Positioning method and positioning system

Abstract

The invention discloses a positioning method and a positioning system, belongs to the technical field of medical surgery, and can re-plan an accurate puncture path under the condition that the relative position of a surgical instrument and a focus point on a surgical robot is changed. According to the main technical scheme, the positioning method comprises the steps that a focus part is scanned; according to the scanning result, the relative position relation of the wound and the focus point in the three-dimensional space is determined; a surgical robot carrying a three-dimensional vision sensor and a surgical instrument is controlled to move to a designated position, and the three-dimensional coordinate information of the wound is recognized through the three-dimensional vision sensor; according to the three-dimensional coordinate information of the wound and the relative position relation of the wound and the focus point in the three-dimensional space, three-dimensional coordinate information of the focus point is calculated; and planning a puncture path of the surgical instrument based on the three-dimensional coordinate information of the focus point and the three-dimensional coordinate information of the wound.

Description

Technical Field

[0001] This application belongs to the technical field of medical surgery, and specifically relates to a positioning method and a positioning system. Background Art

[0002] In traditional clinical puncture surgeries, doctors plan the puncture path based on their own experience, and the process is extremely cumbersome. Due to the lack of precise positioning technology, the puncture accuracy cannot be guaranteed, and it is often necessary to repeatedly adjust the puncture angle and depth, which not only prolongs the operation time but also increases the patient's pain.

[0003] With the continuous progress of medical technology, surgical robots have gradually been applied in clinical surgeries. Especially in high-precision and high-difficulty surgeries, they show advantages that traditional surgeries cannot match and can achieve more precise positioning and operation. However, early surgical robots mostly adopted a fixed structure. Although it ensured the operation stability to a certain extent, it occupied a large amount of surgical space, restricting the doctor's movement range during the operation and making it difficult to handle various emergencies flexibly. More importantly, fixed surgical robots are difficult to adapt to the dynamic changes of the surgical environment. At the complex and changeable surgical site, they lack mobility and cannot adjust their positions in a timely manner according to the actual situation.

[0004] Currently, some surgical robots already have the ability to move, which has improved the mobility problem to a certain extent. However, after the surgical robot moves, the relative position between the surgical instrument it carries and the lesion point will change accordingly, and it is very difficult to maintain high-precision positioning. Doctors need to spend extra time and effort to recalibrate the relative position between the surgical instrument and the lesion point. In addition, during the operation, the patient's body position may change due to various factors. At this time, the relative position between the surgical instrument on the surgical robot and the lesion point will also change, resulting in the originally planned puncture path based on the initial positioning being no longer applicable. Summary of the Invention

[0005] In view of this, this application provides a positioning method and a positioning system, which can re-plan a precise puncture path when the relative position between the surgical instrument on the surgical robot and the lesion point changes.

[0006] To achieve the above object, this application mainly provides the following technical solutions:

[0007] In the first aspect of this application, a positioning method is provided, including:

[0008] Scanning the lesion site;

[0009] According to the scanning result, determining the relative position relationship between the wound and the lesion point in three-dimensional space;

[0010] Operate a surgical robot equipped with a three-dimensional vision sensor and surgical instruments to move it to a specified position, and identify the three-dimensional coordinate information of the wound through the three-dimensional vision sensor;

[0011] Based on the three-dimensional coordinate information of the wound and the relative position relationship between the wound and the lesion point in three-dimensional space, calculate the three-dimensional coordinate information of the lesion point;

[0012] Based on the three-dimensional coordinate information of the lesion point and the three-dimensional coordinate information of the wound, plan the puncture path of the surgical instrument.

[0013] On the other hand, the present application provides a positioning system, including:

[0014] A scanning module for performing the operation of scanning the lesion site in the above positioning method;

[0015] A data processing module connected to the scanning module for determining the relative position relationship between the wound and the lesion point in three-dimensional space according to the scanning result of the scanning module; and calculating the three-dimensional coordinate information of the lesion point based on the three-dimensional coordinate information of the wound and the relative position relationship;

[0016] A robot control module for operating a surgical robot equipped with the three-dimensional vision sensor and the surgical instruments to move to the specified position, and using the three-dimensional vision sensor to identify the three-dimensional coordinate information of the wound; the three-dimensional vision sensor is connected to the data processing module for transmitting the identified three-dimensional coordinate information of the wound to the data processing module;

[0017] A path planning module is respectively connected to the data processing module and the robot control module for planning and determining the puncture path of the surgical instrument at the lesion site based on the three-dimensional coordinate information of the lesion point and the wound obtained by the data processing module, and for transmitting the planned puncture path to the robot control module, so that the robot control module controls the operation of the surgical instrument according to the puncture path.

[0018] Optionally, a first positioning sticker and at least three second positioning stickers are provided at the lesion site, the first positioning sticker is located at the wound, and the wound is located outside the plane determined by the at least three second positioning stickers.

[0019] Optionally, the pattern of the first positioning sticker is different from the pattern of the second positioning sticker.

[0020] Optionally, when the surgical robot moves to the specified position, the detection end of the three-dimensional vision sensor is arranged facing the first positioning sticker and at least three of the second positioning stickers.

[0021] Optionally, the surgical robot includes:

[0022] A walking part and an operating part;

[0023] The walking part is movable, the walking part is used to carry the operating part, and the operating end of the operating part is provided with the three-dimensional vision sensor and a surgical instrument bracket, and the surgical instrument bracket is used to connect the surgical instrument.

[0024] Optionally, walking wheels are respectively arranged at the four corners of the bottom of the walking part.

[0025] Optionally, the surgical robot further includes:

[0026] A lidar, at least two lidars are provided, and at least two lidars are respectively installed at opposite diagonal positions of the walking part.

[0027] Optionally, the operating part has at least six rotational degrees of freedom.

[0028] Optionally, the surgical instrument bracket is detachably connected to the surgical instrument.

[0029] By means of the above technical solution, the present application has at least the following beneficial effects:

[0030] In the embodiments of the present application, the provided positioning method and positioning system determine the relative position relationship between the wound and the lesion point in the three-dimensional space by scanning the lesion site, and use the three-dimensional vision sensor to identify the three-dimensional coordinate information of the wound, and then calculate the three-dimensional coordinate information of the lesion point. Based on these accurate coordinate information, the puncture path is planned, which changes the way that doctors plan the path based on experience in traditional clinical puncture surgeries, avoids the problem that the puncture accuracy cannot be guaranteed due to the lack of precise positioning technology, and can achieve more precise punctures and improve the success rate of the surgery. At the same time, even during the surgery, due to the movement of the surgical robot or the change of the patient's body position, etc., resulting in a change in the relative position between the surgical instrument on the surgical robot and the lesion point, this positioning method can still calculate the lesion point coordinates by re-acquiring the three-dimensional coordinate information of the wound and combining the relative position relationship, and then re-plan the puncture path, which can adapt to the dynamic changes of the surgical environment, ensure the smooth progress of the surgery, and improve the stability and reliability of the surgery. Description of the Drawings

[0031] Figure 1 It is a flowchart of the positioning method of an optional embodiment of the present application;

[0032] Figure 2 Schematic structural diagram of the positioning system according to an alternative embodiment of the present application;

[0033] Figure 3 Schematic structural diagram of the lesion site according to an alternative embodiment of the present application;

[0034] Figure 4 Schematic structural diagram of the surgical robot according to an alternative embodiment of the present application.

[0035] The reference numerals are represented as:

[0036] 1. Lesion site; 11. Incision; 12. Lesion point; 13. Puncture path; 2. First positioning patch; 3. Second positioning patch; 4. Surgical robot; 41. Traveling part; 411. Traveling wheel; 412. Lidar; 42. Operating part; 5. Three-dimensional vision sensor; 6. Surgical instrument support; 7. Surgical instrument. Detailed implementation manners

[0037] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0038] In this embodiment, a positioning method is provided. Referring to Figure 1 as shown, the method includes:

[0039] Step S101: Scan the lesion site 1.

[0040] The positioning method provided by the embodiment of the present application can be applied to fields such as medical surgery, and specifically can be applied to puncture surgery. When performing puncture surgery, first, detailed image information of the lesion site 1 can be obtained. Here, the lesion site 1 refers to the target area for the doctor to perform puncture surgery.

[0041] Among them, three-dimensional imaging techniques such as computed tomography (CT) and magnetic resonance imaging (MRI) can be used to scan the lesion site 1 of the patient to obtain detailed image information of the lesion site 1, providing basic data for determining the relative positional relationship between the incision 11 and the lesion point 12 in the subsequent stage.

[0042] Step S201: Determine the relative positional relationship between the incision 11 and the lesion point 12 in three-dimensional space according to the scanning result.

[0043] In this embodiment, image analysis software (such as 3D Slicer, OsiriX, MIM, etc.) can be used to process and analyze the images obtained by scanning in step S101 (such as loading the DICOM data of CT). Here, first, the accurate position of the lesion point 12 in the three-dimensional space is determined, and then, in combination with the position of the preset wound 11 in the surgical plan, the relative position relationship between the wound 11 and the lesion point 12 is calculated.

[0044] Among them, the relative position relationship between the wound 11 and the lesion point 12 at least includes information such as the distance, angle, and orientation in the three-dimensional coordinate system between the wound 11 and the lesion point 12. It should be noted that in the three-dimensional coordinate system, the relative position relationship between the wound 11 and the lesion point 12 always remains constant, and the puncture path 13 along which the surgical instrument 7 travels can be the connection line between the wound 11 and the lesion point 12.

[0045] Step S301: Manipulate the surgical robot 4 equipped with the three-dimensional vision sensor 5 and the surgical instrument 7 to move it to the designated position, and identify the three-dimensional coordinate information of the wound 11 through the three-dimensional vision sensor 5.

[0046] In this embodiment, the doctor can remotely control or manually control the movement of the surgical robot 4. During the movement, first, according to the preset path and position information, the surgical robot 4 can be moved to the designated position required for the surgery, and then the three-dimensional vision sensor 5 carried by the surgical robot 4 will identify and measure the wound 11, so as to determine the actual position of the wound 11 in the surgical space. Here, the designated position refers to a specific location in the surgical space where the surgical robot 4 needs to move to facilitate the three-dimensional vision sensor 5 to identify the wound 11 and the subsequent puncture operation of the surgical instrument 7.

[0047] Among them, the three-dimensional vision sensor 5 can utilize optical or other imaging principles to obtain the image information of the wound 11 and convert it into three-dimensional coordinate information through an algorithm, so as to accurately determine the actual position of the wound 11 in the surgical space. It should be noted that since the relative position relationship between the wound 11 and the lesion point 12 in the three-dimensional space is determined, and the three-dimensional coordinate information of the wound 11 in the surgical space is known, the three-dimensional coordinate information of the lesion point 12 in the surgical space can be determined, thereby planning the puncture path 13.

[0048] Step S401: Calculate the three-dimensional coordinate information of the lesion point 12 based on the three-dimensional coordinate information of the wound 11 and the relative position relationship between the wound 11 and the lesion point 12 in the three-dimensional space.

[0049] In this embodiment, when the three-dimensional coordinate information of the wound 11 in the surgical space and the relative position relationship between the wound 11 and the lesion point 12 in the three-dimensional space are obtained, the three-dimensional coordinate information of the lesion point 12 in the surgical space can be obtained through mathematical calculations. Specifically, the coordinates of the wound 11 in the surgical space can be used as the reference origin, and coordinate transformation and calculation can be performed in the surgical space according to parameters such as the distance and angle in the relative position relationship between the wound 11 and the lesion point 12 in the three-dimensional space, so as to accurately calculate the specific coordinate position of the lesion point 12 in the surgical space. Thus, the real-time and accurate positioning of the lesion point 12 is achieved, and the lesion point 12 can be accurately found regardless of how the surgical robot 4 moves or whether the patient's body position changes.

[0050] Step S501: Plan the puncture path 13 of the surgical instrument 7 based on the three-dimensional coordinate information of the lesion point 12 and the three-dimensional coordinate information of the wound 11.

[0051] In this embodiment, after obtaining the three-dimensional coordinate information of the lesion point 12 and the wound 11 in the surgical space, a path planning algorithm can be used to design the puncture path 13 of the surgical instrument from the wound 11 to the lesion point 12. Here, the path planning algorithm can be the A* algorithm, Dijkstra algorithm, Rapidly-exploring Random Tree (RRT) algorithm, artificial potential field method, etc. It should be noted that during the planning process of the puncture path 13, various factors can be considered, such as avoiding important tissues such as blood vessels and nerves, selecting the shortest or safest path, and meeting the angle and depth requirements of the surgical operation. Through the above path planning algorithm, a precise puncture path 13 suitable for the surgical instrument 7 to reach the lesion point 12 is generated, providing precise guidance for the surgical operation and ensuring that the surgical instrument 7 can accurately and safely reach the lesion site 1 to achieve precise treatment.

[0052] By applying the technical solution of this embodiment, the relative position relationship between the wound 11 and the lesion point 12 in the three-dimensional space is determined by scanning the lesion site 1, and the three-dimensional coordinate information of the wound 11 is recognized by using the three-dimensional vision sensor 5. Furthermore, the three-dimensional coordinate information of the lesion point 12 is calculated, and the puncture path 13 is planned based on these precise coordinate information, which changes the way of path planning by doctors relying on experience in traditional clinical puncture surgeries, avoids the problem that the puncture accuracy cannot be guaranteed due to the lack of precise positioning technology, can achieve more precise punctures, and improves the success rate of surgeries. At the same time, even during the surgery, if the relative position between the surgical instrument 7 on the surgical robot 4 and the lesion point 12 changes due to the movement of the surgical robot 4 or the change of the patient's body position, this positioning method can still calculate the coordinate information of the lesion point 12 by re-obtaining the three-dimensional coordinate information of the wound 11 and combining the relative position relationship, and then re-plan the puncture path 13, which can adapt to the dynamic changes of the surgical environment, ensure the smooth progress of the surgery, and improve the stability and reliability of the surgery.

[0053] Further, as a Figure 1 specific implementation of the method, an embodiment of the present application provides a positioning system. Refer to Figure 2 as shown. The system includes: a scanning module, configured to perform the operation of scanning the lesion site 1 in the above-mentioned positioning method; a data processing module, connected to the scanning module, configured to determine the relative position relationship between the wound 11 and the lesion point 12 in a three-dimensional space according to the scanning result of the scanning module; and calculate the three-dimensional coordinate information of the lesion point 12 based on the three-dimensional coordinate information of the wound 11 and the relative position relationship; a robot control module, configured to control the surgical robot 4 carrying the three-dimensional vision sensor 5 and the surgical instrument 7 to move to the designated position, and use the three-dimensional vision sensor 5 to identify the three-dimensional coordinate information of the wound 11; the three-dimensional vision sensor 5 is connected to the data processing module, configured to transmit the identified three-dimensional coordinate information of the wound 11 to the data processing module; a path planning module, respectively connected to the data processing module and the robot control module, configured to plan and determine the puncture path 13 of the surgical instrument 7 at the lesion site 1 based on the three-dimensional coordinate information of the lesion point 12 and the wound 11 obtained by the data processing module, and further configured to transmit the planned puncture path 13 to the robot control module, so that the robot control module controls the operation of the surgical instrument 7 according to the puncture path 13.

[0054] In this embodiment, the scanning module, the data processing module, the robot control module, the three-dimensional vision sensor 5, and the path planning module cooperate with each other. During the operation, in the case where the relative position between the surgical instrument 7 on the surgical robot 4 and the lesion point 12 changes due to the movement of the surgical robot 4 or the change of the patient's body position, etc., the three-dimensional coordinate information of the wound 11 (completed by the three-dimensional vision sensor 5) can be re-acquired and combined with the relative position relationship (data processing module) to calculate the coordinate information of the lesion point 12, and then the puncture path 13 (path planning module) can be re-planned to adapt to the dynamic changes of the surgical environment, ensure the smooth progress of the operation, and improve the stability and reliability of the operation.

[0055] Among them, the scanning module is a device that performs the operation of scanning the lesion site 1.

[0056] Specifically, in the scenario of medical surgery, especially puncture surgery, the lesion site 1 is the target area of the surgery. The scanning module can be three-dimensional imaging devices such as computed tomography (CT) and magnetic resonance imaging (MRI) to scan the patient's lesion site 1, so as to obtain detailed image information of this site. These image information are the basic data for all subsequent operations, providing a necessary basis for determining the relative position relationship between the wound 11 and the lesion point 12 and accurately positioning the lesion point 12.

[0057] Among them, the data processing module is connected to the scanning module. The data processing module is used to determine the relative position relationship between the wound 11 and the lesion point 12 in the three-dimensional space according to the scanning result of the scanning module; and calculate the three-dimensional coordinate information of the lesion point 12 based on the three-dimensional coordinate information of the wound 11 and the relative position relationship.

[0058] Specifically, the data processing module can be image analysis software such as 3D Slicer, OsiriX, and MIM. When the data processing module receives the image information obtained by the scanning module, the data processing module can process and analyze the image to determine the accurate position of the lesion point 12 in the three-dimensional space, and then calculate the relative position relationship information such as the distance, angle, and orientation in the three-dimensional coordinate system between the wound 11 and the lesion point 12 in combination with the preset position of the wound 11 in the surgical plan. At the same time, when the data processing module obtains the three-dimensional coordinate information of the wound 11 in the surgical space provided by the three-dimensional vision sensor 5, taking the coordinates of the wound 11 as a reference, according to various parameters in the previously determined relative position relationship, the specific coordinate position of the lesion point 12 in the surgical space is accurately calculated through mathematical calculations.

[0059] Among them, the robot control module is the controller for controlling the surgical robot 4. The robot control module can parse and execute external control instructions, driving the various joints and moving mechanisms of the surgical robot 4 to achieve precise positioning and attitude adjustment.

[0060] Specifically, in some examples, the bottom of the surgical robot 4 is equipped with remote control wheels, and the doctor can flexibly control the surgical robot 4 to move to the designated position through remote control; in other examples, a slide rail is installed near the operating bed, and the surgical robot 4 is slidably arranged on the slide rail, and the position of the surgical robot 4 is adjusted by manual pushing to meet different surgical requirements.

[0061] Among them, the surgical robot 4 is equipped with a three-dimensional vision sensor 5, and the three-dimensional vision sensor 5 is used to identify and measure the wound 11 to determine the actual position of the wound 11 in the surgical space.

[0062] Specifically, the three-dimensional vision sensor 5 can be a depth camera or the like, which can obtain the image information of the wound 11 using the principle of optical imaging and convert it into three-dimensional coordinate information through an algorithm.

[0063] Among them, the three-dimensional vision sensor 5 is connected to the data processing module, and the three-dimensional vision sensor 5 is used to transmit the three-dimensional coordinate information of the recognized wound 11 to the data processing module.

[0064] Specifically, in the actual application scenario, under the instruction of the robot control module, after the three-dimensional vision sensor 5 completes the recognition and measurement of the wound 11, it sends the obtained three-dimensional coordinate information of the wound 11 in the surgical space to the data processing module, so that the data processing module can calculate the three-dimensional coordinate information of the lesion point 12 in combination with the relative position relationship between the wound 11 and the lesion point 12.

[0065] Among them, the path planning module is respectively connected to the data processing module and the robot control module. The path planning module is used to plan and determine the puncture path 13 of the surgical instrument 7 at the lesion site 1 based on the three-dimensional coordinate information of the lesion point 12 and the wound 11 obtained by the data processing module, and is also used to transmit the planned puncture path 13 to the robot control module, so that the robot control module controls the operation of the surgical instrument 7 according to the puncture path 13.

[0066] Among them, the surgical instrument 7 refers to the tool used to perform various operations in medical surgery. In the puncture surgery scenario involved in the above positioning method and system, the surgical instrument 7 usually refers to the instrument used for puncture, such as a puncture needle.

[0067] Specifically, after the path planning module obtains the accurate three-dimensional coordinate information of the lesion point 12 and the wound 11 in the surgical space, the path planning module uses path planning algorithms (such as A* algorithm, Dijkstra algorithm, Rapidly-exploring Random Tree (RRT) algorithm or artificial potential field method, etc.) to design the puncture path 13 of the surgical instrument 7 from the wound 11 to the lesion point 12. During the planning process, various factors will be comprehensively considered, such as avoiding important blood vessels, nerves and other tissues, selecting the shortest or safest path, and meeting the angle and depth requirements of the surgical operation, etc. After planning the appropriate puncture path 13, it is sent to the robot control module, and the robot control module controls the surgical instrument 7 to perform precise puncture operations according to this path, so as to achieve precise treatment of the lesion site 1.

[0068] In some possible implementation embodiments disclosed in the present application, refer to Figure 3 As shown, the lesion site 1 is provided with a first positioning sticker 2 and at least three second positioning stickers 3. The first positioning sticker 2 is located at the wound 11, and the wound 11 is located outside the plane determined by the at least three second positioning stickers 3.

[0069] In this embodiment, the first positioning sticker 2 is set at the wound 11, which can clearly define the specific position of the wound 11 in the surgical space, provide an accurate identifier for subsequent determination of the three-dimensional coordinate information of the wound 11, and facilitate the surgical robot 4 to accurately identify the position of the wound 11 through the three-dimensional vision sensor 5, so as to achieve precise positioning of the starting point of the surgical operation. At least three second positioning stickers 3 work in cooperation with the first positioning sticker 2 located at the wound 11 to build a precise three-dimensional space reference system. After scanning the lesion site 1, this system can play a key role. Since at least three second positioning stickers 3 can determine a plane and the wound 11 is outside this plane, rich spatial position relationship information is formed. Based on this information, by processing and analyzing the images of the lesion part, the relative position relationship between the wound 11 and the lesion point 12 in the three-dimensional space can be accurately determined, including key information such as the distance, angle between the wound 11 and the lesion point 12, and the orientation in the three-dimensional coordinate system, providing a solid data basis for the precise operation path planning of the subsequent surgical instrument 7.

[0070] Among them, the wound 11 is the starting position point where the surgical instrument 7 enters the human body during the puncture operation. The first positioning sticker 2 is set at the wound 11, which plays a role in clearly defining the position of the wound 11 in the surgical space.

[0071] Specifically, in the actual application scenario, when the three-dimensional vision sensor 5 carried by the surgical robot 4 is working, by identifying the first positioning sticker 2, the position information of the wound 11 in the surgical space can be accurately obtained and converted into three-dimensional coordinate information, so as to achieve precise positioning of the starting point of the surgical operation (the wound 11), laying a foundation for the subsequent accurate puncture and other operations of the surgical instrument 7 starting from the wound 11.

[0072] Among them, at least three second positioning stickers 3 are also set at the lesion site 1, and the wound 11 is located outside the plane determined by these at least three second positioning stickers 3. It should be noted that according to geometric principles, at least three points not on the same straight line can determine a plane. At least three second positioning stickers 3 play such a role, that is, at least three second positioning stickers 3 determine a plane. And the wound 11 is outside this plane, which makes a three-dimensional spatial position relationship formed between the wound 11 and these second positioning stickers 3, jointly building a precise three-dimensional space reference system.

[0073] Specifically, in an actual application scenario, after scanning the lesion site 1 (such as using techniques like computed tomography (CT) or magnetic resonance imaging (MRI)), image data containing information such as the positioning stickers and the lesion point 12 is obtained. By processing and analyzing this image data, using the position information of the wound 11 determined by the first positioning sticker 2, and the planes determined by at least three second positioning stickers 3 and their spatial relationships with the wound 11, the relative position relationship between the wound 11 and the lesion point 12 in three-dimensional space can be accurately determined. The relative position relationship here includes key information such as the distance (linear distance) between the wound 11 and the lesion point 12, the angle (such as the angle between the line connecting the wound 11 and the lesion point 12 and a certain coordinate axis or plane), and the orientation in the three-dimensional coordinate system (i.e., the specific direction and position information of the wound 11 relative to the lesion point 12) and so on. These information are very important for subsequently planning the precise operation path of the surgical instrument 7 from the wound 11 to the lesion point 12, providing a solid data basis for the surgical instrument 7 to accurately and safely reach the lesion site 1, and helping to improve the precision and success rate of the surgery.

[0074] In the above embodiment, the pattern of the first positioning sticker 2 is different from the pattern of the second positioning sticker 3.

[0075] Here, the first positioning sticker 2 can adopt a circular pattern, and the second positioning sticker 3 can be a polygon or a cross-shaped pattern. In the positioning system of this embodiment, the working tasks of the scanning module and the three-dimensional vision sensor 5 both involve scanning the geometric centers of the first positioning sticker 2 and the second positioning sticker 3. Since the patterns of the first positioning sticker 2 and the second positioning sticker 3 are different, when the scanning module and the three-dimensional vision sensor 5 perform scanning operations, they can quickly and accurately distinguish the first positioning sticker 2 from the second positioning sticker 3 by virtue of the significant features of the patterns, effectively avoiding the possible confusion situations in the recognition process, thereby ensuring that the positioning system can accurately obtain the position of the wound 11 and various information required for constructing the three-dimensional space reference system.

[0076] In some possible embodiments disclosed in the present application, as shown in Figure 2 When the surgical robot 4 moves to the specified position, the detection end of the three-dimensional vision sensor 5 is arranged facing the first positioning sticker 2 and at least three of the second positioning stickers 3.

[0077] In this embodiment, when the surgical robot 4 moves to the designated position, the detection end of the three-dimensional vision sensor 5 is set facing the first positioning sticker 2 and at least three second positioning stickers 3, which can ensure that the field of view of the three-dimensional vision sensor 5 fully covers the first positioning sticker 2 and at least three second positioning stickers 3. In this way, the three-dimensional vision sensor 5 can simultaneously collect information of all the positioning stickers, providing a complete and reliable data source for accurately identifying the position of the wound 11, constructing a three-dimensional space reference system, and precisely determining the relative position relationship between the wound 11 and the lesion point 12 in the subsequent process, effectively guaranteeing the accuracy and efficiency of surgical positioning.

[0078] In some possible embodiments disclosed in the present application, referring to Figure 2 and Figure 4 as shown, the surgical robot 4 includes: a traveling part 41 and an operating part 42; the traveling part 41 is movable, the traveling part 41 is used to carry the operating part 42, and the operating end of the operating part 42 is provided with the three-dimensional vision sensor 5 and a surgical instrument bracket 6, and the surgical instrument bracket 6 is used to connect the surgical instrument 7.

[0079] In this embodiment, the traveling part 41 is movable and can flexibly shuttle in different surgical scenarios, quickly reaching the designated position according to the surgical needs. For example, in a large operating room, it can conveniently move from one operating table to another, or adjust its position in a complex surgical environment to better approach the surgical site of the patient, providing the convenience of position adjustment for the smooth progress of the surgery. The operating end of the operating part 42 integrates the three-dimensional vision sensor 5 and the surgical instrument bracket 6. The three-dimensional vision sensor 5 can real-time obtain the three-dimensional image information of the surgical area (lesion site 1), helping the doctor accurately locate the lesion point 12 and plan the surgical path (puncture path 13). The surgical instrument bracket 6 can stably connect the surgical instrument 7, and under the control of the operating part 42, enable the surgical instrument 7 to accurately reach the surgical site (wound 11) and perform delicate operations, improving the success rate and quality of the surgery.

[0080] Among them, the traveling part 41 can move freely in the surgical environment.

[0081] Specifically, when the traveling part 41 carries the operating part 42, the traveling part 41 can transport the operating part 42 to the designated position required for the surgery. For example, in the operating room, the traveling part 41 can move the operating part 42 to the vicinity of the patient's surgical site according to the doctor's instructions or a preset path, making preparations for the subsequent surgical operations in terms of position.

[0082] Among them, the operating part 42 is the core part of the surgical robot 4 for performing surgical operations, and the three-dimensional vision sensor 5 and the surgical instrument bracket 6 are installed at the end of the operating part 42.

[0083] Specifically, the three-dimensional vision sensor 5 is the "eye" of the surgical robot 4, which can utilize the principle of optical imaging to obtain the image information of the surgical area (lesion site 1). For example, in a puncture surgery, the three-dimensional vision sensor 5 can identify the position of the wound 11, providing important visual information for the surgical robot 4 to determine the operation path (puncture path 13) and ensuring the accuracy of the surgical operation. The surgical instrument holder 6 can stably fix the surgical instrument 7 and drive the surgical instrument 7 to perform various actions according to the instructions of the operation unit 42. For example, in a puncture surgery, the surgical instrument holder 6 can accurately guide the puncture needle to the lesion site 1 to complete the puncture operation.

[0084] In the above embodiment, referring to Figure 4 As shown, walking wheels 411 are respectively arranged at the four corners of the bottom of the walking part 41.

[0085] Here, the walking wheels 411 can be Mecanum wheels or the like. The setting of the walking wheels 411 enables the surgical robot 4 to move conveniently in an environment such as an operating room, and can move forward, backward, and turn flexibly, quickly reaching the position required for the surgery, improving the mobility and response speed of the surgical robot 4, and helping to save the surgery preparation time; at the same time, the four walking wheels 411 are respectively located at the four corners of the bottom of the walking part 41, which can evenly distribute the weight of the walking part 41 and the carried operation unit 42, forming a stable support structure, ensuring that the surgical robot 4 maintains balance during static and moving processes and is not easily toppled, providing a stable platform for the smooth progress of the surgery.

[0086] In the above embodiment, referring to Figure 4 As shown, the operation unit 42 has at least six rotational degrees of freedom.

[0087] Here, the six rotational degrees of freedom enable the operation unit 42 to perform multi-angle and all-round rotational movements in the surgical space, better adapting to various complex surgical scenarios. Whether it is abdominal surgery, brain surgery or surgery on other parts, the flexible rotation of the operation unit 42 can meet the special requirements of the surgery, increasing the applicability and versatility of the surgical robot 4.

[0088] Among them, the operation unit 42 can be a robotic arm with at least six rotational degrees of freedom.

[0089] Among them, at least six rotational degrees of freedom include rotation around the X-axis, rotation around the Y-axis, rotation around the Z-axis, shoulder joint rotation, elbow joint rotation, and wrist joint rotation.

[0090] Specifically, rotation about the X-axis is also called pitching motion, which can make the front end of the operating part 42 swing up and down; rotation about the Y-axis is the rolling motion, which can make the operating part 42 tilt left and right; rotation about the Z-axis is called yaw motion, which makes the entire operating part 42 rotate on the horizontal plane; the rotation of the shoulder joint is similar to the shoulder joint of a human arm, which can make the "arm" of the operating part 42 make a circular motion within a certain range, expanding the operating range of the surgical instrument 7; the rotation of the elbow joint is like the elbow of a human arm, which can make the "forearm" part of the operating part 42 bend and stretch, further adjusting the position and angle of the surgical instrument 7; the rotation of the wrist joint is similar to the rotation of a human wrist, which can make the surgical instrument 7 make more subtle angle adjustments at the end, achieving high-precision operation.

[0091] In the above embodiment, referring to Figure 4 As shown, the surgical instrument bracket 6 is detachably connected to the surgical instrument 7.

[0092] Here, the detachable connection enables the doctor to quickly and conveniently replace the surgical instrument 7 according to the specific needs of the surgery, without having to replace the entire operating part 42 or perform complex reconfiguration of the surgical robot 4, thereby improving the surgical efficiency and saving surgical time.

[0093] In some possible embodiments disclosed in the present application, referring to Figure 4 As shown, the surgical robot 4 further includes: a lidar 412, at least two lidars 412 are provided, and at least two lidars 412 are respectively installed at opposite diagonal positions of the traveling part 41.

[0094] In this embodiment, the two lidars 412 are respectively installed at opposite diagonal positions of the traveling part 41, which can cover a large space range around the robot. Through rotational scanning, 360-degree omnidirectional environmental perception of the surgical robot 4 can be achieved, enabling the surgical robot 4 to detect obstacles, personnel or other devices in all directions in a timely manner during movement, avoiding collisions, and ensuring the safe movement of the surgical robot 4 in the operating room environment.

[0095] Among them, the lidar 412 can sense the surrounding environment by emitting laser beams and receiving reflected light. It should be noted that each lidar 412 has a certain scanning angle range. Installing the two lidars 412 at opposite diagonal positions of the traveling part 41 can make their scanning ranges complement each other, covering the space around the surgical robot 4 to the greatest extent. Generally speaking, the scanning angle of a single lidar 412 may be within a certain range, such as 180 degrees or less. By installing two lidars 412 diagonally, omnidirectional environmental perception approaching 360 degrees can be achieved, ensuring that the robot can detect obstacles, personnel or other objects from all directions.

[0096] Those skilled in the art can easily understand that, on the premise of no conflict, the above advantageous ways can be freely combined and superimposed.

[0097] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. The above is only the preferred implementation manner of the present application. It should be noted that for those of ordinary skill in the art in this technical field, several improvements and variations can be made without departing from the technical principle of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A positioning method, characterized in that, Comprising: Scanning the lesion site (1); According to the scanning result, determining the relative positional relationship between the wound (11) and the lesion point (12) in three-dimensional space; Controlling the surgical robot (4) equipped with a three-dimensional vision sensor (5) and a surgical instrument (7) to move it to a specified position, and identifying the three-dimensional coordinate information of the wound (11) through the three-dimensional vision sensor (5); Based on the three-dimensional coordinate information of the wound (11) and the relative positional relationship between the wound (11) and the lesion point (12) in three-dimensional space, calculating the three-dimensional coordinate information of the lesion point (12); Based on the three-dimensional coordinate information of the lesion point (12) and the three-dimensional coordinate information of the wound (11), planning the puncture path (13) of the surgical instrument (7).

2. A positioning system, characterized in that, Comprising: A scanning module for performing the operation of scanning the lesion site (1) described in claim 1; A data processing module, connected to the scanning module, for determining the relative positional relationship between the wound (11) and the lesion point (12) in three-dimensional space according to the scanning result of the scanning module; and calculating the three-dimensional coordinate information of the lesion point (12) based on the three-dimensional coordinate information of the wound (11) and the relative positional relationship; A robot control module for controlling the surgical robot (4) equipped with the three-dimensional vision sensor (5) and the surgical instrument (7) to move to the specified position, and using the three-dimensional vision sensor (5) to identify the three-dimensional coordinate information of the wound (11); the three-dimensional vision sensor (5) is connected to the data processing module for transmitting the identified three-dimensional coordinate information of the wound (11) to the data processing module; A path planning module, respectively connected to the data processing module and the robot control module, for planning and determining the puncture path (13) of the surgical instrument (7) at the lesion site (1) based on the three-dimensional coordinate information of the lesion point (12) and the wound (11) obtained by the data processing module, and also for transmitting the planned puncture path (13) to the robot control module so that the robot control module controls the operation of the surgical instrument (7) according to the puncture path (13).

3. The positioning system according to claim 2, wherein The lesion site (1) is provided with a first positioning sticker (2) and at least three second positioning stickers (3), the first positioning sticker (2) is located at the wound (11), and the wound (11) is located outside the plane determined by the at least three second positioning stickers (3).

4. The positioning system according to claim 3, wherein The pattern of the first positioning sticker (2) is different from the pattern of the second positioning sticker (3).

5. The positioning system according to claim 3, wherein When the surgical robot (4) moves to the specified position, the detection end of the three-dimensional vision sensor (5) is arranged towards the first positioning sticker (2) and the at least three second positioning stickers (3).

6. The positioning system according to claim 2, wherein The surgical robot (4) includes: A walking part (41) and an operating part (42); The traveling part (41) is movable and is used to carry the operating part (42). The operating end of the operating part (42) is provided with the three-dimensional vision sensor (5) and the surgical instrument bracket (6), and the surgical instrument bracket (6) is used to connect the surgical instrument (7).

7. The positioning system according to claim 6, characterized in that, Traveling wheels (411) are respectively arranged at the four corners of the bottom of the traveling part (41).

8. The positioning system according to claim 6, wherein The surgical robot (4) further includes: LiDars (412), at least two LiDars (412) are provided, and at least two LiDars (412) are respectively installed at opposite diagonal positions of the traveling part (41).

9. The positioning system according to claim 6, characterized in that, The operating part (42) has at least six rotational degrees of freedom.

10. The positioning system according to claim 6, wherein The surgical instrument bracket (6) is detachably connected to the surgical instrument (7).

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