Surgical robot positioning device and method based on multi-sensor fusion and medium

Abstract

The invention provides an intelligent surgical robot initial positioning device based on multi-sensor fusion, which comprises an alignment handle, a first sensing module, a second sensing module and a positioning module, and is characterized in that the first sensing module is fixed at the tail end of the alignment handle, the Z axis of the first sensing module is overlapped with the alignment handle, and the second sensing module is fixed at the tail end of the alignment handle; the quaternion output by the first sensing module is collected; the second sensing module is mounted on the intelligent surgical robot body so as to collect the length of the stay wire, and the second sensing module is rotatably connected with the alignment handle; and under the condition that the first sensing module and / or the second sensing module move, the positioning module determines the positioning of the mechanical arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the length of the stay wire output by the second sensing module. The invention further discloses an intelligent surgical robot initial positioning method based on multi-sensor fusion and corresponding electronic equipment.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to an intelligent surgical robot initial positioning device, method and computer-readable storage medium based on multi-sensor fusion. Background Art

[0002] As an important part of modern medical technology, the surgical robot system is widely used in various complex surgeries, such as cardiac surgery, orthopedic surgery, urological surgery, etc. Its core goal is to improve the accuracy of surgery, reduce trauma and improve surgical efficiency. The surgical robot system usually includes multiple subsystems such as a mechanical structure, sensors, actuators, and a control system. Among them, the initial positioning, as the starting stage of the surgical robot system, its accuracy and efficiency directly affect the effect and safety of the entire surgical process.

[0003] Initial positioning refers to the process of accurately moving the robotic arm or manipulator to a predetermined initial position and posture at the beginning of the surgery. This process requires accurately identifying the position relationship of the surgical robot relative to the patient, the operating table or other reference coordinate systems in the complex surgical environment and making adjustments. Due to the complexity of the surgical environment and the high risk of surgical operations, the accuracy and reliability of initial positioning are crucial. The traditional initial positioning methods have the following core defects: (1) Collaborative dragging method: The collaborative dragging method relies on manual adjustment by the operator. Specifically, manually adjust the position and posture of the robotic arm. However, in a complex environment, it is difficult to ensure the accuracy and stability of manual operation, especially in the case of high-precision positioning, errors are likely to occur. In addition, the collaborative dragging method takes a long time, reducing surgical efficiency, and there are subjective differences between different operators, resulting in poor repeatability. (2) Host computer control method: Although the host computer control method reduces manual intervention, it is still a human-in-the-loop control, facing the problem of limited environmental perception ability, resulting in insufficient positioning accuracy or long time consumption. At the same time, when the host computer controls the initial posture, it often lacks sufficient flexibility and is difficult to handle emergencies in the complex surgical environment, affecting the effect of the entire initial positioning. Moreover, in the surgical preparation stage and the surgical process of the minimally invasive surgical robot, the positioning is mainly achieved by manual dragging, and only in the process of contraction and expansion can automatic positioning be performed, while the final alignment and other processes still cannot be automatic by dragging, commands, etc.; for example, the vision-based method uses a camera to obtain images, but the effect is not good when the light changes or is blocked. The force feedback-based method relies on force sensors, but is easily interfered by the outside world in a complex environment. The infrared positioning-based method has high accuracy, but is limited by the position and quantity of the markers and has limited applicability. In summary, how to quickly and efficiently achieve positioning through multi-sensors is of increasing importance for surgical treatment. Summary of the Invention

[0004] The present invention provides an initial positioning device, method and computer-readable storage medium for an intelligent surgical robot based on multi-sensor fusion. Based on the collaborative positioning technology of multi-sensor fusion, measurement and solution are performed through attitude acquisition data more than twice to achieve accurate and efficient surgical positioning.

[0005] In a first aspect, an initial positioning device for an intelligent surgical robot based on multi-sensor fusion is provided, including: an alignment handle, a first sensing module, a second sensing module, and a positioning module. Wherein, the first sensing module is fixed at the end of the alignment handle, and the Z-axis of the first sensing module coincides with the handle of the alignment handle to collect the quaternion output by the first sensing module; the second sensing module is installed on the body of the intelligent surgical robot to collect the wire-pulling length, and the second sensing module is rotatably connected to the alignment handle; when the first sensing module and / or the second sensing module move, the positioning module determines the positioning of the robotic arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the wire-pulling length output by the second sensing module.

[0006] In some embodiments, it further includes: a punch card. When the alignment handle is in the measurement position, the female punch card head is used to dock with the male alignment handle head.

[0007] In some embodiments, the positioning module determines the positioning of the robotic arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the wire-pulling length output by the second sensing module, including the following calculation steps: Step S1: Calculate the rotation matrix R from the quaternion: , Wherein, (x, y, z) represents the vector part of the quaternion. x is the product of the x component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle. y is the product of the y component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle. z is the product of the z component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle. w represents the scalar part of the quaternion, that is, the cosine value of the half angle, and R represents the rotation matrix; Step S2: Extract the direction vector direction: , Among them, direction represents the direction vector, (x, y, z) represents the vector part of the quaternion, x is the product of the x component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, y is the product of the y component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, z is the product of the z component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, and w represents the scalar part of the quaternion, that is, the cosine value of the half angle; Step S3: Calculate the three-dimensional position coordinates P of the alignment handle connection point: , Among them, direction represents the direction vector, P 末端 represents the three-dimensional position variable of the end of the alignment handle, d represents the length of the alignment handle, and P 连接 represents the three-dimensional position variable of the alignment handle connection point; Step S4: Establish an equation: Among them, P g represents the three-dimensional position coordinates of the second induction module, P 连接 represents the three-dimensional position variable of the alignment handle connection point, L represents the length of the pull wire, x 连接 , y 连接 , z 连接 respectively represent the three-dimensional position coordinates of the alignment handle connection point; x g , y g , z g respectively represent the three-dimensional position coordinates of the second induction module; Step S5: The male stamping head at the end of the alignment handle aligns with the female stamping head and changes three postures, and solve the equation in step 4, where the corresponding direction vector direction after the posture change follows step S2.

[0008] In some embodiments, the positioning module is further configured to record the positioning of the robotic arm of the intelligent surgical robot that has been determined as the initial value for the next movement.

[0009] In some embodiments, the first induction module performs an initialization operation before use so that the zero bias error is less than 0.05°; and the sampling frequency is set to 100 Hz.

[0010] In some embodiments, the pull wire range of the second induction module is 0 to 1000 mm.

[0011] In some embodiments, the first induction module is an inertial sensor; the second induction module is a pull wire sensor.

[0012] In a second aspect, a method for initial positioning of an intelligent surgical robot based on multi-sensor fusion is provided. Using the above-mentioned device for initial positioning of an intelligent surgical robot based on multi-sensor fusion, the following steps are performed, including: The first sensing module is fixed to the end of the alignment handle, and the Z-axis of the first sensing module coincides with the handle of the alignment handle, so as to collect the quaternion output by the first sensing module; The second sensing module is installed on the intelligent surgical robot body to collect the wire length, and the second sensing module is rotatably connected to the alignment handle; When the first sensing module and / or the second sensing module move, the positioning module determines the positioning of the robotic arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the wire length output by the second sensing module.

[0013] In a third aspect, the present invention provides an electronic device, which includes: a processor; a memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the above-mentioned method for initial positioning of an intelligent surgical robot based on multi-sensor fusion is implemented.

[0014] In a fourth aspect, the present invention further provides a computer-readable storage medium, characterized in that program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the above-mentioned method for initial positioning of an intelligent surgical robot based on multi-sensor fusion.

[0015] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects: First, based on the collaborative positioning technology of multi-sensor fusion, through the data fusion of the inertial sensor and the wire sensor, combined with the attitude information (quaternion) and the displacement information (change in wire length), high-precision pose recording is achieved.

[0016] Second, the use of the positioning module to achieve automatic adjustment of the robot (inverse kinematics control of position and attitude) to achieve positioning, improving efficiency and reducing time consumption.

[0017] The invention content part is provided to introduce the selection of concepts in a simplified form, which will be further described in the specific implementation manner below. The invention content part is not intended to identify the important features or essential features of the present disclosure, nor is it intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By describing the exemplary embodiments of the present disclosure in more detail in conjunction with the drawings, the above and other objects, features and advantages of the present disclosure will become more obvious, wherein, in the exemplary embodiments of the present disclosure, the same reference numerals generally represent the same components.

[0019] Figure 1 The hardware schematic diagram of the initial positioning device of the intelligent surgical robot based on multi-sensor fusion provided by the embodiment of the present application is shown; Figure 2 The position parameter schematic diagram of the initial positioning device of the intelligent surgical robot based on multi-sensor fusion provided by the embodiment of the present application is shown. Detailed implementation manners

[0020] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure will be more thorough and complete, and can fully convey the scope of the present disclosure to those skilled in the art.

[0021] The term "including" and its variants used herein mean open inclusion, that is, "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions below.

[0022] The present application provides an initial positioning device of an intelligent surgical robot based on multi-sensor fusion. Please refer to Figure 1 , which is a schematic diagram of the first embodiment of the present application. The following will be described in detail with reference to Figure 1 an initial positioning device of an intelligent surgical robot based on multi-sensor fusion provided by the first embodiment of the present application.

[0023] The present application provides an initial positioning device of an intelligent surgical robot based on multi-sensor fusion. The processing flow of the device may include the following components: an alignment handle, a first sensing module, a second sensing module, and a positioning module. Among them, the first sensing module is fixed at the end of the alignment handle, and the Z-axis of the first sensing module coincides with the handle of the alignment handle, so as to collect the quaternion output by the first sensing module; the second sensing module is installed on the intelligent surgical robot body to collect the wire pulling length, and the second sensing module is rotatably connected with the alignment handle; when the first sensing module and / or the second sensing module moves, the positioning module determines the positioning of the robotic arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the wire pulling length output by the second sensing module.

[0024] In this embodiment, when the alignment handle moves, the quaternion output by the first sensing module and the wire-pulling length output by the second sensing module after the movement can be obtained, and the pose of the robotic arm of the intelligent surgical robot can be determined. Based on the cooperative positioning technology of multi-sensor fusion, through the data fusion of an inertial sensor (Inertial Measurement Unit) and a wire-pulling sensor, combined with attitude information. For example, (x, y, z) represents the vector part, where x is the product of the x component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, y is the product of the y component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, z is the product of the z component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, and w represents the four-scalar part, that is, the cosine value of the half angle; thus, (x, y, z, w) constitutes a quaternion. This embodiment can also take into account displacement information, such as the change in wire-pulling length, so as to achieve high-precision pose recording.

[0025] When the first sensing module and / or the second sensing module moves, the pose module determines the pose of the robotic arm of the intelligent surgical robot according to the quaternion of the first sensing module and the wire-pulling length output by the second sensing module. The use of the pose module to achieve automatic adjustment of the robot (inverse kinematics control of position and attitude) to achieve pose, improving efficiency and reducing time consumption. As Figure 1 FIG. shows a hardware schematic diagram of an initial pose device of an intelligent surgical robot based on multi-sensor fusion provided by an embodiment of the present application.

[0026] In some exemplary embodiments disclosed in the present invention, it further includes: a poke card. When the alignment handle is in the measurement position, the female head of the poke card is used to dock with the male head of the alignment handle.

[0027] In some exemplary embodiments disclosed in the present invention, the pose module determines the pose of the robotic arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the wire-pulling length output by the second sensing module, including the following calculation steps: Step S1: Calculate the rotation matrix R from the quaternion: , where (x, y, z) represents the vector part of the quaternion, x is the product of the x component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, y is the product of the y component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, z is the product of the z component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, w represents the scalar part of the quaternion, that is, the cosine value of the half angle, and R represents the rotation matrix; Step S2: Extract the direction vector direction: , where direction represents the direction vector, (x, y, z) represents the vector part of the quaternion, x is the product of the x-component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, y is the product of the y-component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, z is the product of the z-component of the unit vector of the rotation axis of the vector part of the quaternion and the sine of the half angle, and w represents the scalar part of the quaternion, that is, the cosine value of the half angle; Step S3: Calculate the three-dimensional position coordinates P of the alignment handle connection point: , where direction represents the direction vector, P 末端 represents the three-dimensional position variable of the end of the alignment handle, d represents the length of the alignment handle, and P 连接 represents the three-dimensional position variable of the alignment handle connection point; Step S4: Establish an equation: where P g represents the three-dimensional position coordinates of the second induction module, P 连接 represents the three-dimensional position variable of the alignment handle connection point, L represents the length of the pull wire, x 连接 , y 连接 , z 连接 respectively represent the three-dimensional position coordinates of the alignment handle connection point; x g , y g , z g respectively represent the three-dimensional position coordinates of the second induction module; Step S5: The male stamping head at the end of the alignment handle aligns with the female stamping head to change three postures, and solve the equation in step 4, where the corresponding direction vector direction after the posture change follows the quantity in step S2.

[0028] As Figure 2 shown, referring to the position parameter schematic diagram of the initial positioning device of the intelligent surgical robot based on multi-sensor fusion, only the quaternions ( ) and the pull wire length ( ) measurement data of the inertial sensor in two different postures are shown, combined with the known sensor position P and the handle length d. In order to solve the equations by combining the rotation matrix and the direction vector, more measurements in different postures can be carried out to calculate the target position coordinates P and the posture matrix.

[0029] In some exemplary embodiments disclosed by the present invention, the positioning module is further configured to record the positioning of the robotic arm of the intelligent surgical robot that has been determined as the initial value for the next movement.

[0030] In some exemplary embodiments disclosed by the present invention, the first sensing module performs an initialization operation before use, such that the zero-bias error is less than 0.05°; and the sampling frequency is set to 100 Hz.

[0031] In some exemplary embodiments disclosed by the present invention, the wire-pulling range of the second sensing module is 0 to 1000 mm.

[0032] In some exemplary embodiments disclosed by the present invention, the first sensing module is an inertial sensor; the second sensing module is a wire-pulling sensor.

[0033] Another exemplary embodiment of the present invention further provides a method for initial positioning of an intelligent surgical robot based on multi-sensor fusion. Using the above-mentioned device for initial positioning of an intelligent surgical robot based on multi-sensor fusion, the following steps are performed, including: the first sensing module is fixed to the end of the alignment handle, and the Z-axis of the first sensing module coincides with the handle of the alignment handle, so as to collect the quaternion output by the first sensing module; the second sensing module is installed on the body of the intelligent surgical robot to collect the wire-pulling length, and the second sensing module forms a rotatable connection with the alignment handle; when the first sensing module and / or the second sensing module moves, the positioning module determines the positioning of the robotic arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the wire-pulling length output by the second sensing module.

[0034] An electronic device provided by an embodiment of the present invention may include a processor and a memory. Optionally, the electronic device may further include a transceiver. Among them, the processor is connected to the memory and the transceiver, such as through a communication bus. Computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the steps of the method for initial positioning of an intelligent surgical robot based on multi-sensor fusion as described above are implemented.

[0035] In a specific implementation, as an embodiment, the processor may include one or more CPUs.

[0036] In a specific implementation, as an embodiment, the electronic device may also include multiple processors. For example, each of the processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, the processor may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0037] Among them, the memory is used to store the software program for implementing the solution of the present invention and is controlled by the processor for execution. The specific implementation manner can refer to the above method embodiments and will not be elaborated here.

[0038] The transceiver is used to communicate with a network device or with a terminal device.

[0039] Optionally, the transceiver may include a receiver and a transmitter. Among them, the receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0040] Optionally, the transceiver may be integrated with the processor or exist independently and be coupled to the processor through the interface circuit of the electronic device. The embodiments of the present invention do not make specific limitations on this.

[0041] It should be noted that the structure of the above electronic device does not constitute a limitation on the electronic device. The actual electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements. In addition, the technical effects of the electronic device can refer to the technical effects of the above method embodiments and will not be elaborated here.

[0042] In an exemplary embodiment, the present invention also provides a computer-readable storage medium. At least one instruction is stored in the computer-readable storage medium, and the at least one instruction is loaded and executed by the processor to implement the steps of the above method for initial positioning of an intelligent surgical robot based on multi-sensor fusion. For example, the computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0043] An embodiment of the present invention also provides an electronic device, where the electronic device includes: a processor; a memory, and computer-readable instructions are stored on the memory. When the computer-readable instructions are executed by the processor, the above method for initial positioning of an intelligent surgical robot based on multi-sensor fusion is implemented.

[0044] An embodiment of the present invention provides a computer-readable storage medium, characterized in that program code is stored in the computer-readable storage medium, and the program code can be called by the processor to execute the above method for initial positioning of an intelligent surgical robot based on multi-sensor fusion.

[0045] It should also be understood that the memory in the embodiments of the present invention can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM).

[0046] It should be understood that the term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Among them, A and B can be singular or plural. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood by referring to the context before and after.

[0047] It should be understood that in various embodiments of the present invention, the magnitudes of the sequence numbers of the above processes do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0048] Those of ordinary skill in the art will appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art 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 invention.

[0049] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices, apparatuses, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0050] In several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses, 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 device, 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. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0051] The embodiments of the present disclosure have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, the practical application, or the technical improvement of the technology in the market, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An initial positioning device for an intelligent surgical robot based on multi-sensor fusion, characterized in that: include: Align the handles, The first sensing module, a second sensing module, and Positioning module, in, The first sensing module is fixed to the end of the alignment handle, and the Z axis of the first sensing module coincides with the handle of the alignment handle, so as to collect the quaternion output by the first sensing module; The second sensing module is installed on the intelligent surgical robot body to collect the length of the pull wire, and the second sensing module is rotatably connected to the alignment handle; When the first sensing module and / or the second sensing module moves, the positioning module determines the positioning of the robotic arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the pull wire length output by the second sensing module.

2. The intelligent surgical robot initial positioning device based on multi-sensor fusion according to claim 1 is characterized in that: Also includes: A poke card, when the alignment handle is in the measuring position, the poke card female head is used to dock with the alignment handle male head.

3. The initial positioning device of an intelligent surgical robot based on multi-sensor fusion according to claim 2, characterized in that: The positioning module determines the positioning of the mechanical arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the length of the pull line of the second sensing module, including the following calculation steps: Step S1: Calculate the rotation matrix R from the quaternion: ， Wherein, (x, y, z) represents the vector part of the quaternion, x is the product of the x component of the unit vector of the rotation axis of the vector part of the quaternion and the half-angle sine, y is the product of the y component of the unit vector of the rotation axis of the vector part of the quaternion and the half-angle sine, z is the product of the z component of the unit vector of the rotation axis of the vector part of the quaternion and the half-angle sine, w represents the scalar part of the quaternion, that is, the half-angle cosine value, and R represents the rotation matrix; Step S2: Extract direction vector direction: ， Wherein, direction represents the direction vector, (x, y, z) represents the vector part of the quaternion, x is the product of the x component of the rotation axis unit vector of the vector part of the quaternion and the half-angle sine, y is the product of the y component of the rotation axis unit vector of the vector part of the quaternion and the half-angle sine, z is the product of the z component of the rotation axis unit vector of the vector part of the quaternion and the half-angle sine, and w represents the scalar part of the quaternion, that is, the half-angle cosine value; Step S3: Calculate the three-dimensional position coordinates P of the alignment handle connection point: ， Wherein, direction represents the direction vector, P 末端 represents the three-dimensional position variable of the end of the alignment handle, d represents the length of the alignment handle, P 连接 a variable representing the three-dimensional position of the alignment handle connection point; Step S4: Establish the equation: Among them, P g represents the three-dimensional position coordinates of the second sensing module, P 连接 represents the three-dimensional position variable of the alignment handle connection point, L represents the length of the pull line, x 连接 , y 连接 , z 连接 They represent the three-dimensional position coordinates of the connection points of the alignment handles respectively; g ,y g , z g Respectively represent the three-dimensional position coordinates of the second sensing module; Step S5: The male poking head at the end of the alignment handle is aligned with the female poking head and changes three postures, and the equation of step 4 is solved, wherein the corresponding direction vector direction of the posture after the change complies with step S2.

4. The initial positioning device of an intelligent surgical robot based on multi-sensor fusion according to claim 3 is characterized in that: The positioning module is also used to record the determined positioning of the robotic arm of the intelligent surgical robot as an initial value for the next movement.

5. The initial positioning device of an intelligent surgical robot based on multi-sensor fusion according to claim 4, characterized in that: The first sensing module is initialized before use so that the zero bias error is less than 0.05°; and the sampling frequency is set to 100 Hz.

6. The initial positioning device of an intelligent surgical robot based on multi-sensor fusion according to claim 5, characterized in that: The wire pulling range of the second sensing module is 0~1000mm.

7. The intelligent surgical robot initial positioning device based on multi-sensor fusion according to any one of claims 1 to 6, characterized in that: The first sensing module is an inertial sensor; The second sensing module is a wire sensor.

8. An initial positioning method for an intelligent surgical robot based on multi-sensor fusion, characterized in that: Using the intelligent surgical robot initial positioning device based on multi-sensor fusion according to any one of claims 1 to 6, the following steps are performed, including: The first sensing module is fixed to the end of the alignment handle, and the Z axis of the first sensing module coincides with the handle of the alignment handle, so as to collect the quaternion output by the first sensing module; The second sensing module is installed on the intelligent surgical robot body to collect the length of the pull wire, and the second sensing module is rotatably connected to the alignment handle; When the first sensing module and / or the second sensing module moves, the positioning module determines the positioning of the robotic arm of the intelligent surgical robot according to the quaternion output by the first sensing module and the pull wire length output by the second sensing module.

9. An electronic device, characterized in that: The electronic device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the initial positioning method of the intelligent surgical robot based on multi-sensor fusion as claimed in claim 8 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, and the program code can be called by a processor to execute the initial positioning method of an intelligent surgical robot based on multi-sensor fusion as described in claim 8.

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