Surgical robot intraoperative positioning and navigation method based on anti-interference electromagnetic tracking

Abstract

The invention provides a surgical robot intraoperative positioning and navigation method, device and equipment based on anti-interference electromagnetic tracking and a computer readable storage medium. The intraoperative positioning and navigation method of the surgical robot based on anti-interference electromagnetic tracking comprises the following steps: arranging an electromagnetic generator in a surgical area, and generating a time-division multiplexing multi-band electromagnetic field; acquiring an original electromagnetic signal at the tail end of the surgical instrument through a magnetic field detection device; anti-interference filtering processing is carried out on the original electromagnetic signal, and a target instrument signal and environment noise are separated; calculating a space coordinate and an attitude angle of the surgical instrument based on the filtered signal; error compensation is carried out on the space coordinates through a multi-stage calibration module; and matching the compensated coordinate data with a preoperative medical image to generate a real-time positioning navigation path. According to the embodiment of the invention, intraoperative electromagnetic positioning navigation can be carried out in an anti-interference manner.

Description

Technical Field

[0001] This application belongs to the field of positioning and navigation, and particularly relates to a method, device, equipment and computer-readable storage medium for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking. Background Art

[0002] Existing orthopedic surgical robots are generally equipped with an infrared navigation system, which is vulnerable to occlusion by intraoperative items and the movement of patients or patient support devices, resulting in navigation deviation and surgical interruption.

[0003] Electromagnetic navigation technology can solve the above problems, but the existing electromagnetic navigation technology has the following defects:

[0004] Susceptible to electromagnetic interference: Metal instruments or electronic devices in the surgical environment can easily cause magnetic field distortion, reducing the positioning accuracy.

[0005] Low calibration efficiency: Traditional calibration requires manual intervention, which is time-consuming and prone to introducing errors.

[0006] Therefore, how to perform intraoperative electromagnetic positioning and navigation anti-interference is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0007] The embodiments of this application provide a method, device, equipment and computer-readable storage medium for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking, which can perform intraoperative electromagnetic positioning and navigation anti-interference.

[0008] In a first aspect, the embodiments of this application provide a method for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking, including:

[0009] Arrange electromagnetic generators in the surgical area to generate a multi-band electromagnetic field with time-division multiplexing;

[0010] Obtain the original electromagnetic signal at the end of the surgical instrument through a magnetic field detection device;

[0011] Perform anti-interference filtering on the original electromagnetic signal to separate the target instrument signal and environmental noise;

[0012] Based on the filtered signal, calculate the spatial coordinates and attitude angles of the surgical instrument;

[0013] Perform error compensation on the spatial coordinates through a multi-level calibration module;

[0014] Match the compensated coordinate data with the preoperative medical image to generate a real-time positioning and navigation path.

[0015] Optionally, it further includes:

[0016] Monitor the patient's body position movement or instrument deformation to trigger a dynamic calibration instruction;

[0017] Update the navigation path according to the dynamic calibration result and transmit it to the surgical robot control system;

[0018] Continuously verify the path offset during the robot's operation, and pause the operation if it exceeds the threshold;

[0019] Generate a navigation accuracy report after the surgery is completed and store the key data.

[0020] Optionally, perform anti-interference filtering on the original electromagnetic signal, including:

[0021] Identify the main frequency band of the interference source through frequency domain analysis;

[0022] Use an adaptive filter to dynamically attenuate the interference frequency band;

[0023] Retain the signal of the characteristic frequency band corresponding to the target instrument.

[0024] Optionally, the multi-level calibration module includes:

[0025] The first-level calibration: perform global calibration based on a preset reference magnetic field intensity matrix;

[0026] The second-level calibration: adjust the coordinate mapping relationship according to the local magnetic field distortion data collected in real time during the operation;

[0027] The third-level calibration: fuse the auxiliary data of the optical positioning device to verify the consistency of the electromagnetic navigation result.

[0028] Optionally, the triggering conditions of the dynamic calibration instruction include:

[0029] The coordinate offset caused by the patient's breathing or body position movement exceeds 0.3 mm;

[0030] The attitude angle change caused by the force deformation of the surgical instrument exceeds 1°;

[0031] The environmental electromagnetic noise intensity reaches 80% of the preset safety threshold.

[0032] Optionally, the preoperative medical image matching includes:

[0033] Register the electromagnetic navigation coordinates with the three-dimensional reconstruction model of the CT / MRI image;

[0034] Optimize the registration accuracy through the feature point iterative closest point algorithm;

[0035] Mark the high-risk areas and generate an obstacle avoidance path.

[0036] Optionally, it further includes the step of real-time monitoring of environmental electromagnetic interference:

[0037] Deploy multiple magnetic field intensity sensors at the edge of the surgical area;

[0038] Construct a heat map of the interference source distribution and mark the high-risk interference areas;

[0039] Dynamically adjust the operating frequency of the electromagnetic generator according to the heat map.

[0040] In a second aspect, an intraoperative positioning and navigation system for a surgical robot based on anti-interference electromagnetic tracking provided by an embodiment of the present application includes:

[0041] A multi-band electromagnetic field generation module for arranging electromagnetic generators in the surgical area to generate a time-division multiplexed multi-band electromagnetic field;

[0042] A raw electromagnetic signal acquisition module for acquiring the raw electromagnetic signal at the end of the surgical instrument through a magnetic field detection device;

[0043] An anti-interference filtering processing module for performing anti-interference filtering processing on the raw electromagnetic signal to separate the target instrument signal and environmental noise;

[0044] A space coordinate calculation module for calculating the space coordinates and attitude angles of the surgical instrument based on the filtered signal;

[0045] An error compensation module for compensating the errors of the space coordinates through a multi-level calibration module;

[0046] A positioning and navigation path generation module for matching the compensated coordinate data with the preoperative medical images to generate a real-time positioning and navigation path.

[0047] In a third aspect, an embodiment of the present application provides an electronic device, which includes: a processor and a memory storing computer program instructions;

[0048] When the processor executes the computer program instructions, it implements an intraoperative positioning and navigation method for a surgical robot based on anti-interference electromagnetic tracking.

[0049] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, they implement an intraoperative positioning and navigation method for a surgical robot based on anti-interference electromagnetic tracking.

[0050] The intraoperative positioning and navigation method, device, equipment, and computer-readable storage medium of the embodiment of the present application can perform intraoperative electromagnetic positioning and navigation in an anti-interference manner.

[0051] The intraoperative positioning and navigation method for a surgical robot based on anti-interference electromagnetic tracking includes:

[0052] An electromagnetic generator is arranged within the surgical area to generate a time-division multiplexed multi-band electromagnetic field;

[0053] The original electromagnetic signal at the end of the surgical instrument is acquired through a magnetic field detection device;

[0054] The original electromagnetic signal is subjected to anti-interference filtering processing to separate the target instrument signal and environmental noise;

[0055] Based on the filtered signal, the spatial coordinates and attitude angles of the surgical instrument are calculated;

[0056] Error compensation is performed on the spatial coordinates through a multi-level calibration module;

[0057] The compensated coordinate data is matched with the preoperative medical image to generate a real-time positioning and navigation path. Description of the Drawings

[0058] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0059] Figure 1 is a flowchart of a method for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking provided by an embodiment of the present application;

[0060] Figure 2 is a structural diagram of a system for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking provided by an embodiment of the present application;

[0061] Figure 3 is a structural diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0062] The features and exemplary embodiments of various aspects of the present application will be described in detail below. To make the objectives, technical solutions, and advantages of the present application clearer, the following further describes the present application in detail in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than limiting the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present application by showing examples of the present application.

[0063] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0064] To solve the problems of the prior art, embodiments of the present application provide a method, system, device and computer-readable storage medium for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking. First, the method for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking provided by embodiments of the present application will be introduced below.

[0065] Figure 1 The flowchart of a method for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking provided by an embodiment of the present application is shown. As Figure 1 shown, the method for intraoperative positioning and navigation of a surgical robot based on anti-interference electromagnetic tracking includes:

[0066] S101: Arrange electromagnetic generators in the surgical area to generate a time-division multiplexed multi-band electromagnetic field;

[0067] S102: Obtain the original electromagnetic signals at the end of the surgical instrument through a magnetic field detection device;

[0068] S103: Perform anti-interference filtering on the original electromagnetic signals to separate the target instrument signals and environmental noise;

[0069] S104: Calculate the spatial coordinates and attitude angles of the surgical instrument based on the filtered signals;

[0070] S105: Perform error compensation on the spatial coordinates through a multi-level calibration module;

[0071] S106: Match the compensated coordinate data with the preoperative medical images to generate a real-time positioning and navigation path.

[0072] In one embodiment, it further includes:

[0073] Monitor the movement of the patient's body position or the deformation of the instrument, and trigger a dynamic calibration instruction;

[0074] Update the navigation path according to the dynamic calibration result and transmit it to the surgical robot control system;

[0075] Continuously verify the path offset during the robot's operation, and pause the operation if it exceeds the threshold;

[0076] Generate a navigation accuracy report after the surgery is completed and store the key data.

[0077] In one embodiment, the anti-interference filtering process for the original electromagnetic signal includes:

[0078] Identify the main frequency band of the interference source through frequency domain analysis;

[0079] Use an adaptive filter to dynamically attenuate the interference frequency band;

[0080] Retain the signal of the characteristic frequency band corresponding to the target instrument.

[0081] In one embodiment, the multi-level calibration module includes:

[0082] The first-level calibration: perform global calibration based on a preset reference magnetic field intensity matrix;

[0083] The second-level calibration: adjust the coordinate mapping relationship according to the local magnetic field distortion data collected in real time during the operation;

[0084] The third-level calibration: fuse the auxiliary data of the optical positioning device to verify the consistency of the electromagnetic navigation result.

[0085] In one embodiment, the triggering conditions of the dynamic calibration instruction include:

[0086] The coordinate offset caused by the patient's breathing or body position movement exceeds 0.3 mm;

[0087] The change in the attitude angle of the surgical instrument due to force deformation exceeds 1°;

[0088] The environmental electromagnetic noise intensity reaches 80% of the preset safety threshold.

[0089] In one embodiment, the preoperative medical image matching includes:

[0090] Register the electromagnetic navigation coordinates with the three-dimensional reconstruction model of the CT / MRI image;

[0091] Optimize the registration accuracy through the feature point iterative closest point algorithm;

[0092] Mark the high-risk areas and generate an obstacle avoidance path.

[0093] In one embodiment, it further includes the step of real-time monitoring of environmental electromagnetic interference:

[0094] Deploy multiple magnetic field intensity sensors at the edge of the surgical area;

[0095] Construct a heat map of the interference source distribution and mark the high-risk interference areas;

[0096] Dynamically adjust the operating frequency of the electromagnetic generator according to the heat map.

[0097] Figure 2 It is a schematic structural diagram of an intraoperative positioning and navigation system for a surgical robot based on anti-interference electromagnetic tracking provided by an embodiment of the present application.

[0098] The intraoperative positioning and navigation system for a surgical robot based on anti-interference electromagnetic tracking includes:

[0099] A multi-band electromagnetic field generation module 201, configured to arrange electromagnetic generators in the surgical area to generate a time-division multiplexed multi-band electromagnetic field;

[0100] A raw electromagnetic signal acquisition module 202, configured to acquire the raw electromagnetic signal at the end of the surgical instrument through a magnetic field detection device;

[0101] An anti-interference filtering processing module 203, configured to perform anti-interference filtering processing on the raw electromagnetic signal to separate the target instrument signal from the environmental noise;

[0102] A space coordinate calculation module 204, configured to calculate the space coordinates and attitude angles of the surgical instrument based on the filtered signal;

[0103] An error compensation module 205, configured to perform error compensation on the space coordinates through a multi-level calibration module;

[0104] A positioning and navigation path generation module 206, configured to match the compensated coordinate data with the preoperative medical image to generate a real-time positioning and navigation path.

[0105] Figure 3 It shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0106] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0107] Specifically, the above-mentioned processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0108] The memory 302 may include a mass storage for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 302 may include removable or non-removable (or fixed) media. Where appropriate, the memory 302 may be internal or external to the electronic device. In a particular embodiment, the memory 302 may be a non-volatile solid-state memory.

[0109] In one embodiment, the memory 302 may be a read only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0110] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement any one of the intraoperative positioning and navigation methods of the surgical robot based on anti-interference electromagnetic tracking in the above embodiments.

[0111] In one example, the electronic device may further include a communication interface 303 and a bus 310. Among them, as Figure 3 shown, the processor 301, the memory 302, and the communication interface 303 are connected through the bus 310 to complete communication with each other.

[0112] The communication interface 303 is mainly used to implement communication between the various modules, devices, units, and / or devices in the embodiments of the present application.

[0113] Bus 310 includes hardware, software, or both, and couples components of an electronic device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable bus or a combination of two or more of these. Where appropriate, bus 310 may include one or more buses. Although embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0114] In addition, in combination with the intraoperative positioning and navigation method of the surgical robot based on anti-interference electromagnetic tracking in the above embodiments, embodiments of the present application can provide a computer-readable storage medium to implement. Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by a processor, any one of the intraoperative positioning and navigation methods of the surgical robot based on anti-interference electromagnetic tracking in the above embodiments is implemented.

[0115] It should be clear that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0116] The functional modules shown in the structural block diagrams described above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present application are programs or code segments for performing the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave on a transmission medium or a communication link. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, Radio Frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0117] It should also be noted that in the exemplary embodiments mentioned in this application, some methods or systems are described based on a series of steps or devices. However, this application is not limited to the order of the above steps. That is to say, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0118] As described above with reference to the flowcharts and / or block diagrams of methods, systems, and computer program products according to embodiments of the present application. It should be understood that each block in the flowchart and / or block diagram, and the combination of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to generate a machine, such that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It should also be understood that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0119] As mentioned above, the above is only the specific implementation manner of this application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, modules, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A surgical robot intraoperative positioning and navigation method based on anti-interference electromagnetic tracking, characterized in that: include: Arrange an electromagnetic generator in the surgical area to generate a multi-band electromagnetic field for time-division multiplexing; Acquire the original electromagnetic signal at the end of the surgical instrument through a magnetic field detection device; Performing anti-interference filtering on the original electromagnetic signal to separate the target device signal from the environmental noise; Based on the filtered signal, the spatial coordinates and attitude angles of the surgical instrument are calculated; Error compensation of spatial coordinates is performed through a multi-level calibration module; The compensated coordinate data is matched with the preoperative medical images to generate a real-time positioning navigation path.

2. The intraoperative positioning and navigation method of a surgical robot based on anti-interference electromagnetic tracking according to claim 1 is characterized in that: Also includes: Monitor patient position movement or device deformation and trigger dynamic calibration instructions; The navigation path is updated according to the dynamic calibration result and transmitted to the surgical robot control system; Continuously verify the path offset while the robot is performing an operation, and suspend the operation if it exceeds the threshold; After the surgery, a navigation accuracy report is generated and key data is stored.

3. The intraoperative positioning and navigation method of a surgical robot based on anti-interference electromagnetic tracking according to claim 2 is characterized in that: The original electromagnetic signal is subjected to anti-interference filtering processing, including: Identify the main frequency band of the interference source through frequency domain analysis; Adopt adaptive filter to dynamically attenuate interference frequency band; The characteristic frequency band signal corresponding to the target device is retained.

4. The intraoperative positioning and navigation method of a surgical robot based on anti-interference electromagnetic tracking according to claim 3 is characterized in that: The multi-level calibration module includes: First level calibration: global calibration based on a preset reference magnetic field strength matrix; Second-level calibration: adjust the coordinate mapping relationship based on the local magnetic field distortion data collected in real time during the operation; Level 3 calibration: Integrate auxiliary data from the optical positioning device to verify the consistency of electromagnetic navigation results.

5. The intraoperative positioning and navigation method of a surgical robot based on anti-interference electromagnetic tracking according to claim 4 is characterized in that: Dynamic calibration command trigger conditions include: The coordinate deviation caused by the patient's breathing or body movement exceeds 0.3 mm; The posture angle of the surgical instrument changes by more than 1° due to deformation caused by force; The intensity of environmental electromagnetic noise reaches 80% of the preset safety threshold.

6. The intraoperative positioning and navigation method of a surgical robot based on anti-interference electromagnetic tracking according to claim 5, characterized in that: Preoperative medical imaging matching includes: Align the electromagnetic navigation coordinates with the three-dimensional reconstructed model of the CT / MRI image; Optimize registration accuracy through feature point iterative closest point algorithm; High-risk areas are marked and obstacle avoidance paths are generated.

7. The intraoperative positioning and navigation method of a surgical robot based on anti-interference electromagnetic tracking according to claim 6, characterized in that: It also includes real-time monitoring steps for environmental electromagnetic interference: Deploy multiple magnetic field strength sensors at the edge of the surgical area; Construct a heat map of interference source distribution and mark high-risk interference areas; The operating frequency of the electromagnetic generator is dynamically adjusted according to the thermal map.

8. A surgical robot intraoperative positioning and navigation system based on anti-interference electromagnetic tracking, characterized in that: include: A multi-band electromagnetic field generation module is used to arrange electromagnetic generators in the surgical area to generate a multi-band electromagnetic field for time-division multiplexing; The original electromagnetic signal acquisition module is used to acquire the original electromagnetic signal at the end of the surgical instrument through the magnetic field detection device; An anti-interference filtering processing module is used to perform anti-interference filtering on the original electromagnetic signal to separate the target device signal from the environmental noise; A spatial coordinate calculation module, used to calculate the spatial coordinates and posture angles of the surgical instrument based on the filtered signal; An error compensation module, used for performing error compensation on the spatial coordinates through a multi-level calibration module; The positioning navigation path generation module is used to match the compensated coordinate data with the preoperative medical image to generate a real-time positioning navigation path.

9. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the intraoperative positioning and navigation method of the surgical robot based on anti-interference electromagnetic tracking as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the intraoperative positioning and navigation method of a surgical robot based on anti-interference electromagnetic tracking as described in any one of claims 1 to 7.

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