Scalpel pose recognition and positioning system

Abstract

According to the scalpel pose recognition and positioning system, each PSD photoelectric position sensor receives light emitted by a first light-emitting point, a second light-emitting point and a third light-emitting point so as to determine the imaging position of each light-emitting point on the PSD photoelectric position sensor. The three light-emitting points emit light in a time-sharing mode, and only one light-emitting point exists in the same time. The PSD and the light-emitting points are controlled and collected through synchronous signals, so that the space coordinates of all the light-emitting points are calculated, the position and posture information of the scalpel is obtained, the positioning precision of the scalpel is improved, and the risk of operation misoperation is reduced.

Description

Technical Field

[0001] The present invention relates to the field of scalpel positioning, and particularly to a system for recognizing and positioning the pose of a scalpel. Background Art

[0002] Surgical operations are currently the most important operations in medicine. The success or failure of the operation and the postoperative effects, etc., all depend on the doctor's own level and years of accumulated experience, and are also greatly related to the doctor's on-site performance. Therefore, many risks and uncertain factors are brought to the operation, and each performance of the doctor is extremely unstable. The doctor's mood, diet, and fatigue level on the day will have a great impact on the operation. Therefore, an electronic device is needed that is not affected by human and external interference, can achieve extremely small errors, high precision, and stably display the position of the scalpel in each operation, correct small deviations for the doctor, and improve the success rate of the operation.

[0003] However, there are very few electronic devices for assisting operations on the market at present. Existing surgical navigation robots can only operate in a small range, have low positioning accuracy, and are more expensive than traditional operations, and there may be unknown safety problems. The PSD photoelectric sensor has high sensitivity and can detect weak optical signals, and has high resolution and can accurately measure the position of the light spot. Therefore, it is considered to apply the PSD photoelectric sensor in the medical field to measure and position the scalpel. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies and drawbacks existing in the prior art, and to provide a system for recognizing and positioning the pose of a scalpel.

[0005] The technical solution adopted by the present invention is as follows: A system for recognizing and positioning the pose of a scalpel, including a light-emitting module, a receiving module, and an information processing module. The receiving module detects the laser emitted by the light-emitting module and sends the detected information to the information processing module. The detection area of the receiving module is the target detection area, and the scalpel is located within the target detection area.

[0006] The light-emitting module includes a first light-emitting point, a second light-emitting point, and a third light-emitting point arranged on the scalpel handle. The first light-emitting point, the second light-emitting point, and the third light-emitting point are coplanar and non-collinear and emit light according to a time-division protocol.

[0007] The receiving module includes a first PSD photoelectric position sensor and a second PSD photoelectric position sensor. Lenses are arranged in front of the first and second PSD photoelectric position sensors, and the lenses image each light-emitting point on the corresponding PSD photoelectric position sensor.

[0008] The first PSD photoelectric position sensor and the second PSD photoelectric position sensor are located on the XOY plane and are arranged opposite to each other.

[0009] The information processing module receives the position information of each light-emitting point sent by the first and second PSD photoelectric position sensors and calculates the first real-time spatial position and the first tilt angle of the scalpel.

[0010] Preferably, the line formed by the positions of the first light-emitting point and the second light-emitting point is parallel to the axis of the scalpel handle.

[0011] Preferably, the line formed by the position of the third light-emitting point and the position of the first light-emitting point / second light-emitting point is perpendicular to the line formed by the positions of the first light-emitting point and the second light-emitting point.

[0012] Preferably, a transparent fixing seat is provided at the end of the scalpel handle, and a first transparent ball, a second transparent ball, and a third transparent ball are fixed on the transparent fixing seat.

[0013] The first transparent ball, the second transparent ball, and the third transparent ball are connected to a light source through optical fibers, so as to respectively form a first light-emitting point, a second light-emitting point, and a third light-emitting point at their respective internal centers.

[0014] Preferably, the receiving module further includes a third PSD photoelectric position sensor and a fourth PSD photoelectric position sensor. Lenses are provided in front of both of them. The third PSD photoelectric position sensor and the fourth PSD photoelectric position sensor are located on the XOY plane and are arranged opposite to each other. The line formed by the positions of the third PSD photoelectric position sensor and the fourth PSD photoelectric position sensor is coplanar but not collinear with the line formed by the positions of the first PSD photoelectric position sensor and the second PSD photoelectric position sensor. The information processing module receives the position information of each light-emitting point sent by the third and fourth PSD photoelectric position sensors, calculates the second real-time spatial position and the second tilt angle of the scalpel, and confirms whether they match the first real-time spatial position and the first tilt angle.

[0015] Preferably, the line formed by the positions of the third PSD photoelectric position sensor and the fourth PSD photoelectric position sensor is coplanar but not collinear with the line formed by the positions of the first PSD photoelectric position sensor and the second PSD photoelectric position sensor.

[0016] Preferably, the line formed by the positions of the third PSD photoelectric position sensor and the fourth PSD photoelectric position sensor perpendicularly bisects the line formed by the positions of the first PSD photoelectric position sensor and the second PSD photoelectric position sensor.

[0017] The beneficial effects of the present invention are as follows: Each PSD photoelectric position sensor of the present invention receives the light emitted by the first light-emitting point, the second light-emitting point, and the third light-emitting point to determine the positions where the light-emitting points are imaged on the PSD photoelectric position sensor. The three light-emitting points emit light in a time-sharing manner, and only one light-emitting point exists at the same time. The PSD and the light-emitting points are controlled to be collected by a synchronization signal so as to calculate the spatial coordinates of each light-emitting point, thereby obtaining the position and attitude information of the scalpel, improving the positioning accuracy of the scalpel, and reducing the risk of surgical misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, obtaining other drawings based on these drawings still belongs to the scope of the present invention.

[0019] Figure 1 Schematic perspective view of Embodiment 1 of the present invention;

[0020] Figure 2 Schematic front view of Embodiment 1 of the present invention;

[0021] Figure 3 Schematic top view of Embodiment 1 of the present invention;

[0022] Figure 4 Schematic perspective view of Embodiment 2 of the present invention;

[0023] Figure 5 Schematic top view of Embodiment 2 of the present invention;

[0024] In the figure, a, scalpel; 1, first PSD photoelectric position sensor; 2, second PSD photoelectric position sensor; 4, transparent fixing seat; 5, third PSD photoelectric position sensor; 6, fourth PSD photoelectric position sensor; 41, first transparent ball; 42, second transparent ball; 43, third transparent ball. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0026] It should be noted that all the expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities or non-identical parameters with the same name. It can be seen that "first" and "second" are only for the convenience of expression and should not be construed as a limitation on the embodiments of the present invention. This will not be elaborated one by one in the subsequent embodiments.

[0027] Example 1

[0028] As shown Figure 1 in Embodiment 1, a surgical knife pose recognition and positioning system includes a light-emitting module, a receiving module, and an information processing module. The receiving module detects the laser emitted by the light-emitting module and sends the detected information to the information processing module. The detection area of the receiving module is the target detection area, and the surgical knife is located within the target detection area.

[0029] The light-emitting module includes a first light-emitting point, a second light-emitting point, and a third light-emitting point arranged on the surgical knife handle. The first light-emitting point, the second light-emitting point, and the third light-emitting point are coplanar and non-collinear and emit light according to a time-division protocol.

[0030] The receiving module includes a first PSD photoelectric position sensor 1 and a second PSD photoelectric position sensor 2. Lenses are arranged in front of the first and second PSD photoelectric position sensors, and the lenses image each light-emitting point on the corresponding PSD photoelectric position sensor.

[0031] The first PSD photoelectric position sensor 1 is located above the target detection area. The first PSD photoelectric position sensor 1 and the second PSD photoelectric position sensor 2 are located on the XOY plane and are arranged opposite to each other.

[0032] The information processing module receives the position information of each light-emitting point sent by the first and second PSD photoelectric position sensors and calculates the first real-time spatial position and the first tilt angle of the surgical knife.

[0033] The line formed by the positions of the first light-emitting point and the second light-emitting point is parallel to the axis of the surgical knife handle.

[0034] The line formed by the position of the third light-emitting point and the position of the first light-emitting point / second light-emitting point is perpendicular to the line formed by the positions of the first light-emitting point and the second light-emitting point.

[0035] Through this position setting, the calculation of the surgical knife pose can be facilitated, the amount of calculation can be reduced, and the real-time performance can be improved.

[0036] Each PSD photoelectric position sensor needs to receive the light emitted by the first light-emitting point, the second light-emitting point, and the third light-emitting point to determine the position where each light-emitting point is imaged on the PSD photoelectric position sensor. The three light-emitting points emit light in a time-division manner, and only one light-emitting point exists at the same time. The PSD and the light-emitting points are controlled by a synchronization signal for acquisition, so as to calculate the spatial coordinates of each light-emitting point, thereby obtaining the position and attitude information of the surgical knife, improving the positioning accuracy of the surgical knife, and reducing the risk of surgical misoperation.

[0037] A transparent fixing seat 4 is provided at the end of the scalpel handle, and a first transparent ball 41, a second transparent ball 42, and a third transparent ball 43 are fixed on the transparent fixing seat.

[0038] The first transparent ball 41, the second transparent ball 42, and the third transparent ball 43 are connected to a light source through optical fibers, so as to respectively form a first light-emitting point, a second light-emitting point, and a third light-emitting point at the centers of their respective interiors. The laser introduced by the optical fiber has the characteristic of a large scattering angle, which can prevent the light-emitting points from being blocked during the operation of the surgeon.

[0039] As Figure 2 shown in the front view structure diagram of this embodiment, taking the first light-emitting point in the first transparent ball 41 as an example, calculate the position of the first light-emitting point on the Z axis:

[0040] L1 = d1 * sinβ / sin(α + β),

[0041] z1 = L1 * sin(α),

[0042] Among them, d1 is the distance between the imaging ends of the first PSD photoelectric position sensor and the second PSD photoelectric position sensor, α and β are measured by the first PSD photoelectric position sensor and the second PSD photoelectric position sensor, and z1 is the position of the first light-emitting point on the Z axis.

[0043] The above formula ignores the influence of the refraction angle of the lens on the light for a clearer explanation of the calculation method of this embodiment. In actual calculation, the lens curvature needs to be incorporated into the formula.

[0044] As Figure 3 shown in the top view structure diagram of this embodiment, taking the first light-emitting point in the first transparent ball 41 as an example, calculate the position of the first light-emitting point on the XOY plane:

[0045] L2 = d1 * sinθ / sin(γ + θ),

[0046] y1 = L2 * sin(γ),

[0047] x1 = L2 * cos(γ),

[0048] Among them, d1 is the distance between the imaging ends of the first PSD photoelectric position sensor and the second PSD photoelectric position sensor, γ, θ is measured by the first PSD photoelectric position sensor and the second PSD photoelectric position sensor, y1 is the position of the first light-emitting point on the Y axis, and x1 is the position of the first light-emitting point on the X axis.

[0049] Thus, the spatial coordinates of the first light-emitting point can be obtained. Similarly, the spatial coordinates of the second and third light-emitting points can be obtained, and the attitude of the scalpel, that is, the tilt angle, can be determined from the spatial coordinates of the three.

[0050] Example 2

[0051] As Figure 4 , 5 shown, on the basis of Embodiment 1, the receiving module of this embodiment further includes a third PSD photoelectric position sensor 5 and a fourth PSD photoelectric position sensor 6. Lenses are provided in front of both of them. The third PSD photoelectric position sensor 5 and the fourth PSD photoelectric position sensor 6 are located on the XOY plane and are oppositely arranged. The connection line formed by the positions of the third PSD photoelectric position sensor 5 and the fourth PSD photoelectric position sensor 6 is coplanar but non-collinear with the connection line formed by the positions of the first PSD photoelectric position sensor 1 and the second PSD photoelectric position sensor 2. The information processing module receives the position information of each light-emitting point sent by the third and fourth PSD photoelectric position sensors, calculates the second real-time spatial position and the second tilt angle of the scalpel, and confirms whether they match the first real-time spatial position and the first tilt angle. After the two pieces of information are confirmed to be consistent, the operation is carried out, further improving the accuracy of the operator's operation.

[0052] The specific method for calculating the second real-time spatial position and the second tilt angle of the scalpel from the position information of each light-emitting point sent by the third and fourth PSD photoelectric position sensors is the same as the method for calculating the first real-time spatial position and the first tilt angle of the scalpel from the position information of each light-emitting point sent by the first and second PSD photoelectric position sensors in Embodiment 1, and will not be repeated here.

[0053] In theory, more PSD photoelectric position sensors can be set to further improve the accuracy of the scalpel pose information and reduce the occlusion blind area. In theory, more light-emitting points can also be set to obtain more tool body position information.

[0054] The connection line formed by the positions of the third PSD photoelectric position sensor 5 and the fourth PSD photoelectric position sensor 6 is coplanar but non-collinear with the connection line formed by the positions of the first PSD photoelectric position sensor 1 and the second PSD photoelectric position sensor 2.

[0055] The connection line formed by the positions of the third PSD photoelectric position sensor 5 and the fourth PSD photoelectric position sensor 6 perpendicularly bisects the connection line formed by the positions of the first PSD photoelectric position sensor 1 and the second PSD photoelectric position sensor 2.

[0056] Through this position setting, the calculation of the scalpel pose can be further facilitated, the amount of calculation can be reduced, and the real-time performance can be improved.

[0057] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A surgical knife position recognition and positioning system, characterized in that: It includes a light-emitting module, a receiving module, and an information processing module. The receiving module detects the laser emitted by the light-emitting module and sends the detected information to the information processing module. The detection area of ​​the receiving module is the target detection area. The scalpel is located in the target detection area. The light emitting module comprises a first light emitting point, a second light emitting point and a third light emitting point arranged on the handle of the surgical knife. The first light emitting point, the second light emitting point and the third light emitting point are coplanar but not colinear and emit light in a time-sharing protocol. The receiving module comprises a first PSD photoelectric position sensor (1) and a second PSD photoelectric position sensor (2). Lenses are arranged in front of the first and second PSD photoelectric position sensors, and the lenses image each light point on the corresponding PSD photoelectric position sensor. The first PSD photoelectric position sensor (1) and the second PSD photoelectric position sensor (2) are located on the XOY plane and arranged opposite to each other. The information processing module receives the position information of each light-emitting point sent by the first and second PSD photoelectric position sensors to calculate the first real-time spatial position and the first tilt angle of the scalpel.

2. A surgical knife position recognition and positioning system according to claim 1, characterized in that: The connecting line formed by the positions of the first light emitting point and the second light emitting point is parallel to the axis of the scalpel handle.

3. A surgical knife position recognition and positioning system according to claim 2, characterized in that: A line formed by the position of the third light-emitting point and the position of the first light-emitting point / the second light-emitting point is perpendicular to a line formed by the position of the first light-emitting point and the second light-emitting point.

4. A surgical knife position recognition and positioning system according to claim 1, characterized in that: A transparent fixing seat (4) is provided at the end of the scalpel handle, and a first transparent ball (41), a second transparent ball (42), and a third transparent ball (43) are fixed on the transparent fixing seat. The first transparent ball (41), the second transparent ball (42), and the third transparent ball (43) are connected to a light source via optical fibers so as to form a first light-emitting point, a second light-emitting point, and a third light-emitting point at their respective inner centers.

5. A surgical knife position recognition and positioning system according to claim 1, characterized in that: The receiving module also includes a third PSD photoelectric position sensor (5) and a fourth PSD photoelectric position sensor (6), both of which are provided with lenses in front of them. The third PSD photoelectric position sensor (5) and the fourth PSD photoelectric position sensor (6) are located on the XOY plane and are arranged opposite to each other. The line formed by the positions of the third PSD photoelectric position sensor (5) and the fourth PSD photoelectric position sensor (6) is coplanar but not colinear with the line formed by the positions of the first PSD photoelectric position sensor (1) and the second PSD photoelectric position sensor (2). The information processing module receives the position information of each light point sent by the third and fourth PSD photoelectric position sensors to calculate the second real-time spatial position and the second tilt angle of the scalpel, and confirms whether the second real-time spatial position and the first tilt angle are consistent with each other.

6. A surgical knife position recognition and positioning system according to claim 5, characterized in that: The line formed by the positions of the third PSD photoelectric position sensor (5) and the fourth PSD photoelectric position sensor (6) is coplanar but not colinear with the line formed by the positions of the first PSD photoelectric position sensor (1) and the second PSD photoelectric position sensor (2).

7. A surgical knife position recognition and positioning system according to claim 6, characterized in that: The line formed by the positions of the third PSD photoelectric position sensor (5) and the fourth PSD photoelectric position sensor (6) perpendicularly bisects the line formed by the positions of the first PSD photoelectric position sensor (1) and the second PSD photoelectric position sensor (2).

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