Intraoperative localization and navigation method for surgical robots based on anti-interference electromagnetic tracking

Abstract

This application provides a method, apparatus, device, and computer-readable storage medium for intraoperative positioning and navigation of a surgical robot based on interference-resistant electromagnetic tracking. The method includes: deploying an electromagnetic generator within the surgical area to generate a time-division multiplexed multi-band electromagnetic field; acquiring the original electromagnetic signal from the end effector of the surgical instrument using a magnetic field detection device; performing interference-resistant filtering on the original electromagnetic signal to separate the target instrument signal from environmental noise; calculating the spatial coordinates and attitude angle of the surgical instrument based on the filtered signal; compensating for errors in the spatial coordinates using a multi-level calibration module; and matching the compensated coordinate data with preoperative medical images to generate a real-time positioning and navigation path. According to the embodiments of this application, intraoperative electromagnetic positioning and navigation can be performed interference-resistantly.

Description

Technical Field

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

[0002] Existing orthopedic surgical robots are generally equipped with infrared navigation systems. These systems are susceptible to obstruction by surgical instruments and movement of the patient or patient support devices, which can cause navigation deviations and surgical interruptions.

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

[0004] Susceptible to electromagnetic interference: Metal instruments or electronic devices in the surgical environment can easily cause magnetic field distortion, reducing 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 with anti-interference capabilities is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] This application provides a surgical robot intraoperative positioning and navigation method, device, equipment, and computer-readable storage medium based on anti-interference electromagnetic tracking, which can perform intraoperative electromagnetic positioning and navigation in the presence of interference.

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

[0009] An electromagnetic generator is placed within the surgical area to generate a time-division multiplexed multi-band electromagnetic field.

[0010] The raw electromagnetic signal at the end of the surgical instrument is obtained through a magnetic field detection device;

[0011] The original electromagnetic signal is subjected to anti-interference filtering to separate the target instrument signal from the environmental noise;

[0012] Based on the filtered signal, the spatial coordinates and attitude angles of the surgical instruments are calculated.

[0013] Error compensation for spatial coordinates is performed through a multi-level calibration module;

[0014] The compensated coordinate data is matched with preoperative medical images to generate a real-time positioning and navigation path.

[0015] Optional, also includes:

[0016] Monitor patient positional movement or instrument deformation to trigger dynamic calibration commands;

[0017] The navigation path is updated based on the dynamic calibration results and transmitted to the surgical robot control system;

[0018] The path offset is continuously verified while the robot is performing an operation; if it exceeds the threshold, the operation is paused.

[0019] After the surgery is completed, a navigation accuracy report is generated and key data is stored.

[0020] Optionally, the original electromagnetic signal is subjected to anti-interference filtering processing, including:

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

[0022] An adaptive filter is used to dynamically attenuate the interference frequency band;

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

[0024] Optional, multi-level calibration modules include:

[0025] First-level calibration: Global calibration based on a preset reference magnetic field strength matrix;

[0026] Second-level calibration: Adjust the coordinate mapping relationship based on the local magnetic field distortion data collected in real time during the operation;

[0027] Third-level calibration: Integrating auxiliary data from the optical positioning device to verify the consistency of electromagnetic navigation results.

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

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

[0030] The change in the posture angle of the surgical instrument due to deformation under force exceeds 1°;

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

[0032] Optional, preoperative medical image matching includes:

[0033] The electromagnetic navigation coordinates are registered with the three-dimensional reconstruction model of the CT / MRI images;

[0034] Optimize registration accuracy using the feature point iterative nearest point algorithm;

[0035] High-risk areas are marked and obstacle avoidance paths are generated.

[0036] Optionally, it also includes a real-time monitoring step for environmental electromagnetic interference:

[0037] Multiple magnetic field strength sensors were deployed at the edge of the surgical area;

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

[0039] The operating frequency of the electromagnetic generator is dynamically adjusted based on the heat map.

[0040] Secondly, embodiments of this application provide an intraoperative positioning and navigation system for a surgical robot based on anti-interference electromagnetic tracking, comprising:

[0041] The multi-band electromagnetic field generation module is used to deploy electromagnetic generators within the surgical area to generate time-division multiplexed multi-band electromagnetic fields.

[0042] The raw electromagnetic signal acquisition module is used to acquire the raw electromagnetic signal of the surgical instrument tip through a magnetic field detection device;

[0043] An anti-interference filtering module is used to perform anti-interference filtering on the original electromagnetic signal to separate the target instrument signal from environmental noise;

[0044] The spatial coordinate calculation module is used to calculate the spatial coordinates and attitude angles of surgical instruments based on the filtered signal.

[0045] The error compensation module is used to compensate for errors in spatial coordinates through a multi-level calibration module.

[0046] The positioning and navigation path generation module is used to match the compensated coordinate data with preoperative medical images to generate a real-time positioning and navigation path.

[0047] Thirdly, embodiments of this application provide 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 surgical robots based on anti-interference electromagnetic tracking.

[0049] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement an intraoperative positioning and navigation method for a surgical robot based on anti-interference electromagnetic tracking.

[0050] The surgical robot intraoperative positioning and navigation method, apparatus, device, and computer-readable storage medium based on anti-interference electromagnetic tracking according to the embodiments of this application are capable of performing intraoperative electromagnetic positioning and navigation in the absence of interference.

[0051] This intraoperative positioning and navigation method for surgical robots based on anti-interference electromagnetic tracking includes:

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

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

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

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

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

[0057] The compensated coordinate data is matched with preoperative medical images to generate a real-time positioning and navigation path. Attached Figure Description

[0058] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0059] Figure 1 This is a flowchart illustrating an embodiment of the intraoperative positioning and navigation method for a surgical robot based on anti-interference electromagnetic tracking provided in this application.

[0060] Figure 2 This is a schematic diagram of the structure of an intraoperative positioning and navigation system for a surgical robot based on anti-interference electromagnetic tracking, provided in one embodiment of this application.

[0061] Figure 3 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0062] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

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

[0064] To address the problems of the prior art, embodiments of this 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. The intraoperative positioning and navigation method for a surgical robot based on anti-interference electromagnetic tracking provided in this application embodiment will be described first below.

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

[0066] S101. An electromagnetic generator is placed in the surgical area to generate a time-division multiplexed multi-band electromagnetic field.

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

[0068] S103. Perform anti-interference filtering on the original electromagnetic signal to separate the target instrument signal from environmental noise;

[0069] S104. Based on the filtered signal, calculate the spatial coordinates and attitude angles of the surgical instruments;

[0070] S105. Error compensation for spatial coordinates is performed 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 also includes:

[0073] Monitor patient positional movement or instrument deformation to trigger dynamic calibration commands;

[0074] The navigation path is updated based on the dynamic calibration results and transmitted to the surgical robot control system;

[0075] The path offset is continuously verified while the robot is performing an operation; if it exceeds the threshold, the operation is paused.

[0076] After the surgery is completed, a navigation accuracy report is generated and key data is stored.

[0077] In one embodiment, the original electromagnetic signal is subjected to anti-interference filtering processing, including:

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

[0079] An adaptive filter is used to dynamically attenuate the interference frequency band;

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

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

[0082] First-level calibration: Global calibration based on a preset reference magnetic field strength matrix;

[0083] Second-level calibration: Adjust the coordinate mapping relationship based on the local magnetic field distortion data collected in real time during the operation;

[0084] Third-level calibration: Integrating auxiliary data from the optical positioning device to verify the consistency of electromagnetic navigation results.

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

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

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

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

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

[0090] The electromagnetic navigation coordinates are registered with the three-dimensional reconstruction model of the CT / MRI images;

[0091] Optimize registration accuracy using the feature point iterative nearest point algorithm;

[0092] High-risk areas are marked and obstacle avoidance paths are generated.

[0093] In one embodiment, a real-time monitoring step of environmental electromagnetic interference is also included:

[0094] Multiple magnetic field strength sensors were deployed at the edge of the surgical area;

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

[0096] The operating frequency of the electromagnetic generator is dynamically adjusted based on the heat map.

[0097] Figure 2 This is a schematic diagram of the structure of an intraoperative positioning and navigation system for a surgical robot based on anti-interference electromagnetic tracking, provided in one embodiment of this application.

[0098] This intraoperative positioning and navigation system for surgical robots based on anti-interference electromagnetic tracking includes:

[0099] The multi-band electromagnetic field generation module 201 is used to deploy an electromagnetic generator in the surgical area to generate a time-division multiplexed multi-band electromagnetic field.

[0100] The raw electromagnetic signal acquisition module 202 is used to acquire the raw electromagnetic signal of the end of the surgical instrument through a magnetic field detection device;

[0101] The anti-interference filtering processing module 203 is used to perform anti-interference filtering processing on the original electromagnetic signal to separate the target instrument signal from the environmental noise;

[0102] The spatial coordinate calculation module 204 is used to calculate the spatial coordinates and attitude angles of the surgical instruments based on the filtered signal.

[0103] Error compensation module 205 is used to perform error compensation on spatial coordinates through a multi-level calibration module;

[0104] The positioning and navigation path generation module 206 is used to match the compensated coordinate data with the preoperative medical images to generate a real-time positioning and navigation path.

[0105] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

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

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

[0108] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 302 may include removable or non-removable (or fixed) media. Where suitable, memory 302 may be internal or external to an electronic device. In a particular embodiment, memory 302 may be a non-volatile solid-state memory.

[0109] In one embodiment, memory 302 may be 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 flash memory, or a combination of two or more of these.

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

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

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

[0113] Bus 310 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, 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), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth 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 buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0114] Furthermore, in conjunction with the intraoperative positioning and navigation method for surgical robots based on anti-interference electromagnetic tracking in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement any of the intraoperative positioning and navigation methods for surgical robots based on anti-interference electromagnetic tracking in the above embodiments.

[0115] It should be clarified that this application is not limited to the specific configurations and processes described above and shown 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 shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0116] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0117] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0118] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, systems, and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. 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 is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0119] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for intraoperative positioning and navigation of a surgical robot based on interference-resistant electromagnetic tracking, characterized in that Comprising: Arranging electromagnetic generators in the surgical area to generate time-division multiplexed multi-frequency electromagnetic fields; Obtaining the original electromagnetic signal of the end of the surgical instrument through the magnetic field detection device; Anti-interference filtering processing of the original electromagnetic signal to separate the target instrument signal and the environmental noise; Based on the filtered signal, the spatial coordinates and attitude angle of the surgical instrument are calculated; Through the multi-level calibration module, the error of the spatial coordinates is compensated; Match the compensated coordinate data with the preoperative medical image to generate real-time positioning navigation path.

2. The anti-jamming electromagnetic tracking based intraoperative positioning and navigation method of claim 1, wherein, Also including: Monitor patient position movement or instrument deformation to trigger dynamic calibration instruction; Update the navigation path according to the dynamic calibration result and transmit it to the surgical robot control system; Continuously verify the path offset when the robot performs the operation, and pause the operation if the threshold is exceeded; Generate navigation accuracy report after the operation is completed, and store the key data.

3. The anti-jamming electromagnetic tracking based intraoperative positioning and navigation method of claim 2, wherein, Anti-interference filtering processing of the original electromagnetic signal, including: Identify the main frequency band of the interference source through frequency domain analysis; Use adaptive filter to dynamically attenuate the interference frequency band; Retain the characteristic frequency band signal corresponding to the target instrument.

4. The anti-jamming electromagnetic tracking based intraoperative positioning and navigation method of claim 3, wherein, The multi-level calibration module includes: First level calibration: global calibration based on the preset reference magnetic field intensity matrix; Second level calibration: adjust the coordinate mapping relationship according to the local magnetic field distortion data collected in real time during the operation; Third level calibration: fuse the auxiliary data of the optical positioning device to verify the consistency of the electromagnetic navigation result.

5. The anti-jamming electromagnetic tracking based intraoperative positioning and navigation method of claim 4, wherein, The dynamic calibration instruction trigger conditions include: The coordinate offset caused by patient breathing or body position movement exceeds 0.3mm; The attitude angle change caused by the deformation of the surgical instrument under stress exceeds 1°; The intensity of environmental electromagnetic noise reaches 80% of the preset safety threshold.

6. The anti-jamming electromagnetic tracking based intraoperative positioning and navigation method of claim 5, wherein, Preoperative medical image matching includes: Register the electromagnetic navigation coordinates with the three-dimensional reconstruction model of CT / MRI image; Optimize the registration accuracy through the iterative closest point algorithm of feature points; Label high-risk areas and generate obstacle avoidance path.

7. The anti-jamming electromagnetic tracking based intraoperative positioning and navigation method of claim 6, wherein, Also including the real-time monitoring step of environmental electromagnetic interference: Deploy multiple magnetic field intensity sensors at the edge of the surgical area; Construct the interference source distribution heat map and mark the high-risk interference area; Adjust the working frequency of the electromagnetic generator dynamically according to the heat map.

8. A surgical robot intraoperative positioning and navigation system based on interference-resistant electromagnetic tracking, characterized in that Comprising: Multi-frequency electromagnetic field generation module, for arranging electromagnetic generators in the surgical area to generate time-division multiplexed multi-frequency electromagnetic fields; Original electromagnetic signal acquisition module, for obtaining the original electromagnetic signal of the end of the surgical instrument through the magnetic field detection device; Anti-interference filtering processing module, for anti-interference filtering processing of the original electromagnetic signal to separate the target instrument signal and the environmental noise; Spatial coordinate calculation module, for calculating the spatial coordinates and attitude angle of the surgical instrument based on the filtered signal; Error compensation module, for compensating the error of the spatial coordinates through the multi-level calibration module; Positioning navigation path generation module, for matching the compensated coordinate data with the preoperative medical image to generate real-time positioning navigation path.

9. An electronic device, comprising: The electronic device includes a processor and a memory storing computer program instructions; The processor executes the computer program instructions to realize the surgical robot intraoperative positioning navigation method based on anti-interference electromagnetic tracking as claimed 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, and the computer program instructions are executed by the processor to implement the surgical robot intraoperative positioning and navigation method based on anti-interference electromagnetic tracking according to any one of claims 1-7.

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