Method, apparatus, electronic device and computer-readable storage medium for adjusting the pose of a guide device

Abstract

The present application discloses a method, an apparatus, an electronic device, and a computer-readable storage medium for adjusting the pose of a guide. The method includes: when it is determined that the pose of the guide is the first pose based on the first pose of the first three-dimensional model of the guide in the optical coordinate system, the second pose of the second three-dimensional model of the optical tracking device in the optical coordinate system, and at least three third poses of at least three target markers in the optical coordinate system, and when the guide affects target positioning, controlling the first three-dimensional model to rotate around an axis to the fourth pose. When the degree of influence on target positioning when the pose of the guide is determined to be the fourth pose based on the first pose, the second pose, at least three third poses, and the fourth pose is lower than the degree of influence on target positioning when the pose of the guide is the first pose, determining the target pose of the guide based on the fourth pose. This method can reduce the influence of the guide on target positioning.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and in particular, to a method, apparatus, electronic device, and computer-readable storage medium for adjusting the pose of a guide. Background Art

[0002] Puncturing a target object based on a puncture path can remove lesions in the target object. Specifically, after planning the puncture path, the movement of the guide is controlled so that the axis of the puncture guide rail of the guide is aligned with the puncture path. In this way, when the surgical needle is placed on the puncture guide rail and the axis of the surgical needle coincides with the axis of the puncture guide rail, by moving the surgical needle along the axis of the puncture guide rail, the surgical needle can move along the puncture path, thereby realizing the puncture of the target object.

[0003] Considering that due to the movement of the target object, the pose of the target object when planning the puncture path may be different from the pose of the target object when the surgical needle punctures the target object by moving along the axis of the puncture guide rail, which may lead to errors in the planned puncture path. At this time, when the surgical needle punctures the target object by moving along the axis of the puncture guide rail, it may cause harm to the target object. Therefore, during the puncture of the target object, it is necessary to position the target object through an optical tracking device to determine the pose of the target object, so as to determine whether the pose of the target object has changed, thereby reducing the harm to the target object caused by the change in the pose of the target object. Specifically, the optical tracking device determines the pose of the target object by positioning the target marker of the target object, and then determines the pose 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 accuracy of the positioning of the target marker by the optical tracking device is low. For example, when the guide is located between the optical tracking device and the target marker, the optical tracking device cannot position the target marker. Therefore, how to reduce the influence of the guide on the positioning of the target marker of the target object by the optical tracking device is of great significance. Summary of the Invention

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

[0006] In a first aspect, a method for adjusting the pose of a guide is provided, and the method includes:

[0007] Obtain the first pose of the first three-dimensional model of the guide in the optical coordinate system, the second pose of the 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-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 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;

[0008] When it is determined that the pose of the guide is the first pose based on the first pose, the second pose, and the at least three third poses, and the guide affects target positioning, control the first three-dimensional model to rotate around the axis to the fourth pose, where the target positioning includes the optical tracking device's positioning of the at least three target markers;

[0009] When the degree of influence on the target positioning when it is determined that the pose of the guide is the fourth pose based on the first pose, the second pose, the at least three third poses, and the fourth pose is lower than the degree of influence on the target positioning when the pose of the guide is the first pose, determine the target pose of the guide based on the fourth pose.

[0010] Combined with any implementation manner of the present application, the guide is installed on a robotic arm, and the movement of the guide can be driven by controlling the movement of the robotic arm, and the movement range of the robotic arm is the first range;

[0011] The control of rotating the first three-dimensional model around the axis to the fourth pose includes:

[0012] Determine the second movement range of the first three-dimensional model based on the first movement range of the robotic arm;

[0013] Take the movement range of the first three-dimensional model being within the second movement range as a constraint condition, and control the first three-dimensional model to rotate around the axis to the fourth pose.

[0014] Combined with any implementation manner of the present application, the control of rotating the first three-dimensional model around the axis to the fourth pose includes:

[0015] Control the first three-dimensional model to start from the first pose and rotate around the axis in the first direction by a preset angle so that the pose of the first three-dimensional model is the fifth pose;

[0016] When determining that the pose of the guide is the fifth pose based on the fifth pose, the second pose, and the at least three third poses, and the guide affects the target positioning, control the first three-dimensional model to start from the first pose and rotate the preset angle around the axis in the second direction, so that the pose of the first three-dimensional model is the fourth pose, where the first direction is the opposite direction of the second direction.

[0017] Combined with any embodiment of the present application, the controlling the first three-dimensional model to rotate around the axis to the fourth pose includes:

[0018] Control the first three-dimensional model to start from the first pose and rotate a preset angle around the axis in the first direction, so that the pose of the first three-dimensional model is the fifth pose;

[0019] When determining that the pose of the guide is the fifth pose based on the fifth pose, the second pose, and the at least three third poses, and the guide affects the positioning of the at least three target markers by the optical tracking device, determine the first influence degree on the target positioning when the pose of the guide is the first pose, and determine the second influence degree on the target positioning when the pose of the guide is the fifth pose;

[0020] When the second influence degree is lower than the first influence degree, control the first three-dimensional model to start from the fifth pose and rotate the preset angle around the axis in the first direction, so that the pose of the first three-dimensional model is the fourth pose;

[0021] When the second influence degree is higher than the first influence degree, control the first three-dimensional model to start from the first pose and rotate the preset angle around the axis in the second direction, so that the pose of the first three-dimensional model is the fourth pose, where the first direction is the opposite direction of the second direction.

[0022] Combined with any embodiment of the present application, when determining that the pose of the guide is the first pose based on the first pose, the second pose, and the at least three third poses, 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 the fourth pose, the method further includes:

[0023] Based on the second pose and the at least three third poses, determine at least three connecting lines between the second three-dimensional model and the at least three third three-dimensional models;

[0024] When it is determined that the first 3D model intersects at least one of the at least three connection lines based on the first pose, determining that the pose of the guide affects the target positioning when the pose of the guide is the first pose.

[0025] Combined with any implementation manner of the present application, when the degree of influence on the target positioning when the pose of the guide is determined to be the fourth pose is lower than the degree of influence on the target positioning when the pose of the guide is the first pose, before determining the target pose of the guide based on the fourth pose, the method further includes:

[0026] Based on the connection lines that intersect with the first 3D model among the at least three connection lines when the pose of the first 3D model is the first pose, determining the first quantity of the occluded markers among the at least three target markers when the pose of the first 3D model is the first pose, where the occluded markers include the target markers that cannot be positioned by the optical tracking device;

[0027] Based on the connection lines that intersect with the first 3D model among the at least three connection lines when the pose of the first 3D model is the fourth pose, determining the second quantity of the occluded markers among the at least three target markers when the pose of the first 3D model is the fourth pose;

[0028] When the second quantity is less than the first quantity, determining that the degree of influence on the target positioning when the pose of the guide is the fourth pose is lower than the degree of influence on the target positioning when the pose of the guide is the first pose.

[0029] Combined with any implementation manner of the present application, determining the target pose of the guide based on the fourth pose includes:

[0030] When the second quantity is 0, determining the target pose of the guide based on the fourth pose.

[0031] In a second aspect, a device for adjusting the pose of a guide is provided. The device for adjusting the pose of the guide includes:

[0032] An acquisition unit, configured to acquire 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; 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 a 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;

[0033] A control unit, configured to, when it is determined based on the first pose, the second pose, and the at least three third poses that the pose of the guide is the first pose and the guide affects target positioning, control the first three-dimensional model to rotate around the axis to a fourth pose, where the target positioning includes the optical tracking device positioning the at least three target markers;

[0034] A determination unit, configured to, when the degree of influence on the target positioning when it is determined based on the first pose, the second pose, the at least three third poses, and the fourth pose that the pose of the guide is the fourth pose is lower than the degree of influence on the target positioning when the pose of the guide is the first pose, determine the target pose of the guide based on the fourth pose.

[0035] Combined with any embodiment of the present application, the guide is installed on a robotic arm, and the movement of the robotic arm can drive the movement of the guide, and the movement range of the robotic arm is a first range;

[0036] The control unit is further configured to:

[0037] Determine a second movement range of the first three-dimensional model based on the first movement range of the robotic arm;

[0038] Take the movement range of the first three-dimensional model being within the second movement range as a constraint condition, and control the first three-dimensional model to rotate around the axis to the fourth pose.

[0039] Combined with any embodiment of the present application, the control unit is further configured to:

[0040] Control the first three-dimensional model to start from the first pose and rotate around the axis in a first direction by a preset angle, so that the pose of the first three-dimensional model is a fifth pose;

[0041] When determining that the pose of the guide is the fifth pose based on the fifth pose, the second pose, and the at least three third poses, and when the guide affects the target positioning, control the first three-dimensional model to start from the first pose and rotate the preset angle around the axis in the second direction, so that the pose of the first three-dimensional model is the fourth pose, where the first direction is the opposite direction of the second direction.

[0042] Combined with any implementation manner of the present application, the control unit is further configured to:

[0043] Control the first three-dimensional model to start from the first pose and rotate the preset angle around the axis in the first direction, so that the pose of the first three-dimensional model is the fifth pose;

[0044] When determining that the pose of the guide is the fifth pose based on the fifth pose, the second pose, and the at least three third poses, and when the guide affects the positioning of the at least three target markers by the optical tracking device, determine the first influence degree of the target positioning when the pose of the guide is the first pose, and determine the second influence degree of the target positioning when the pose of the guide is the fifth pose;

[0045] When the second influence degree is lower than the first influence degree, control the first three-dimensional model to start from the fifth pose and rotate the preset angle around the axis in the first direction, so that the pose of the first three-dimensional model is the fourth pose;

[0046] When the second influence degree is higher than the first influence degree, control the first three-dimensional model to start from the first pose and rotate the preset angle around the axis in the second direction, so that the pose of the first three-dimensional model is the fourth pose, where the first direction is the opposite direction of the second direction.

[0047] Combined with any implementation manner of the present application, the determination unit is further configured to:

[0048] Based on the second pose and the at least three third poses, determine at least three connection lines between the second three-dimensional model and the at least three third three-dimensional models;

[0049] When determining that the first three-dimensional model intersects at least one of the at least three connection lines based on the first pose, determine that the pose of the guide affects the target positioning when the pose of the guide is the first pose.

[0050] Combined with any implementation manner of the present application, the determination unit is further configured to:

[0051] When the pose of the first three-dimensional model is the first pose, determine, based on the connecting lines among the at least three connecting lines that intersect the first three-dimensional model, the first quantity of the occluded markers among the at least three target markers when the pose of the first three-dimensional model is the first pose, where the occluded markers include the target markers that cannot be located by the optical tracking device;

[0052] When the pose of the first three-dimensional model is the fourth pose, determine, based on the connecting lines among the at least three connecting lines that intersect the first three-dimensional model, the second quantity of the occluded markers among the at least three target markers when the pose of the first three-dimensional model is the fourth pose;

[0053] In the case where the second quantity is less than the first quantity, determine that the influence degree of the pose of the guide device being the fourth pose on the target positioning is lower than the influence degree of the pose of the guide device being the first pose on the target positioning.

[0054] Combined with any implementation manner of the present application, the determining unit is further configured to: in the case where the second quantity is 0, determine the target pose of the guide device based on the fourth pose.

[0055] In a third aspect, an electronic device is provided, including: a processor and a memory, where the memory is used to store computer program code, the computer program code includes computer instructions, and in the case where the processor executes the computer instructions, the electronic device executes the method according to the first aspect and any possible implementation manner thereof as described above.

[0056] In a fourth aspect, another electronic device is provided, including: a processor, a sending device, an input device, an output device, and a memory, where the memory is used to store computer program code, the computer program code includes computer instructions, and in the case where the processor executes the computer instructions, the electronic device executes the method according to the first aspect and any possible implementation manner thereof as described above.

[0057] In a fifth aspect, a computer-readable storage medium is provided, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and in the case where the program instructions are executed by a processor, the processor is caused to execute the method according to the first aspect and any possible implementation manner thereof as described above.

[0058] In a sixth aspect, a computer program product is provided, where the computer program product includes a computer program or instructions, and in the case where the computer program or instructions run on a computer, the computer is caused to execute the method according to the first aspect and any possible implementation manner thereof as described above.

[0059] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit this application.

[0060] In this application, the optical coordinate system is constructed based on an optical tracking device. The optical tracking device determines the pose of a target object by positioning the poses of at least three target markers. 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. After the adjustment device obtains the first pose of the first three-dimensional model of the guide in the optical coordinate system, the second pose of the 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-dimensional models of at least three target markers in the optical coordinate system, when it is determined that the pose of the guide is the first pose based on the first pose, the second pose, and at least three third poses, and the guide affects the target positioning, the first three-dimensional model is controlled to rotate around the axis to the fourth pose, where the target positioning includes the positioning of at least three target markers by the optical tracking device. Then, when the degree of influence on the target positioning when the pose of the guide is determined to be the fourth pose based on the first pose, the second pose, at least three third poses, and the fourth pose is lower than the degree of influence on the target positioning when the pose of the guide is the first pose, the pose of the guide is determined based on the fourth pose, which can not only align the axis of the puncture guide rail of the guide with the puncture path, but also reduce the influence of the guide on the target positioning. Description of the Drawings

[0061] In order to more clearly illustrate the technical solutions in the embodiments of this application or the background art, the following will describe the drawings required to be used in the embodiments of this application or the background art.

[0062] The drawings here are incorporated into the specification and constitute a part of this specification. These drawings show embodiments that conform to this application and, together with the specification, are used to illustrate the technical solutions of this application.

[0063] Figure 1 It is a schematic flowchart of a method for adjusting the pose of a guide provided by an embodiment of this application;

[0064] Figure 2 It is a schematic structural diagram of a guide provided by an embodiment of this application;

[0065] Figure 3 It is a schematic diagram of a scene for adjusting the pose of a guide provided by an embodiment of this application;

[0066] Figure 4 It is a schematic diagram of the intersection of a first three-dimensional model and a connection line provided by an embodiment of this application;

[0067] Figure 5Schematic flowchart of another method for adjusting the pose of the guide device provided by an embodiment of the present application;

[0068] Figure 6 Schematic structural diagram of a device for adjusting the pose of the guide device provided by an embodiment of the present application;

[0069] Figure 7 Schematic hardware structure diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0070] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0071] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes unlisted steps or units, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0072] Referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least three embodiments of the present application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments. It should be understood that in the present application, "at least three (items)" means one or more, "a plurality" means two or more, and "at least two (items)" means two or three and more than three.

[0073] 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 guide device so that the axis of the puncture guide rail of the guide device is aligned with the puncture path. In this way, when the surgical needle is placed on the puncture guide rail and the axis of the surgical needle coincides with the axis of the puncture guide rail, by moving the surgical needle along the axis of the puncture guide rail, the surgical needle can move along the puncture path, thereby realizing the puncture of the target object. Optionally, the guide device can be controlled to move from any pose so that the axis of the puncture guide rail of the guide device is aligned with the puncture path.

[0074] Considering that due to the movement of the target object, the pose of the target object during puncture path planning may be different from the pose of the target object when the surgical needle punctures the target object by moving along the axis of the puncture guide rail, which may lead to errors in the planned puncture path. At this time, if the surgical needle punctures the target object by moving along the axis of the puncture guide rail, it may cause harm to the target object. Therefore, during the puncture of the target object, it is necessary to use an optical tracking device to locate the target object and determine the pose of the target object to determine whether the pose of the target object has changed, thereby reducing the harm to the target object caused by the change in the pose of the target object. Specifically, the optical tracking device locates the target marker of the target object to determine the pose of the target marker, and then determines the pose of the target object.

[0075] However, since the guide device is usually located between the target object and the optical tracking device, the guide device may affect the positioning of the target marker of the target object by the optical tracking device. For example, the optical tracking device locates the target object based on the light reflected by the target marker of the target object received. If the guide device is located on the light path where the target marker of the target object reflects light to the optical tracking device, then the guide device will block the light reflected by the target marker of the target object to the optical tracking device, resulting in the optical tracking device being unable to locate the target marker of the target object, and thus the optical tracking device being unable to locate the target object.

[0076] Based on this, the embodiment of the present application provides a method for adjusting the pose of the guide device to, when it is determined that the guide device affects the positioning of the target marker of the target object by the optical tracking device, adjust the pose of the guide device so that the guide device does not affect the positioning of the target marker of the target object by the optical tracking device, and can ensure that the axis of the puncture guide rail of the guide device is aligned with the puncture path.

[0077] The execution subject of the embodiment of the present application is a device for adjusting the pose of the guide device (hereinafter referred to as the adjustment device for short). Among them, the adjustment device can be any electronic device that can execute the technical solutions disclosed in the method embodiment of the present application. Optionally, the adjustment device can be one of the following: mobile phone, computer, tablet computer, wearable intelligent device.

[0078] It should be understood that the method embodiments of the present application can also be implemented by a processor executing computer program code. The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a method for adjusting the pose of a guide device provided by an embodiment of the present application.

[0079] 101. Obtain the first pose of the first three-dimensional model of the guide device in the optical coordinate system, the second pose of the 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-dimensional models of at least three target markers in the optical coordinate system.

[0080] In the embodiments of the present application, the pose includes position and attitude. The optical tracking device can determine the pose of the marker by positioning the marker, and then can determine the pose of the guide device based on the position of the marker. In the case of determining the pose, the pose of any object on the guide device can be determined according to the pose of the guide device and the geometric relationship between any object on the guide device and the guide device. For example, the pose of the puncture guide rail can be determined according to the pose of the guide device and the geometric relationship between the puncture guide rail and the guide device. Another example is that the pose of the axis of the puncture guide rail can be determined according to the pose of the guide device and the geometric relationship between the axis of the puncture guide rail and the guide device.

[0081] In the embodiments of the present application, the optical coordinate system is constructed based on the optical tracking device. Among them, the optical tracking device can determine the pose of the marker by positioning the marker. The optical tracking device can determine the pose of the target object by tracking the poses of at least three target markers. The poses obtained by the optical tracking device through positioning are all poses 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 body surface of the target object. Optionally, the optical tracking device includes a binocular camera. Optionally, the optical tracking device includes Northern Digital (northen digital inc, NDI). Optionally, the optical coordinate system is the world coordinate system.

[0082] In the embodiments of the present application, the three-dimensional models (including the first three-dimensional model, the second three-dimensional model, and the third three-dimensional model) can each 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).

[0083] The first three-dimensional model is the three-dimensional model of the guide, the second three-dimensional model is the three-dimensional model of the optical tracking device, and the third three-dimensional model is the three-dimensional model of the target marker. Since the number of target markers is at least three, the number of the third three-dimensional models is also at least three, and the third three-dimensional models correspond to the target markers one by one.

[0084] When the pose of the first three-dimensional model 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, where the puncture guide rail is used to place the surgical needle. The puncture path is the path for puncturing the target object. For example, if there is a lesion in the target object, puncturing the target object based on the puncture path can cause the surgical needle to penetrate into the lesion and then remove the lesion. Optionally, the alignment of the axis of the puncture guide rail of the guide with the puncture path includes the axis of the puncture guide rail coinciding with the puncture path.

[0085] When the surgical needle is placed on the puncture guide rail of the guide, the surgical needle coincides with the axis of the puncture guide rail. In one possible implementation, Figure 2 is a schematic structural diagram of a guide provided by an embodiment of the present application. As Figure 2 shown, the guide includes four markers 2001, 2002, 2003, 2004 and a puncture guide rail. Figure 2 The axis of the puncture guide rail (i.e., the Figure 2 dashed line) is also shown. When the surgical needle is clamped by the puncture guide rail, the surgical needle coincides with the axis of the puncture guide rail. Optionally, the markers in the embodiments of the present application include infrared light reflectors, where 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.

[0086] Optionally, before puncturing the target object based on the puncture path, by moving the guide, the pose of the guide in the optical coordinate system is the first pose, which can align the axis of the puncture guide rail of the guide with the puncture path.

[0087] When the surgical needle is placed in the puncture guide rail of the introducer, the axis of the surgical needle coincides with the axis of the puncture guide rail. When the pose of the first three-dimensional model in the optical coordinate system is the first pose, the axis of the puncture guide rail of the introducer is aligned with the puncture path. Therefore, when the pose of the first three-dimensional model in the optical coordinate system is the first pose, the surgical needle placed in the introducer is aligned with the puncture path. At this time, the surgical needle moves along the axis of the puncture guide rail, which can make the surgical needle move along the puncture path.

[0088] In one implementation of obtaining the first pose, the adjustment device obtains the puncture pose of the puncture path in the optical coordinate system, where 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.

[0089] In one implementation of obtaining at least three third poses, the optical tracking device can determine at least three poses of at least three target markers by positioning the at least three target markers, and then at least three third poses can be determined based on the at least three poses of the at least three target markers.

[0090] In another implementation of obtaining at least three third poses, due to certain reasons, the optical tracking device may not be able to position the target marker, and thus the pose of the target marker cannot be determined. For example, due to the target marker being blocked, the optical tracking device cannot position the target marker. For the convenience of description, hereinafter, the target marker that the optical tracking device cannot position will be referred to as the blocked marker, and the target markers other than the blocked marker will be referred to as the unblocked markers.

[0091] When there are blocked markers among the at least three target markers, the optical tracking device positions the unblocked markers to determine the poses of the unblocked markers, and then the poses of the blocked markers can be determined based on the relative position relationship between the unblocked markers and the blocked markers and the poses of the unblocked markers. The adjustment device then determines at least three poses of the at least three target markers based on the unblocked markers and the blocked markers.

[0092] 102. When it is determined that the pose of the introducer is the first pose based on the first pose, the second pose, and at least three third poses, and the introducer affects the target positioning, the first three-dimensional model is controlled to rotate around the axis to the fourth pose.

[0093] In the embodiments of the present application, target positioning includes the positioning of at least three target markers by an optical tracking device. The guide affects target positioning, that is, it affects the positioning of at least three target markers by the optical tracking device, thereby resulting in low accuracy of the positioning of at least three target markers by the optical tracking device, and thus resulting in low accuracy of the pose of the target object determined based on the positioning of at least three target markers.

[0094] 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, when the adjustment device determines that the pose of the first three-dimensional model is the first position based on the first pose, the second pose, and at least three third poses, in the case of whether the first three-dimensional model affects the positioning of at least three third models by the second three-dimensional model, it can be further determined whether the guide affects target positioning when the pose of the guide is the first pose.

[0095] In a possible implementation manner, the adjustment device can determine the relative position relationship among the first three-dimensional model, the second three-dimensional model, and at least three third three-dimensional models based on the first pose, the second pose, and at least three third poses, and then can determine whether the guide affects target positioning when the pose of the guide is the first pose based on the relative position relationship.

[0096] In another possible implementation manner, the optical tracking device positions the target object based on the light reflected by the target markers of the target object received. For example, the optical tracking device includes a binocular camera. The binocular camera generates a binocular image including the target markers based on the light reflected by the target markers of the target object received, and then can determine the pose of the target markers based on the binocular image. The occluded markers include the target markers whose light reflected to the optical tracking device is blocked by the guide, and the unoccluded markers include the target markers whose light reflected to the optical tracking device is not blocked by the guide.

[0097] Optionally, the adjustment device can determine the number of occluded markers and the number of unoccluded markers among at least three target markers based on the first pose, the second pose, and at least three third poses, and then can determine whether the guide affects target positioning when the pose of the guide is the first pose based on the number of occluded markers and the number of unoccluded markers.

[0098] Optionally, when the adjustment device determines that the number of occluded markers among at least three target markers is 0 based on the first pose, the second pose, and at least three third poses, and determines that the pose of the guide is the first pose, the guide does not affect target positioning. When the adjustment device determines that the number of occluded 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, and determines that the pose of the guide is the first pose, the guide affects target positioning.

[0099] Optionally, when the adjustment device determines that the number of unoccluded 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, and determines that the pose of the guide is the first pose, the guide does not affect target positioning. When the adjustment device determines that the number of unoccluded markers among at least three target markers is less than the preset value based on the first pose, the second pose, and at least three third poses, and determines that the pose of the guide is the first pose, the guide affects target positioning. Optionally, the preset value is 3.

[0100] By controlling the rotation of the first three-dimensional model around the axis, the adjustment device can change the pose of the guide while ensuring that the axis of the puncture guide of the guide is aligned with the puncture path, thereby reducing the impact of the guide on target positioning. Therefore, when the adjustment device determines that the pose of the guide is the first pose based on the first pose, the second pose, and at least three third poses, and the guide affects the positioning of at least three target markers by the optical tracking device, the adjustment device controls the first three-dimensional model to rotate around the axis to the fourth pose to further reduce the impact of the guide on target positioning.

[0101] Optionally, the directions of rotation around the axis include a first direction and a second direction. For example, when looking from one end of the first axis to the other end, the first direction is the clockwise direction and the second direction is the counterclockwise direction. Another example is that when looking from one end of the first axis to the other end, the first direction is the counterclockwise direction and the second direction is the clockwise direction. The adjustment device can control the first three-dimensional model to rotate around the axis in the first direction to the fourth pose, or control the first three-dimensional model to rotate around the axis in the second direction to the fourth pose.

[0102] 103. When, based on the first pose, the second pose, at least three third poses, and the fourth pose, it is determined that the degree of influence on target positioning when the pose of the guide is the fourth pose is lower than the degree of influence on target positioning when the pose of the guide is the first pose, the target pose of the guide is determined based on the fourth pose.

[0103] In the embodiments of the present application, the target pose is the pose of the guide. Specifically, when the surgical needle is placed on the puncture guide rail of the guide and the surgical needle moves along the axis of the puncture guide rail to puncture the target object along the puncture path, the pose of the guide is the target pose.

[0104] As described in step 102, when 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 pose of the guide. Therefore, after adjusting the pose of the first three-dimensional model to the fourth pose, the adjustment device determines whether the influence degree of the guide on the target positioning when the pose of the guide is the fourth pose is lower than the influence degree of the guide on the target positioning when the pose of the guide is the first pose, based on the first pose, the second pose, at least three third poses, and the fourth pose. Optionally, the adjustment device determines the influence degree of the guide on the target positioning when the pose of the guide is the first pose, based on the first pose, the second pose, and at least three third poses. The adjustment device determines the influence degree of the guide on the target positioning when the pose of the guide is the fourth pose, based on the fourth pose, the second pose, and at least three third poses.

[0105] When it is determined that the influence degree of the guide on the target positioning when the pose of the guide is the fourth pose is lower than the influence degree of the guide on the target positioning when the pose of the guide is the first pose, the pose of the guide is determined based on the fourth pose. In one possible implementation, the adjustment device takes the fourth pose as the pose of the guide. In another possible implementation, the adjustment device converts the fourth pose into the pose of the guide in the target coordinate system.

[0106] In the embodiments of the present application, the optical coordinate system is constructed based on an optical tracking device. The optical tracking device determines the pose of a target object by positioning the poses of at least three target markers. 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. After the adjustment device obtains the first pose of the first three-dimensional model of the guide in the optical coordinate system, the second pose of the 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-dimensional models of at least three target markers in the optical coordinate system, when it is determined that the pose of the guide is the first pose based on the first pose, the second pose, and at least three third poses, and the guide affects target positioning, the adjustment device controls the first three-dimensional model to rotate around the axis to the fourth pose, where target positioning includes the optical tracking device positioning at least three target markers. Then, when the degree of influence on target positioning when it is determined that the pose of the guide is the fourth pose based on the first pose, the second pose, at least three third poses, and the fourth pose is lower than the degree of influence on target positioning when the pose of the guide is the first pose, the pose of the guide is determined based on the fourth pose, which can not only align the axis of the puncture guide rail of the guide with the puncture path, but also reduce the influence of the guide on target positioning.

[0107] As an alternative implementation, the guide is installed on a robotic arm, and the movement of the guide can be driven by controlling the movement of the robotic arm. The movement range of the robotic arm is the first range. Specifically, limited by the movement ranges of the joints of the robotic arm, the spatial area that the robotic arm can reach is also limited, that is, the poses that the robotic arm can present are limited. Among them, the movement range of the robotic arm includes the poses that the robotic arm can present, that is, the first range includes the poses that the robotic arm can present. In this implementation, the adjustment device realizes "controlling the first three-dimensional model to rotate around the axis to the fourth pose" by performing the following steps:

[0108] 2001. Determine the second movement range of the first three-dimensional model based on the first movement range of the robotic arm.

[0109] Since the guide is installed on the robotic arm, the geometric relationship (i.e., the relative position relationship) between the guide and the robotic arm is determined. Therefore, when the adjustment device determines the pose of the robotic arm, it can determine the pose of the guide based on this geometric relationship. Correspondingly, the adjustment device can determine the movement range of the guide based on the first movement range of the robotic arm, and further determine the second movement range of the first three-dimensional model, where the second movement range includes the poses that the first three-dimensional model can present.

[0110] 2002. Use the movement range of the first three-dimensional model being within the second movement range as a constraint condition, and control the first three-dimensional model to rotate around the axis to the fourth pose.

[0111] The second range of motion includes the poses that the guide can assume, that is, the pose of the first three-dimensional model should not exceed the second range of motion. Controlling the rotation of the first three-dimensional model around the axis will change the pose of the first three-dimensional model. Therefore, the adjustment device uses the condition that the range of motion of the guide is within the second range of motion as a constraint, and controls the first three-dimensional model to rotate around the axis to the fourth pose. This can improve the rationality of the fourth pose, and further improve the accuracy of the fourth pose.

[0112] In a possible implementation, the adjustment device realizes "controlling the first three-dimensional model to rotate around the axis to the fourth pose" by performing the following steps: controlling the first three-dimensional model to start from the first pose and rotate around the axis in the first direction by a preset angle, so that the pose of the first three-dimensional model is the fifth pose. When, based on the fifth pose, the second pose, and at least three third poses, it is determined that the pose of the guide is the fifth pose and the guide affects the positioning of at least three target markers by the optical tracking device, control the first three-dimensional model to start from the first pose and rotate around the axis in the second direction by a preset angle, so that the pose of the first three-dimensional model is the fourth pose.

[0113] In this implementation, the preset angle is the step size for adjusting the pose of the first three-dimensional model, that is, the adjustment device adjusts the pose of the first three-dimensional model based on this step size until it is determined that the impact on target positioning can be reduced. For the convenience of description, the pose that can reduce the impact on target positioning will be referred to as the reference pose hereinafter. Considering that there are two directions for rotation around the axis, namely the first direction and the second direction, if rotating in one of the directions all the time, it may be necessary to determine the reference pose through multiple step sizes. At this time, the angle difference between the reference pose and the first pose is relatively large. Correspondingly, the robotic arm needs to make a larger movement (such as a larger rotation angle) to adjust the pose of the guide from the first pose to the reference pose.

[0114] Therefore, the adjustment device first controls the first three-dimensional model to start rotating from the first pose around the axis in the first direction by a preset angle, so that the pose of the first three-dimensional model is the fifth pose. Then, based on the fifth pose, the second pose, and at least three third poses, it is determined whether the guide affects the target positioning when the pose of the guide is the fifth pose. When it is determined that the guide affects the target positioning when the pose of the guide is the fifth pose, the pose of the guide needs to be continuously adjusted. At this time, it is selected to start rotating from the first pose around the axis in the second direction by a preset angle, so that the pose of the first three-dimensional model is the fourth pose, where the first direction is the opposite direction of the second direction. In this way, during the first iteration process, it rotates in two directions respectively according to the preset angle. Then, when it is determined that neither of the two poses determined through the first iteration is the reference pose, in the second iteration, starting from the two poses determined through the first iteration, it rotates in two directions respectively according to the preset angle, and then determines whether the two poses determined through the second iteration are the reference poses. This can avoid missing the reference pose determined by rotating in the other direction due to always rotating in one direction, and further reduce the angle difference between the reference pose and the first pose.

[0115] For example, the preset angle is 1°. The angle of rotation in the first direction is called the positive angle, and the angle of rotation in the second direction is called the negative angle. Then, during the first iteration process, the first three-dimensional model starts to rotate 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 positive pose of the first iteration, when the adjustment device determines that the positive pose of the first iteration is not the reference pose, it controls the first three-dimensional model to start rotating -1° from the first pose to determine the negative pose of the first iteration of the first three-dimensional model. When the adjustment device determines that the negative pose of the first iteration is not the reference pose, it starts the second iteration process. During the second iteration process, first, it controls the first three-dimensional model to start rotating +1° from the positive pose of the first iteration to determine the positive pose of the second iteration of the first three-dimensional model. When the adjustment device determines that the positive pose of the second iteration is not the reference pose, it controls the first three-dimensional model to start rotating -1° from the negative pose of the first iteration to determine the negative pose of the second iteration of the first three-dimensional model. Then, it is determined whether the negative pose of the second iteration is the reference pose.

[0116] 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 whether the candidate rotation angles in the set of candidate rotation angles are within the second motion range in ascending order of absolute value. For example, if the preset angle is 1°, then the set of candidate rotation angles can be: {±1°, ±2°, …, ±N°}. In ascending order of absolute value, first determine whether +1° is within the second motion range, or determine whether -1° is within the second motion range. In the case where it is determined to be within the second motion range, control the first three-dimensional model to rotate around the axis by the candidate rotation angle starting from the first pose, and determine whether the rotated angle is the reference pose.

[0117] In another possible implementation, it is determined to control the first three-dimensional model to start from the first pose and rotate around the axis in the first direction by a preset angle, so that the pose of the first three-dimensional model is the fifth pose. When it is determined that the pose of the guide is the fifth pose based on the fifth pose, the second pose, and at least three third poses, and the guide affects target positioning, determine the first degree of influence on target positioning when the pose of the guide is the first pose, and determine the second degree of influence on target positioning when the pose of the guide is the fifth pose. In the case where the second degree of influence is lower than the first degree of influence, control the first three-dimensional model to start from the fifth pose and rotate around the axis in the first direction by a preset angle, so that the pose of the first three-dimensional model is the fourth pose. In the case where the second degree of influence is higher than the first degree of influence, control the first three-dimensional model to start from the first pose and rotate around the axis in the second direction by a preset angle, so that the pose of the first three-dimensional model is the fourth pose, where the first direction is the opposite direction of the second direction.

[0118] In this implementation manner, the higher the degree of influence, the higher the influence of the guide on target positioning. Correspondingly, the lower the accuracy of positioning at least three target markers by the optical tracking device. Optionally, the degree of influence includes the number of occluded markers, where the more the number of occluded markers, the higher the degree of influence.

[0119] The first influence degree is the influence degree on target positioning when the pose of the guide is the first pose. The second influence degree is the influence degree on target positioning when the pose of the guide is the fifth pose. Since the fifth pose is obtained by rotating from the first pose in the first direction, if the second influence degree is lower than the first influence degree, it indicates that continuing to rotate in the first direction has a relatively high probability of reducing the influence degree on target positioning. 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 start from the fifth pose and rotate a preset angle around the axis in the first direction, so that the pose of the first three-dimensional model is the fourth pose. If the second influence degree is higher than the first influence degree, it indicates that continuing to rotate in the first direction has a relatively high probability of increasing the influence degree on target positioning. 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 start from the first pose and rotate a preset angle around the axis in the second direction, so that the pose of the first three-dimensional model is the fourth pose. After determining the fourth pose, determining whether the fourth pose is the reference pose can improve the efficiency of determining the reference pose.

[0120] As an optional implementation manner, before the adjustment device executes step 102, it determines whether the guide affects the positioning of at least three target markers by the optical tracking device when the pose of the guide is the first pose by performing the following steps:

[0121] 3001. Based on the second pose and at least three third poses, determine at least three connection lines between the second three-dimensional model and at least three third three-dimensional models.

[0122] In the embodiments of the present application, there is at least one connection line between each third three-dimensional model and the second three-dimensional model, and this connection line represents the detection path for the optical tracking device to position the target marker. Among them, the optical tracking device can obtain information for positioning the target marker through the detection path. In a possible implementation manner, the connection line represents the optical path for the target marker to reflect light to the optical tracking device. The optical tracking device can obtain the light reflected by the target marker through this connection line, and then can position the target marker based on this light. Optionally, the optical tracking device includes a binocular camera. Correspondingly, the second three-dimensional model includes models of two cameras in the binocular camera, and there is a connection line between each third three-dimensional model and the models of the two cameras. At this time, there are two connection lines between each third three-dimensional model and the second three-dimensional model. For example, Figure 3 is a schematic diagram of a scenario for adjusting the pose of the guide provided by the embodiments of the present application. As Figure 3 shown, the body surface of the target object includes 6 third three-dimensional models, that is, there are 6 target markers on the body surface of the target object. Figure 3A puncture path for the target object is also shown. The guide is located between the second 3D model and the target object, that is, the guide is located between the optical tracking device and the target object. There are connection lines between the second 3D model and each of the third 3D models. Specifically, there are two connection lines between the second 3D model and each third 3D model. Optionally, Figure 3 the second 3D model in

[0123] 3002. When it is determined that at least one of the at least three connection lines intersects the first 3D model based on the first pose, it is determined that the pose of the guide being the first pose affects target positioning.

[0124] The intersection of the first 3D model and at least one of the at least three connection lines indicates that the guide blocks at least one detection path. Correspondingly, the positioning of at least three target markers by the optical tracking device will be affected. Therefore, the adjustment device determines that the pose of the guide being the first pose affects target positioning. For example, Figure 4 FIG. is a schematic diagram of the intersection of the first 3D model and the connection line provided in an embodiment of the present application. As Figure 4 shown, the body surface of the target object includes 6 third 3D models, that is, there are 6 target markers on the body surface of the target object. Figure 4 A puncture path for the target object is also shown. In Figure 4 , the axis of the guide is aligned with the puncture path. The guide is located between the second 3D model and the target object, that is, the guide is located between the optical tracking device and the target object. Figure 4 The connection lines between the second 3D model and the third 3D models are also shown. Specifically, Figure 4 the shown connection lines include two connection lines between the second 3D model and one third 3D model. As Figure 4 shown, the first 3D model intersects the two connection lines.

[0125] As an optional implementation manner, before the adjustment device executes step 103, it determines that the influence degree of the pose of the guide being the fourth pose on the target positioning by the optical tracking device is lower than the influence degree of the pose of the guide being the first pose on the target positioning by the optical tracking device by performing the following steps:

[0126] 4001. Based on the connection lines that intersect the first 3D model among the at least three connection lines when the pose of the first 3D model is the first pose, determine the first quantity of the occluded markers among the at least three target markers when the pose of the first 3D model is the first pose.

[0127] In the embodiment of the present application, the connection line between the second 3D model and the third 3D model intersects with the first 3D model, indicating that the target marker corresponding to the third 3D model is blocked by the guide device. Furthermore, it shows that the optical tracking device cannot locate the target marker corresponding to the third 3D model, that is, the target marker corresponding to the third 3D model is an occluded marker.

[0128] Optionally, the optical tracking device includes a binocular camera. Correspondingly, the second 3D model includes the models of the two cameras in the binocular camera. There is a connection line between each third 3D model and the models of the two cameras. At this time, there are two connection lines between each third 3D model and the second 3D model. When the adjustment device determines that at least one of the two connection lines corresponding to the first 3D model and the third 3D model intersects, it determines that the target marker corresponding to the third 3D model is an occluded marker.

[0129] Therefore, based on the connection lines that intersect with the first 3D model among at least three connection lines, the adjustment device can determine the number of occluded markers among at least three target markers. The first quantity is the number of occluded markers among at least three target markers when the pose of the first 3D model is the first pose.

[0130] 4002. Based on the connection lines that intersect with the first 3D model among at least three connection lines when the pose of the first 3D model is the fourth pose, determine the second quantity of occluded markers among at least three target markers when the pose of the first 3D model is the fourth pose.

[0131] The first quantity is the number of occluded markers among at least three target markers when the pose of the first 3D model is the first pose.

[0132] 4003. In the case where the second quantity is less than the first quantity, determine that the influence degree of the pose of the guide device on target positioning when the pose of the guide device is the fourth pose is lower than the influence degree of the pose of the guide device on target positioning when the pose of the guide device is the first pose.

[0133] The second quantity is less than the first quantity, indicating that after the pose of the guide device is converted from the first pose to the fourth pose, the number of occluded markers becomes smaller. And the fewer the number of occluded markers, the lower the influence degree of the guide device on target positioning. Therefore, when the second quantity is less than the first quantity, the adjustment device determines that the influence degree of the pose of the guide device on target positioning when the pose of the guide device is the fourth pose is lower than the influence degree of the pose of the guide device on target positioning when the pose of the guide device is the first pose.

[0134] As an alternative implementation, when the second quantity is 0, it indicates that the number of occluded markers is 0. At this time, the guide has no impact on the target positioning. Correspondingly, the optical tracking device has the highest accuracy in positioning at least three target markers. Therefore, when the second quantity is 0, the adjustment device determines the target pose of the guide based on the fourth pose.

[0135] As an alternative implementation, before the adjustment device executes step 102, it also performs the following steps: taking a preset angle as the step size of the rotation of the first three-dimensional model, determining a set of candidate rotation angles. For example, if the preset angle is 1°, then the compensation for the rotation of the first three-dimensional model is 1°. Correspondingly, the set of candidate rotation angles can be: {±1°, ±2°, …, ±N°}, where 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 set of candidate rotation angles is less than or equal to a threshold. For example, the threshold is 30°.

[0136] Then, based on the rotation angles in the set of candidate rotation angles, control the first three-dimensional model to rotate around the axis to the fourth pose, and determine the second quantity based on the fourth pose. When the second quantity is not 0, remove the rotated angles and the rotation angles within the second motion range from the set of candidate rotation angles to obtain a set of alternative rotation angles. The rotated angle is the rotation angle corresponding to the fourth pose. Specifically, the first three-dimensional model rotates by the rotated angle from the first pose around the axis to determine the fourth pose. Based on the set of alternative rotation angles, determine a set of candidate poses, where the set of candidate poses is a set of candidate poses, and the candidate poses correspond one-to-one with the rotation angles in the set of alternative rotation angles. For example, if the set of alternative rotation angles is: {-1°, ±2°}, then the set of candidate poses includes the pose determined by rotating the first three-dimensional model -1° around the axis from the first pose, the pose determined by rotating the first three-dimensional model +2° around the axis from the first pose, and the pose determined by rotating the first three-dimensional model -2° around the axis from the first pose. In the order of increasing absolute value, successively based on the pose of the first three-dimensional model when it is a candidate pose in the set of candidate poses, determine the third quantity of the occluded markers among at least three target markers when the pose of the first three-dimensional model is a candidate pose in the set of candidate poses. When the third quantity is 0, the adjustment device determines the target pose of the guide based on the candidate pose corresponding to the third quantity.

[0137] When the third quantity corresponding to all candidate poses is not zero and the second quantity is less than the first quantity, determine the candidate pose corresponding to the third quantity less than the first quantity and the fourth pose as the intermediate pose. Optionally, to determine the pose of the target object, at least the poses of m target markers are required. Correspondingly, the optical tracking device needs to locate at least m target markers to determine the poses of at least m target markers. That is to say, the number of unoccluded markers should be greater than or equal to m. Therefore, if the number of target markers is the target number, when the third quantity corresponding to all candidate poses is not zero, the second quantity is less than the first quantity, and the difference between the second quantity and the target number is greater than or equal to m, determine the third quantity that is less than the first quantity and the difference from the target number is greater than or equal to m as the fourth quantity, and determine the candidate pose corresponding to the fourth quantity and the fourth pose as the intermediate pose. Optionally, m is 3.

[0138] Determine the sum of the rotation angles of the respective joints of the robotic arm when the pose of the guide is the intermediate pose to obtain the rotation sum. Optionally, the guide is fixedly connected to the end effector of the robotic arm. The adjustment device determines the rotation angle corresponding to the pose as the rotation angle of the end effector of the robotic arm, then determines the rotation angles of the respective joints of the robotic arm based on inverse kinematics and the rotation angle of the end effector, and finally determines the sum of the rotation angles of the respective joints of the robotic arm to obtain the rotation sum. When the pose corresponding to the minimum value of the rotation sum includes the fourth pose, determine the target pose of the guide based on the fourth pose. In this way, when adjusting the pose of the guide to the target pose through the movement of the robotic arm, the sum of the rotation angles of the respective joints of the robotic arm can be reduced, thereby reducing the energy consumption of the robotic arm movement and reducing the movement range of the robotic arm.

[0139] Please refer to Figure 5 , Figure 5 which is a schematic flowchart of another method for adjusting the pose of the guide provided by the embodiment of the present application. As Figure 5 shown, after starting the process, first determine the candidate rotation angle set. Specifically, use the preset angle as the step size for rotating the first three-dimensional model to determine the candidate rotation angle set. Then select a 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 all the rotation angles in the candidate rotation angle set have been traversed, that is, determine whether the rotation angles in the candidate rotation angle set have been selected. If not, continue to select a rotation angle from the candidate rotation angle set and continue to determine whether the rotation angle is within the second motion range.

[0140] If the rotation angle is within the second motion range, determine the connection lines that intersect with the first three-dimensional model. Specifically, rotate the first three-dimensional model based on the rotation angle to obtain the rotated pose (the rotated pose includes the fourth pose and the candidate poses in the candidate pose set described above). When the pose of the first three-dimensional model is the rotated pose, determine the connection lines among at least three connection lines that intersect with the first three-dimensional model. After determining the connection lines that intersect with the first three-dimensional model, it is possible to judge whether the number of occluded markers is 0 based on the connection lines that intersect with the first three-dimensional model. If it is 0, determine the target pose based on the rotated pose. If it is not 0, determine the rotated pose with the number of occluded markers less than the first number as the intermediate pose, and judge again whether the candidate rotation angle set has been traversed. If so, that is, the candidate rotation angle set has been traversed, determine the target pose based on the intermediate pose. Optionally, determine the target pose based on the intermediate pose with the smallest number of occluded markers. Optionally, when the pose of the guide is the intermediate pose, obtain the rotation sum of the rotation angles of each joint of the robotic arm. Determine the target pose based on the intermediate pose corresponding to the minimum value of the rotation sum.

[0141] Those skilled in the art can understand that in the above method of the specific implementation manner, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined according to its function and possible internal logic.

[0142] If the technical solution of the present application involves personal information, before the product applying the technical solution of the present application processes personal information, it has clearly informed the personal information processing rules and obtained the personal's autonomous consent. If the technical solution of the present application involves sensitive personal information, before the product applying the technical solution of the present application processes sensitive personal information, it has obtained the personal's separate consent and at the same time meets the requirement of "express consent". For example, at a personal information collection device such as a camera, a clear and prominent sign is set to inform that the personal information collection range has been entered and personal information will be collected. If an individual voluntarily enters the collection range, it is regarded as consenting to the collection of their personal information; or on the personal information processing device, when the personal information processing rules are informed by obvious signs / information, personal authorization is obtained through pop-up information or asking the individual to upload their personal information by themselves; among them, personal information processing may include information such as personal information processors, personal information processing purposes, processing methods, and types of personal information processed.

[0143] 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.

[0144] Please refer to Figure 6 , Figure 6Schematic structural diagram of a device for adjusting the pose of a guide, the device 1 for adjusting the pose of the guide includes: an acquisition unit 11, a control unit 12, and a determination unit 13, where:

[0145] The acquisition unit 11 is configured to acquire the first pose of the first three-dimensional model of the guide in the optical coordinate system, the second pose of the second three-dimensional model of the optical tracking device in the optical coordinate system, and at least three third poses 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;

[0146] The control unit 12 is configured to, when it is determined based on the first pose, the second pose, and the at least three third poses that the pose of the guide is the first pose and the guide affects target positioning, control the first three-dimensional model to rotate around the axis to the fourth pose, where the target positioning includes the optical tracking device's positioning of the at least three target markers;

[0147] The determination unit 13 is configured to, when the degree of influence on the target positioning when it is determined based on the first pose, the second pose, the at least three third poses, and the fourth pose that the pose of the guide is the fourth pose is lower than the degree of influence on the target positioning when the pose of the guide is the first pose, determine the target pose of the guide based on the fourth pose.

[0148] Combined with any implementation manner of the present application, the guide is installed on a robotic arm, and the movement of the robotic arm can drive the movement of the guide, and the movement range of the robotic arm is the first range;

[0149] The control unit 12 is further configured to:

[0150] Determine the second movement range of the first three-dimensional model based on the first movement range of the robotic arm;

[0151] Use the movement range of the first three-dimensional model being within the second movement range as a constraint condition to control the first three-dimensional model to rotate around the axis to the fourth pose.

[0152] Combined with any implementation manner of the present application, the control unit 12 is further configured to:

[0153] Control the first 3D model to start from the first pose and rotate a preset angle around the axis in the first direction, so that the pose of the first 3D model is the fifth pose;

[0154] When determining that the pose of the guide is the fifth pose based on the fifth pose, the second pose and the at least three third poses, and the guide affects the target positioning, control the first 3D model to start from the first pose and rotate the preset angle around the axis in the second direction, so that the pose of the first 3D model is the fourth pose, where the first direction is the opposite direction of the second direction.

[0155] Combined with any implementation manner of the present application, the control unit 12 is further configured to:

[0156] Control the first 3D model to start from the first pose and rotate a preset angle around the axis in the first direction, so that the pose of the first 3D model is the fifth pose;

[0157] When determining that the pose of the guide is the fifth pose based on the fifth pose, the second pose and the at least three third poses, and the guide affects the positioning of the at least three target markers by the optical tracking device, determine the first influence degree of the target positioning when the pose of the guide is the first pose, and determine the second influence degree of the target positioning when the pose of the guide is the fifth pose;

[0158] When the second influence degree is lower than the first influence degree, control the first 3D model to start from the fifth pose and rotate the preset angle around the axis in the first direction, so that the pose of the first 3D model is the fourth pose;

[0159] When the second influence degree is higher than the first influence degree, control the first 3D model to start from the first pose and rotate the preset angle around the axis in the second direction, so that the pose of the first 3D model is the fourth pose, where the first direction is the opposite direction of the second direction.

[0160] Combined with any implementation manner of the present application, the determination unit 13 is further configured to:

[0161] Based on the second pose and the at least three third poses, determine at least three connecting lines between the second 3D model and the at least three third 3D models;

[0162] When determining that the first 3D model intersects at least one of the at least three connecting lines based on the first pose, determine that the pose of the guide affects the target positioning when the pose of the guide is the first pose.

[0163] In combination with any embodiment of the present application, the determining unit 13 is further configured to:

[0164] Based on the first three-dimensional model being in the first pose, for the connection lines among the at least three connection lines that intersect the first three-dimensional model, determine the first quantity of the occluded markers among the at least three target markers when the first three-dimensional model is in the first pose, where the occluded markers include the target markers that cannot be located by the optical tracking device;

[0165] Based on the first three-dimensional model being in the fourth pose, for the connection lines among the at least three connection lines that intersect the first three-dimensional model, determine the second quantity of the occluded markers among the at least three target markers when the first three-dimensional model is in the fourth pose;

[0166] In the case where the second quantity is less than the first quantity, determine that the influence degree of the pose of the guide device being in the fourth pose on the target positioning is lower than the influence degree of the pose of the guide device being in the first pose on the target positioning.

[0167] In combination with any embodiment of the present application, the determining unit 13 is further configured to: in the case where the second quantity is 0, determine the target pose of the guide device based on the fourth pose.

[0168] In the embodiments of the present application, the optical coordinate system is constructed based on an optical tracking device. The optical tracking device determines the pose of a target object by positioning the poses of at least three target markers. When the pose of the guide device in the optical coordinate system is the first pose, the axis of the puncture guide rail of the guide device is aligned with the puncture path for the target object. After the adjustment device obtains the first pose of the first three-dimensional model of the guide device in the optical coordinate system, the second pose of the second three-dimensional model of the optical tracking device in the optical coordinate system, and the at least three third poses of the at least three third three-dimensional models of the at least three target markers in the optical coordinate system, when it is determined based on the first pose, the second pose, and the at least three third poses that the guide device affects target positioning when the pose of the guide device is the first pose, control the first three-dimensional model to rotate around the axis to the fourth pose, where the target positioning includes the positioning of at least three target markers by the optical tracking device. Then, in the case where it is determined based on the first pose, the second pose, the at least three third poses, and the fourth pose that the influence degree of the pose of the guide device being in the fourth pose on the target positioning is lower than the influence degree of the pose of the guide device being in the first pose on the target positioning, determine the pose of the guide device based on the fourth pose, which can not only align the axis of the puncture guide rail of the guide device with the puncture path, but also reduce the influence of the guide device on target positioning.

[0169] In some embodiments, the functions or modules included in the apparatus provided by the embodiments of the present application can be used to execute the methods 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.

[0170] Figure 7 FIG. is a schematic hardware structure diagram of an electronic device provided by an embodiment of the present application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 further 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 through a connector, which includes various interfaces, transmission lines, or buses, etc. The embodiments of the present application do not limit this. It should be understood that in various embodiments of the present application, coupling refers to a mutual connection in a specific manner, including direct connection or indirect connection through other devices. For example, they can be connected through various interfaces, transmission lines, buses, etc.

[0171] The processor 21 can be one or more graphics processing units (GPUs). When the processor 21 is a single GPU, the GPU can be a single-core GPU or a multi-core GPU. Optionally, the processor 21 can be a processor group composed of multiple GPUs, and multiple processors are coupled to each other through one or more buses. Optionally, the processor can also be other types of processors, etc. The embodiments of the present application do not limit this.

[0172] The memory 22 can be used to store computer program instructions and various computer program codes including the program codes for executing the solutions 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 compact disc read-only memory (CD-ROM), and the memory is used for relevant instructions and data.

[0173] 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.

[0174] It can be understood that in the embodiments of the present application, the memory 22 can not only be used to store relevant instructions, but also be used to store relevant data. The embodiments of the present application do not limit the specific data stored in this memory.

[0175] It can be understood that Figure 7 only a simplified design of an electronic device is shown. In practical applications, the electronic device may also separately 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.

[0176] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0177] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein. Those skilled in the art can also clearly understand that each embodiment of the present application has its own emphasis. For the convenience and conciseness of description, the same or similar parts may not be elaborated in different embodiments. Therefore, the parts not described or not detailedly described in a certain embodiment can be referred to the descriptions of other embodiments.

[0178] In several embodiments provided by 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 merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in an electrical, mechanical, or other forms.

[0179] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0180] In addition, in each embodiment of the present application, each functional unit may be integrated into a processing unit, may exist physically separately for each unit, or two or more units may be integrated into one unit.

[0181] In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it may 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 processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. 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 one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a digital versatile disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0182] Those of ordinary skill in the art can understand all or part of the processes in the methods of the above embodiments. These processes can be completed by relevant hardware instructed by a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

Claims

1. 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 determining unit, configured to determine at least three connecting lines between the second three-dimensional model and the at least three third three-dimensional models based on the second posture and the at least three third postures; The determining unit is further configured to, when it is determined based on the first posture that the first three-dimensional model intersects at least one of the at least three lines, determine that the position of the guide affects the target positioning when the position of the guide is the first posture; 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.

2. The device for adjusting the position of the introducer 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 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.

3. The device for adjusting the position of the introducer according to claim 2, characterized in that: 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.

4. The device for adjusting the position of the introducer according to claim 2, characterized in that: 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.

5. The device for adjusting the position of the introducer according to any one of claims 1 to 4, characterized in that: 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.

6. The device for adjusting the position of the introducer according to claim 5, characterized in that: 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.

7. 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 performs the following method: 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 position and posture of the target object by locating the positions and postures of the at least three target markers; 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; In a case where it is determined that the first three-dimensional model intersects at least one of the at least three lines based on the first posture, determining that the posture of the guide affects the positioning of the target when the posture is the first posture; 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.

8. The electronic device according to claim 7, 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 electronic device also performs the following method: 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.

9. The electronic device according to claim 8, characterized in that: The electronic device also performs the following method: 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.

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 following method: 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 position and posture of the target object by locating the positions and postures of the at least three target markers; 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; In a case where it is determined that the first three-dimensional model intersects at least one of the at least three lines based on the first posture, determining that the posture of the guide affects the positioning of the target when the posture is the first posture; 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.

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