Surgical robot system and offset acquisition method and device of reference array

Abstract

The invention relates to a surgical robot system and an offset acquisition method and device of a reference array. The acquisition efficiency of offset information of the reference array in the system can be improved. The system comprises a reference array which is used for being arranged on a target skeleton of a target object; a robot arm; the reference array is fixedly arranged on the base; the navigation equipment is used for tracking and acquiring the pose of each array; the system comprises a reference array, a reference array, and offset processing equipment, and the offset processing equipment is used for obtaining the intra-operative pose of the reference array relative to the reference array in the process that the mechanical arm moves along with the reference array, and processing the intra-operative pose of the reference array relative to the reference array. And determining first offset information of the reference array according to a first pose difference between the intra-operative pose and a pre-operative pose of the reference array relative to the reference array, wherein the pre-operative pose is obtained in advance.

Description

Technical Field

[0001] This application relates to the technical field of surgical navigation systems, and particularly to a surgical robot system, a method and device for obtaining the offset of a reference array of a surgical robot system, a computer device, a storage medium, and a computer program product. Background Art

[0002] With the development of computer technology and medical technology, during surgeries such as joint replacement surgeries, a surgical navigation system can be used for assistance. In this process, a reference array is set on the target bone. After determining the pose relationship between the reference array and the target bone, the target bone can be located by tracking the reference array.

[0003] However, during the surgery, the reference array may experience an instantaneous offset due to accidental collisions. In related technologies, the array offset can be obtained through a device, which requires the user to manually adjust the device's position first, and then determine the offset based on the adjusted field of view of the device. However, in this process, it is often impossible to ensure that the position adjusted by the user meets the requirements, and there are significant limitations. It is often difficult to quickly and accurately determine the offset information of the reference array. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a surgical robot system, a method and device for obtaining the offset of a reference array of a surgical robot system, a computer device, a storage medium, and a computer program product that can improve the efficiency of obtaining offset information.

[0005] In a first aspect, this application provides a surgical robot system. The system includes:

[0006] A reference array for being set on the target bone of a target object;

[0007] A robotic arm;

[0008] A reference array fixedly set on a base;

[0009] A navigation device for tracking and obtaining the poses of each array;

[0010] And,

[0011] An offset processing device for obtaining the intraoperative pose of the reference array relative to the reference array on the base during the process of the robotic arm following the reference array, and determining the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array on the base obtained in advance.

[0012] In one embodiment, the system further includes:

[0013] Calibration fixture, the calibration fixture is used to be arranged at a position different from the reference array on the target bone of the target object;

[0014] The offset processing device is further configured to:

[0015] Obtain the postoperative pose of the reference array relative to the calibration fixture;

[0016] Determine the second offset information of the reference array according to the second pose difference between the postoperative pose and the preoperative pose of the reference array relative to the calibration fixture.

[0017] In one embodiment, the offset processing device is further configured to:

[0018] Compensate the first preoperative pose of the target bone according to the second pose difference to obtain the first postoperative pose of the target bone; the first preoperative pose is the pose of the target bone relative to the reference array before surgery;

[0019] Generate an offset compensation prompt when the deviation between the first preoperative pose and the first postoperative pose of the target bone is greater than a threshold.

[0020] In one embodiment, the system further includes:

[0021] A display device, the display device is used to display the offset information representing the reference array, and the deviation between the second preoperative pose and the second postoperative pose of the target bone; the second preoperative pose is the pose of the target bone relative to the calibration fixture before surgery, and the second postoperative pose is the pose of the target bone relative to the calibration fixture calculated under the second pose difference.

[0022] In one embodiment, the offset processing device is further configured to:

[0023] Obtain the intraoperative pose of the reference array relative to the reference array under multiple cycles;

[0024] For the intraoperative pose determined in each cycle, obtain the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance, and determine the pose offset under the first pose difference;

[0025] Determine the first offset information of the reference array according to each of the pose offsets.

[0026] In one embodiment, the first offset information includes a position offset degree and an attitude offset degree; the offset processing device is further configured to:

[0027] When the degree of position offset is greater than the position offset threshold, send an instruction to the robotic arm to pause moving; or,

[0028] When the degree of pose offset is greater than the pose offset threshold, send an instruction to the robotic arm to pause moving.

[0029] In a second aspect, the present application also provides a method for obtaining the offset of a reference array of a surgical robot system. The method includes:

[0030] During the process of the robotic arm of the surgical robot system following the reference array, obtain the intraoperative pose of the reference array relative to the reference array of the surgical robot system; the reference array is used to be set on the target bone of the target object, and the reference array is fixedly arranged on the base;

[0031] According to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance, determine the first offset information of the reference array.

[0032] In one embodiment, the method further includes:

[0033] Obtain the postoperative pose of the reference array relative to the calibration fixture; the calibration fixture is used to be set at a position different from the reference array on the target bone of the target object;

[0034] According to the second pose difference between the postoperative pose and the preoperative pose of the reference array relative to the calibration fixture, determine the second offset information of the reference array.

[0035] In a third aspect, the present application also provides an apparatus for obtaining the offset of a reference array of a surgical robot system. The apparatus includes:

[0036] An intraoperative pose determination module, configured to obtain the intraoperative pose of the reference array relative to the reference array of the surgical robot system during the process of the robotic arm of the surgical robot system following the reference array; the reference array is used to be set on the target bone of the target object, and the reference array is fixedly arranged on the base;

[0037] A first offset information acquisition module, configured to determine the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance.

[0038] In one embodiment, the apparatus further includes:

[0039] The postoperative pose determination module is used to obtain the postoperative pose of the reference array relative to the calibration fixture; the calibration fixture is used to be set at a position different from the reference array on the target bone of the target object;

[0040] The second offset information acquisition module is used to determine the second offset information of the reference array according to the second pose difference between the postoperative pose and the preoperative pose of the reference array relative to the calibration fixture.

[0041] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0042] During the process that the robotic arm of the surgical robot system follows the reference array to move, obtain the intraoperative pose of the reference array relative to the reference array of the surgical robot system; the reference array is used to be set on the target bone of the target object, and the reference array is fixedly set on the base;

[0043] According to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance, determine the first offset information of the reference array.

[0044] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon. When the computer program is executed by a processor, the following steps are implemented:

[0045] During the process that the robotic arm of the surgical robot system follows the reference array to move, obtain the intraoperative pose of the reference array relative to the reference array of the surgical robot system; the reference array is used to be set on the target bone of the target object, and the reference array is fixedly set on the base;

[0046] According to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance, determine the first offset information of the reference array.

[0047] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0048] During the process that the robotic arm of the surgical robot system follows the reference array to move, obtain the intraoperative pose of the reference array relative to the reference array of the surgical robot system; the reference array is used to be set on the target bone of the target object, and the reference array is fixedly set on the base;

[0049] Determine the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance.

[0050] For the above surgical robot system, the method, device, computer device, storage medium, and computer program product for obtaining the offset of the reference array of the surgical robot system, the offset processing device can obtain the intraoperative pose of the reference array relative to the reference array during the movement of the robotic arm following the reference array, and determine the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance. In this embodiment, by determining the change in the preoperative and intraoperative poses of the reference array relative to the reference array during the movement of the robotic arm following the reference array, the first offset information of the reference array can be quickly and accurately obtained without any operation by the user, effectively improving the acquisition efficiency of the reference array offset information and saving the operation time of the operator. Description of the Drawings

[0051] Figure 1 It is a schematic structural diagram of a surgical robot system in an embodiment;

[0052] Figure 2a It is a schematic diagram of a partial structure in another surgical robot system in an embodiment;

[0053] Figure 2b It is a schematic diagram of a partial structure in another surgical robot system in an embodiment;

[0054] Figure 3 It is a schematic diagram of a pose offset in an embodiment;

[0055] Figure 4 It is a schematic diagram of the second postoperative pose and the second preoperative pose of a target bone in an embodiment;

[0056] Figure 5 It is a schematic diagram of the navigation process of a surgical robot system in an embodiment;

[0057] Figure 6 It is a schematic diagram of the process of a method for obtaining the offset of the reference array of a surgical robot system in an embodiment;

[0058] Figure 7 It is a structural block diagram of a device for obtaining the offset of the reference array of a surgical robot system in an embodiment;

[0059] Figure 8 It is an internal structural diagram of a computer device in an embodiment. Detailed Description of the Invention

[0060] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] In one embodiment, a surgical robot system is provided. Refer to Figure 1 , Figure 1 which is a schematic structural diagram of a surgical robot system in one embodiment. The surgical robot system may include: a reference array 100, a robotic arm 200, a reference array 300, a navigation device 400, and an offset processing device 500.

[0062] Among them, the reference array 100 is used to be arranged on the target bone of the target object. In some optional embodiments, the target bone may be a bone with abnormalities. The reference array 100 may be arranged near the abnormal area of the target bone where there are abnormalities. The vicinity of the abnormal area may be understood as within a preset range centered on the abnormal area. For example, if a hip replacement surgery is performed and a prosthesis is implanted to replace the diseased part, the reference array may be located at the pelvis of the target object. At this time, the reference array 100 may also be referred to as a pelvic array.

[0063] The robotic arm 200 can be used to drive each joint to control the pose of the end effector, assisting the user to accurately execute the surgical procedure. In order to maintain the operation accuracy, it may be configured with a function of following the movement of the reference array of the target bone, that is, the robotic arm 200 can move accordingly with the movement of the reference array on the target bone.

[0064] The reference array 300 can be fixedly arranged on the base, increasing the pose stability of the reference array 300 and reducing the probability of the pose of the reference array 300 changing during the surgical procedure, so that the pose of the reference array may not change or only change slightly (such as less than a preset threshold). In some optional embodiments, the base of the reference array 300 may be a surgical cart, that is, the reference array 300 may be installed on the surgical cart. At this time, the reference array 300 may also be referred to as a cart array. In addition, since the reference array is fixedly arranged on the base and has a stable pose, in some embodiments, it can also be used to locate the base coordinate system of the robotic arm 200.

[0065] The surgical robot system includes multiple arrays. For example, it may include at least a reference array and a reference array. In this embodiment, a navigation device 400 may be preset in the surgical robot system. The navigation device 400 can be used to track and obtain the poses of each array in the surgical robot system.

[0066] The offset processing device 500 can determine the pose relationship between arrays and the pose offset information of the arrays based on the poses of each array provided by the navigation device 400. In some alternative embodiments, the offset processing device 500 can be a terminal or a server.

[0067] In this embodiment, during the process of the robotic arm 200 following the reference array 100, the offset processing device 500 can determine the intraoperative pose of the reference array 100 relative to the reference array 300 according to the poses of the reference array 100 and the reference array 300 provided by the navigation device 400. For example, during the process of implanting a prosthesis into the target bone of the target object through the robotic arm 200, the offset processing device 500 can timely obtain the intraoperative pose of the reference array 300 relative to the reference array 300 through the navigation device 400; in some embodiments, during the process of implanting the prosthesis, a large impact force will be generated by vigorously knocking the auxiliary tool to make the prosthesis stable on the target bone, and the reference array fixed on the target bone will vibrate instantaneously during the knocking process. In the case where the robotic arm 200 has the follow-up function enabled, if the instantaneous offset of the reference array 100 is too large, the follow-up amplitude of the robotic arm 200 or its end tool will be too large, damaging the target bone and its tissues (such as the acetabular cup and the tissues near the affected area of the acetabulum).

[0068] In this regard, the offset processing device 500 can obtain the preoperative pose of the reference array 100 relative to the reference array, which can be understood as the pose collected under the state where the body position of the target object is stable and not subjected to violent collisions. In one embodiment, after the point cloud registration is completed, the navigation device 400 can pre-obtain the poses of the reference array 100 and the reference array 300 respectively before the operation, and the offset processing device 500 can calculate the preoperative pose of the reference array 100 relative to the reference array 300 based on the above information. Exemplarily, it can be calculated according to the following formula:

[0069] trolley T pelvisPre =( guidance T trolley ) -1 · guidance T pelvisPre

[0070] Wherein, trolley T plvisPre is the preoperative pose of the reference array 100 relative to the reference array 300, guidance T trolley is the pose of the reference array 300, guidance T plvisPre is the pose of the reference array 100.

[0071] Furthermore, the intraoperative pose of the reference array 100 relative to the reference array 300 can be compared with the preoperative pose of the reference array 100 relative to the reference array 300 obtained in advance to obtain the pose difference between the two. For the convenience of distinction, this pose difference is also called the first pose difference, so as to determine the offset information of the reference array during the operation. For the convenience of distinction, the reference array offset information determined based on the reference array is called the first offset information. The first offset information can be called the intraoperative offset information, which can be understood as the offset information detected during the operation (such as during the operation on the target bone).

[0072] Among them, the offset information can be information characterizing the offset of the reference array 100; exemplarily, the offset information can include at least one of the following: whether there is an offset, the degree of offset, and the direction of offset; among them, the degree of offset can be represented by a qualitative or quantitative method. For example, when represented by a qualitative method, the degree of offset can be an offset level, and when represented by a quantitative method, the degree of offset can be a specific offset angle and / or offset distance.

[0073] The above surgical robot system includes a reference array for being set on a target bone, a robotic arm, a reference array fixedly arranged on a base, a navigation device for tracking and obtaining the poses of each array, and an offset processing device. Among them, the offset processing device can obtain the intraoperative pose of the reference array relative to the reference array during the process of the robotic arm following the reference array, and determine the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance. In this embodiment, by determining the change in the preoperative and intraoperative poses of the reference array relative to the reference array during the process of the robotic arm following the reference array, the first offset information of the reference array can be quickly and accurately obtained without any operation by the user, effectively improving the acquisition efficiency of the reference array offset information and saving the operation time of the operator.

[0074] In one embodiment, the surgical robot system further includes a calibration fixture, which is used to be set at a position different from the reference array on the target bone of the target object, and the relative pose relationship between the calibration fixture and the target bone can be kept stable. Taking hip replacement surgery as an example, the calibration fixture can be an acetabular screw, which is fixed on the pelvis and has a constant relative pose with a certain reference point (hereinafter referred to as the acetabular point) of the acetabulum.

[0075] In this embodiment, the offset processing device 500 can also be used for:

[0076] Obtain the postoperative pose of the reference array relative to the calibration fixture; determine the second offset information of the reference array according to the second pose difference between the postoperative pose and the preoperative pose of the reference array relative to the calibration fixture.

[0077] In some cases, a high-precision (such as millimeter-level) pose verification is performed on the reference array 100. For example, after the operation on the target bone is completed (such as an implantation operation like implanting a prosthesis into the acetabular cup of the hip joint), in order to ensure the smooth completion of subsequent other operations, the accuracy of the pose of the reference array 100 is verified. If the reference array becomes loose and causes a large error in the pose relationship with the target bone, it will lead to misjudgment in the subsequent verification process for the user.

[0078] For this reason, in this embodiment, the offset processing device 500 can determine the postoperative pose of the reference array 100 relative to the calibration fixture, where the postoperative pose can be the pose of the reference array 100 relative to the calibration fixture obtained after the surgical operation on the target bone (such as implanting a prosthesis or other implanting operations on the target object) is completed.

[0079] In addition, the offset processing device can also pre-acquire the preoperative pose of the reference array 100 relative to the calibration fixture, and the preoperative pose can be the pose of the reference array 100 relative to the calibration fixture obtained before the surgical operation on the target bone is performed.

[0080] In some alternative embodiments, the preoperative pose of the reference array 100 relative to the calibration fixture can be determined based on the probe array. The probe array is a device, and the transformation matrix fixed to itself can cooperate with the navigation device to obtain the pose of the tip point. Refer to Figure 2b , which shows a Y-shaped probe array 7. The front-end tip is used to contact the joint screw (a calibration fixture) or other points on the joint (such as the pelvis), and the rear end has an array composed of four reflective balls, which are used to be captured by the optical navigation device to determine the position of the probe array in the coordinate system of the optical navigation device. In some examples, the preoperative pose of the reference array 100 relative to the calibration fixture can be determined by the following formula:

[0081] screw T pelvisPre = Tip T probe ·( guidance T probe ) -1 · guidance T pelvisPre

[0082] Where screw T pelvisPre is the preoperative pose of the reference array 100 relative to the calibration fixture; Tip T probeis the transformation matrix of the probe array relative to the tip, which is a fixed value. This fixed value is determined based on the relative position of the tip at the front end with respect to the reflective sphere array at the rear end and is determined by the size of the instrument. Since the probe array is a rigid component, it is a fixed value; guidance T probe is the pose of the probe array obtained by the offset processing device 500, guidance T pelvisPre is the pose of the reference array 100 obtained by the offset processing device 500.

[0083] Furthermore, the offset processing device 500 can compare the postoperative pose of the reference array 100 relative to the calibration fixture with the preoperative pose of the reference array 100 relative to the calibration fixture, determine the second pose difference based on the pose difference obtained from the comparison, and determine the offset information of the reference array according to the second pose difference. For the sake of distinction, the offset information determined based on the calibration fixture is also called the second offset information, also known as the postoperative offset information, which can be understood as the offset information of the reference array 100 obtained after completing the surgical operation on the target bone.

[0084] In practical applications, when both the calibration fixture and the reference array 100 are set on the target bone and a surgical operation is performed on the target bone, the relative pose change between the calibration fixture and the reference array 100 is small. By determining the change in the pose relationship of the reference array 100 relative to the reference array 300, the offset of the reference array 100 during the surgical process can be accurately identified. After completing the surgical operation on the target bone and performing accuracy calibration on the reference array 100, since the relative pose relationship between the calibration fixture and the target bone remains stable, by obtaining the second pose difference, the subtle pose changes of the reference array 100 before and after the operation can be determined with the calibration fixture as a reference, and the offset degree of the reference array 100 after the operation relative to the reference array 100 before the operation can be determined.

[0085] In one example, the second pose difference can be determined by the following formula:

[0086] pelvisPre T pelvisPost =( screw T pelvisPre ) -1screw T pelvisPost

[0087] where, screw T pelvisPost is the postoperative pose of the reference array 100 relative to the calibration fixture obtained by the offset processing device 500, pelvisPre T pelvisPost is the second pose difference.

[0088] Since the pose information of the abnormal region on the target bone is determined by the relative pose relationship between the reference array 100 and the target bone, when there is a large deviation in the pose of the reference array 100 relative to the calibration fixture, the accuracy of the previously calculated pose of the target bone will be affected. Therefore, in some alternative embodiments, after determining the second deviation information, the operator can be prompted, and it is up to the operator to determine whether to adjust the pose information of the target bone to ensure the accuracy of the pose of the target bone.

[0089] In this embodiment, the calibration fixture is arranged at a position different from the reference array on the target bone. By the change in the pose relationship between the reference array and the calibration fixture, it is possible to accurately identify whether there is a slight change in the pose of the reference array relative to the target bone, obtain high-precision second offset information, and ensure the normal execution of the subsequent surgical procedure.

[0090] In addition, compared with the related method of determining the offset of the reference array by adding an additional special array, in the above embodiments of the present application, the first offset information can be determined by using the reference array 100, or the second offset information can be determined by using the existing calibration fixture on the target bone. There is no need to add a special array structure, and only by processing according to the existing specified process, the offset information of the reference array can be obtained and the subsequent adjustment can be completed, saving costs.

[0091] In one embodiment, the offset processing device 500 is further configured to:

[0092] Compensate the first preoperative pose of the target bone according to the second pose difference to obtain the first postoperative pose of the target bone; when the deviation between the first preoperative pose and the first postoperative pose of the target bone is greater than a threshold, generate an offset compensation prompt.

[0093] Wherein, the first preoperative pose is the pose of the target bone relative to the preoperative reference array 100.

[0094] In specific implementation, the pose of the target bone can be determined according to the relative pose relationship between the target bone and the reference array 100 and the pose of the reference array 100. In some examples, the pose of the target bone can be represented by one or more reference points on the target bone. For example, for the hip joint, the pose of the acetabular lesion can be represented by the center point of the acetabular lesion, that is, the acetabular point. Before the implantation operation starts, the pose of the target bone can be determined according to the relative pose relationship between the preoperative target bone and the reference array 100 and the pose of the reference array 100. For the convenience of distinguishing from other poses in the following text, this pose is also referred to as the first preoperative pose.

[0095] After determining the second pose difference between the reference array 100 and the calibration fixture, the first preoperative pose of the target bone can be compensated according to the second pose difference. For example, the second pose difference can be mapped to the pose of the target bone. The pose obtained after this compensation is also called the first postoperative pose of the target bone, which can be understood as the pose of the target bone relative to the reference array 100 determined on the basis of considering the second pose difference of the reference array 100. In some embodiments, the compensation for the first preoperative pose of the target bone is not displayed on the front-end interface. That is, when compensating the first preoperative pose of the target bone according to the second pose difference, this compensation process is performed in the device background, and the position and pose of the target bone in the real scene will not be adjusted, and there is no need to display the first postoperative pose obtained after compensation, so as to avoid providing redundant information to the surgical operator and affecting the operation efficiency of the operator.

[0096] In some embodiments, the second pose difference can be mapped to the pose of the target bone in the following manner:

[0097] pelvisPost T Acet =( pelvisPre T pelvisPost ) -1 · pelvisPre T Acet

[0098] screw T AcetErr = screw T pelvisPost · pelvisPre T Acet

[0099] Wherein, pelvisPr eT Acet is the pose of the center point of the target bone obtained by the point cloud registration process relative to the preoperative reference array 100, pelvisPost T Acet is the pose of the center point of the target bone relative to the postoperative reference array 100 after compensating the second pose difference.

[0100] After performing the pose compensation, for the convenience of the user to judge, the first postoperative pose of the target bone can be compared with the first preoperative pose to determine the deviation between the two. When the deviation is greater than the threshold, an offset compensation prompt can be generated in a timely manner to avoid affecting the subsequent process due to too large a deviation in the pose of the target bone.

[0101] In some embodiments, the offset compensation prompt may be an offset compensation prompt for the reference array 100 and / or the target bone. If the offset compensation prompt includes an offset compensation prompt for the reference array 100, it may prompt to timely adjust the pose of the reference array 100 to compensate for the pose deviation, so as to ensure the accuracy of the target bone pose calculated based on the pose of the reference array 100. If the offset compensation prompt includes an offset compensation prompt for the target bone, it may prompt to timely adjust the pose of the target bone and intuitively understand the effect after adjustment.

[0102] In some embodiments, the offset compensation process is not displayed on the front-end interface. The device background can perform compensation according to the second offset information to obtain the pose information of the compensated reference array 100, and calculate the corresponding pose of the target bone according to the pose information of the compensated reference array 100. Before the calculation is completed and the offset compensation result is obtained, the pose of the reference array 100 in the actual scenario does not need to be adjusted.

[0103] In some embodiments, if the user believes that the deviation between the first postoperative pose and the first preoperative pose of the target bone is within an acceptable range, the offset compensation process of the pose can be skipped and the subsequent process can be continued.

[0104] In one example, the deviation between the first preoperative pose and the first postoperative pose of the target bone can be determined in the following manner:

[0105] Acet T AcetErr =( Screw T peivisPost · pelvisPost T Acet ) -1 · screw T AcetErr

[0106] Wherein, Acet T AcetErr is the pose error between the center point of the uncompensated target bone (i.e., the first preoperative pose of the target bone) and the center point of the compensated target bone (the first postoperative pose of the target bone).

[0107] In one embodiment, the offset processing device 500 is further configured to:

[0108] Determine the intraoperative pose of the reference array relative to the reference array during multiple cycles; for the intraoperative pose determined in each cycle, obtain the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance, determine the pose offset under the first pose difference; according to each pose offset, determine the first offset information of the reference array.

[0109] In practical applications, the pose of each array obtained by the navigation device 400 may be subject to impulsive interference such as drift values in one frame. To reduce the interference of abnormal data, impulse noise and mutations can be removed.

[0110] Based on this, in the process of obtaining the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the pre-acquired reference array relative to the fiducial array, the intraoperative pose of the reference array 100 relative to the fiducial array 300 can be sampled in multiple cycles. Among them, the number of cycles of multiple cycles can be determined according to the cycle of updating the array information and the total sampling time of multiple samplings. The time corresponding to multiple cycles does not exceed the total sampling time. For example, if the total sampling time is controlled at 100 ms and the cycle of updating the array information is 20 ms, the number of cycles can be set to 5 or 4.

[0111] For the intraoperative pose determined in each cycle, the offset processing device 500 can compare the intraoperative pose with the preoperative pose of the pre-acquired reference array 100 relative to the fiducial array 300, determine the pose difference between the two, that is, the first pose difference, and determine the pose offset under the first pose difference. After obtaining the pose offsets of each cycle, the pose offset degree of the reference array 100 during the operation can be determined by combining the pose offsets of multiple cycles, and the first offset information can be obtained according to the pose offset degree. Thus, by combining the pose offsets of each cycle, the influence of abnormal data on the result can be reduced, and the accuracy of the first offset information can be improved.

[0112] When combining the pose offsets of each cycle to determine the first offset information, it can be calculated by methods such as mean filtering and first-order lag filtering. Among them, mean filtering can only smooth the signal and cannot filter pulse outliers, and first-order lag filtering focuses on quickly responding to signal changes. In this regard, considering that the dynamic change of the navigation device signal is relatively stable and the dataset size is very small, in some alternative embodiments, a recursive median average filtering algorithm can be used, which has excellent denoising effect and strong robustness. Specifically, the pose offsets under each first pose difference can be compared, and the pose offsets with anomalies in the pose offsets can be determined according to the comparison results.

[0113] In practical applications, the pose difference can be divided into position offset and attitude offset. In one example, as Figure 3 shown, for the pose difference between the original pose T1 and the new pose T2, the position offset is represented by the Euclidean distance between two coordinate points, and the attitude offset is represented in the axis-angle manner, that is, the attitude offset matrix in the pose offset is represented as a combination of a rotation axis and an angle. Accordingly, the pose difference can be represented in the following manner:

[0114]

[0115] Among them, ΔT is the pose difference between two consecutive poses, that is, the pose offset; P diff is the Euclidean distance between two coordinate points; the Pos interface is the position offset, and the Rot interface is a 3×3 attitude offset matrix; θ diff is the angle offset value after converting the attitude offset matrix into the axis-angle form.

[0116] In the case of impulsive interference such as drift values, the attitude offset may be small, while the position offset is more obvious. In this regard, the position offset in each first pose difference can be determined, and then the abnormal position offset can be determined, and the pose offset corresponding to the abnormal position offset can be determined as the abnormal pose offset and excluded. Thus, determining the abnormal pose offset based on the position offset can simplify the screening process of abnormal data and improve the efficiency of intraoperative abnormal pose offset information.

[0117] For example, the maximum position offset and the minimum position offset can be determined as the abnormal position offsets. Alternatively, the average value of each position offset can be determined, the difference between each position offset and the average value can be determined, and the position offset with a difference exceeding the threshold can be determined as the abnormal position offset. Then, the first pose difference corresponding to the abnormal position offset is excluded. Subsequently, according to the remaining first pose differences after exclusion, the first offset information of the reference array 100 can be determined. By excluding the abnormal first pose differences, the data reliability can be effectively improved. In some alternative embodiments, the average value of the remaining first pose differences after exclusion can be used as the first offset information of the reference array 100. For example, if the maximum position offset and the minimum position offset are used as the abnormal position offsets, the first offset information can be determined according to the following formula:

[0118] pelvisPre T pelvisCur =( trolley T pelvisPre ) -1 · trolley T pelvisCur

[0119]

[0120] Among them, 3T is the average value of the remaining first pose differences after exclusion, trolley T pelvisCur is the intraoperative pose of the reference array 100 relative to the reference array 300 in one cycle, trolley T pelvisPre is the preoperative pose of the reference array 100 relative to the reference array 300, pelvisPre T pelvisCur is the first pose difference.

[0121] In one embodiment, the system may further include a display device. In addition to being able to display the offset information characterizing the reference array 100, such as the first offset information and the second offset information of the reference array 100, the display device may also display the deviation between the second preoperative pose and the second postoperative pose of the target bone.

[0122] Wherein, the second preoperative pose is the pose of the preoperative target bone relative to the calibration fixture, and the second postoperative pose is the pose of the target bone relative to the calibration fixture calculated under the second pose difference. For example, after compensating the first preoperative pose of the target bone according to the second pose difference, it can be transformed into a coordinate system centered on the calibration fixture.

[0123] In one example, taking a hip joint surgery as an example, the deviation between the second preoperative pose and the second postoperative pose of the target bone can be displayed in the manner as Figure 4 shown. Among them, the pelvic screw coordinate system is a coordinate system centered on the calibration fixture. By offsetting the deviation between the acetabular axis and the acetabular axis, and the deviation between the offset acetabular point and the acetabular point, the pose deviation of the target bone before and after surgery can be intuitively understood.

[0124] In one embodiment, during the hip replacement surgery process, a preoperative operation interface and a postoperative operation interface can be displayed on the display interface of the display device.

[0125] For example, in a preoperative operation interface, it includes four display areas A00 - A04. The A00 navigation bar displays the current surgical procedure, and the A01 part real - time displays the states of the pelvis, acetabulum, and probe. The A02 area can display the threshold for the offset of the protection array exceeding the limit during the process of setting the implant cup. The A03 area can be used to record the pose of the preoperative pelvic array relative to the acetabular screw and the pose relative to the trolley array, and clicking the update display calculates and obtains the position of the acetabular point relative to the screw. The A04 sets the parameters of the end - effector tool of the robotic arm, the size, specifications, and models of the prosthesis, etc. Clicking the next button enters the process of implanting the cup.

[0126] For example, in a postoperative operation interface, it includes four display areas B00 - B04. The B00 navigation bar displays the current surgical procedure, and the B01 part real - time displays the states of the pelvis, cup, and probe. The B02 sets the determination threshold for compensating the offset pose of the array after implanting the cup. After placing the end of the probe at the center of the pelvic screw in B03, click the calibration array offset button to update the position offset and attitude offset of the pelvic array. After updating the offset in B03, the offset is updated and displayed in the form of the offset of the acetabular center point relative to the acetabular screw (that is, the deviation between the second preoperative pose and the second postoperative pose of the target bone) for the operator to refer to whether compensation is needed.

[0127] If the offset value exceeds the threshold set by B02, the offset acetabular axis displayed in B04 is shown in red to prompt the operator that the offset exceeds the limit. Click the compensation array offset button in B03, and the data in B03 is updated, and B04 is also updated with the offset pose relationship of the acetabular center point relative to the acetabular screw after compensation.

[0128] In this embodiment, by displaying the offset information representing the reference array and the deviation between the second preoperative pose and the second postoperative pose of the target bone, the user can intuitively understand the actual impact of the offset of the reference array on the pose of the target bone, effectively improving the decision-making efficiency of the operator, flexibly determining whether it is necessary to adjust the pose of the target bone, and improving the process flexibility.

[0129] In specific implementation, during the process of the robotic arm 200 following the movement of the reference array 100, if the instantaneous offset of the reference array 100 is large, it will cause the robotic arm 200 or its end tool to follow with too large an amplitude, damaging the target bone and its tissues. In this regard, in some embodiments, after obtaining the first offset information, the offset processing device 500 can also control the robotic arm 200 to execute a preset action program corresponding to the first offset information, and this preset action program can be used to prevent the robotic arm 200 from continuing to follow the reference array 100, thereby avoiding the robotic arm 200 from damaging the target bone and its tissues due to too large a following amplitude when the reference array 100 has a large offset, improving the operation safety and reducing the operation risk.

[0130] For example, when the offset degree indicated by the first offset information is greater than the threshold, the offset processing device 500 can control the robotic arm 200 to perform a backward movement, for example, making the robotic arm 200 move in the opposite direction of the offset direction. Another example is that the offset processing device can control the robotic arm 200 to pause moving.

[0131] In one embodiment, the first offset information includes a position offset degree and an attitude offset degree; the offset processing device 500 is further configured to:

[0132] When the position offset degree is greater than the position offset threshold, send an instruction to the robotic arm to pause moving; or, when the attitude offset degree is greater than the attitude offset threshold, send an instruction to the robotic arm to pause moving.

[0133] In practical applications, the pose change of the reference array 100 relative to the reference array 300 may have any of the following situations:

[0134] 1. The position of the reference array 100 relative to the reference array 300 changes. In this case, the attitude of the reference array 100 relative to the reference array 300 remains unchanged, and only the distance between the two changes.

[0135] 2. Attitude change of the reference array 100 relative to the reference array 300. The mounting screws of the reference array are loose. At this time, the reference array 100 will rotate at an angle, but its position relative to the reference array 300 remains unchanged.

[0136] 3. Both the position and attitude of the reference array 100 relative to the reference array 300 change. This type of situation mainly occurs when the joint part or the target object rotates during the implantation of the prosthesis.

[0137] Based on this, in this embodiment, an instruction to pause the movement can be sent to the robotic arm when the degree of position offset is greater than or equal to the position offset threshold; or, an instruction to pause the movement can be sent to the robotic arm when the degree of attitude offset is greater than or equal to the attitude offset threshold. In other words, when the degree of position offset is less than the position offset threshold and the degree of attitude offset is less than the attitude offset threshold, the offset processing device 500 does not send an instruction to pause the movement. Thus, by simultaneously judging whether the degree of position offset and the degree of attitude offset exceed the threshold, it is possible to accurately judge whether the pose of the reference array has changed significantly, effectively avoiding excessive follow-up amplitude of the robotic arm.

[0138] To enable those skilled in the art to better understand the above steps, the following gives an exemplary illustration of the embodiments of the present application through an example, but it should be understood that the embodiments of the present application are not limited thereto.

[0139] As Figure 2a and Figure 2b shown, a surgical robot system applicable to hip replacement surgery is shown. The system includes:

[0140] A navigation device 1, used to track the poses of each array in the system and obtain the pose relationship between the arrays.

[0141] A display screen 2 (i.e., a display device), which displays an operation interface to guide the user to execute the surgical workflow.

[0142] A robotic arm 3, which drives the poses of the end effector 4 at each joint to assist the user in accurately executing the surgical procedure. To maintain surgical accuracy, it has the function of moving following the pelvic array 6.

[0143] The end effector 4 is used to abrade the acetabular affected area and assist in implanting the prosthesis during hip replacement surgery. When implanting, the prosthesis is installed at the end of the tool, and the user taps the rear end, and the tool slides in the sleeve to implant the prosthesis into the acetabulum.

[0144] A trolley array 5, which is installed on the surgical trolley and is used to position the base coordinate system of the robotic arm and calculate the offset of the pelvic array 6, and has relatively high installation stability.

[0145] A pelvic array 6, which is installed on the patient's pelvis and is used to register and track the pose of the acetabular affected area in cooperation with the probe array and the optical device 1.

[0146] The probe array 7, together with the self-fixed transformation matrix and the navigation device 1, can obtain the position and pose of the needle tip.

[0147] The acetabular screw 8 is fixed on the pelvis, and the relative position and pose with respect to the acetabular point 9 is a constant value. In this example, it is used to check whether the offset of the pelvic array 6 exceeds the limit and calculate the relative position and pose between the acetabular point and the pelvic array after the offset.

[0148] The acetabular point 9 is the center point of the acetabular affected area. The position and pose relationship of this point with respect to the pelvic array 6 is obtained through the point cloud registration process.

[0149] The following is an explanation of the relevant operations of hip replacement surgery in combination with the above system. In practical applications, after completing the point cloud registration, the navigation device 1 can record the preoperative position and pose of the acetabular point relative to the pelvic array pelvisPre T Acet , and obtain the position and pose of the trolley array through the navigation device 1. Then, the preoperative position and pose of the pelvic array relative to the trolley array can be calculated trolley T pelvisPre , and use the probe to obtain the preoperative position and pose of the pelvic array relative to the acetabular screw screw T pelvisPre . After recording, you can click "Next" on the display to enter the acetabular cup implantation mode 100.

[0150] As Figure 5 shown, after entering the acetabular cup implantation mode, it enters the monitoring state. Use the navigation device to obtain the position and pose of each array at a cycle T to calculate the position and pose of the pelvic array relative to the trolley array in the current cycle trolley T pelvisCur , and calculate the offset in the current cycle according to the initial relative position and pose trolley T pelvisPre recorded preoperatively. pelvisPre T pelvisCur .

[0151] Judge whether the position offset of the attitude offset ΔT after filtering for n T cycles exceeds ε 1tran or whether the attitude offset represented by the axis angle exceeds ε 1rot . If any one of them exceeds, the whole machine system will immediately stop the robotic arm and prompt the user that the array offset exceeds the limit, and there is a risk of a large following amplitude of the robotic arm. Then the user confirms whether the process ends. If it does not end, the surgery continues and the system restarts the monitoring until the user confirms that the acetabular cup implantation process ends.

[0152] After the acetabular cup implantation process ends, start to check whether the pelvic array has an irrecoverable offset. Use the probe again to obtain the current position and pose of the pelvic array relative to the screw screw T pelvisPost , and according to the relative position and pose screw TpelvisPre , the offset error between the postoperative pelvic array and the preoperative pelvic array is obtained pelvisPre T pelvisPost .

[0153] Since the user may subsequently judge the postoperative adjustment direction based on the pose of the acetabular cup prosthesis center and the error between the registered acetabular center pose, and the pose of the acetabular center calculated by the system after the pelvic array is offset changes from the actual value, to ensure the flexibility of the process, whether to compensate for the offset of the pelvic array is determined by the user (i.e., set the threshold independently), and for the convenience of the user to judge, in this example, the array offset error is mapped to the acetabular center. If the user believes that the offset amount of the acetabular center pose is within the allowable range, the subsequent process can be directly skipped without compensation. Otherwise, the offset amount of the acetabular center pose is compensated.

[0154] In one embodiment, as Figure 6 shown, a method for obtaining the offset of a reference array of a surgical robot system is provided. This method can be applied to an offset processing device, and the offset processing device can specifically be a server or a terminal, or can also be a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0155] S601. During the process of the robotic arm of the surgical robot system following the reference array to move, obtain the intraoperative pose of the reference array relative to the reference array of the surgical robot system; the reference array is used to be set on the target bone of the target object, and the reference array is fixedly set on the base.

[0156] Among them, the reference array is set on the target bone of the target object. In some alternative embodiments, the target bone can be a bone with abnormalities, and the reference array can be set near the abnormal area of the target bone where there are abnormalities. The area near the abnormal area can be understood as within a preset range centered on the abnormal area.

[0157] The robotic arm can be used to drive each joint to control the pose of the end tool, assisting the user to accurately execute the surgical procedure. To maintain the operation accuracy, it can be configured with a function of following the reference array on the target bone to move, that is, the robotic arm can move correspondingly as the reference array on the target bone moves.

[0158] The reference array can be fixedly set on the base, for example, it can be set on the surgical cart.

[0159] In this step, the offset processing device can determine the intraoperative pose of the reference array relative to the reference array during the process of the robotic arm following the reference array to move. The specific process can refer to the description in the foregoing embodiment and will not be elaborated here.

[0160] S602. Determine the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the pre-acquired reference array relative to the reference array.

[0161] In this step, the intraoperative pose of the reference array relative to the reference array can be compared with the preoperative pose of the pre-acquired reference array relative to the reference array to determine the first pose difference between the two, thereby determining the offset information of the reference array during the operation. The specific process can refer to the description in the foregoing embodiments and will not be elaborated here.

[0162] The method for obtaining the offset of the reference array of the above surgical robot system determines the intraoperative pose of the reference array relative to the reference array of the surgical robot system during the movement of the robotic arm of the surgical robot system following the reference array; wherein the reference array is fixedly arranged on the base; and further determines the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the pre-acquired reference array relative to the reference array. In this embodiment, by determining the change in the preoperative and intraoperative poses of the reference array relative to the reference array during the movement of the robotic arm following the reference array, the first offset information of the reference array can be quickly and accurately obtained without any operation by the user, effectively improving the acquisition efficiency of the offset information of the reference array and saving the operation time of the operator.

[0163] In one embodiment, after step S602, the following steps may further be included:

[0164] Obtain the postoperative pose of the reference array relative to the calibration fixture in the surgical robot system; determine the second offset information of the reference array according to the second pose difference between the postoperative pose and the preoperative pose of the reference array relative to the calibration fixture; the calibration fixture is used to be arranged at a position different from the reference array on the target bone of the target object.

[0165] In one embodiment, after obtaining the second pose difference, the following steps may further be included:

[0166] Compensate the first preoperative pose of the target bone according to the second pose difference to obtain the first postoperative pose of the target bone; the first preoperative pose is the pose of the target bone relative to the reference array before the operation; and when the deviation between the first preoperative pose and the first postoperative pose of the target bone is greater than the threshold, an offset compensation prompt is generated.

[0167] In one embodiment, the offset processing device may be configured with a display, and the display may display offset information characterizing the reference array, as well as the deviation between the second preoperative pose and the second postoperative pose of the target bone; the second preoperative pose is the pose of the target bone relative to the calibration fixture before the operation, and the second postoperative pose is the pose of the target bone relative to the calibration fixture calculated under the second pose difference.

[0168] In one embodiment, in step S602, determining the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance may include the following steps:

[0169] Obtain the intraoperative pose of the reference array relative to the reference array in multiple cycles; for the intraoperative pose determined in each cycle, obtain the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array obtained in advance, and determine the pose offset under the first pose difference; according to each of the pose offsets, determine the first offset information of the reference array.

[0170] In one embodiment, the first offset information includes a position offset degree and an attitude offset degree; after step S602, the following steps may further be included:

[0171] In the case where the position offset degree is greater than the position offset threshold, send an instruction to the robotic arm to pause moving; or, in the case where the attitude offset degree is greater than the attitude offset threshold, send an instruction to the robotic arm to pause moving.

[0172] For the specific process of the above embodiments, please refer to the explanations in the relevant paragraphs above, and details are not described here.

[0173] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps does not have a strict order limit, and these steps may be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0174] Based on the same inventive concept, an embodiment of the present application further provides an offset acquisition device for a reference array of a surgical robot system for implementing the method for acquiring the offset of the reference array of the surgical robot system involved above. The implementation solution provided by this device for solving problems is similar to the implementation solution described in the above method. Therefore, the specific limitations in one or more embodiments of the offset acquisition device for the reference array of the joint replacement surgical robot system provided below can refer to the limitations on the method for acquiring the offset of the reference array of the surgical robot system in the above text, and will not be repeated here.

[0175] In one embodiment, as Figure 7 shown, an offset acquisition device for a reference array of a surgical robot system is provided, including:

[0176] An intraoperative pose determination module 701, configured to acquire the intraoperative pose of the reference array relative to the reference array of the surgical robot system during the process that the robotic arm of the surgical robot system moves following the reference array; the reference array is used to be set on the target bone of the target object, and the reference array is fixedly arranged on the base;

[0177] A first offset information acquisition module 702, configured to determine the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the reference array acquired in advance.

[0178] In one embodiment, the device further includes:

[0179] A postoperative pose determination module, configured to acquire the postoperative pose of the reference array relative to the calibration fixture; the calibration fixture is used to be set at a position different from the reference array on the target bone of the target object;

[0180] A second offset information acquisition module, configured to determine the second offset information of the reference array according to the second pose difference between the postoperative pose and the preoperative pose of the reference array relative to the calibration fixture.

[0181] Each module in the above-mentioned offset acquisition device for the reference array of the surgical robot system can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor in the computer device in the form of hardware or be independent of the processor, or can be stored in the memory in the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to the above-mentioned modules.

[0182] In one embodiment, a computer device is provided. This computer device can be a server, and its internal structure diagram can be as Figure 8As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store array data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a method for obtaining the offset of a reference array of a surgical robot system.

[0183] Those skilled in the art can understand that Figure 8 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0184] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0185] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0186] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0187] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions.

[0188] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0189] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0190] The above-described embodiments only represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A surgical robot system, characterized in that, The system includes: a reference array configured to be disposed on a target bone of a target object; a robotic arm; a reference array fixedly disposed on a base; a navigation device configured to track and obtain the poses of each array; and an offset processing device configured to obtain an intraoperative pose of the reference array relative to the reference array during the process that the robotic arm moves following the reference array, and determine first offset information of the reference array according to a first pose difference between the intraoperative pose and a preoperative pose of the reference array relative to the reference array obtained in advance.

2. The system according to claim 1, characterized in that, The system further includes: a calibration fixture configured to be disposed at a position different from the reference array on the target bone of the target object; The offset processing device is further configured to: obtain a postoperative pose of the reference array relative to the calibration fixture; determine second offset information of the reference array according to a second pose difference between the postoperative pose and a preoperative pose of the reference array relative to the calibration fixture.

3. The system according to claim 2, wherein The offset processing device is further configured to: compensate a first preoperative pose of the target bone according to the second pose difference to obtain a first postoperative pose of the target bone; the first preoperative pose is the pose of the target bone relative to the reference array before surgery; generate an offset compensation prompt when a deviation between the first preoperative pose and the first postoperative pose of the target bone is greater than a threshold.

4. The system according to claim 2, wherein The system further includes: a display device configured to display the offset information representing the reference array and a deviation between a second preoperative pose and a second postoperative pose of the target bone; the second preoperative pose is the pose of the target bone relative to the calibration fixture before surgery, and the second postoperative pose is the pose of the target bone relative to the calibration fixture calculated under the second pose difference.

5. The system according to claim 1, wherein The offset processing device is further configured to: obtain intraoperative poses of the reference array relative to the reference array in multiple cycles; for each intraoperative pose determined in each cycle, obtain a first pose difference between the intraoperative pose and a preoperative pose of the reference array relative to the reference array obtained in advance, and determine a pose offset under the first pose difference; determine the first offset information of the reference array according to each pose offset.

6. The system according to any one of claims 1 to 5, characterized in that The first offset information includes a position offset degree and an attitude offset degree; the offset processing device is further configured to: send an instruction to pause movement to the robotic arm when the position offset degree is greater than a position offset threshold; or send an instruction to pause movement to the robotic arm when the attitude offset degree is greater than an attitude offset threshold.

7. A method for obtaining the offset of a reference array of a surgical robot system, characterized in that, The method includes: obtaining an intraoperative pose of the reference array relative to a reference array of the surgical robot system during the process that the robotic arm of the surgical robot system moves following the reference array; the reference array is configured to be disposed on a target bone of a target object, and the reference array is fixedly disposed on a base. Determine the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the fiducial array obtained in advance.

8. The method according to claim 7, wherein The method further includes: Obtain the postoperative pose of the reference array relative to the calibration fixture; the calibration fixture is used to be set at a position different from the reference array on the target bone of the target object; Determine the second offset information of the reference array according to the second pose difference between the postoperative pose and the preoperative pose of the reference array relative to the calibration fixture.

9. An offset processing device for a reference array of a surgical robot system, characterized in that, The device includes: An intraoperative pose determination module, configured to determine the intraoperative pose of the reference array relative to the fiducial array of the surgical robot system during the process that the robotic arm of the surgical robot system follows the reference array; the reference array is used to be set on the target bone of the target object, and the fiducial array is fixedly set on the base; A first offset information acquisition module, configured to determine the first offset information of the reference array according to the first pose difference between the intraoperative pose and the preoperative pose of the reference array relative to the fiducial array obtained in advance.

10. The device according to claim 9, characterized in that, The device further includes: A postoperative pose determination module, configured to obtain the postoperative pose of the reference array relative to the calibration fixture; the calibration fixture is used to be set at a position different from the reference array on the target bone of the target object; A second offset information acquisition module, configured to determine the second offset information of the reference array according to the second pose difference between the postoperative pose and the preoperative pose of the reference array relative to the calibration fixture.

11. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 7-8 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 7-8 are implemented.

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