 is a GPU, the GPU may be a single-core GPU or a multi-core GPU. Optionally, the processor 21 may be a processor group consisting of multiple GPUs, and the multiple processors are coupled to each other via one or more buses. Optionally, the processor may also be other types of processors, etc., which are not limited in the embodiments of the present application.

[0111] The memory 22 can be used to store computer program instructions and various computer program codes including the program code for executing the program code of the present application. Optionally, the memory includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM), or portable read only memory (CD-ROM), which is used for related instructions and data.

[0112] The input device 23 is used to input data and / or signals, and the output device 24 is used to output data and / or signals. The input device 23 and the output device 24 can be independent devices or an integrated device.

[0113] It can be understood that in the embodiment of the present application, the memory 22 can be used not only to store relevant instructions, but also to store relevant data. The embodiment of the present application does not limit the specific data stored in the memory.

[0114] Understandably, Figure 7Only a simplified design of an electronic device is shown. In practical applications, the electronic device may also include other necessary components, including but not limited to any number of input / output devices, processors, memories, etc., and all electronic devices that can implement the embodiments of the present application are within the protection scope of the present application.

[0115] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0116] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. Those skilled in the art can also clearly understand that the descriptions of the various embodiments of the present application have different focuses. For the convenience and brevity of description, the same or similar parts may not be repeated in different embodiments. Therefore, for parts not described or not described in detail in a certain embodiment, refer to the records of other embodiments.

[0117] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0118] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0120] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0121] A person skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by a computer program to instruct the relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments. The aforementioned storage medium includes: a read-only memory (ROM) or a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

Claims

1. A method for adjusting the position of an introducer, characterized in that: The method comprises: Acquire a first pose of a first three-dimensional model of the guide in an optical coordinate system, a second pose of a second three-dimensional model of the optical tracking device in the optical coordinate system, and at least three third poses of at least three third three-dimensional models of at least three target markers in the optical coordinate system; when the pose of the guide in the optical coordinate system is the first pose, the axis of the puncture guide rail of the guide is aligned with the puncture path for the target object; the optical coordinate system is constructed based on the optical tracking device, and the optical tracking device determines the pose of the target object by positioning the poses of the at least three target markers; When the guide's posture is determined to be the first posture based on the first posture, the second posture and the at least three third postures, in the case where the guide affects target positioning, controlling the first three-dimensional model to rotate around the axis to a fourth posture, the target positioning including positioning of the at least three target markers by the optical tracking device; When it is determined based on the first posture, the second posture, the at least three third postures and the fourth posture that the influence of the guide's posture in the fourth posture on the target positioning is lower than the influence of the guide's posture in the first posture on the target positioning, the target posture of the guide is determined based on the fourth posture.

2. The method according to claim 1, characterized in that The guide is installed on the mechanical arm, and the guide can be driven to move by controlling the movement of the mechanical arm, and the movement range of the mechanical arm is a first range; The controlling the first three-dimensional model to rotate around the axis to a fourth posture includes: Determining a second motion range of the first three-dimensional model based on the first motion range of the robotic arm; The motion range of the first three-dimensional model is within the second motion range as a constraint condition, and the first three-dimensional model is controlled to rotate around the axis to the fourth posture.

3. The method according to claim 2, characterized in that The controlling the first three-dimensional model to rotate around the axis to the fourth posture includes: Controlling the first three-dimensional model to rotate from the first posture to a preset angle around the axis in a first direction, so that the posture of the first three-dimensional model is a fifth posture; When the guide's posture is determined to be the fifth posture based on the fifth posture, the second posture and the at least three third postures, and the guide affects the target positioning, the first three-dimensional model is controlled to rotate from the first posture around the axis toward the second direction by the preset angle, so that the posture of the first three-dimensional model is the fourth posture, and the first direction is the opposite direction of the second direction.

4. The method according to claim 2, characterized in that: The controlling the first three-dimensional model to rotate around the axis to the fourth posture includes: Controlling the first three-dimensional model to rotate from the first posture to a preset angle around the axis in a first direction, so that the posture of the first three-dimensional model is a fifth posture; When the guide's posture is determined to be the fifth posture based on the fifth posture, the second posture and the at least three third postures, and the guide affects the positioning of the at least three target markers by the optical tracking device, determine a first degree of influence on the positioning of the target when the guide's posture is the first posture, and determine a second degree of influence on the positioning of the target when the guide's posture is the fifth posture; When the second influence degree is lower than the first influence degree, controlling the first three-dimensional model to rotate from the fifth posture around the axis toward the first direction by the preset angle so that the posture of the first three-dimensional model is the fourth posture; When the second influence degree is higher than the first influence degree, the first three-dimensional model is controlled to rotate from the first posture around the axis toward the second direction by the preset angle, so that the posture of the first three-dimensional model is the fourth posture, and the first direction is the opposite direction of the second direction.

5. The method according to any one of claims 1 to 4, characterized in that: When the guide affects the positioning of the at least three target markers by the optical tracking device when the guide determines the guide to be the first posture based on the first posture, the second posture and the at least three third postures, before controlling the first three-dimensional model to rotate around the axis to a fourth posture, the method further includes: Based on the second posture and the at least three third postures, determining at least three connecting lines between the second three-dimensional model and the at least three third three-dimensional models; When it is determined that the first three-dimensional model intersects at least one of the at least three lines based on the first posture, the target positioning is affected when the posture of the guide is determined to be the first posture.

6. The method according to claim 5, characterized in that In the case where, based on the first posture, the second posture, the at least three third postures and the fourth posture, it is determined that the influence of the guide's posture on the target positioning when the fourth posture is lower than the influence of the guide's posture on the target positioning when the first posture is determined, before determining the target posture of the guide based on the fourth posture, the method further includes: Determining, based on a line among the at least three lines intersecting with the first three-dimensional model when the posture of the first three-dimensional model is the first posture, a first number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the first posture, the obscured markers including the target markers that cannot be located by the optical tracking device; Determining, based on a line among the at least three lines that intersects with the first three-dimensional model when the posture of the first three-dimensional model is the fourth posture, a second number of obscured markers among the at least three target markers when the posture of the first three-dimensional model is the fourth posture; In the case where the second number is smaller than the first number, it is determined that the influence of the guide's position in the fourth position on the target positioning is lower than the influence of the guide's position in the first position on the target positioning.

7. The method according to claim 6, characterized in that The step of determining the target posture of the guide based on the fourth posture comprises: When the second number is 0, the target posture of the guide is determined based on the fourth posture.

8. A device for adjusting the position of an introducer, characterized in that: The device for adjusting the position and posture of the introducer comprises: An acquisition unit is used to acquire a first posture of a first three-dimensional model of the guide in an optical coordinate system, a second posture of a second three-dimensional model of the optical tracking device in the optical coordinate system, and at least three third postures of at least three third three-dimensional models of at least three target markers in the optical coordinate system; when the posture of the guide in the optical coordinate system is the first posture, the axis of the puncture guide rail of the guide is aligned with the puncture path for the target object; the optical coordinate system is constructed based on the optical tracking device, and the optical tracking device determines the posture of the target object by positioning the postures of the at least three target markers; a control unit, configured to control the first three-dimensional model to rotate about the axis to a fourth posture when the guide affects target positioning when the guide is determined to be the first posture based on the first posture, the second posture and the at least three third postures, wherein the target positioning includes positioning of the at least three target markers by the optical tracking device; A determination unit is used to determine the target posture of the guide based on the fourth posture when, based on the first posture, the second posture, the at least three third postures and the fourth posture, the influence of the guide's posture being the fourth posture on the target positioning is lower than the influence of the guide's posture being the first posture on the target positioning.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and when the processor executes the computer instructions, the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 7.

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